ardupilot/libraries/AP_Scripting/examples/plane-wind-failsafe.lua

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-- warn the user if wind speed exceeds a threshold, failsafe if a second threshold is exceeded
-- note that this script is only intended to be run on ArduPlane
-- luacheck: only 0
-- tuning parameters
local warn_speed = 10 -- metres/second
local failsafe_speed = 15 -- metres/second
local warning_interval_ms = uint32_t(15000) -- send user message every 15s
local warning_last_sent_ms = uint32_t() -- time we last sent a warning message to the user
function update()
local wind = ahrs:wind_estimate() -- get the wind estimate
if wind then
-- make a 2D wind vector
wind_xy = Vector2f()
wind_xy:x(wind:x())
wind_xy:y(wind:y())
speed = wind_xy:length() -- compute the wind speed
if speed > failsafe_speed then
gcs:send_text(0, "Wind failsafe at " .. speed .. " metres/second")
vehicle:set_mode(11) -- FIXME: should be an enum. 11 is RTL.
return
end
if speed > warn_speed then
if millis() - warning_last_sent_ms > warning_interval_ms then
gcs:send_text(4, "Wind warning at " .. speed .. " metres/second")
warning_last_sent_ms = millis()
end
end
end
return update, 1000
end
return update, 1000