Lua binding to set airspeed for a fixed wing Plane

ArduPlane/ArduPlane.cpp

@@ -963,6 +963,18 @@ bool Plane::flight_option_enabled(FlightOptions flight_option) const
     return g2.flight_options & flight_option;
 }
 
+#if AP_SCRIPTING_ENABLED
+// 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->can_override_throttle()) {
+        plane.new_airspeed_cm = constrain_float(airspeed_new, aparm.airspeed_min, aparm.airspeed_max) * 100.0f;
+        return true;
+    }
+    return false;
+}
+#endif
+
 #if AC_PRECLAND_ENABLED
 void Plane::precland_update(void)
 {

ArduPlane/Plane.h

@@ -1045,6 +1045,9 @@ class Plane : public AP_Vehicle {
     void update_flight_stage();
     void set_flight_stage(AP_FixedWing::FlightStage fs);
     bool flight_option_enabled(FlightOptions flight_option) const;
+#if AP_SCRIPTING_ENABLED
+    bool set_desired_airspeed(float airspeed_new) override;    // different from set_desired_speed() in rover and copter
+#endif
 
     // navigation.cpp
     void loiter_angle_reset(void);

ArduPlane/mode.h

@@ -118,6 +118,10 @@ class Mode
     // true if the mode sets the vehicle destination, which controls
     // whether control input is ignored with STICK_MIXING=0
     virtual bool does_auto_throttle() const { return false; }
+
+    // flags if the throttle can be overriden by setting new_airspeed_cm
+    // eventually it should return does_auto_throttle() but for now this is not correct
+    virtual bool can_override_throttle() const { return false; }
 
     // true if the mode supports autotuning (via switch for modes other
     // that AUTOTUNE itself
@@ -225,7 +229,9 @@ class ModeAuto : public Mode
     bool does_auto_navigation() const override;
 
     bool does_auto_throttle() const override;
-
+
+    bool can_override_throttle() const override { return does_auto_throttle(); }
+
     bool mode_allows_autotuning() const override { return true; }
 
     bool is_landing() const override;
@@ -301,6 +307,8 @@ class ModeGuided : public Mode
 
     bool does_auto_throttle() const override { return true; }
 
+    bool can_override_throttle() const override { return does_auto_throttle(); }
+
     // handle a guided target request from GCS
     bool handle_guided_request(Location target_loc) override;
 

libraries/AP_Scripting/docs/docs.lua

@@ -2427,6 +2427,11 @@ function vehicle:nav_scripting_enable(param1) end
 ---@return boolean
 function vehicle:set_desired_speed(param1) end
 
+-- Set autopilot desired airspeed (Plane)
+---@param airspeed_new number -- new airspeed in m/s
+---@return boolean -- true if successful
+function vehicle:set_desired_airspeed(airspeed_new) end
+
 -- desc
 ---@param param1 number
 ---@param param2 number

libraries/AP_Scripting/examples/plane-set-airspeed.lua

@@ -0,0 +1,46 @@
+--[[
+   demonstrate setting the airspeed for a plane in fixed wing mode
+--]]
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+local AUX_FN = 300
+local last_sw = -1
+
+--[[
+   If the user changes the position of the scripting switch choose either
+   LOW: AIRSPEED_MIN
+   MID: AIRSPEED_CRUISE
+   HIGH: AIRSPEED_MAX
+--]]
+local function set_desired_speed()
+    local sw_current = rc:get_aux_cached(AUX_FN)
+    if not sw_current then
+       -- ignore untill the user flips the switch
+       return
+    end
+    if sw_current ~= last_sw then
+        last_sw = sw_current
+        if sw_current == 0 then
+           new_airspeed = Parameter("AIRSPEED_MIN"):get()
+           gcs:send_text(MAV_SEVERITY.INFO, string.format("Speed set to AIRSPEED_MIN %f", new_airspeed))
+        elseif sw_current == 1 then
+            new_airspeed = Parameter("AIRSPEED_CRUISE"):get()
+            gcs:send_text(MAV_SEVERITY.INFO, string.format("Speed set to AIRSPEED_CRUISE %f", new_airspeed))
+        else
+            new_airspeed = Parameter("AIRSPEED_MAX"):get()
+            gcs:send_text(MAV_SEVERITY.INFO, string.format("Speed set to AIRSPEED_MAX %f", new_airspeed))
+        end
+        if not vehicle:set_desired_airspeed(new_airspeed) then
+            gcs:send_text(MAV_SEVERITY.ERROR, string.format("Failed to set airspeed"))
+        end
+     end
+end
+
+local function update()
+   if arming:is_armed() then
+      set_desired_speed()
+   end
+   return update, 1000
+end
+
+return update, 1000

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 nav_scripting_enable boolean uint8_t'skip_check
 singleton AP_Vehicle method set_velocity_match boolean Vector2f
 singleton AP_Vehicle method set_land_descent_rate boolean float'skip_check

libraries/AP_Vehicle/AP_Vehicle.h

@@ -184,6 +184,7 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     virtual bool set_target_velocity_NED(const Vector3f& vel_ned) { return false; }
     virtual bool set_target_velaccel_NED(const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }
     virtual bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) { return false; }
+    virtual bool set_guided_radius_and_direction(float radius, bool direction_is_ccw) { return false; }
 
     // command throttle percentage and roll, pitch, yaw target
     // rates. For use with scripting controllers
@@ -209,6 +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) {}