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AP_Scripting: applets: fix luacheck issues in sport aerobattics and script controller #28940

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AP_Scripting: applets: fix luacheck issues in sport aerobattics and script controller #28940

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43 changes: 12 additions & 31 deletions libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,9 @@ cmd = 3: rolling circle, arg1 = yaw rate, arg2 = roll rate
cmd = 4: knife edge at any angle, arg1 = roll angle to hold, arg2 = duration
cmd = 5: pause, holding heading and alt to allow stabilization after a move, arg1 = duration in seconds
]]--
-- luacheck: only 0
---@diagnostic disable: param-type-mismatch
---@diagnostic disable: need-check-nil
---@diagnostic disable: cast-local-type
---@diagnostic disable: undefined-global

DO_JUMP = 177
k_throttle = 70
Expand All @@ -29,13 +27,12 @@ local HGT_P = bind_add_param('HGT_P',1,1) -- height P gain
local HGT_I = bind_add_param("HGT_I",2,1) -- height I gain
local HGT_KE_BIAS = bind_add_param("KE_ADD",3,20) -- height knifeedge addition for pitch
local THR_PIT_FF = bind_add_param("PIT_FF",4,80) -- throttle FF from pitch
local SPD_P = bind_add_param("SPD_P",5,5) -- speed P gain
local SPD_I = bind_add_param("SPD_I",6,25) -- speed I gain
-- 5 was "SPD_P" speed P gain
-- 6 was "SPD_I" speed I gain
local TRIM_THROTTLE = Parameter("TRIM_THROTTLE")
local RLL2SRV_TCONST = Parameter("RLL2SRV_TCONST")
local PITCH_TCONST = Parameter("PTCH2SRV_TCONST")

local last_roll_err = 0.0
local last_id = 0
local initial_yaw_deg = 0
local wp_yaw_deg = 0
Expand Down Expand Up @@ -65,10 +62,10 @@ function bind_add_param2(name, idx, default_value)
assert(param:add_param(PARAM_TABLE_KEY2, idx, name, default_value), string.format('could not add param %s', name))
return Parameter(PARAM_TABLE_PREFIX2 .. name)
end
local TRICKS = nil
local TRIK_SEL_FN = nil
local TRIK_ACT_FN = nil
local TRIK_COUNT = nil
local TRICKS
local TRIK_SEL_FN
local TRIK_ACT_FN
local TRIK_COUNT

-- constrain a value between limits
function constrain(v, vmin, vmax)
Expand Down Expand Up @@ -131,7 +128,7 @@ end
--roll controller to keep wings level in earth frame. if arg is 0 then level is at only 0 deg, otherwise its at 180/-180 roll also for loops
function earth_frame_wings_level(arg)
local roll_deg = math.deg(ahrs:get_roll())
local roll_angle_error = 0.0
local roll_angle_error
if (roll_deg > 90 or roll_deg < -90) and arg ~= 0 then
roll_angle_error = 180 - roll_deg
else
Expand Down Expand Up @@ -166,7 +163,6 @@ local function PI_controller(kP,kI,iMax)
-- private fields as locals
local _kP = kP or 0.0
local _kI = kI or 0.0
local _kD = kD or 0.0
local _iMax = iMax
local _last_t = nil
local _I = 0
Expand Down Expand Up @@ -254,7 +250,6 @@ local function height_controller(kP_param,kI_param,KnifeEdge_param,Imax)
end

local height_PI = height_controller(HGT_P, HGT_I, HGT_KE_BIAS, 20.0)
local speed_PI = PI_controller(SPD_P:get(), SPD_I:get(), 100.0)

-- a controller to target a zero pitch angle and zero heading change, used in a roll
-- output is a body frame pitch rate, with convergence over time tconst in seconds
Expand Down Expand Up @@ -305,7 +300,6 @@ function do_axial_roll(arg1, arg2)
gcs:send_text(5, string.format("Starting %d Roll(s)", arg2))
end
local roll_rate = arg1
local pitch_deg = math.deg(ahrs:get_pitch())
local roll_deg = math.deg(ahrs:get_roll())

if trick_stage == 0 then
Expand Down Expand Up @@ -364,7 +358,7 @@ function do_loop(arg1, arg2)
local roll_deg = math.deg(ahrs:get_roll())
local vel = ahrs:get_velocity_NED():length()
local pitch_rate = arg1
local pitch_rate = pitch_rate * (1+ 2*((vel/target_vel)-1)) --increase/decrease rate based on velocity to round loop
pitch_rate = pitch_rate * (1+ 2*((vel/target_vel)-1)) --increase/decrease rate based on velocity to round loop
pitch_rate = constrain(pitch_rate,.5 * arg1, 3 * arg1)

