AP_Scripting: merge

libraries/AP_Scripting/applets/slung-payload.lua

@@ -77,7 +77,10 @@ function handle_global_position_int(msg)
     return true
 end
 
+-- update function to receive location from payload and move vehicle to reduce payload's oscillation
 function update()
+
+    -- consume mavlink messages from payload
     local msg, chan = mavlink:receive_chan()
     if (msg ~= nil) then
         local parsed_msg = mavlink_msgs.decode(msg, msg_map)
@@ -92,6 +95,11 @@ function update()
         end
     end
 
+    -- if vehicle is in GUIDED mode and payload's location has been received recently
+    -- run controller to calculate vehicle's desired velocity
+    -- apply acceleration limit to the desired velocity
+    -- send desired velocity to vehicle
+
     return update, UPDATE_INTERVAL_MS
 end