From 8746d191f9c91e05097e71c756f87d19925f0f0a Mon Sep 17 00:00:00 2001
From: TwistedWings <jan.bolt@web.de>
Date: Tue, 25 Nov 2025 20:53:50 +0100
Subject: [PATCH 1/6] Quickshots

Quickshots
---
 .../examples/FlyViewMavlinkActions.json       |  37 ++
 .../AP_Scripting/examples/QuickShots.lua      | 431 ++++++++++++++++++
 libraries/AP_Scripting/examples/Quickshots.md |  47 ++
 3 files changed, 515 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/FlyViewMavlinkActions.json
 create mode 100644 libraries/AP_Scripting/examples/QuickShots.lua
 create mode 100644 libraries/AP_Scripting/examples/Quickshots.md

diff --git a/libraries/AP_Scripting/examples/FlyViewMavlinkActions.json b/libraries/AP_Scripting/examples/FlyViewMavlinkActions.json
new file mode 100644
index 0000000000000..14b9df01b50d2
--- /dev/null
+++ b/libraries/AP_Scripting/examples/FlyViewMavlinkActions.json
@@ -0,0 +1,37 @@
+{
+    "version":    1,
+    "fileType":   "MavlinkActions",
+    "actions":
+[
+{
+    "label":        "Dronie",
+    "description":  "Dronie Mission",
+    "mavCmd":       31010,
+    "param1":       1,
+    "param2":       50,
+    "param3":       30,
+    "param4":       8,
+    "param5":       1
+},
+{
+    "label":        "Rocket",
+    "description":  "Rocket Mission",
+    "mavCmd":       31010,
+    "param1":       2,
+    "param2":       0,
+    "param3":       30,
+    "param4":       8,
+    "param5":       1
+},
+{
+    "label":        "Helix",
+    "description":  "Helix Mission",
+    "mavCmd":       31010,
+    "param1":       3,
+    "param2":       50,
+    "param3":       30,
+    "param4":       8,
+    "param5":       1
+}
+]
+}
diff --git a/libraries/AP_Scripting/examples/QuickShots.lua b/libraries/AP_Scripting/examples/QuickShots.lua
new file mode 100644
index 0000000000000..e7cdd3ac0fa37
--- /dev/null
+++ b/libraries/AP_Scripting/examples/QuickShots.lua
@@ -0,0 +1,431 @@
+-- Copter QuickShots
+-- Dronie, Rocket, Helix
+--
+-- triggered by MAVLink MAV_CMD_USER_1 (31010)
+-- param1 QuickShot(1-Dronie, 2-Rocket, 3-Helix)
+-- param2 max distance
+-- param3 max altitude
+-- param4 ROI distance
+-- param5 start Mission
+--
+-- QGC MavlinkActions
+-- ~\Documents\QGroundControl\MavlinkActions\FlyViewMavlinkActions.json
+
+local maxDistance = 50
+local maxAltitude = 30
+local roiDistance = 8
+local startMission = 0
+local startAltitude = 4
+local sdDistance = 5
+local roiWP
+local bearing
+local gcs_location = Location()
+local stage = 0
+local cmdQuickShot
+
+local mavlink_msgs = require("MAVLink/mavlink_msgs")
+
+local COMMAND_ACK_ID = mavlink_msgs.get_msgid("COMMAND_ACK")
+local COMMAND_LONG_ID = mavlink_msgs.get_msgid("COMMAND_LONG")
+local GLOBAL_POSITION_INT_ID = mavlink_msgs.get_msgid("GLOBAL_POSITION_INT")
+
+local msg_map = {}
+msg_map[COMMAND_ACK_ID] = "COMMAND_ACK"
+msg_map[COMMAND_LONG_ID] = "COMMAND_LONG"
+msg_map[GLOBAL_POSITION_INT_ID] = "GLOBAL_POSITION_INT"
+
+-- initialize MAVLink rx with buffer depth and number of messages
+mavlink:init(2, 2)
+
+-- register message id to receive
+mavlink:register_rx_msgid(COMMAND_LONG_ID)
+mavlink:register_rx_msgid(GLOBAL_POSITION_INT_ID)
+
+local MAV_COMP_ID_MISSIONPLANNER = 190
+local MAV_CMD_USER_1_ID = 31010
+
+-- Block AP parsing MAV_CMD_USER_1 so we can deal with it in the script
+-- Prevents "unsupported" ack
+mavlink:block_command(MAV_CMD_USER_1_ID)
+
+function handle_command_long(cmd)
+	--gcs:send_text(6, string.format("COMMAND_LONG <%d/%d> %d", cmd.sysid, cmd.target_component, cmd.command) )
+
+	local ret = 0
+
+	if cmd.command == MAV_CMD_USER_1_ID then
+		gcs:send_text(6, string.format("MAV_CMD_USER_1_ID %d %d %d %d", cmd.param1, cmd.param2, cmd.param3, cmd.param4) )
