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AP_Scripting: Add SET_MODE support for Rockblock lua script and mavlink example

This commit is contained in:
Stephen Dade 2023-06-30 11:31:00 +10:00 committed by Peter Barker
parent d182baa6b8
commit c73fa82d07
2 changed files with 16 additions and 4 deletions
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10
libraries/AP_Scripting/applets/RockBlock.lua
View File

@ -99,7 +99,8 @@ local function MAVLinkProcessor()
COMMAND_LONG = 76,
COMMAND_INT = 75,
HIGH_LATENCY2 = 235,
MISSION_ITEM_INT = 73
MISSION_ITEM_INT = 73,
SET_MODE = 11
}
-- private fields
@ -117,6 +118,7 @@ local function MAVLinkProcessor()
_crc_extra[76] = 0x98
_crc_extra[235] = 0xb3
_crc_extra[73] = 0x26
_crc_extra[11] = 0x59
local _messages = {}
_messages[75] = { -- COMMAND_INT
@ -149,7 +151,9 @@ local function MAVLinkProcessor()
{"command", "<I2"}, {"target_system", "<B"}, {"target_component", "<B"},
{"frame", "<B"}, {"current", "<B"}, {"autocontinue", "<B"}
}
_messages[11] = { -- SET_MODE
{ "custom_mode", "<I4" }, { "target_system", "<B" }, { "base_mode", "<B" },
}
function self.getSeqID() return _txseqid end
function self.generateCRC(buffer)
@ -261,6 +265,8 @@ local function MAVLinkProcessor()
end
vehicle:set_target_location(loc)
end
elseif _mavresult.msgid == self.SET_MODE then
vehicle:set_mode(_mavresult.custom_mode)
elseif _mavresult.msgid == self.COMMAND_LONG or _mavresult.msgid ==
self.COMMAND_INT then
if _mavresult.command == 400 then -- MAV_CMD_COMPONENT_ARM_DISARM

10
libraries/AP_Scripting/examples/MAVLinkHL.lua
View File

@ -42,7 +42,8 @@ local function MAVLinkProcessor()
COMMAND_LONG = 76,
COMMAND_INT = 75,
HIGH_LATENCY2 = 235,
MISSION_ITEM_INT = 73
MISSION_ITEM_INT = 73,
SET_MODE = 11
}
-- private fields
@ -60,6 +61,7 @@ local function MAVLinkProcessor()
_crc_extra[76] = 0x98
_crc_extra[235] = 0xb3
_crc_extra[73] = 0x26
_crc_extra[11] = 0x59
local _messages = {}
_messages[75] = { -- COMMAND_INT
@ -92,7 +94,9 @@ local function MAVLinkProcessor()
{"command", "<I2"}, {"target_system", "<B"}, {"target_component", "<B"},
{"frame", "<B"}, {"current", "<B"}, {"autocontinue", "<B"}
}
_messages[11] = { -- SET_MODE
{ "custom_mode", "<I4" }, { "target_system", "<B" }, { "base_mode", "<B" },
}
function self.getSeqID() return _txseqid end
function self.generateCRC(buffer)
@ -205,6 +209,8 @@ local function MAVLinkProcessor()
end
vehicle:set_target_location(loc)
end
elseif _mavresult.msgid == self.SET_MODE then
vehicle:set_mode(_mavresult.custom_mode)
elseif _mavresult.msgid == self.COMMAND_LONG or _mavresult.msgid ==
self.COMMAND_INT then
if _mavresult.command == 400 then -- MAV_CMD_COMPONENT_ARM_DISARM