AP_Scripting: applet for Plane follow on a switch #27137
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IamPete1
requested changes
May 22, 2024
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The scripting checks are also reporting:
libraries/AP_Scripting/applets/plane_follow.lua:20:7: unused variable ALT_FRAME_ABSOLUTE
libraries/AP_Scripting/applets/plane_follow.lua:75:7: unused variable have_target
libraries/AP_Scripting/applets/plane_follow.lua:118:7: empty if branch
libraries/AP_Scripting/applets/plane_follow.lua:132:10: unused variable target_sysid
libraries/AP_Scripting/applets/plane_follow.lua:145:10: unused variable vehicle_location
libraries/AP_Scripting/applets/plane_follow.lua:152:21: value assigned to variable target_offsets is overwritten on line 153 before use
| @@ -203,6 +203,7 @@ void Plane::calc_airspeed_errors() | |||
| target_airspeed_cm = constrain_float(MAX(guided_state.target_airspeed_cm, target_airspeed_cm), aparm.airspeed_min *100, aparm.airspeed_max *100); | |||
| } | |||
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| //GCS_SEND_TEXT(MAV_SEVERITY_INFO, "navigation guided - airspeed target cm: %d", target_airspeed_cm); | |||
libraries/AP_Scripting/docs/docs.lua
Outdated
| @@ -2349,6 +2349,12 @@ function vehicle:nav_scripting_enable(param1) end | |||
| ---@return boolean | |||
| function vehicle:set_desired_speed(param1) end | |||
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| -- desc | |||
Hwurzburg
requested changes
May 22, 2024
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This is a draft for comm
Done |
I have to call two methods on AP_Follow to get all the values I need and both of them return target_offsets. Do you think I should refactor the code in AP_Follow so I can call a single method? |
IamPete1
reviewed
May 25, 2024
| @@ -3309,7 +3321,12 @@ function follow:get_last_update_ms() end | |||
| function follow:have_target() end | |||
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| -- desc | |||
| scripting = {} | |||
How can I run these checks myself? |
This should work: You can also run the new checks with: |
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DRAFT for comment.
This builds on the existing plane_guided_follow.lua example. It adds speedup/slowdown so the following vehicle can "catch up" with the target and prevents guided mode from attempting to loiter around the target vehicle when it gets close. Also adds FOLL_ACT_FN so that an RC switch can be used to trigger/exit the follow.
Upated, but still draft. The speed adjustment still needs work when the following plane gets very close to the target. (suggestions appreciated).