+		if cmd.param1 < 1 or cmd.param1 > 3 then
+			gcs:send_text(0, string.format("Quick Shot %d not implemented", cmd.param1))
+			ret = 4
+		end
+		if stage ~= 0 then
+			gcs:send_text(0, "still running")
+			ret = 4
+		end
+		if arming:is_armed() then
+			gcs:send_text(0, "disarm first")
+			ret = 4
+		end
+		if not ahrs:home_is_set() then
+			gcs:send_text(0, "waiting for gps")
+			ret = 4
+		end
+		if ret == 0 then
+			cmdQuickShot = cmd.param1
+			maxDistance = cmd.param2
+			maxAltitude = cmd.param3
+			roiDistance = cmd.param4
+			startMission = cmd.param5
+			stage = 1
+		end
+	end
+
+	return ret
+end
+
+function handle_global_position_int(msg)
+	--gcs:send_text(6, string.format("position<%d.%d> %f %f %d", msg.sysid, msg.compid, msg.lat/1e7, msg.lon/1e7, msg.relative_alt/1000) )
+	if msg.compid == MAV_COMP_ID_MISSIONPLANNER then
+		gcs_location:lat(msg.lat)
+		gcs_location:lng(msg.lon)
+		gcs_location:alt(msg.relative_alt / 10)
+		gcs_location:relative_alt(true)
+	end
+end
+
+function calcWps()
+	startWp = ahrs:get_position()
+	if not startWp then
+		gcs:send_text(6, "ahrs:get_position() null")
+	end
+
+	--gcs:send_text(6, string.format("gcs_location %f %f %d", gcs_location:lat()/1e7, gcs_location:lng()/1e7, gcs_location:alt()/1000) )
+	if gcs_location:lat() ~= 0 then -- got gcs location
+		gcs:send_text(6, "got gcs location")
+		roiWP = gcs_location:copy()
+		bearing = math.deg(roiWP:get_bearing(startWp))
+	else
+		gcs:send_text(6, "no gcs location, estimate roi")
+		bearing = 180 + math.deg(ahrs:get_yaw())
+		roiWP = startWp:copy()
+		roiWP:offset_bearing(bearing, -roiDistance)
+	end
+	roiWP:alt(100)
+
+	gcs:send_text(6, "waypoints calculated")
+	stage = 2
+end
+
+function createRocket()
+	local sdAltitude = 6
+
+	local rocketWP = startWp:copy()
+	rocketWP:alt(100 * maxAltitude)
+	local sldWP = startWp:copy()
+	sldWP:alt(100 * sdAltitude)
+
+	local FRAME_GLOBAL_RELATIVE_ALT = 3
+
+	mission:clear()
+
+	--WP0 is always home
+	local homeWP = ahrs:get_home()
+	local home = mavlink_mission_item_int_t()
+	home:seq(0)
+	home:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	home:command(16) -- WP
+	home:x(homeWP:lat())
+	home:y(homeWP:lng())
+	home:z(homeWP:alt() / 100)
+	mission:set_item(0, home)
+
+	-- Takeoff
+	local to = mavlink_mission_item_int_t()
+	to:seq(1)
+	to:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	to:command(22) -- TAKEOFF
+	to:z(startAltitude)
+	mission:set_item(1, to)
+
+	-- ROI
+	local wp = mavlink_mission_item_int_t()
+	wp:seq(2)
+	wp:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	wp:command(201) -- SET_ROI
+	wp:x(roiWP:lat())
+	wp:y(roiWP:lng())
+	wp:z(roiWP:alt() / 100)
+	mission:set_item(2, wp)
+
+	-- Rocket
+	wp:seq(3)
+	wp:command(16) -- WP
+	wp:x(0)
+	wp:y(0)
+	wp:z(rocketWP:alt() / 100)
+	mission:set_item(3, wp)
+
+	-- Slow down
+	wp:seq(4)
+	wp:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	wp:z(sldWP:alt() / 100)
+	mission:set_item(4, wp)
+
+	-- Change Vertical Speed to 1m/s
+	local cs = mavlink_mission_item_int_t()
+	cs:seq(5)
+	cs:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	cs:command(178) -- CHANGE_SPEED
+	cs:param1(3) -- down
+	cs:param2(1)
+	mission:set_item(5, cs)
+
+	-- start
+	wp:seq(6)
+	wp:z(startAltitude)
+	mission:set_item(6, wp)
+
+	-- land
+	local land = mavlink_mission_item_int_t()
+	land:seq(7)
+	land:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	land:command(21) -- LAND
+	mission:set_item(7, land)
+
+	gcs:send_text(0, "Rocket mission written")
+end
+
+function createHelix()
+	local homeWP = ahrs:get_home()
+
+	local wp = startWp:copy()
