AP_Scripting: quadplane terrain avoidance with "can't make that climb" #28625
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Hi @IamPete1 and @peterbarker - I wonder if you could take a look at this. It's mostly a Lua script with some added bindings. |
libraries/AP_Scripting/docs/docs.lua
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| @@ -3043,7 +3043,6 @@ function terrain:status() end | |||
| ---@return boolean | |||
| function terrain:enabled() end | |||
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| return true | ||
| end | ||
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| return MAVLink |
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| return MAVLink | |
| return MAVLink | |
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Is that a standard/recommended style? I like it like this if I don't have to change it.
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Yeah, standard to have a blank line at the end of the file. You will notice guthub puts a little stop sign there to warn you.
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Oh I thought you were talking about the blank line before the return. No worries. I'll fix it.
| local now = millis():tofloat() * 0.001 | ||
| if not _last_t then | ||
| _last_t = now | ||
| end | ||
| local dt = now - _last_t |
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Do the DT first and then convert to float. That prevent lose of precision at millis get larger.
| -- I = calculated Integral component | ||
| -- Total = calculated new Airspeed | ||
| -- Add - passed in as 0 | ||
| logger.write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total) |
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| logger.write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total) | |
| logger:write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total) |
CraigElder
changed the title
This is a Lua script that runs continually while a quadplane is in AUTO mode (typically running a mission) and monitors LIDAR readings for dangerously close terrain. If the terrain gets too close, the script will take over the quadplane performing one of three avoidance maneouvers:
This has been extensively tested in the wilds of northern Canada.
Here's a video of a RealFlight demo which demonstrates each kind of avoidance https://youtu.be/wbSNbGx1tDM