AP_Scripting: added bindings for VTOL motor loss

this allows a script to take an action on loss of a VTOL motor
This commit is contained in:
Andrew Tridgell 2023-07-11 08:28:32 +10:00 committed by Randy Mackay
parent 8fd3060845
commit ddeb795782
3 changed files with 36 additions and 0 deletions

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@ -1327,6 +1327,13 @@ function MotorsMatrix:add_motor_raw(motor_num, roll_factor, pitch_factor, yaw_fa
---@return boolean ---@return boolean
function MotorsMatrix:init(expected_num_motors) end function MotorsMatrix:init(expected_num_motors) end
-- desc get index (starting at 0) of lost motor
---@return integer
function MotorsMatrix:get_lost_motor() end
-- desc return true if we are in thrust boost due to possible lost motor
---@return boolean
function MotorsMatrix:get_thrust_boost() end
-- desc -- desc
---@class quadplane ---@class quadplane

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@ -0,0 +1,27 @@
--[[
display motor lost number from MotorsMatrix for multirotors
--]]
local last_motor_lost = -1
function update()
local lost_index
if not MotorsMatrix:get_thrust_boost() then
-- when get_thrust_boost is false then we have not lost a motor
lost_index = -1
else
-- otherwise get the lost motor number
lost_index = MotorsMatrix:get_lost_motor()
end
if lost_index ~= last_motor_lost then
if lost_index == -1 then
gcs:send_text(0, string.format("Motors: recovered"))
else
gcs:send_text(0, string.format("Motors: lost motor %d", lost_index+1))
end
last_motor_lost = lost_index
end
return update, 100
end
return update, 100

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@ -444,6 +444,8 @@ singleton AP_MotorsMatrix rename MotorsMatrix
singleton AP_MotorsMatrix method init boolean uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS singleton AP_MotorsMatrix method init boolean uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS
singleton AP_MotorsMatrix method add_motor_raw void int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float'skip_check float'skip_check float'skip_check uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS singleton AP_MotorsMatrix method add_motor_raw void int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float'skip_check float'skip_check float'skip_check uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS
singleton AP_MotorsMatrix method set_throttle_factor boolean int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float 0 FLT_MAX singleton AP_MotorsMatrix method set_throttle_factor boolean int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float 0 FLT_MAX
singleton AP_MotorsMatrix method get_lost_motor uint8_t
singleton AP_MotorsMatrix method get_thrust_boost boolean
include AP_Frsky_Telem/AP_Frsky_SPort.h include AP_Frsky_Telem/AP_Frsky_SPort.h
singleton AP_Frsky_SPort rename frsky_sport singleton AP_Frsky_SPort rename frsky_sport