Various: Plane scripted follow checkpoint

ArduPilot · Jun 24, 2024 · ac0e125 · ac0e125
1 parent 696f489
commit ac0e125
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Showing 4 changed files with 14 additions and 6 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -865,6 +865,7 @@ bool Plane::update_target_location(const Location &old_loc, const Location &new_
      */
     if (!old_loc.same_loc_as(next_WP_loc) ||
         old_loc.get_alt_frame() != new_loc.get_alt_frame()) {
+                   gcs().send_text(MAV_SEVERITY_NOTICE, "location diff %d %d", old_loc.same_loc_as(next_WP_loc), old_loc.get_alt_frame() != new_loc.get_alt_frame());
         return false;
     }
     next_WP_loc = new_loc;
@@ -967,19 +968,17 @@ bool Plane::flight_option_enabled(FlightOptions flight_option) const
 // this implements the virtual function defined in AP_Vehicle for Plane to set the desired airspeed in m/s
 bool Plane::set_desired_airspeed(float airspeed_new)
 {
-    if (control_mode == &mode_guided || control_mode == &mode_auto) {
+    if (control_mode->is_guided_mode() || control_mode == &mode_auto) {
         plane.new_airspeed_cm = constrain_float(airspeed_new, aparm.airspeed_min, aparm.airspeed_max) * 100.0f;
         return true;
     }
     return false;
 }
-#endif
 
-#if AP_SCRIPTING_ENABLED
-// Helper function to let scripting set the guided mode radius
+// Helper function to let scripting set the guided mode radius this implements 
 bool Plane::set_guided_radius_and_direction(float radius, bool direction_is_ccw)
 {
-    if (control_mode->mode_number() == Mode::GUIDED) {
+    if (control_mode->is_guided_mode()) {
         plane.mode_guided.set_radius_and_direction(radius, direction_is_ccw);
         return true;
     }

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
@@ -2427,10 +2427,15 @@ function vehicle:nav_scripting_enable(param1) end
 ---@return boolean  -- success
 function vehicle:set_desired_speed(param1) end
 
+-- desc sets autopilot desired airspeed (Plane)
+---@param airspeed_new number -- new airspeed in m/s
+---@return boolean
+function vehicle:set_desired_airspeed(airspeed_new) end
+
 -- desc set the guided mode radious and direction used for the final loiter at the target
 ---@return boolean
 ---@param radius float
----@param direction_is_ccw boolean
+---@param direction_is_ccw boolean 
 function vehicle:set_guided_radius_and_direction() end
 
 -- desc

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -339,6 +339,7 @@ singleton AP_Vehicle method set_target_throttle_rate_rpy void float -100 100 flo
 singleton AP_Vehicle method set_rudder_offset void float'skip_check boolean
 singleton AP_Vehicle method set_desired_turn_rate_and_speed boolean float'skip_check float'skip_check
 singleton AP_Vehicle method set_desired_speed boolean float'skip_check
+singleton AP_Vehicle method set_desired_airspeed boolean float'skip_check
 singleton AP_Vehicle method set_guided_radius_and_direction boolean float'skip_check boolean
 singleton AP_Vehicle method nav_scripting_enable boolean uint8_t'skip_check
 singleton AP_Vehicle method set_velocity_match boolean Vector2f

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -210,6 +210,9 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
    // set auto mode speed in meters/sec (for use by scripting with Copter/Rover)
     virtual bool set_desired_speed(float speed) { return false; }
 
+    // set auto mode airspeed in meters/sec (for use by scripting with Plane)
+    virtual bool set_desired_airspeed(float airspeed_new) { return false; }
+
     // support for NAV_SCRIPT_TIME mission command
     virtual bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) { return false; }
     virtual void nav_script_time_done(uint16_t id) {}