mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.7 KiB
Lua
50 lines
1.7 KiB
Lua
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-- This script is a test for AP_Mission bindings
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local last_mission_index = mission:get_current_nav_index()
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function update() -- this is the loop which periodically runs
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local mission_state = mission:state()
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-- make sure the mission is running
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if mission_state == mission.MISSION_COMPLETE then
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gcs:send_text(0, "LUA: Mission Complete")
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return update, 1000 -- reschedules the loop
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elseif mission_state == mission.MISSION_STOPPED then
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gcs:send_text(0, "LUA: Mission stopped")
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return update, 1000 -- reschedules the loop
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end
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local mission_index = mission:get_current_nav_index()
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-- see if we have changed since we last checked
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if mission_index ~= last_mission_index then
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gcs:send_text(0, "LUA: New Mission Item") -- we spotted a change
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-- print the current and previous nav commands
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gcs:send_text(0, string.format("Prev: %d, Current: %d",mission:get_prev_nav_cmd_id(),mission:get_current_nav_id()))
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last_mission_index = mission_index;
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-- num commands includes home so - 1
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local mission_length = mission:num_commands() - 1
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if mission_length > 1 and mission_index == mission_length then
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local jump_to = 1
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if mission_length > 2 then
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-- jump back to a random mission item
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jump_to = math.random(mission_length - 1) -- no point jump to the end so - 1
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end
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if mission:set_current_cmd(jump_to) then
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gcs:send_text(0, string.format("LUA: jumped to mission item %d",jump_to))
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else
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gcs:send_text(0, "LUA: mission item jump failed")
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end
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end
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end
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return update, 1000 -- reschedules the loop
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end
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return update() -- run immediately before starting to reschedule
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