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AP_Scripting: ahrs-soruce.lua uses RCx_OPTION 300 

this removes the potential conflict with zigzag mode
This commit is contained in:
Randy Mackay 2020-12-21 13:36:25 +09:00 committed by Andrew Tridgell
parent 3db6203fb6
commit 69cb8e6bc6
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_Scripting/examples/ahrs-source.lua
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@ -2,7 +2,7 @@
-- this script is intended to help vehicles move between GPS and Non-GPS environments -- 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 Pos Source) to select the source (low=primary, middle=secondary, high=tertiary)
-- setup RCx_OPTION = 83 (ZigZag Auto). When this switch is pulled high, the source will be automatically selected -- 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 -- 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 -- configure a forward or downward facing lidar with a range of more than 5m
-- --
@ -30,11 +30,11 @@ function update()
-- check switches are configured -- check switches are configured
-- source selection from RCx_FUNCTION = 90 (EKF Source Select) -- source selection from RCx_FUNCTION = 90 (EKF Source Select)
-- auto source from RCx_FUNCTION = 83 (ZigZag_Auto) -- auto source from RCx_FUNCTION = 300 (Scripting1)
local rc_function_source = rc:find_channel_for_option(90) local rc_function_source = rc:find_channel_for_option(90)
local rc_function_auto = rc:find_channel_for_option(83) local rc_function_auto = rc:find_channel_for_option(300)
if (rc_function_source == nil) or (rc_function_auto == nil) then if (rc_function_source == nil) or (rc_function_auto == nil) then
gcs:send_text(0, "ahrs-source.lua: RCx_FUNCTION=90 or 83 not set!") gcs:send_text(0, "ahrs-source.lua: RCx_FUNCTION=90 or 300 not set!")
return update, 1000 return update, 1000
end end
@ -117,7 +117,7 @@ function update()
if sw_source_pos ~= sw_source_pos_prev then -- check for changes in source switch position if sw_source_pos ~= sw_source_pos_prev then -- check for changes in source switch position
sw_source_pos_prev = sw_source_pos -- record new switch position so we can detect changes sw_source_pos_prev = sw_source_pos -- record new switch position so we can detect changes
auto_switch = false -- disable auto switching of source auto_switch = false -- disable auto switching of source
if source_prev ~= sw_source_pos then -- check if switch position does not match source (there is a one-to-one mapping of switch to source) if source_prev ~= sw_source_pos then -- check if switch position does not match source (there is a one-to-one mapping of switch to source)
source_prev = sw_source_pos -- record what source should now be (changed by ArduPilot vehicle code) source_prev = sw_source_pos -- record what source should now be (changed by ArduPilot vehicle code)
gcs:send_text(0, "Pilot switched to Source " .. string.format("%d", source_prev+1)) gcs:send_text(0, "Pilot switched to Source " .. string.format("%d", source_prev+1))
else else
@ -125,7 +125,7 @@ function update()
end end
end end
-- read auto source switch position from RCx_FUNCTION = 83 (ZigZag_Auto) -- read auto source switch position from RCx_FUNCTION = 300 (Scripting1)
local sw_auto_pos = rc_function_auto:get_aux_switch_pos() local sw_auto_pos = rc_function_auto:get_aux_switch_pos()
if sw_auto_pos ~= sw_auto_pos_prev then -- check for changes in source auto switch position if sw_auto_pos ~= sw_auto_pos_prev then -- check for changes in source auto switch position
sw_auto_pos_prev = sw_auto_pos -- record new switch position so we can detect changes sw_auto_pos_prev = sw_auto_pos -- record new switch position so we can detect changes