mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.4 KiB
Lua
57 lines
1.4 KiB
Lua
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--[[
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demonstrate using the gcs:command_int() interface to send commands from MAVLink MAV_CMD_xxx set
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--]]
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local MAV_FRAME_GLOBAL_RELATIVE_ALT = 3
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local MAV_CMD_DO_SET_MODE = 176
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local MAV_CMD_DO_REPOSITION = 192
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-- some plane flight modes for testing
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local MODE_LOITER = 12
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local MODE_GUIDED = 15
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local MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
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--[[
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create a NaN value
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--]]
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local function NaN()
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return 0/0
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end
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--[[
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test API calls. When in LOITER mode change to GUIDED and force flying to a location NE of home
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--]]
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local function test_command_int()
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if vehicle:get_mode() ~= MODE_LOITER then
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return
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end
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local home = ahrs:get_home()
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if not home then
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return
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end
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-- force mode GUIDED
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gcs:run_command_int(MAV_CMD_DO_SET_MODE, { p1 = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, p2 = MODE_GUIDED })
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-- and fly to 200m NE of home and 100m above home
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local dest = home:copy()
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dest:offset_bearing(45, 200)
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gcs:run_command_int(MAV_CMD_DO_REPOSITION, { frame = MAV_FRAME_GLOBAL_RELATIVE_ALT,
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p1 = -1,
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p4 = NaN(),
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x = dest:lat(),
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y = dest:lng(),
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z = 100 })
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end
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local function update()
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test_command_int()
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return update, 1000
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end
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return update, 1000
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