AP_Scripting: convert all examples to new parameter constructior

libraries/AP_Scripting/examples/AHRS_switch.lua

@@ -1,10 +1,7 @@
 -- switch between DCM and EKF3 on a switch
 
 local scripting_rc1 = rc:find_channel_for_option(300)
-local EKF_TYPE = Parameter()
-if not EKF_TYPE:init('AHRS_EKF_TYPE') then
-  gcs:send_text(6, 'init AHRS_EKF_TYPE failed')
-end
+local EKF_TYPE = Parameter('AHRS_EKF_TYPE')
 
 function update()
    local sw_pos = scripting_rc1:get_aux_switch_pos()

libraries/AP_Scripting/examples/Aerobatics/Missions/plane_aerobatics.lua

@@ -21,22 +21,16 @@ assert(param:add_param(PARAM_TABLE_KEY, 6,  'SPD_I', 25), 'could not add param9'
 DO_JUMP = 177
 k_throttle = 70
 
-function bind_param(name)
-   local p = Parameter()
-   assert(p:init(name), string.format('could not find %s parameter', name))
-   return p
-end
-
-local HGT_P = bind_param("AEROM_HGT_P") -- height P gain
-local HGT_I = bind_param("AEROM_HGT_I") -- height I gain
-local HGT_KE_BIAS = bind_param("AEROM_HGT_KE_ADD") -- height knifeedge addition for pitch
-local THR_PIT_FF = bind_param("AEROM_THR_PIT_FF") -- throttle FF from pitch
-local SPD_P = bind_param("AEROM_SPD_P") -- speed P gain
-local SPD_I = bind_param("AEROM_SPD_I") -- speed I gain
-local TRIM_THROTTLE = bind_param("TRIM_THROTTLE")
-local TRIM_ARSPD_CM = bind_param("TRIM_ARSPD_CM")
-local RLL2SRV_TCONST = bind_param("RLL2SRV_TCONST")
-local PITCH_TCONST = bind_param("PTCH2SRV_TCONST")
+local HGT_P = Parameter("AEROM_HGT_P") -- height P gain
+local HGT_I = Parameter("AEROM_HGT_I") -- height I gain
+local HGT_KE_BIAS = Parameter("AEROM_HGT_KE_ADD") -- height knifeedge addition for pitch
+local THR_PIT_FF = Parameter("AEROM_THR_PIT_FF") -- throttle FF from pitch
+local SPD_P = Parameter("AEROM_SPD_P") -- speed P gain
+local SPD_I = Parameter("AEROM_SPD_I") -- speed I gain
+local TRIM_THROTTLE = Parameter("TRIM_THROTTLE")
+local TRIM_ARSPD_CM = Parameter("TRIM_ARSPD_CM")
+local RLL2SRV_TCONST = Parameter("RLL2SRV_TCONST")
+local PITCH_TCONST = Parameter("PTCH2SRV_TCONST")
 
 local last_roll_err = 0.0
 local last_id = 0

libraries/AP_Scripting/examples/Aerobatics/Via_Switch/lua_trick_selector.lua

@@ -27,14 +27,7 @@ assert(param:add_param(PARAM_TABLE_KEY, 10, 'TRICK_ANG', 90), 'could not add par
 assert(param:add_param(PARAM_TABLE_KEY, 11, 'TRICK_RAT', 90), 'could not add param11')  -- used for trick loop rate, axial roll rates, etc
 
 
--- 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 trick_id = bind_param("AERO_TRICK_ID")
+local trick_id = Parameter("AERO_TRICK_ID")
 local sw_last = 0
 local sw_current = 0
 local last_selection = 0

libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua

@@ -35,16 +35,13 @@ local auto_switch = false           -- true when auto switching between sources
 local gps_usable_accuracy = 1.0     -- GPS is usable if speed accuracy is at or below this value
 local vote_counter_max = 20         -- when a vote counter reaches this number (i.e. 2sec) source may be switched
 local gps_vs_opticalflow_vote = 0   -- vote counter for GPS vs optical (-20 = GPS, +20 = optical flow)
-local scr_user1_param = Parameter() -- user1 param (rangefinder altitude threshold)
-local scr_user2_param = Parameter() -- user2 param (GPS speed accuracy threshold)
-local scr_user3_param = Parameter() -- user3 param (optical flow quality threshold)
-local scr_user4_param = Parameter() -- user4 param (optical flow innovation threshold)
 
