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tricks.lua
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tricks.lua
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--
--
-- **TRICK ON A SWITCH v0.91**
-- by Mactac
-- contact:
-- www.youtube.com/mactacfpv
-- www.instagram.com/mactac
-- p a u l (at) w a g o r n (dot) c o m
-- **Licence:** Creative commons Attribution-NonCommercial-ShareAlike
-- https://creativecommons.org/licenses/by-nc-sa/2.5/
-- You may: Share and adapt this work only for NON-COMMERCIAL purposes
-- You must give appropriate credit and indicate if changes were made.
-- The header above and this licence must remain intact on redistribution.
-- If you remix, transform, or build upon the material, you must distribute
-- your contributions under the same license as this original.
----------------------------------------------------------------------------------------
--
-- >>>>> **WARNING** <<<<<
-- This script takes control of your sticks! Be VERY careful using the script,
-- especially if you make modifications. Always test in a simulator before using
-- it on a live quad. Things can go VERY wrong, including flyaways, or full throttle
-- loss of control, and potential personal injury.
-- By using this script, you hereby take full responsibility for damage to property
-- or injuries to you or others that takes place directly or indirectly from its use.
-- Provided with no guarantees or warranties of any type. If you don't know what you're
-- doing, you may very well lose a quad or hurt yourself or someone else.... it's all on you!
-- **THIS SCRIPT WILL NOT WORK FOR YOU** without modifications- see the notes below.
-- You will need to edit the trick timing (& maybe switch assignments) if you want it to
-- work with your setup.
-- **Trick settings:**
-- up to 3 tricks on one 3-position switch (could multiplex switches for more tricks)
-- each trick consists of one or more moves
-- each move contains stick positions and time to hold each move in 10ms increments
-- sticks go from -1024 to 1024 at full deflections.
-- syntax is: trick[Trick number][move number] = {time,throttle,yaw,roll,pitch}
-- Tricks can have as many moves as you want, just end the trick with all zeroes
-- **Rates:**
-- These times and stick movements are set up for MY rates. You will have to adjust
-- them to suit your own rates- there is very little chance that these values will work
-- for you.
-- If you want to flip 180 degrees, you will want to look at your degrees/second of your
-- rates and divide to find how long the stick should be held. For example, if you are
-- set to 800 degrees per second for your pitch and want to flip 180, 180 divided by 800
-- equals 0.225 seconds if you use full stick throw ( which is a value of 1024). Times
-- in open tx are in 10ms increments, so .225s = 225ms = a time value of 22 or 23.
-- So in this example, that segment of the trick for a 180 flip would be {22,-1000,0,0, 1024}
--
-- If you do no want to use full stick deflection (for example you you are mixing roll with
-- a bit of yaw), you can use this calculator to figure out the percentage of stick deflection
-- based on degrees per second: https://apocolipse.github.io/RotorPirates/ just keep in
-- mind that sticks go from -1024 to 1024, so 100% is 1024, and 50% would be 512.
-- **Still do do:**
-- Allow rates, expo, rc expo to be entered to automatically calculate stick deflections
-- Panic button (resets everything & aborts in the middle of a trick)
trick = {{}, {}, {}}
-- Inverted Yaw spin
trick[1][1] = {26,-1024,0,0,-1000}
trick[1][2] = {71,-1024,-1000,0,0}
trick[1][3] = {18,-1024,0,0,-1000}
trick[1][4] = {0,0,0,0,0}
-- Backwards knife edge
trick[2][1] = {23,-1024,0,0,-1000}
trick[2][2] = {10,-1024,-840,1000,0}
trick[2][3] = {0,0,0,0,0}
-- Rubik's cube
trick[3][1] = {24,-1024,0,0,-1000}
trick[3][2] = {24,-1024,0,-1000,0}
trick[3][3] = {24,-1024,0,0,1000}
trick[3][4] = {24,-1024,0,1000,0}
trick[3][5] = {0,0,0,0,0}
-- Switch assignments
-- You can change these around based on how your Taranis is set up.
