Enhanced attitude control via scripting #25814
Open
+79
−8
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
andyp1per
force-pushed
the
pr-attitude-scripting
branch
from
2bd2a7c
to
c603159
Compare
timtuxworth
reviewed
Feb 26, 2024
andyp1per
force-pushed
the
pr-attitude-scripting
branch
2 times, most recently
from
38ef3e8
to
c616ec2
Compare
IamPete1
requested changes
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 | |||
|
|
|||
| -- 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 |
There was a problem hiding this comment.
Suggested change
| ---@param align_yaw_to_target? boolean | |
| ---@param align_yaw_to_target boolean |
It is not optional in lua.
Comment on lines
+932
to
+944
| 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 |
There was a problem hiding this comment.
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; } | |||
There was a problem hiding this comment.
Why is this needed vs the existing get_throttle binding?
There was a problem hiding this comment.
Motors stuff should probably be its own PR too.
rmackay9
reviewed
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); | |||
| } | |||
|
|
|||
| 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) | |||
There was a problem hiding this comment.
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
andyp1per
force-pushed
the
pr-attitude-scripting
branch
from
c616ec2
to
42d33af
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Based on #25698