Перемещение по точкам в локальной системе координат.

local boardNumber = boardNumber
local unpack = table.unpack
local points = {
        {-0.6, 0.3, 0.2},
        {0.6, 0.3,  0.2},
        {0, 0, 0.5},
        {0.6, -0.3, 0.2}
}

local curr_point = 1

local function nextPoint()
    if(#points >= curr_point) then
        ap.goToLocalPoint(unpack(points[curr_point]))
        curr_point = curr_point + 1
    else
        ap.push(Ev.MCE_LANDING)
    end
end

function callback(event)
    if(event == Ev.TAKEOFF_COMPLETE) then
        nextPoint()
    end
    if(event == Ev.POINT_REACHED) then
        nextPoint()
    end
end


local leds = Ledbar.new(1)
local blink = 0
leds:set(0,1,1,1)
timerBlink = Timer.new(1, function ()
        if(blink == 1) then
            blink = 0
        else
            blink = 1
        end
        leds:set(0, blink, 0, 0)
end)
timerBlink:start()
ap.push(Ev.MCE_PREFLIGHT)
Timer.callLater(1, function() ap.push(Ev.MCE_TAKEOFF) end)