mirror of https://github.com/ArduPilot/ardupilot
20 lines
419 B
Lua
20 lines
419 B
Lua
|
-- switch between DCM and EKF3 on a switch
|
||
|
|
|
||
|
|
local scripting_rc1 = rc:find_channel_for_option(300)
|
||
|
|
local EKF_TYPE = Parameter()
|
||
|
|
if not EKF_TYPE:init('AHRS_EKF_TYPE') then
|
||
|
|
gcs:send_text(6, 'init AHRS_EKF_TYPE failed')
|
||
|
|
end
|
||
|
|
|
||
|
|
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()
|