Add bouncy flight script

bouncy-flight.js

+/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
+/*global console, me*/
+
+   (function (console, me) {
+     "use strict";
+   
+     var EPSILON = 9,
+       FLIGH_ALTITUDE = 100,
+       PARACHUTE_ALTITUDE = 35,
+       CHECKPOINT_LIST = [
+         {
+           "altitude": 604,
+           "latitude": 45.641,
+           "longitude": 14.26472
+         },
+         {
+           "altitude": 642,
+           "latitude": 45.6463889,
+           "longitude": 14.2516
+         },
+         {
+           "altitude": 596,
+           "latitude": 45.656,
+           "longitude": 14.2516
+         },
+         {
+           "altitude": 634,
+           "latitude": 45.65916,
+           "longitude": 14.255
+         },
+         {
+           "altitude": 676,
+           "latitude": 45.6527,
+           "longitude": 14.2775
+         },
+         {
+           "altitude": 589,
+           "latitude": 45.6427,
+           "longitude": 14.2519
+         },
+         {
+           "altitude": 582,
+           "latitude": 45.641,
+           "longitude": 14.254
+         },
+         {
+           "altitude": 686,
+           "latitude": 45.6558,
+           "longitude": 14.2775
+         },
+         {
+           "altitude": 667,
+           "latitude": 45.6594,
+           "longitude": 14.271
+         },
+         {
+           "altitude": 581,
+           "latitude": 45.641,
+           "longitude": 14.258
+         },
+         {
+           "altitude": 584,
+           "latitude": 45.653,
+           "longitude": 14.2516
+         },
+         {
+           "altitude": 633,
+           "latitude": 45.6594,
+           "longitude": 14.26194
+         },
+         {
+           "altitude": 621,
+           "latitude": 45.641,
+           "longitude": 14.2716
+         },
+         {
+           "altitude": 642,
+           "latitude": 45.644,
+           "longitude": 14.2775
+         },
+         {
+           "altitude": 660,
+           "latitude": 45.6594,
+           "longitude": 14.26638
+         },
+         {
+           "altitude": 591,
+           "latitude": 45.6508,
+           "longitude": 14.25194
+         }
+       ];
+   
+     function distance(lat1, lon1, lat2, lon2) {
+       var R = 6371e3, // meters
+         la1 = lat1 * Math.PI / 180, // la, lo in radians
+         la2 = lat2 * Math.PI / 180,
+         lo1 = lon1 * Math.PI / 180,
+         lo2 = lon2 * Math.PI / 180,
+         haversine_phi = Math.pow(Math.sin((la2 - la1) / 2), 2),
+         sin_lon = Math.sin((lo2 - lo1) / 2),
+         h = haversine_phi + Math.cos(la1) * Math.cos(la2) * sin_lon * sin_lon;
+       return 2 * R * Math.asin(Math.sqrt(h));
+     }
+   
+     function exit_on_fail(ret, msg) {
+       if (ret) {
+         console.log(msg);
+         me.exit(1);
+       }
+     }
+   
+     function mustWait(timestamp) {
+       if (me.timestamp === 0) {
+         me.timestamp = timestamp;
+       }
+       return timestamp - me.timestamp < me.must_wait;
+     }
+   
+     function groundLevel(drone) {
+       return drone.getAltitudeAbs() - drone.getCurrentPosition().z;
+     }
+   
+     me.onStart = function () {
+       me.direction_set = false;
+       me.landing_alt_reached = false;
+       me.next_checkpoint = 0;
+       me.parachute_triggered = false;
+     };
+   
+     me.onUpdate = function (timestamp) {
+       if (me.must_wait > 0) {
+         if (!mustWait(timestamp)) {
+           me.must_wait = 0;
+           me.timestamp = 0;
+         }
+         return;
+       }
+   
+       if (!me.direction_set) {
+         if (me.next_checkpoint < CHECKPOINT_LIST.length) {
+           exit_on_fail(
+             me.setTargetCoordinates(
+               CHECKPOINT_LIST[me.next_checkpoint].latitude,
+               CHECKPOINT_LIST[me.next_checkpoint].longitude,
+               CHECKPOINT_LIST[me.next_checkpoint].altitude + FLIGH_ALTITUDE
+             ),
+             "Failed to set checkpoint coordinates"
+           );
+           console.log(`[DEMO] Going to Checkpoint ${me.next_checkpoint}\n`);
+         } else {
+           me.loiter();
+           console.log("[DEMO] Going to landing altitude...\n");
+           me.landing_altitude = groundLevel(me) + PARACHUTE_ALTITUDE;
+           exit_on_fail(
+             me.setAltitude(me.landing_altitude),
+             "Failed to set landing altitude"
+           );
+         }
+         me.direction_set = true;
+         return;
+       }
+   
+       if (me.next_checkpoint < CHECKPOINT_LIST.length) {
+         me.current_position = me.getCurrentPosition();
+         me.distance = distance(
+           me.current_position.x,
+           me.current_position.y,
+           CHECKPOINT_LIST[me.next_checkpoint].latitude,
+           CHECKPOINT_LIST[me.next_checkpoint].longitude
+         );
+         if (me.distance > EPSILON) {
+           console.log(
+             `Waiting for drone to get to destination (${me.distance} m)`);
+         } else {
+           console.log(`[DEMO] Reached Checkpoint ${me.next_checkpoint}\n`);
+           me.next_checkpoint += 1;
+           me.direction_set = false;
+         }
+         return;
+       }
+   
+       if (!me.landing_alt_reached) {
+         me.landing_alt_reached = altitudeReached(
+           me.getAltitudeAbs(),
+           me.landing_altitude
+         );
+         return;
+       }
+   
+       if (!me.parachute_triggered) {
+         console.log("[DEMO] Deploying parachute...");
+         exit_on_fail(me.triggerParachute(), "Failed to deploy parachute");
+         me.parachute_triggered = true;
+       }
+   
+       if (me.landed()) {
+         me.exit(0);
+       }
+     };
+   }(console, me));
+   
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