mirror of https://github.com/ArduPilot/ardupilot
49 lines
2.0 KiB
Lua
49 lines
2.0 KiB
Lua
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-- this is a script which is primarily intended to test the scripting bindings and be used with autotest
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-- however it may be useful to some as a demo of how the API's can be used, this example is much less
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-- heavily commented, and may require quite a bit more RAM to run in
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local loop_time = 500 -- number of ms between runs
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function is_equal(v1, v2, tolerance)
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return math.abs(v1 - v2) < (tolerance or 0.0001)
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end
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function test_offset(ofs_e, ofs_n)
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local manipulated_pos = Location()
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manipulated_pos:offset(ofs_e, ofs_n)
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local distance_offset = manipulated_pos:get_distance(Location())
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if distance_offset < 0 then
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gcs:send_text(0, "Location:get_distance() returned a negative number")
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return false
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end
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local error_dist = distance_offset - math.sqrt((ofs_e*ofs_e)+(ofs_n*ofs_n))
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if error_dist > 0.1 then
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gcs:send_text(0, string.format("Failed offset %.1f, %.1f with an error of %f", ofs_e, ofs_n, error_dist))
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return false
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end
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local from_origin_NE = Location():get_distance_NE(manipulated_pos)
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if (not is_equal(ofs_e, from_origin_NE:x(), 0.01)) or (not is_equal(ofs_n, from_origin_NE:y(), 0.01)) then
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gcs:send_text(0, string.format("Failed to offset %.1f, %.1f %.1f %.1f", ofs_e, ofs_n, from_origin_NE:x(), from_origin_NE:y()))
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return false
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end
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local from_origin_NED = Location():get_distance_NED(manipulated_pos)
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if (not is_equal(from_origin_NED:x(), from_origin_NE:x())) or (not is_equal(from_origin_NED:y(), from_origin_NE:y())) then
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gcs:send_text(0, string.format("Distance NED != NE %.1f, %.1f %.1f %.1f", from_origin_NED:x(), from_origin_NED:y(), from_origin_NE:x(), from_origin_NE:y()))
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return false
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end
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return true
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end
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function update()
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local all_tests_passed = true
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-- each test should run then and it's result with the previous ones
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all_tests_passed = test_offset(500, 200) and all_tests_passed
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if all_tests_passed then
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gcs:send_text(3, "Internal tests passed")
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end
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return update, loop_time
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end
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return update() -- run immediately before starting to reschedule
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