-- Just make sure you use the correct switch types (ie 3 position or momentary)
local seg_switch = "sa" -- switch to select only one move of trick (3 position switch) for adjusting timing, etc
local sel_switch = "se" -- switch to select which trick to do (3 position switch)
local go_switch = "sh" -- switch to execute trick (should be a momentary switch)
local disable_switch = "sc" -- switch to turn tricks on/off or act as a panic. Center = enabled, any other position = disabled
-- Other variables
local elapsed_time
local move = 0
local started = 0
local start_time = 0
local skip = 0
local move_time =0
local timing_mod = {}
local display_timer = 0
local return1 = 0
local return2 = 0
-- Outputs
local thr = 0
local yaw = 0
local roll = 0
local pitch = 0
local inputs = {
{"orig_thr", SOURCE},
{"orig_yaw", SOURCE},
{"orig_roll", SOURCE},
{"orig_pitch", SOURCE}
}
local outputs = { "thr", "yaw", "roll", "pitch","t1,3","t2,4"}
-- Maximum 4 characters
local function run(orig_thr,orig_yaw,orig_roll,orig_pitch)
-- Get potentiometer values from radio for adjusting move times
timing_mod[1] = getValue('s1')*.02 -- left knob. Current range is 0-100ms increase the 0.2 number for greater range
timing_mod[2] = getValue('s2')*.02 -- right knob
timing_mod[3] = getValue('ls')*.02 -- left trim slider (Remove for QX7)
timing_mod[4] = getValue('rs')*.02 -- right trim slider (Remove for QX7)
-- The following section cycles the output display between trimpots 1&2 and 3&4.
-- If you have a QX7, you don't have trimpots 3&4, so you can change this whole block to just:
-- return1 = getValue('s1')*.1
-- return2 = getValue('s2')*.1
if getTime() - display_timer > 600 then
return1 = getValue('ls')*.1
return2 = getValue('rs')*.1
display_timer = getTime()
elseif getTime() - display_timer > 200 then
return1 = getValue('s1')*.1
return2 = getValue('s2')*.1
end
-- which trick are we doing?
if getValue(sel_switch) > 0 then
trick_num = 3
elseif getValue(sel_switch) == 0 then
trick_num = 2
else
trick_num = 1
end
if getValue(go_switch) > 1 and started == 0 then -- if trick not alrady started, then launch
started = 1
move = 1
end
local segment = getValue(seg_switch) -- choose single trick segment (only segment #1 or #2) for tuning, center means do full trick
if started == 1 and trick[trick_num][move][1] > 0 and getValue(disable_switch) == 0 then -- make sure we are not at end of trick
if start_time == 0 then -- start of a new move, reset timer
start_time = getTime()
end
elapsed = getTime() - start_time
if (move ~= 2 and segment > 0) or (move ~= 1 and segment < 0) then -- skip all moves except selected segment (1 or 2)
-- if single segment chosen, otherwise don't skip anything
skip = 1
else
skip =0
end
if move < 5 then -- Change this to 3 instead of 5 for QX7
move_time = trick[trick_num][move][1] + timing_mod[move]
else
move_time = trick[trick_num][move][1]
end
if elapsed < move_time and skip ~= 1 then -- do this until we reach end time for the move
thr = trick[trick_num][move][2]
yaw = trick[trick_num][move][3]
roll = trick[trick_num][move][4]
pitch= trick[trick_num][move][5]
else
start_time = 0 -- go to next move, reset sticks so no overshoot
yaw = 0
pitch = 0
roll = 0
thr = -1000
move = move + 1
end
else -- no trick in progress, default to mirroring sticks
yaw = orig_yaw
thr = orig_thr
roll = orig_roll
pitch = orig_pitch
start_time = 0
started = 0
move = 1
end
-- Return the values. Note that in addition to the 4 axes, we are also returning the value
-- of 2 of the knobs. The reason for that is that after we tune the timing with the knobs,
-- we can see their exact values and adjust the timing of the moves exactly. OpenTX only
-- supports 6 returns, so we can't put all 4 of the potentiometers here. The output cycles
-- the knobs (1&2) and the sliders (3&4) (QX7 only supports the 2 knobs)
return thr, yaw, roll, pitch,return1,return2
end
return { input=inputs, output=outputs, run=run }