if trick_stage == 0 then
Expand Down Expand Up @@ -400,7 +394,6 @@ function do_loop(arg1, arg2)
return
end
end
throttle = throttle_controller()
if trick_stage == 2 or trick_stage == 0 then
level_type = 0
else
Expand Down Expand Up @@ -430,9 +423,6 @@ function do_rolling_circle(arg1, arg2)
end
local yaw_rate_dps = arg1
local roll_rate_dps = arg2
local pitch_deg = math.deg(ahrs:get_pitch())
local roll_deg = math.deg(ahrs:get_roll())
local yaw_deg = math.deg(ahrs:get_yaw())
local now_ms = millis()
local dt = (now_ms - circle_last_ms):tofloat() * 0.001
circle_last_ms = now_ms
Expand Down Expand Up @@ -467,7 +457,7 @@ function do_rolling_circle(arg1, arg2)
end
end

local knife_edge_ms = 0
local knife_edge_s = 0
function do_knife_edge(arg1,arg2)
-- arg1 is angle +/-180, duration is arg2
local now = millis():tofloat() * 0.001
Expand All @@ -477,7 +467,6 @@ function do_knife_edge(arg1,arg2)
knife_edge_s = now
gcs:send_text(5, string.format("Starting %d Knife Edge", arg1))
end
local i=0
if (now - knife_edge_s) < arg2 then
local roll_deg = math.deg(ahrs:get_roll())
local roll_angle_error = (arg1 - roll_deg)
Expand Down Expand Up @@ -506,7 +495,7 @@ function do_knife_edge(arg1,arg2)
end

-- fly level for a time..allows full altitude recovery after trick
function do_pause(arg1,arg2)
function do_pause(arg1,_)
-- arg1 is time of pause in sec, arg2 is unused
local now = millis():tofloat() * 0.001
if not running then
Expand All @@ -515,7 +504,6 @@ function do_pause(arg1,arg2)
knife_edge_s = now
gcs:send_text(5, string.format("%d sec Pause", arg1))
end
local i=0
if (now - knife_edge_s) < arg1 then
roll_rate = earth_frame_wings_level(0)
target_pitch = height_PI.update(initial_height)
Expand All @@ -534,11 +522,7 @@ function do_pause(arg1,arg2)
end
end


local circle_yaw = 0
local circle_last_ms = 0

function do_knifedge_circle(arg1, arg2)
function do_knifedge_circle(arg1, _)
-- constant roll angle circle , arg1 yaw rate, positive to right, neg to left, arg2 is not used
if not running then
running = true
Expand All @@ -549,8 +533,6 @@ function do_knifedge_circle(arg1, arg2)
gcs:send_text(5, string.format("Staring KnifeEdge Circle"))
end
local yaw_rate_dps = arg1
local pitch_deg = math.deg(ahrs:get_pitch())
local yaw_deg = math.deg(ahrs:get_yaw())
local now_ms = millis()
local dt = (now_ms - circle_last_ms):tofloat() * 0.001
circle_last_ms = now_ms
Expand Down Expand Up @@ -621,7 +603,6 @@ function do_4point_roll(arg1, arg2)
height_PI.reset()
gcs:send_text(5, string.format("Starting 4pt Roll"))
end
local pitch_deg = math.deg(ahrs:get_pitch())
local roll_deg = math.deg(ahrs:get_roll())

if trick_stage == 0 then
Expand Down Expand Up @@ -844,7 +825,7 @@ function check_trick()
gcs:send_text(0, string.format("No trick selected"))
return 0
end
local id = TRICKS[selection].id:get()
id = TRICKS[selection].id:get()
if action == 1 then
gcs:send_text(5, string.format("Trick %u selected (%s)", id, name[id]))
return 0
Expand Down
8 changes: 3 additions & 5 deletions libraries/AP_Scripting/applets/Script_Controller.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@
a script to select other lua scripts using an auxillary switch from
/1 /2 or /3 subdirectories of the scripts directory
--]]
-- luacheck: only 0
---@diagnostic disable: param-type-mismatch


Expand Down Expand Up @@ -125,7 +124,7 @@ function remove_scripts(subdir)
return false
end
local ret = false
for k,v in ipairs(dlist) do
for _,v in ipairs(dlist) do
local suffix = v:sub(-4)
if compare_strings_ci(suffix,".LUA") and not compare_strings_ci(v,THIS_SCRIPT) then
if not file_exists(subdir .. "/" .. v) then
Expand All @@ -148,7 +147,7 @@ function copy_scripts(subdir)
end
local ret = false
local sdir = get_scripts_dir()
for k, v in ipairs(dlist) do
for _, v in ipairs(dlist) do
local suffix = v:sub(-4)
if compare_strings_ci(suffix,".LUA") and not compare_strings_ci(v,THIS_SCRIPT) then
local src = subdir .. "/" .. v
Expand Down Expand Up @@ -184,12 +183,11 @@ function mission_load(n)
local index = 0
local fail = false
while true and not fail do
local data = {}
local line = file:read()
if not line then
break
end
local ret, _, seq, curr, frame, cmd, p1, p2, p3, p4, x, y, z, autocont = string.find(line, "^(%d+)%s+(%d+)%s+(%d+)%s+(%d+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+(%d+)")
local ret, _, seq, _--[[ curr ]], frame, cmd, p1, p2, p3, p4, x, y, z, _--[[ autocont ]] = string.find(line, "^(%d+)%s+(%d+)%s+(%d+)%s+(%d+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+(%d+)")
if not ret then
fail = true
break
Expand Down
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