Skip to content

JUMP_TAG candidates #51

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
gribbet wants to merge 2 commits into
base: SA-CLS200
Choose a base branch
from
Open

JUMP_TAG candidates #51

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
9f14170
Launch dir/vel params
gribbet Nov 6, 2025
2f35c15
JUMP_TAG candidates
gribbet Nov 6, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
58 changes: 31 additions & 27 deletions ROMFS/scripts/droptest.lua
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@ DO_JUMP = 177
NAV_WAYPOINT = 16
NAV_LAND = 21
DO_LAND_START = 189
JUMP_TAG = 600

local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}

Expand All @@ -79,6 +80,7 @@ assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 32), 'droptest: coul

local SA_ENABLE = bind_add_param('ENABLE', 1, 1)
local SA_AUTO_MISSION = bind_add_param('AUTO_MISSION', 2, 0)
local SA_AUTO_SELECT = bind_add_param('AUTO_SELECT', 4, 0)
local SA_TRIG_WP = bind_add_param('TRIP_WP', 3, 1)

if SA_ENABLE:get() == 0 then
Expand All @@ -89,6 +91,9 @@ local function auto_mission_enabled()
return SA_AUTO_MISSION:get() > 0
end

local function auto_select_enabled()
return auto_mission_enabled() or SA_AUTO_SELECT:get() > 0
end

local APPROACH_DIST_MAX = 6400
local BASE_DIST = 1390
Expand Down Expand Up @@ -177,26 +182,21 @@ end

function resolve_jump(i)
local m = mission:get_item(i)
while m:command() == DO_JUMP do
i = math.floor(m:param1())
while m:command() == DO_JUMP or m:command() == JUMP_TAG do
if m:command() == DO_JUMP then
i = math.floor(m:param1())
elseif m:command() == JUMP_TAG then
i = i+1
end
m = mission:get_item(i)
end
return i
end

-- return true if cnum is a candidate for wp selection
function is_candidate(cnum)
local N = mission:num_commands()
if cnum > N-3 then
return false
end
m = mission:get_item(cnum)
m2 = mission:get_item(cnum+1)
m3 = mission:get_item(cnum+2)
if m:command() == NAV_WAYPOINT and m2:command() == NAV_WAYPOINT and (m3:command() == DO_JUMP or m3:command() == NAV_WAYPOINT or m3:command() == NAV_LAND) then
return true
end
return false
local m = mission:get_item(cnum-1)
return m~=nil and m:command()==JUMP_TAG
end


Expand Down Expand Up @@ -339,21 +339,23 @@ function distance_to_land_nopos(cnum)

local d1 = loc1:get_distance(loc2)

distance = distance + d1

-- gcs:send_text(0, string.format("WP%u->WP%u d=%.0f dist=%.0f", i, i2, d1, distance))
if d1 > 1 then
distance = distance + d1

-- gcs:send_text(0, string.format("WP%u->WP%u d=%.0f dist=%.0f", i, i2, d1, distance))

-- account for height lost in turns
local bearing = wrap_180(math.deg(loc1:get_bearing(loc2)))
if i == cnum then
-- account for height lost in turns
local bearing = wrap_180(math.deg(loc1:get_bearing(loc2)))
if i == cnum then
last_bearing = bearing
end
local bearing_change = math.abs(wrap_180(bearing - last_bearing))
last_bearing = bearing
end
local bearing_change = math.abs(wrap_180(bearing - last_bearing))
last_bearing = bearing
distance = distance + turn_adjustment(bearing_change)
distance = distance + turn_adjustment(bearing_change)

-- account for wind
distance = distance + wind_adjustment(loc1, loc2)
-- account for wind
distance = distance + wind_adjustment(loc1, loc2)
end

i = i2
end
Expand Down Expand Up @@ -661,6 +663,8 @@ function create_pattern(wp, basepos, angle, base_angle, runway_length)
loc = Location()
wp_add(loc,DO_JUMP,jump_target,-1)

wp_add(loc,JUMP_TAG,0,0)

loc = loc_copy(basepos)
loc:offset_bearing(angle,APPROACH_DIST_MAX - step*i)
loc:offset_bearing(base_angle,BASE_DIST)
Expand Down Expand Up @@ -827,7 +831,7 @@ function update()

if t - last_mission_setup_t >= 1.0 then
last_mission_setup_t = t
if auto_mission_enabled() then
if auto_select_enabled() then
get_glide_slope()
get_landing_AMSL()
end
Expand All @@ -841,7 +845,7 @@ function update()
elseif t - last_mission_update_t >= 1.0 then
last_mission_update_t = t
notify:handle_rgb(0,255,0,0)
if auto_mission_enabled() then
if auto_select_enabled() then
mission_update()
end
if release_t > 0 then
Expand Down
15 changes: 14 additions & 1 deletion libraries/SITL/SIM_SA_GD2000.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,18 @@ const AP_Param::GroupInfo SA_GD2000::var_info[] = {
// @Units: m
AP_GROUPINFO("ALT", 2, SA_GD2000, params.launch_alt, 3810), // 3810m == 12500 ft

// @Param: VEL
// @DisplayName: launch velocity
// @Description: launch velocity
// @Units: m/s
AP_GROUPINFO("VEL", 3, SA_GD2000, params.launch_vel, 10),

// @Param: DIR
// @DisplayName: launch direction
// @Description: launch direction
// @Units: degrees
AP_GROUPINFO("DIR", 4, SA_GD2000, params.launch_dir, 0),

AP_GROUPEND
};

Expand Down Expand Up @@ -90,7 +102,8 @@ void SA_GD2000::update(const struct sitl_input &input)
if (!has_launched) {
// we're in a pre-launch state cruising in the launch vehicle (like a C-130)
position.z = -1 * params.launch_alt; // 3810 == 12500ft
velocity_ef.x = 10;
velocity_ef.x = cos(radians(params.launch_dir)) * params.launch_vel;
velocity_ef.y = sin(radians(params.launch_dir)) * params.launch_vel;

if (hal.util->get_soft_armed()) {
has_launched = true;
Expand Down
2 changes: 2 additions & 0 deletions libraries/SITL/SIM_SA_GD2000.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,8 @@ class SA_GD2000 : public Plane {
struct {
AP_Float mass;
AP_Float launch_alt;
AP_Float launch_vel;
AP_Float launch_dir;
} params;

/*
Expand Down