mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.4 KiB
Lua
59 lines
1.4 KiB
Lua
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-- Example of saving the current mission to a file on the SD card on arming
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local function save_to_SD()
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-- check if there is a mission to save
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local num_wp = mission:num_commands()
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if num_wp <= 1 then
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return
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end
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local index = 0
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local file_name
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-- search for a index without a file
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while true do
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file_name = string.format('%i.waypoints',index)
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local file = io.open(file_name)
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local first_line = file:read(1) -- try and read the first character
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io.close(file)
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if first_line == nil then
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break
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end
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index = index + 1
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end
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-- create new file
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file = assert(io.open(file_name, 'w'), 'Could not make file :' .. file_name)
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-- header
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file:write('QGC WPL 110\n')
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-- read each item and write to file
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for i = 0, num_wp - 1 do
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local item = mission:get_item(i)
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file:write(string.format('%i\t0\t%i\t%i\t%0.8f\t%.8f\t%.8f\t%.8f\t%.8f\t%.8f\t%.6f\t1\n',item:seq(),item:frame(),item:command(),item:param1(),item:param2(),item:param3(),item:param4(),item:x()*10^-7,item:y()*10^-7,item:z()))
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end
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file:close()
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gcs:send_text(6,'saved mission to: ' .. file_name)
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end
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function idle_disarmed()
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if arming:is_armed() then
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save_to_SD()
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return idle_armed, 1000
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end
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return idle_disarmed, 1000
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end
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function idle_armed()
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if not arming:is_armed() then
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return idle_disarmed, 1000
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end
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return idle_armed, 1000
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end
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return idle_disarmed, 1000
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