+	wp:alt(100 * startAltitude)
+
+	local FRAME_GLOBAL_RELATIVE_ALT = 3
+	local itemIdx = 0
+
+	mission:clear()
+
+	--WP0 is always home
+	local m = mavlink_mission_item_int_t()
+	m:seq(itemIdx)
+	m:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	m:command(16) -- WP
+	m:x(homeWP:lat())
+	m:y(homeWP:lng())
+	m:z(homeWP:alt() / 100)
+	mission:set_item(itemIdx, m)
+	itemIdx = itemIdx + 1
+
+	-- Takeoff
+	m:seq(itemIdx)
+	m:command(22) -- TAKEOFF
+	m:z(startAltitude)
+	mission:set_item(itemIdx, m)
+	itemIdx = itemIdx + 1
+
+	-- ROI
+	m:seq(itemIdx)
+	m:command(201) -- SET_ROI
+	m:x(roiWP:lat())
+	m:y(roiWP:lng())
+	m:z(roiWP:alt() / 100)
+	mission:set_item(itemIdx, m)
+	itemIdx = itemIdx + 1
+
+	local startRadius = roiDistance
+	local radius = startRadius
+	local alt = startAltitude
+	local wp_per_cycle = 20
+	local radius_inc = (maxDistance - startRadius) / (wp_per_cycle - 1)
+	local alt_inc = (maxAltitude - startAltitude) / (wp_per_cycle - 1)
+
+	while true do
+		bearing = bearing + 360 / (wp_per_cycle-1)
+		if bearing > 360 then
+			bearing = bearing - 360
+		end
+		radius = radius + radius_inc
+		alt = alt + alt_inc
+		wp = roiWP:copy()
+		wp:offset_bearing(bearing, radius)
+		local distance = wp:get_distance(roiWP)
+		if (alt-maxAltitude) > 0.10 or (distance-maxDistance) > 0.10 then
+			break
+		end
+		m:seq(itemIdx)
+		m:command(16) -- 16 WP
+		m:x(wp:lat())
+		m:y(wp:lng())
+		m:z(alt)
+		mission:set_item(itemIdx, m)
+		itemIdx = itemIdx + 1
+	end
+
+	-- start
+	m:seq(itemIdx)
+	m:command(16) -- WP
+	local lat = startWp:lat()
+	local lng = startWp:lng()
+	m:x(lat)
+	m:y(lng)
+	m:z(startAltitude)
+	mission:set_item(itemIdx, m)
+	itemIdx = itemIdx + 1
+
+	-- land
+	m:seq(itemIdx)
+	m:command(21) -- LAND
+	m:x(0)
+	m:y(0)
+	m:z(0)
+	mission:set_item(itemIdx, m)
+
+	gcs:send_text(0, "Helix mission written")
+end
+
+function createDronie()
+	local FRAME_GLOBAL_RELATIVE_ALT = 3
+
+	local dronieWP = startWp:copy()
+	dronieWP:offset_bearing(bearing, maxDistance)
+	dronieWP:alt(100 * maxAltitude)
+
+	local sdAlt = sdDistance * (maxAltitude - startAltitude) / maxDistance + startAltitude
+	local sldWP = startWp:copy()
+	sldWP:offset_bearing(bearing, sdDistance)
+	sldWP:alt(100 * sdAlt)
+
+	mission:clear()
+
+	--WP0 is always home
+	local homeWP = ahrs:get_home()
+	local home = mavlink_mission_item_int_t()
+	home:seq(0)
+	home:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	home:command(16) -- WP
+	home:x(homeWP:lat())
+	home:y(homeWP:lng())
+	home:z(homeWP:alt() / 100)
+	mission:set_item(0, home)
+
+	-- Takeoff
+	local to = mavlink_mission_item_int_t()
+	to:seq(1)
+	to:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	to:command(22) -- TAKEOFF
+	to:z(startAltitude)
+	mission:set_item(1, to)
+
+	-- ROI
+	local wp = mavlink_mission_item_int_t()
+	wp:seq(2)
+	wp:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	wp:command(201) -- SET_ROI
+	wp:x(roiWP:lat())
+	wp:y(roiWP:lng())
+	wp:z(roiWP:alt() / 100)
+	mission:set_item(2, wp)
+
+	-- Dronie
+	wp:seq(3)
+	wp:command(16) -- WP
+	wp:x(dronieWP:lat())
+	wp:y(dronieWP:lng())
+	wp:z(dronieWP:alt() / 100)
+	mission:set_item(3, wp)
+
+	-- Slow down
+	wp:seq(4)
+	wp:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	wp:x(sldWP:lat())
+	wp:y(sldWP:lng())
+	wp:z(sldWP:alt() / 100)
+	mission:set_item(4, wp)
+
+	-- Change Speed to 1m/s
+	local cs = mavlink_mission_item_int_t()
+	cs:seq(5)
+	cs:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	cs:command(178) -- CHANGE_SPEED
+	cs:param2(1)
+	mission:set_item(5, cs)
+
+	-- start
+	wp:seq(6)
+	local lat = startWp:lat()
+	local lng = startWp:lng()
+	wp:x(lat)
+	wp:y(lng)
+	wp:z(startAltitude)
