ardupilot/libraries/AP_Scripting/examples/mission-save.lua

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-- Example of saving the current mission to a file on the SD card on arming
local function save_to_SD()
-- check if there is a mission to save
local num_wp = mission:num_commands()
if num_wp <= 1 then
return
end
local index = 0
local file_name
-- search for a index without a file
while true do
file_name = string.format('%i.waypoints',index)
local file = io.open(file_name)
local first_line = file:read(1) -- try and read the first character
io.close(file)
if first_line == nil then
break
end
index = index + 1
end
-- create new file
file = assert(io.open(file_name, 'w'), 'Could not make file :' .. file_name)
-- header
file:write('QGC WPL 110\n')
-- read each item and write to file
for i = 0, num_wp - 1 do
local item = mission:get_item(i)
file:write(string.format('%i\t0\t%i\t%i\t%0.8f\t%.8f\t%.8f\t%.8f\t%.8f\t%.8f\t%.6f\t1\n',item:seq(),item:frame(),item:command(),item:param1(),item:param2(),item:param3(),item:param4(),item:x()*10^-7,item:y()*10^-7,item:z()))
end
file:close()
gcs:send_text(6,'saved mission to: ' .. file_name)
end
function idle_disarmed()
if arming:is_armed() then
save_to_SD()
return idle_armed, 1000
end
return idle_disarmed, 1000
end
function idle_armed()
if not arming:is_armed() then
return idle_disarmed, 1000
end
return idle_armed, 1000
end
return idle_disarmed, 1000