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99 lines
3.6 KiB
99 lines
3.6 KiB
-- command a Copter to takeoff to 10m and fly a square pattern |
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-- |
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-- CAUTION: This script only works for Copter |
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-- this script waits for the vehicle to be armed and RC6 input > 1800 and then: |
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-- a) switches to Guided mode |
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-- b) takeoff to 10m |
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-- c) flies a 20m x 20m square pattern using the velocity controller |
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-- d) switches to RTL mode |
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local takeoff_alt_above_home = 10 |
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local copter_guided_mode_num = 4 |
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local copter_rtl_mode_num = 6 |
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local stage = 0 |
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local bottom_left_loc -- vehicle location when starting square |
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local square_side_length = 20 -- length of each side of square |
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-- the main update function that uses the takeoff and velocity controllers to fly a rough square pattern |
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function update() |
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if not arming:is_armed() then -- reset state when disarmed |
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stage = 0 |
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else |
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pwm6 = rc:get_pwm(6) |
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if pwm6 and pwm6 > 1800 then -- check if RC7 input has moved high |
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if (stage == 0) then -- change to guided mode |
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if (vehicle:set_mode(copter_guided_mode_num)) then -- change to Guided mode |
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stage = stage + 1 |
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end |
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elseif (stage == 1) then -- Stage1: takeoff |
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if (vehicle:start_takeoff(takeoff_alt_above_home)) then |
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stage = stage + 1 |
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end |
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elseif (stage == 2) then -- Stage2: check if vehicle has reached target altitude |
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local home = ahrs:get_home() |
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local curr_loc = ahrs:get_position() |
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if home and curr_loc then |
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local vec_from_home = home:get_distance_NED(curr_loc) |
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gcs:send_text(0, "alt above home: " .. tostring(math.floor(-vec_from_home:z()))) |
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if (math.abs(takeoff_alt_above_home + vec_from_home:z()) < 1) then |
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stage = stage + 1 |
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bottom_left_loc = curr_loc -- record location when starting square |
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end |
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end |
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elseif (stage >= 3 and stage <= 6) then -- fly a square using velocity controller |
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local curr_loc = ahrs:get_position() |
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local target_vel = Vector3f() -- create velocity vector |
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if (bottom_left_loc and curr_loc) then |
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local dist_NE = bottom_left_loc:get_distance_NE(curr_loc) |
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-- Stage3 : fly North at 2m/s |
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if (stage == 3) then |
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target_vel:x(2) |
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if (dist_NE:x() >= square_side_length) then |
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stage = stage + 1 |
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end |
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end |
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-- Stage4 : fly East at 2m/s |
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if (stage == 4) then |
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target_vel:y(2) |
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if (dist_NE:y() >= square_side_length) then |
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stage = stage + 1 |
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end |
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end |
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-- Stage5 : fly South at 2m/s |
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if (stage == 5) then |
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target_vel:x(-2) |
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if (dist_NE:x() <= 2) then |
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stage = stage + 1 |
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end |
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end |
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-- Stage6 : fly West at 2m/s |
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if (stage == 6) then |
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target_vel:y(-2) |
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if (dist_NE:y() <= 2) then |
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stage = stage + 1 |
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end |
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end |
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-- send velocity request |
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if (vehicle:set_target_velocity_NED(target_vel)) then -- send target velocity to vehicle |
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gcs:send_text(0, "pos:" .. tostring(math.floor(dist_NE:x())) .. "," .. tostring(math.floor(dist_NE:y())) .. " sent vel x:" .. tostring(target_vel:x()) .. " y:" .. tostring(target_vel:y())) |
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else |
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gcs:send_text(0, "failed to execute velocity command") |
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end |
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end |
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elseif (stage == 7) then -- Stage7: change to RTL mode |
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vehicle:set_mode(copter_rtl_mode_num) |
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stage = stage + 1 |
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gcs:send_text(0, "finished square, switching to RTL") |
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end |
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end |
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end |
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return update, 1000 |
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end |
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return update()
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