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AP_Scripting: Change to no message notification in DISARMED state

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murata 2022-02-27 13:33:56 +09:00 committed by Tom Pittenger
parent a7a903e110
commit b4d4ed8a50
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_Scripting/examples/copter-fast-descent.lua
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@ -81,8 +81,8 @@ function update()
-- activate_type 0: reset stage when disarmed or not in Guided mode
if not arming:is_armed() or (vehicle:get_mode() ~= copter_guided_mode_num) then
stage = 0
if (update_user) then
gcs:send_text(0, "Fast Descent: waiting for Guided")
if (update_user and arming:is_armed()) then
gcs:send_text(6, "Fast Descent: waiting for Guided")
end
return update, interval_ms
end
@ -91,8 +91,8 @@ function update()
auto_last_id, cmd, arg1, arg2 = vehicle:nav_script_time()
if not arming:is_armed() or not auto_last_id then
stage = 0
if (update_user) then
gcs:send_text(0, "Fast Descent: waiting for NAV_SCRIPT_TIME")
if (update_user and arming:is_armed()) then
gcs:send_text(6, "Fast Descent: waiting for NAV_SCRIPT_TIME")
end
return update, interval_ms
end
@ -120,7 +120,7 @@ function update()
speed_xy = 0
speed_z = 0
stage = stage + 1 -- advance to next stage
gcs:send_text(0, "Fast Descent: starting")
gcs:send_text(5, "Fast Descent: starting")
end
elseif (stage == 1) then -- Stage1: descend
@ -211,16 +211,16 @@ function update()
stage = stage + 1
end
if (update_user) then
gcs:send_text(0, string.format("Fast Descent: alt:%d target:%d", math.floor(-rel_pos_home_NED:z()), math.floor(alt_above_home_min:get())))
gcs:send_text(5, string.format("Fast Descent: alt:%d target:%d", math.floor(-rel_pos_home_NED:z()), math.floor(alt_above_home_min:get())))
end
else
gcs:send_text(0, "Fast Descent: lost position estimate, aborting")
gcs:send_text(5, "Fast Descent: lost position estimate, aborting")
stage = stage + 1
end
elseif (stage == 2) then -- Stage2: done!
stage = stage + 1
gcs:send_text(0, "Fast Descent: done!")
gcs:send_text(5, "Fast Descent: done!")
if (activate_type:get() == 0) then
-- if activated from Guided change to RTL mode
vehicle:set_mode(copter_rtl_mode_num)