Enhanced attitude control via scripting #25814
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andyp1per
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timtuxworth
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Feb 26, 2024
andyp1per
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IamPete1
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Aug 24, 2024
| @@ -2345,10 +2349,22 @@ function vehicle:get_circle_radius() end | |||
| ---@return boolean | |||
| function vehicle:set_target_angle_and_climbrate(roll_deg, pitch_deg, yaw_deg, climb_rate_ms, use_yaw_rate, yaw_rate_degs) end | |||
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| -- desc | |||
| -- Sets the target velocity using a Vector3f object in a guided mode. | ||
| ---@param vel_ned Vector3f_ud -- North, East, Down meters / second | ||
| ---@param align_yaw_to_target? boolean |
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| ---@param align_yaw_to_target? boolean | |
| ---@param align_yaw_to_target boolean |
It is not optional in lua.
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| singleton AC_Fence method get_safe_alt_min float | ||
| singleton AC_Fence method get_safe_alt_max float | ||
| singleton AC_Fence method present uint8_t | ||
| singleton AC_Fence method get_enabled_fences uint8_t |
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I think the fence stuff should be a separate PR.
| @@ -156,6 +156,7 @@ class AP_Motors { | |||
| float get_yaw_ff() const { return _yaw_in_ff; } | |||
| float get_throttle_out() const { return _throttle_out; } | |||
| virtual bool get_thrust(uint8_t motor_num, float& thr_out) const { return false; } | |||
| float get_throttle_in() const { return _throttle_in; } | |||
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Why is this needed vs the existing get_throttle binding?
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Motors stuff should probably be its own PR too.
rmackay9
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Aug 26, 2024
| @@ -347,16 +347,24 @@ bool Copter::set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector | |||
| return mode_guided.set_destination_posvelaccel(pos_neu_cm, vel_neu_cms, accel_neu_cms, use_yaw, yaw_deg * 100.0, use_yaw_rate, yaw_rate_degs * 100.0, yaw_relative); | |||
| } | |||
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| bool Copter::set_target_velocity_NED(const Vector3f& vel_ned) | |||
| bool Copter::set_target_velocity_NED(const Vector3f& vel_ned, bool align_yaw_to_target) | |||
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It would definitely be nice to be able to control the yaw better from scripting
won't this break the API though for existing users?
allow vehicles to yaw to target docs for set_target_velocity_NED() add set_target_angle_and_thrust() and get_throttle_in()
add set_target_angle_and_thrust()
allow scripting to call set_angle with thrust
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Based on #25698