mirror of https://github.com/ArduPilot/ardupilot
88 lines
3.2 KiB
Lua
88 lines
3.2 KiB
Lua
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-- This script is a allow to switch the standby function by the switch of the remote controller on 2 simulated fcus.
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-- variable to limit the number of messages sent to GCS
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local last_rc_input = 0
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-- constants
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local switch_high = 2
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local switch_low = 0
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-- Standby function number in ArduPilot
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local standby_function = 76
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-- RC pin to use to select the FCU
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local rc_input_pin = 8
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-- for fast param access it is better to get a param object,
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-- this saves the code searching for the param by name every time
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local JSON_MASTER = Parameter()
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if not JSON_MASTER:init('SIM_JSON_MASTER') then
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gcs:send_text(6, 'get SIM_JSON_MASTER failed')
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end
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local SYSID_THISMAV = Parameter()
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if not SYSID_THISMAV:init('SYSID_THISMAV') then
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gcs:send_text(6, 'get SYSID_THISMAV failed')
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end
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local sysid = SYSID_THISMAV:get()
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gcs:send_text(6, 'LUA: Standby LUA loaded')
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-- The loop check the value of the switch of the remote controller and switch the standby function of the simulated fcus.
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-- FCU should have SYSID_THISMAV set to 1 or 2.
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-- The switch is on the channel 8 (default) of the remote controller.
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-- fcu1 and fcu2 have mirrored standby function, so only one is active at a time.
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-- As this is for simulation, the SIM_JSON_MASTER param is also update to select which fcu control the motors.
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function update() -- this is the loop which periodically runs
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rc_input = rc:get_pwm(rc_input_pin)
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if rc_input == nil then
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gcs:send_text(6, 'LUA: rc_input is nil')
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return update, 1000 -- reschedules the loop
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end
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if rc_input ~= last_rc_input then
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if sysid == 2 then
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if rc_input > 1500 then
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if not JSON_MASTER:set(0) then
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gcs:send_text(6, string.format('LUA: failed to set SIM_JSON_MASTER'))
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else
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rc:run_aux_function(standby_function, switch_high)
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gcs:send_text(6, string.format('LUA: set SIM_JSON_MASTER to 0'))
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end
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else
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if not JSON_MASTER:set(1) then
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gcs:send_text(6, string.format('LUA: failed to set SIM_JSON_MASTER'))
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else
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rc:run_aux_function(standby_function, switch_low)
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gcs:send_text(6, string.format('LUA: set SIM_JSON_MASTER to 1'))
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end
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end
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end
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if sysid == 1 then
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if rc_input > 1500 then
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if not JSON_MASTER:set(0) then
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gcs:send_text(6, string.format('LUA: failed to set SIM_JSON_MASTER'))
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else
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rc:run_aux_function(standby_function, switch_low)
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gcs:send_text(6, string.format('LUA: set SIM_JSON_MASTER to 0'))
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end
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else
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if not JSON_MASTER:set(1) then
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gcs:send_text(6, string.format('LUA: failed to set SIM_JSON_MASTER'))
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else
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rc:run_aux_function(standby_function, switch_high)
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gcs:send_text(6, string.format('LUA: set SIM_JSON_MASTER to 1'))
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end
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end
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end
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last_rc_input = rc_input
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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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