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AP_Scripting: adjust description of aux function 90 (EK3 Source Set

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Peter Barker 2024-09-16 16:02:31 +10:00 committed by Peter Barker
parent 6d8f0decac
commit 12d8a4d543
5 changed files with 6 additions and 6 deletions
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4
libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua
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@ -2,7 +2,7 @@
-- this script is intended to help vehicles automatically switch between ExternalNav and optical flow
--
-- configure a downward facing lidar with a range of at least 5m
-- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=external nav, middle=opticalflow, high=Not Used)
-- setup RCx_OPTION = 90 (EKF Source Set) to select the source (low=external nav, middle=opticalflow, high=Not Used)
-- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected
-- SRC_ENABLE = 1 (enable scripting)
-- setup EK3_SRCn_ parameters so that ExternalNav is the primary source, opticalflow is secondary
@ -135,7 +135,7 @@ end
function update()
-- check for EKF Source Select switch position change
local rc_ekfsrc_pos = rc:get_aux_cached(90) -- RCx_OPTION = 90 (EKF Pos Source)
local rc_ekfsrc_pos = rc:get_aux_cached(90) -- RCx_OPTION = 90 (EKF Source Set)
if rc_ekfsrc_pos == nil then
rc_ekfsrc_pos = 0
end

2
libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.md
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@ -14,7 +14,7 @@ This script is intended to help vehicles automatically switch between ExternalNa
## How to use
Configure a downward facing lidar with a range of at least 5m
Set RCx_OPTION = 90 (EKF Pos Source) to select the source (low=ExternalNav, middle=opticalflow, high=Not Used)
Set RCx_OPTION = 90 (EKF Source Set) to select the source (low=ExternalNav, middle=opticalflow, high=Not Used)
Set RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected
Set SRC_ENABLE = 1 (enable scripting)
Set EK3_SRCn_ parameters so that ExternalNav is the primary source, opticalflow is secondary

2
libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua
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@ -2,7 +2,7 @@
-- this script is intended to help vehicles automatically switch between GPS and optical flow
--
-- configure a forward or downward facing lidar with a range of at least 5m
-- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=GPS, middle=opticalflow, high=Not Used)
-- setup RCx_OPTION = 90 (EKF Source Set) to select the source (low=GPS, middle=opticalflow, high=Not Used)
-- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected
-- SCR_ENABLE = 1 (enable scripting)
-- setup EK3_SRCn_ parameters so that GPS is the primary source, opticalflow is secondary.

2
libraries/AP_Scripting/examples/ahrs-source-gps-wheelencoders.lua
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@ -1,6 +1,6 @@
-- This script helps vehicles move between GPS and Non-GPS environments using GPS and Wheel Encoders
--
-- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=primary, middle=secondary, high=tertiary)
-- setup RCx_OPTION = 90 (EKF Source Set) to select the source (low=primary, middle=secondary, high=tertiary)
-- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected
-- setup EK3_SRCn_ parameters so that GPS is the primary source, WheelEncoders are the secondary
--

2
libraries/AP_Scripting/examples/ahrs-source.lua
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@ -1,7 +1,7 @@
-- switches between AHRS/EKF sources based on the pilot's source selection switch or using an automatic source selection algorithm
-- this script is intended to help vehicles move between GPS and Non-GPS environments
--
-- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=primary, middle=secondary, high=tertiary)
-- setup RCx_OPTION = 90 (EKF Source Set) to select the source (low=primary, middle=secondary, high=tertiary)
-- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected
-- setup EK3_SRCn_ parameters so that GPS is the primary source, Non-GPS (i.e. T265) is secondary and optical flow tertiary
-- configure a forward or downward facing lidar with a range of more than 5m