mirror of https://github.com/ArduPilot/ardupilot
30 lines
1.0 KiB
Lua
30 lines
1.0 KiB
Lua
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-- This script runs a custom arming check for index == 1 and it must be a takeoff missionn item
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local auth_id = arming:get_aux_auth_id()
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local MAV_CMD_NAV_TAKEOFF = 22
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local MAV_CMD_NAV_VTOL_TAKEOFF = 84
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function update() -- this is the loop which periodically runs
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if auth_id then
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local cmd_id = mission:get_current_nav_id()
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local index = mission:get_current_nav_index()
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if not cmd_id or not index then
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arming:set_aux_auth_failed(auth_id, "Could not retrieve mission")
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elseif ((index ~= 0) and (index ~= 1)) then
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-- index of 0 is valid because when you switch to AUTO it will automatically change to 1
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arming:set_aux_auth_failed(auth_id, "Mission index is not ready")
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elseif ((cmd_id ~= MAV_CMD_NAV_TAKEOFF) and (cmd_id ~= MAV_CMD_NAV_VTOL_TAKEOFF)) then
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arming:set_aux_auth_failed(auth_id, "Mission is not ready to takeoff")
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else
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arming:set_aux_auth_passed(auth_id)
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end
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end
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return update, 2000 -- reschedules the loop in 2 seconds
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end
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return update() -- run immediately before starting to reschedule
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