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66 lines
2.1 KiB
66 lines
2.1 KiB
-- This script will select a random location (as defined from a lat long coordinate) |
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-- and will play a set of tunes to navigate you towards that point, and select a new once |
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-- once the point has been found. |
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-- |
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-- This script primarily serves to demo how to work with Locations, as well as how to |
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-- use the tonealarm to play tones, and send status text messages |
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local ACCEPTANCE_DISTANCE = 20.0 |
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local TUNE_POINT = "MBNT255>A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8A#8" |
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local TUNE_TOWARDS = "MFT100L8>B" |
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local TUNE_AWAY = "MFT100L4>A#B#" |
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local target = Location() |
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local top_left = Location() |
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top_left:lat(-353622666) |
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top_left:lng(1491650479) |
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local last_distance = 1e10 |
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local notify_interval_ms = uint32_t(5000) |
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local last_notify_time_ms = millis() |
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local score = 0 |
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function find_next_point () |
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target:lat(top_left:lat()) |
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target:lng(top_left:lng()) |
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target:offset(math.random()*-100, math.random()*10) |
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gcs:send_text(6, string.format("New target %d %d", target:lat(), target:lng())) |
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local current = ahrs:get_position() |
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if current then |
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last_distance = current:get_distance(target) |
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end |
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last_distance = 1e10 |
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return |
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end |
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function update () |
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local current = ahrs:get_position() |
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if current then |
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local dist = target:get_distance(current) |
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local now = millis() |
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if dist < ACCEPTANCE_DISTANCE then |
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notify:play_tune(TUNE_POINT) |
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score = score + 1 |
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gcs:send_text(6, string.format("Got a point! %d total", score)) |
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find_next_point() |
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elseif (now - last_notify_time_ms) > notify_interval_ms then |
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last_notify_time_ms = now |
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gcs:send_text(6, string.format("Distance: %.1f %.1f", target:get_distance(current), dist)) |
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if dist < (last_distance - 1) then |
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notify:play_tune(TUNE_TOWARDS) |
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elseif dist > (last_distance + 1) then |
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notify:play_tune(TUNE_AWAY) |
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end |
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end |
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if math.abs(last_distance - dist) > 1.0 then |
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last_distance = dist; |
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end |
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end |
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return update, 100 |
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end |
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find_next_point() |
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return update, 100
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