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AP_HAL_ChibiOS: fix script for HerePro

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bugobliterator 2023-05-18 08:42:19 +10:00 committed by Andrew Tridgell
parent b5f303e5e7
commit fa631c11a1
1 changed files with 21 additions and 21 deletions
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42
libraries/AP_HAL_ChibiOS/hwdef/HereProAP/scripts/hereproled.lua
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@ -55,7 +55,7 @@ local led_map = {
12,
13}
function table.contains(table, element)
function table_contains(table, element)
for _, value in pairs(table) do
if value == element then
return true
@ -81,11 +81,11 @@ end
function do_initialisation()
local pos = math.rad(total_time/2)
local v =0.5 + 0.5 * math.sin(pos)
local invert = 1
local invert
local r, g, b = get_Rainbow(v, 5)
local led_trail_length = 3
local softness = 10
local bfact = 1
local bfact
local updated_leds = {}
if math.cos(pos) > 0 then
invert = 1
@ -124,7 +124,7 @@ function do_initialisation()
end
for led = 1, num_leds do
if not table.contains(updated_leds, led) then
if not table_contains(updated_leds, led) then
notify:handle_rgb_id(0, 0, 0, led_map[led])
end
end
@ -144,7 +144,7 @@ function do_point_north(r, g, b, led_trail_length, softness)
end
for led = 1, num_leds do
if not table.contains(updated_leds, led) then
if not table_contains(updated_leds, led) then
notify:handle_rgb_id(0, 0, 0, led_map[led])
end
end
@ -172,7 +172,7 @@ function finish_initialisation(r, g, b, led_trail_length, softness, speed_factor
end
for led = 1, num_leds do
if not table.contains(updated_leds, led) then
if not table_contains(updated_leds, led) then
notify:handle_rgb_id(0, 0, 0, led_map[led])
end
end
@ -183,7 +183,7 @@ function do_arm_spin(r, g, b, softness, speed_factor, arming)
local updated_leds = {}
-- calculate next call based on time
local next_call = 1
local next_call
if arming then
next_call = speed_factor - math.floor(((total_time)/speed_factor) + 0.5)
if next_call < 1 then
@ -208,7 +208,7 @@ function do_arm_spin(r, g, b, softness, speed_factor, arming)
end
for led = 1, num_leds do
if not table.contains(updated_leds, led) then
if not table_contains(updated_leds, led) then
notify:handle_rgb_id(0, 0, 0, led_map[led])
end
end
@ -269,19 +269,19 @@ function update() -- this is the loop which periodically runs
finish_initialisation(rainbow[1][1], rainbow[1][2], rainbow[1][3], 5, 20, 50, next_call)
total_time = total_time + next_call
elseif current_anim == 2 then
local v
if (vehicle_state & (1<<3)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM
(vehicle_state & (1<<4)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM_GPS
(vehicle_state & (1<<7)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_RADIO
(vehicle_state & (1<<8)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_BATT
(vehicle_state & (1<<11)) ~= uint32_t(0) then --VEHICLE_STATE_EKF_BAD
v = 0.0
end
if (vehicle_state & (1<<17)) == uint32_t(0) then--VEHICLE_STATE_POS_ABS_AVAIL
v = 0.5 + (0.5 * math.min(gps:num_sats(0)/20, 1.0))
else
v = 1.0
end
-- local v
-- if (vehicle_state & (1<<3)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM
-- (vehicle_state & (1<<4)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM_GPS
-- (vehicle_state & (1<<7)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_RADIO
-- (vehicle_state & (1<<8)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_BATT
-- (vehicle_state & (1<<11)) ~= uint32_t(0) then --VEHICLE_STATE_EKF_BAD
-- v = 0.0
-- end
-- if (vehicle_state & (1<<17)) == uint32_t(0) then--VEHICLE_STATE_POS_ABS_AVAIL
-- v = 0.5 + (0.5 * math.min(gps:num_sats(0)/20, 1.0))
-- else
-- v = 1.0
-- end
local r, g, b = get_Rainbow(v, 4)
count = do_point_north(r, g, b, 5, 20)
-- --[[ ARM Display