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AP_Scripting: modify example script of README.md 

- avoid to call set_output_pwm before setting origin
- make get_home() once
This commit is contained in:
Tatsuya Yamaguchi 2022-02-24 15:31:12 +09:00 committed by Randy Mackay
parent 73d1c28e23
commit 43160efba8
1 changed files with 9 additions and 6 deletions
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15
libraries/AP_Scripting/README.md
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@ -32,22 +32,25 @@ An example script is given below:
```lua ```lua
function update () -- periodic function that will be called function update () -- periodic function that will be called
current_pos = ahrs:get_location() local current_pos = ahrs:get_location() -- fetch the current position of the vehicle
home = ahrs:get_home() local home = ahrs:get_home() -- fetch the home position of the vehicle
if current_pos and home then if current_pos and home then -- check that both a vehicle location, and home location are available
distance = current_pos:get_distance(ahrs:get_home()) -- calculate the distance from home local distance = current_pos:get_distance(home) -- calculate the distance from home in meters
if distance > 1000 then -- if more then 1000 meters away if distance > 1000 then -- if more then 1000 meters away
distance = 1000; -- clamp the distance to 1000 meters distance = 1000; -- clamp the distance to 1000 meters
end end
SRV_Channels:set_output_pwm(96, 1000 + distance) -- set the servo assigned function 96 (scripting3) to a proportional value SRV_Channels:set_output_pwm(96, 1000 + distance) -- set the servo assigned function 96 (scripting3) to a proportional value
end end
return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now return update, 1000 -- request "update" to be rerun again 1000 milliseconds (1 second) from now
end end
return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now return update, 1000 -- request "update" to be the first time 1000 milliseconds (1 second) after script is loaded
``` ```
## Examples
See the [code examples folder](https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Scripting/examples)
## Working with bindings ## Working with bindings
Edit bindings.desc and rebuild. The waf build will automatically Edit bindings.desc and rebuild. The waf build will automatically