From 864353aa4d94cd7f0641373b1b1cffaa6274f317 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 28 Mar 2022 19:15:13 +1100
Subject: [PATCH] AP_Scripting: example script for lidar control

enable lidar for only landing in quadplanes by changing RNGFND_LANDING
---
 .../AP_Scripting/examples/lidar_control.lua   | 53 +++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/lidar_control.lua

diff --git a/libraries/AP_Scripting/examples/lidar_control.lua b/libraries/AP_Scripting/examples/lidar_control.lua
new file mode 100644
index 0000000000..8849235030
--- /dev/null
+++ b/libraries/AP_Scripting/examples/lidar_control.lua
@@ -0,0 +1,53 @@
+-- enable use of Lidar on quadplanes only for landing, by changing RNGFN_LANDING
+
+-- bind a parameter to a variable
+function bind_param(name)
+   local p = Parameter()
+   assert(p:init(name), string.format('could not find %s parameter', name))
+   return p
+end
+
+local RNGFND_LANDING = bind_param("RNGFND_LANDING")
+
+MODE_QLAND = 20
+MODE_QRTL = 21
+MODE_AUTO = 10
+
+local NAV_LAND = 21
+local NAV_VTOL_LAND = 85
+
+function in_landing()
+   local mode = vehicle:get_mode()
+   if mode == MODE_QRTL or mode == MODE_QLAND then
+      return true
+   end
+   if mode == MODE_AUTO then
+      local id = mission:get_current_nav_id()
+      if id == NAV_VTOL_LAND or id == NAV_LAND then
+         return true
+      end
+   end
+   return false
+end
+
+-- convert a boolean to an int
+function bool_to_int(v)
+  return v and 1 or 0
+end
+
+function update()
+   local v = bool_to_int(in_landing())
+   if v ~= RNGFND_LANDING:get() then
+      if v == 1 then
+         gcs:send_text(0,"Enabling Lidar")
+      else
+         gcs:send_text(0,"Disabling Lidar")
+      end
+      RNGFND_LANDING:set(v)
+   end
+
+  -- run at 1Hz
+  return update, 1000
+end
+
+return update()