+	mission:set_item(6, wp)
+
+	-- land
+	local land = mavlink_mission_item_int_t()
+	land:seq(7)
+	land:frame(FRAME_GLOBAL_RELATIVE_ALT)
+	land:command(21) -- LAND
+	mission:set_item(7, land)
+
+	gcs:send_text(0, "Dronie mission written")
+end
+
+function createMission()
+	if cmdQuickShot == 1 then
+		createDronie()
+	elseif cmdQuickShot == 2 then
+		createRocket()
+	elseif cmdQuickShot == 3 then
+		createHelix()
+	end
+	stage = 3
+end
+
+function runMission()
+	if startMission ~= 0 then
+		vehicle:set_mode(0) -- STABILIZE
+		arming:arm()
+		gcs:run_command_int(300, {}) -- Mission Start
+	end
+	stage = 0
+end
+
+function update()
+	local msg, chan = mavlink:receive_chan()
+	if msg then
+		local parsed_msg = mavlink_msgs.decode(msg, msg_map)
+		if parsed_msg then
+			local result
+			if parsed_msg.msgid == COMMAND_LONG_ID then
+				result = handle_command_long(parsed_msg)
+			elseif parsed_msg.msgid == GLOBAL_POSITION_INT_ID then
+				result = handle_global_position_int(parsed_msg)
+			end
+			if result then
+				-- Send ack if the command is one were interested in
+				local ack = {}
+				ack.command = parsed_msg.command
+				ack.result = result
+				ack.progress = 0
+				ack.result_param2 = 0
+				ack.target_system = parsed_msg.sysid
+				ack.target_component = parsed_msg.compid
+				mavlink:send_chan(chan, mavlink_msgs.encode("COMMAND_ACK", ack))
+			end
+		end
+	end
+
+	if stage == 1 then
+		calcWps()
+	elseif stage == 2 then
+		createMission()
+	elseif stage == 3 then
+		runMission()
+	end
+
+	return update, 200
+end
+
+gcs:send_text(6, "QuickShots script starting")
+return update, 100
diff --git a/libraries/AP_Scripting/examples/Quickshots.md b/libraries/AP_Scripting/examples/Quickshots.md
new file mode 100644
index 0000000000000..5ceeb3ab7772d
--- /dev/null
+++ b/libraries/AP_Scripting/examples/Quickshots.md
@@ -0,0 +1,47 @@
+# QuickShots for Copter
+Script creates a Dronie, Rocket or Helix mission.
+This is triggered by QGroundControl custom actions.
+
+# INSTRUCTIONS
+
+-setup scripting:
+```
+SCR_ENABLE 1
+```
+- Use MP config tab -> MAVFtp to to copy the following scripts to the sd card 
+- 'libraries/AP_Scripting/examples/Quickshots.lua APM/scripts 
+- 'libraries/AP_Scripting/modules/MAVLink/mavlink_msgs.lua APM/scripts/modules/MAVLink 
+- 'libraries/AP_Scripting/modules/MAVLink/mavlink_msg_COMMAND_ACK.lua APM/scripts/modules/MAVLink 
+- 'libraries/AP_Scripting/modules/MAVLink/mavlink_msg_COMMAND_LONG.lua APM/scripts/modules/MAVLink 
+- 'libraries/AP_Scripting/modules/MAVLink/mavlink_msg_GLOBAL_POSITION_INT.lua APM/scripts/modules/MAVLink 
+
+- Reboot
+
+-setup QGroundControl:
+```
+Install QGroundControl 5.0 or higher
+```
+
+Place the file FlyViewMavlinkActions.json into the MavlinkActions directory 
+Windows: ~/Documents/QGroundControl/MavlinkActions 
+Android: /QGroundControl/MavlinkActions 
+
+# USAGE
+
+Connect QGroundControl and wait for gps fix. 
+Create a mission via custom action. 
+Start the mission.
+If param5 is set to 1 in FlyViewMavlinkActions.json the mission is started automatically.
+
+-ROI
+If QGroundControl streams its position it is used as ROI. 
+Set "Stream GCS Position" to "always" in Application Settings for this to work. 
+If QGroundControl does not stream its position it is assumed the ROI (you) is 8m 
+in front of the drone, so place the drone 8m away facing you.
+
+# HOW IT WORKS
+
+The script waits for MAVLink message MAV_CMD_USER_1 (31010). 
+This message is sent from QGroundControl via custom action. 
+Depending on the parameters a Dronie, Rocket or Helix mission is created. 
+The GCS position is read if the GCS sends GLOBAL_POSITION_INT messages.

