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AP_Scripting: ahrs-source-gps-optflow script fixups from peer review

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also dded assert on optical flow to ensure the script is used with a version of AP that includes the optical flow bindings
This commit is contained in:
Randy Mackay 2021-08-19 10:30:14 +09:00
parent 9313535a35
commit 5de30cc7cf
1 changed files with 10 additions and 9 deletions
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19
libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua
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@ -41,10 +41,11 @@ local scr_user3_param = Parameter() -- user3 param (optical flow quality thresho
local scr_user4_param = Parameter() -- user4 param (optical flow innovation threshold)
-- initialise parameters
assert(scr_user1_param:init('SCR_USER1'), 'ahrs-source.lua: could not find SCR_USER1 parameter')
assert(scr_user2_param:init('SCR_USER2'), 'ahrs-source.lua: could not find SCR_USER2 parameter')
assert(scr_user3_param:init('SCR_USER3'), 'ahrs-source.lua: could not find SCR_USER3 parameter')
assert(scr_user4_param:init('SCR_USER4'), 'ahrs-source.lua: could not find SCR_USER4 parameter')
assert(scr_user1_param:init('SCR_USER1'), 'could not find SCR_USER1 parameter')
assert(scr_user2_param:init('SCR_USER2'), 'could not find SCR_USER2 parameter')
assert(scr_user3_param:init('SCR_USER3'), 'could not find SCR_USER3 parameter')
assert(scr_user4_param:init('SCR_USER4'), 'could not find SCR_USER4 parameter')
assert(optical_flow, 'could not access optical flow')
-- play tune on buzzer to alert user to change in active source set
function play_source_tune(source)
@ -67,35 +68,35 @@ function update()
-- auto source from RCx_FUNCTION = 300 (Scripting1)
local rc_function_source = rc:find_channel_for_option(90)
local rc_function_auto = rc:find_channel_for_option(300)
if (rc_function_source == nil) or (rc_function_auto == nil) then
if not rc_function_source or not rc_function_auto then
gcs:send_text(0, "ahrs-source.lua: RCx_FUNCTION=90 or 300 not set!")
return update, 1000
end
-- check rangefinder distance threshold has been set
local rangefinder_thresh_dist = scr_user1_param:get() -- SCR_USER1 holds rangefinder threshold
if (rangefinder_thresh_dist == nil) or (rangefinder_thresh_dist <= 0) then
if (rangefinder_thresh_dist <= 0) then
gcs:send_text(0, "ahrs-source.lua: set SCR_USER1 to rangefinder threshold")
return update, 1000
end
-- check GPS speed accuracy threshold has been set
local gps_speedaccuracy_thresh = scr_user2_param:get() -- SCR_USER2 holds GPS speed accuracy threshold
if (gps_speedaccuracy_thresh == nil) or (gps_speedaccuracy_thresh <= 0) then
if (gps_speedaccuracy_thresh <= 0) then
gcs:send_text(0, "ahrs-source.lua: set SCR_USER2 to GPS speed accuracy threshold")
return update, 1000
end
-- check optical flow quality threshold has been set
local opticalflow_quality_thresh = scr_user3_param:get() -- SCR_USER3 holds opticalflow quality
if (opticalflow_quality_thresh == nil) or (opticalflow_quality_thresh <= 0) then
if (opticalflow_quality_thresh <= 0) then
gcs:send_text(0, "ahrs-source.lua: set SCR_USER3 to OpticalFlow quality threshold")
return update, 1000
end
-- check optical flow innovation threshold has been set
local opticalflow_innov_thresh = scr_user4_param:get() -- SCR_USER4 holds opticalflow innovation
if (opticalflow_innov_thresh == nil) or (opticalflow_innov_thresh <= 0) then
if (opticalflow_innov_thresh <= 0) then
gcs:send_text(0, "ahrs-source.lua: set SCR_USER4 to OpticalFlow innovation threshold")
return update, 1000
end