 -- initialise parameters
-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')
+local scr_user1_param = Parameter('SCR_USER1') -- user1 param (rangefinder altitude threshold)
+local scr_user2_param = Parameter('SCR_USER2') -- user2 param (GPS speed accuracy threshold)
+local scr_user3_param = Parameter('SCR_USER3') -- user3 param (optical flow quality threshold)
+local scr_user4_param = Parameter('SCR_USER4') -- user4 param (optical flow innovation threshold)
+
 assert(optical_flow, 'could not access optical flow')
 
 -- play tune on buzzer to alert user to change in active source set

libraries/AP_Scripting/examples/copter-deadreckon-home.lua

@@ -71,22 +71,17 @@ assert(param:add_param(PARAM_TABLE_KEY, 8, 'FLY_TIMEOUT', 30), 'could not add DR
 assert(param:add_param(PARAM_TABLE_KEY, 9, 'NEXT_MODE', 6), 'could not add DR_NEXT_MODE param')     -- mode to switch to after GPS recovers or timeout elapses
 
 -- bind parameters to variables
-function bind_param(name)
-   local p = Parameter()
-   assert(p:init(name), string.format('could not find %s parameter', name))
-   return p
-end
-local enable = bind_param("DR_ENABLE")                  -- 1 = enabled, 0 = disabled
-local enable_dist = bind_param("DR_ENABLE_DIST")        -- distance from home (in meters) beyond which the dead reckoning will be enabled
-local gps_speed_acc_max = bind_param("DR_GPS_SACC_MAX") -- GPS speed accuracy max threshold
-local gps_sat_count_min = bind_param("DR_GPS_SAT_MIN")  -- GPS satellite count min threshold
-local gps_trigger_sec = bind_param("DR_GPS_TRIGG_SEC")  -- GPS checks must fail for this many seconds before dead reckoning will be triggered
-local fly_angle = bind_param("DR_FLY_ANGLE")            -- lean angle (in degrees) during deadreckoning
-local fly_alt_min = bind_param("DR_FLY_ALT_MIN")        -- min alt above home (in meters) during deadreckoning
-local fly_timeoout = bind_param("DR_FLY_TIMEOUT")       -- deadreckoning timeout (in seconds)
-local next_mode = bind_param("DR_NEXT_MODE")            -- mode to switch to after GPS recovers or timeout elapses
-local wpnav_speedup = bind_param("WPNAV_SPEED_UP")      -- maximum climb rate from WPNAV_SPEED_UP
-local wpnav_accel_z = bind_param("WPNAV_ACCEL_Z")       -- maximum vertical acceleration from WPNAV_ACCEL_Z
+local enable = Parameter("DR_ENABLE")                  -- 1 = enabled, 0 = disabled
+local enable_dist = Parameter("DR_ENABLE_DIST")        -- distance from home (in meters) beyond which the dead reckoning will be enabled
+local gps_speed_acc_max = Parameter("DR_GPS_SACC_MAX") -- GPS speed accuracy max threshold
+local gps_sat_count_min = Parameter("DR_GPS_SAT_MIN")  -- GPS satellite count min threshold
+local gps_trigger_sec = Parameter("DR_GPS_TRIGG_SEC")  -- GPS checks must fail for this many seconds before dead reckoning will be triggered
+local fly_angle = Parameter("DR_FLY_ANGLE")            -- lean angle (in degrees) during deadreckoning
+local fly_alt_min = Parameter("DR_FLY_ALT_MIN")        -- min alt above home (in meters) during deadreckoning
+local fly_timeoout = Parameter("DR_FLY_TIMEOUT")       -- deadreckoning timeout (in seconds)
+local next_mode = Parameter("DR_NEXT_MODE")            -- mode to switch to after GPS recovers or timeout elapses
+local wpnav_speedup = Parameter("WPNAV_SPEED_UP")      -- maximum climb rate from WPNAV_SPEED_UP
+local wpnav_accel_z = Parameter("WPNAV_ACCEL_Z")       -- maximum vertical acceleration from WPNAV_ACCEL_Z
 
 -- modes deadreckoning may be activated from
 -- comment out lines below to remove protection from these modes

libraries/AP_Scripting/examples/copter-fast-descent.lua

@@ -44,17 +44,12 @@ assert(param:add_param(PARAM_TABLE_KEY, 5, 'SPEED_DN', 10), 'could not add FDST_
 assert(param:add_param(PARAM_TABLE_KEY, 6, 'YAW_BEHAVE', 0), 'could not add FDST_YAW_BEHAVE param') -- 0:yaw does not change 1:yaw points toward center
 
