From bf9f3b866030f7e0ab36e955ed782d2fd2567c5e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 26 May 2024 18:03:55 +1000
Subject: [PATCH] AP_Scripting: added notch_switch example

switch between two notch setups using attenuation change
---
 .../AP_Scripting/examples/notch_switch.lua    | 48 +++++++++++++++++++
 1 file changed, 48 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/notch_switch.lua

diff --git a/libraries/AP_Scripting/examples/notch_switch.lua b/libraries/AP_Scripting/examples/notch_switch.lua
new file mode 100644
index 0000000000..977a19a720
--- /dev/null
+++ b/libraries/AP_Scripting/examples/notch_switch.lua
@@ -0,0 +1,48 @@
+--[[
+
+   example script to switch between two notch setups by changing the
+   attenuation to zero on the notch to disable. This allows for easy
+   in-flight switching between two different notch setups
+--]]
+local INS_HNTCH_ATT = Parameter('INS_HNTCH_ATT')
+local INS_HNTC2_ATT = Parameter('INS_HNTC2_ATT')
+
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+if not INS_HNTCH_ATT:get() or not INS_HNTC2_ATT:get() then
+   gcs:send_text(MAV_SEVERITY.ERROR, string.format("Need 2 notches configured"))
+   return
+end
+
+local last_sw = -1
+local AUX_FN = 300
+
+local attenuation = INS_HNTCH_ATT:get()
+if not attenuation then
+   gcs:send_text(MAV_SEVERITY.ERROR, string.format("Unable to get attenuation"))
+   return
+end
+
+function update()
+   local sw_current = rc:get_aux_cached(AUX_FN)
+   if not sw_current then
+      -- treat unset as notch1
+      sw_current = 0
+   end
+   if sw_current ~= last_sw then
+      last_sw = sw_current
+      if sw_current == 0 then
+         INS_HNTC2_ATT:set(0)
+         INS_HNTCH_ATT:set(attenuation)
+         gcs:send_text(MAV_SEVERITY.INFO, string.format("Switched to notch1 %.2f", attenuation))
+      else
+         INS_HNTC2_ATT:set(attenuation)
+         INS_HNTCH_ATT:set(0)
+         gcs:send_text(MAV_SEVERITY.INFO, string.format("Switched to notch2 %.2f", attenuation))
+      end
+   end
+   return update,100
+end
+
+return update()
+