From 16543351540429e5b5796fefb4e1d16c262ad21c Mon Sep 17 00:00:00 2001
From: TwistedWings <jan.bolt@web.de>
Date: Sun, 30 Nov 2025 08:05:15 +0100
Subject: [PATCH 2/6] Update QuickShots.lua

---
 libraries/AP_Scripting/examples/QuickShots.lua | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/examples/QuickShots.lua b/libraries/AP_Scripting/examples/QuickShots.lua
index e7cdd3ac0fa37..1bf3ca1fc9262 100644
--- a/libraries/AP_Scripting/examples/QuickShots.lua
+++ b/libraries/AP_Scripting/examples/QuickShots.lua
@@ -98,6 +98,7 @@ function calcWps()
 	startWp = ahrs:get_position()
 	if not startWp then
 		gcs:send_text(6, "ahrs:get_position() null")
+		return
 	end
 
 	--gcs:send_text(6, string.format("gcs_location %f %f %d", gcs_location:lat()/1e7, gcs_location:lng()/1e7, gcs_location:alt()/1000) )
@@ -107,7 +108,7 @@ function calcWps()
 		bearing = math.deg(roiWP:get_bearing(startWp))
 	else
 		gcs:send_text(6, "no gcs location, estimate roi")
-		bearing = 180 + math.deg(ahrs:get_yaw())
+		bearing = 180 + math.deg(ahrs:get_yaw_rad())
 		roiWP = startWp:copy()
 		roiWP:offset_bearing(bearing, -roiDistance)
 	end

