mirror of https://github.com/ArduPilot/ardupilot
Copter: two more arguments to NAV_SCRIPT_TIME
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@ -411,13 +411,13 @@ bool Copter::nav_scripting_enable(uint8_t mode)
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}
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// lua scripts use this to retrieve the contents of the active command
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bool Copter::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2)
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bool Copter::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4)
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{
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if (flightmode != &mode_auto) {
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return false;
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}
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return mode_auto.nav_script_time(id, cmd, arg1, arg2);
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return mode_auto.nav_script_time(id, cmd, arg1, arg2, arg3, arg4);
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}
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// lua scripts use this to indicate when they have complete the command
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@ -663,7 +663,7 @@ private:
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bool set_circle_rate(float rate_dps) override;
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bool set_desired_speed(float speed) override;
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bool nav_scripting_enable(uint8_t mode) override;
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bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2) override;
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bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) override;
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void nav_script_time_done(uint16_t id) override;
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// lua scripts use this to retrieve EKF failsafe state
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// returns true if the EKF failsafe has triggered
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@ -468,7 +468,7 @@ public:
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bool jump_to_landing_sequence_auto_RTL(ModeReason reason);
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// lua accessors for nav script time support
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bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2);
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bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4);
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void nav_script_time_done(uint16_t id);
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AP_Mission mission{
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@ -634,6 +634,8 @@ private:
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uint8_t timeout_s; // timeout (in seconds) provided by mission command
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float arg1; // 1st argument provided by mission command
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float arg2; // 2nd argument provided by mission command
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int16_t arg3; // 3rd argument provided by mission command
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int16_t arg4; // 4th argument provided by mission command
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} nav_scripting;
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#endif
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@ -233,7 +233,7 @@ bool ModeAuto::jump_to_landing_sequence_auto_RTL(ModeReason reason)
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}
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// lua scripts use this to retrieve the contents of the active command
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bool ModeAuto::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2)
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bool ModeAuto::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4)
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{
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#if AP_SCRIPTING_ENABLED
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if (_mode == SubMode::NAV_SCRIPT_TIME) {
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@ -241,6 +241,8 @@ bool ModeAuto::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &a
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cmd = nav_scripting.command;
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arg1 = nav_scripting.arg1;
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arg2 = nav_scripting.arg2;
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arg3 = nav_scripting.arg3;
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arg4 = nav_scripting.arg4;
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return true;
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}
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#endif
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@ -1650,6 +1652,8 @@ void ModeAuto::do_nav_script_time(const AP_Mission::Mission_Command& cmd)
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nav_scripting.timeout_s = cmd.content.nav_script_time.timeout_s;
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nav_scripting.arg1 = cmd.content.nav_script_time.arg1.get();
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nav_scripting.arg2 = cmd.content.nav_script_time.arg2.get();
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nav_scripting.arg3 = cmd.content.nav_script_time.arg3;
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nav_scripting.arg4 = cmd.content.nav_script_time.arg4;
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set_submode(SubMode::NAV_SCRIPT_TIME);
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} else {
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// for safety we set nav_scripting to done to protect against the mission getting stuck
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