ardupilot/libraries/AP_Scripting/examples/AHRS_switch.lua

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-- switch between DCM and EKF3 on a switch
local scripting_rc1 = rc:find_channel_for_option(300)
local EKF_TYPE = Parameter('AHRS_EKF_TYPE')
function update()
local sw_pos = scripting_rc1:get_aux_switch_pos()
if sw_pos == 0 then
EKF_TYPE:set(3)
else
EKF_TYPE:set(0)
end
return update, 100
end
return update()