From 61b4f2fa350ca47d0e73b1af0967ef7000120a41 Mon Sep 17 00:00:00 2001
From: TwistedWings <jan.bolt@web.de>
Date: Sun, 30 Nov 2025 08:20:11 +0100
Subject: [PATCH 3/6] fix tests

---
 libraries/AP_Scripting/examples/QuickShots.lua | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Scripting/examples/QuickShots.lua b/libraries/AP_Scripting/examples/QuickShots.lua
index 1bf3ca1fc9262..02752c8763f70 100644
--- a/libraries/AP_Scripting/examples/QuickShots.lua
+++ b/libraries/AP_Scripting/examples/QuickShots.lua
@@ -96,6 +96,7 @@ end
 
 function calcWps()
 	startWp = ahrs:get_position()
+	
 	if not startWp then
 		gcs:send_text(6, "ahrs:get_position() null")
 		return

From 9034b3b68e6caf0b42c96bc819506f2a2838a44e Mon Sep 17 00:00:00 2001
From: TwistedWings <jan.bolt@web.de>
Date: Sun, 30 Nov 2025 08:30:31 +0100
Subject: [PATCH 4/6] AP_Scripting: Quickshots

---
 libraries/AP_Scripting/examples/QuickShots.lua | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libraries/AP_Scripting/examples/QuickShots.lua b/libraries/AP_Scripting/examples/QuickShots.lua
index 02752c8763f70..1bf3ca1fc9262 100644
--- a/libraries/AP_Scripting/examples/QuickShots.lua
+++ b/libraries/AP_Scripting/examples/QuickShots.lua
@@ -96,7 +96,6 @@ end
 
 function calcWps()
 	startWp = ahrs:get_position()
-	
 	if not startWp then
 		gcs:send_text(6, "ahrs:get_position() null")
 		return

From 3b92431f1ee66b2ec44277cf8dd7752a437ff8dc Mon Sep 17 00:00:00 2001
From: TwistedWings <jan.bolt@web.de>
Date: Sun, 30 Nov 2025 08:38:20 +0100
Subject: [PATCH 5/6] AP_Scripting: Quickshots

---
 libraries/AP_Scripting/examples/QuickShots.lua | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Scripting/examples/QuickShots.lua b/libraries/AP_Scripting/examples/QuickShots.lua
index 1bf3ca1fc9262..02752c8763f70 100644
--- a/libraries/AP_Scripting/examples/QuickShots.lua
+++ b/libraries/AP_Scripting/examples/QuickShots.lua
@@ -96,6 +96,7 @@ end
 
 function calcWps()
 	startWp = ahrs:get_position()
+	
 	if not startWp then
 		gcs:send_text(6, "ahrs:get_position() null")
 		return

From 5580707b649fa41e9b32acf08d94f67f6bac9caf Mon Sep 17 00:00:00 2001
From: TwistedWings <jan.bolt@web.de>
Date: Sun, 30 Nov 2025 09:35:19 +0100
Subject: [PATCH 6/6] AP_Scripting: Quickshots

fix tests
---
 libraries/AP_Scripting/examples/QuickShots.lua | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libraries/AP_Scripting/examples/QuickShots.lua b/libraries/AP_Scripting/examples/QuickShots.lua
index 02752c8763f70..1bf3ca1fc9262 100644
--- a/libraries/AP_Scripting/examples/QuickShots.lua
+++ b/libraries/AP_Scripting/examples/QuickShots.lua
@@ -96,7 +96,6 @@ end
 
 function calcWps()
 	startWp = ahrs:get_position()
-	
 	if not startWp then
 		gcs:send_text(6, "ahrs:get_position() null")
 		return