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AP_Scripting: add rangefinder bindings

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Tsuyoshi Kawamura 2020-07-29 22:54:25 +09:00 committed by WickedShell
parent b66eaa0d53
commit e2eed88ca3
2 changed files with 38 additions and 0 deletions
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31
libraries/AP_Scripting/examples/rangefinder_test.lua Normal file
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@ -0,0 +1,31 @@
-- This script checks RangeFinder
local rotation_downward = 25
local rotation_forward = 0
function update()
local sensor_count = rangefinder:num_sensors()
gcs:send_text(0, string.format("%d rangefinder sensors found.", sensor_count))
for i = 0, rangefinder:num_sensors() do
if rangefinder:has_data_orient(rotation_downward) then
info(rotation_downward)
elseif rangefinder:has_data_orient(rotation_forward) then
info(rotation_forward)
end
end
return update, 1000 -- check again in 1Hz
end
function info(rotation)
local ground_clearance = rangefinder:ground_clearance_cm_orient(rotation)
local distance_min = rangefinder:min_distance_cm_orient(rotation)
local distance_max = rangefinder:max_distance_cm_orient(rotation)
local offset = rangefinder:get_pos_offset_orient(rotation)
local distance_cm = rangefinder:distance_cm_orient(rotation)
gcs:send_text(0, string.format("Ratation %d %.0f cm range %d - %d offset %.0f %.0f %.0f ground clearance %.0f", rotation, distance_cm, distance_min, distance_max, offset:x(), offset:y(), offset:z(), ground_clearance))
end
return update(), 1000 -- first message may be displayed 1 seconds after start-up

7
libraries/AP_Scripting/generator/description/bindings.desc
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@ -128,6 +128,13 @@ include AP_RangeFinder/AP_RangeFinder.h
singleton RangeFinder alias rangefinder
singleton RangeFinder method num_sensors uint8_t
singleton RangeFinder method has_orientation boolean Rotation'enum ROTATION_NONE ROTATION_MAX-1
singleton RangeFinder method distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
singleton RangeFinder method max_distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
singleton RangeFinder method min_distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
singleton RangeFinder method ground_clearance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
singleton RangeFinder method has_data_orient boolean Rotation'enum ROTATION_NONE ROTATION_MAX-1
singleton RangeFinder method get_pos_offset_orient Vector3f Rotation'enum ROTATION_NONE ROTATION_MAX-1
include AP_Terrain/AP_Terrain.h