 -- bind parameters to variables
-function bind_param(name)
-   local p = Parameter()
-   assert(p:init(name), string.format('could not find %s parameter', name))
-   return p
-end
-local activate_type = bind_param("FDST_ACTIVATE")       -- activate type 0:Guided, 1:Auto's NAV_SCRIPT_TIME
-local alt_above_home_min = bind_param("FDST_ALT_MIN")   -- copter will stop at this altitude above home
-local circle_radius_max = bind_param("FDST_RADIUS")     -- target circle's maximum radius
-local speed_xy_max = bind_param("FDST_SPEED_XY")        -- max target horizontal speed
-local speed_z_max = bind_param("FDST_SPEED_DN")         -- target descent rate
-local yaw_behave = bind_param("FDST_YAW_BEHAVE")        -- 0:yaw is static, 1:yaw points towards center of circle
+local activate_type = Parameter("FDST_ACTIVATE")       -- activate type 0:Guided, 1:Auto's NAV_SCRIPT_TIME
+local alt_above_home_min = Parameter("FDST_ALT_MIN")   -- copter will stop at this altitude above home
+local circle_radius_max = Parameter("FDST_RADIUS")     -- target circle's maximum radius
+local speed_xy_max = Parameter("FDST_SPEED_XY")        -- max target horizontal speed
+local speed_z_max = Parameter("FDST_SPEED_DN")         -- target descent rate
+local yaw_behave = Parameter("FDST_YAW_BEHAVE")        -- 0:yaw is static, 1:yaw points towards center of circle
 
 -- the main update function
 function update()

libraries/AP_Scripting/examples/fw_vtol_failsafe.lua

@@ -13,17 +13,10 @@ local PARAM_TABLE_KEY = 77
 local PARAM_TABLE_PREFIX = "VTFS_"
 assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 4), 'could not add param table')
 
--- 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
-
 -- add a parameter and bind it to a variable
 function bind_add_param(name, idx, default_value)
    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
-   return bind_param(PARAM_TABLE_PREFIX .. name)
+   return Parameter(PARAM_TABLE_PREFIX .. name)
 end
 
 -- consider engine stopped when vibe is low and RPM low for more than 4s

libraries/AP_Scripting/examples/lidar_control.lua

@@ -1,13 +1,6 @@
 -- 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")
+local RNGFND_LANDING = Parameter("RNGFND_LANDING")
 
 MODE_QLAND = 20
 MODE_QRTL = 21

libraries/AP_Scripting/examples/orbit_follow.lua

@@ -9,19 +9,13 @@ local PARAM_TABLE_KEY = 83
 local PARAM_TABLE_PREFIX = "FOLL_"
 assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 2), 'could not add param table')
 
-function bind_param(name)
-   local p = Parameter()
-   assert(p:init(name), string.format('could not find %s parameter', name))
-   return p
-end
-
 function bind_add_param(name, index, default_value)
    assert(param:add_param(PARAM_TABLE_KEY, index,  name, default_value), string.format('could not add %s', PARAM_TABLE_PREFIX .. name))
-   return bind_param(PARAM_TABLE_PREFIX .. name)
+   return Parameter(PARAM_TABLE_PREFIX .. name)
 end
 
-local FOLL_OFS_X = bind_param("FOLL_OFS_X")
-local FOLL_OFS_Y = bind_param("FOLL_OFS_Y")
+local FOLL_OFS_X = Parameter("FOLL_OFS_X")
+local FOLL_OFS_Y = Parameter("FOLL_OFS_Y")
 local FOLL_ORB_RADIUS = bind_add_param("ORB_RADIUS", 1, 5)
 local FOLL_ORB_TIME = bind_add_param("ORB_TIME", 2, 10)
 

libraries/AP_Scripting/examples/param_add.lua

@@ -20,15 +20,8 @@ assert(param:add_param(PARAM_TABLE_KEY, 2, 'TEST2', 5.7), 'could not add param2'
 
 gcs:send_text(0, string.format("Added two parameters"))
 
--- 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 param1 = bind_param("MY_TEST")
-local param2 = bind_param("MY_TEST2")
+local param1 = Parameter("MY_TEST")
+local param2 = Parameter("MY_TEST2")
 
 gcs:send_text(0, string.format("param1=%f", param1:get()))
 gcs:send_text(0, string.format("param2=%f", param2:get()))