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AP_Scripting: mount-djirs2: re-enable lua checks and fix issues

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Thomas Watson 2024-10-31 16:39:26 -05:00 committed by Peter Barker
parent 2d08d631de
commit afcc722995
1 changed files with 6 additions and 10 deletions
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16
libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
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@ -1,5 +1,4 @@
-- mount-djirs2-driver.lua: DJIRS2 mount/gimbal driver -- mount-djirs2-driver.lua: DJIRS2 mount/gimbal driver
-- luacheck: only 0
--[[ --[[
How to use How to use
@ -71,8 +70,6 @@
--]] --]]
---@diagnostic disable: cast-local-type
-- global definitions -- global definitions
local INIT_INTERVAL_MS = 3000 -- attempt to initialise the gimbal at this interval local INIT_INTERVAL_MS = 3000 -- attempt to initialise the gimbal at this interval
@ -143,14 +140,14 @@ local parse_length = 0 -- incoming message's packet length
local parse_buff = {} -- message buffer holding roll, pitch and yaw angles from gimbal local parse_buff = {} -- message buffer holding roll, pitch and yaw angles from gimbal
local parse_bytes_recv = 0 -- message buffer length. count of the number of bytes received in the message so far local parse_bytes_recv = 0 -- message buffer length. count of the number of bytes received in the message so far
local last_send_seq = 0 -- last sequence number sent local last_send_seq = 0 -- last sequence number sent
local last_req_attitude_ms = 0 -- system time of last request for attitude local last_req_attitude_ms = uint32_t(0) -- system time of last request for attitude
local last_set_attitude_ms = 0 -- system time of last set attitude call local last_set_attitude_ms = uint32_t(0) -- system time of last set attitude call
local REPLY_TYPE = {NONE=0, ATTITUDE=1, POSITION_CONTROL=2, SPEED_CONTROL=3} -- enum of expected reply types local REPLY_TYPE = {NONE=0, ATTITUDE=1, POSITION_CONTROL=2, SPEED_CONTROL=3} -- enum of expected reply types
local expected_reply = REPLY_TYPE.NONE -- currently expected reply type local expected_reply = REPLY_TYPE.NONE -- currently expected reply type
local expected_reply_ms = 0 -- system time that reply is first expected. used for timeouts local expected_reply_ms = uint32_t(0) -- system time that reply is first expected. used for timeouts
-- parsing status reporting variables -- parsing status reporting variables
local last_print_ms = 0 -- system time that debug output was last printed local last_print_ms = uint32_t(0) -- system time that debug output was last printed
local bytes_read = 0 -- number of bytes read from gimbal local bytes_read = 0 -- number of bytes read from gimbal
local bytes_written = 0 -- number of bytes written to gimbal local bytes_written = 0 -- number of bytes written to gimbal
local bytes_error = 0 -- number of bytes read that could not be parsed local bytes_error = 0 -- number of bytes read that could not be parsed
@ -519,7 +516,6 @@ function send_target_rates(roll_rate_degs, pitch_rate_degs, yaw_rate_degs)
roll_rate_degs = roll_rate_degs or 0 roll_rate_degs = roll_rate_degs or 0
pitch_rate_degs = pitch_rate_degs or 0 pitch_rate_degs = pitch_rate_degs or 0
yaw_rate_degs = yaw_rate_degs or 0 yaw_rate_degs = yaw_rate_degs or 0
time_sec = time_sec or 2
-- ensure rates are integers. invert roll direction -- ensure rates are integers. invert roll direction
roll_rate_degs = -math.floor(roll_rate_degs + 0.5) roll_rate_degs = -math.floor(roll_rate_degs + 0.5)
@ -790,8 +786,8 @@ function update()
return update, UPDATE_INTERVAL_MS return update, UPDATE_INTERVAL_MS
end end
-- send rate target -- send rate target (ignoring earth-frame flag as the gimbal doesn't use it)
local roll_degs, pitch_degs, yaw_degs, yaw_is_ef = mount:get_rate_target(MOUNT_INSTANCE) local roll_degs, pitch_degs, yaw_degs, _ = mount:get_rate_target(MOUNT_INSTANCE)
if roll_degs and pitch_degs and yaw_degs then if roll_degs and pitch_degs and yaw_degs then
send_target_rates(roll_degs, pitch_degs, yaw_degs) send_target_rates(roll_degs, pitch_degs, yaw_degs)
return update, UPDATE_INTERVAL_MS return update, UPDATE_INTERVAL_MS