mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.6 KiB
Lua
46 lines
1.6 KiB
Lua
-- move a servo in a sinusoidal fashion, with settable limits and frequency
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local PARAM_TABLE_KEY = 135
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local PARAM_TABLE_PREFIX = "STEST_"
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-- bind a parameter to a variable
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function bind_param(name)
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local p = Parameter()
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assert(p:init(name), string.format('could not find %s parameter', name))
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return p
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end
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-- add a parameter and bind it to a variable
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function bind_add_param(name, idx, default_value)
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assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
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return bind_param(PARAM_TABLE_PREFIX .. name)
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end
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-- setup script specific parameters
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assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 10), 'could not add param table')
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local STEST_CHAN = bind_add_param('CHAN', 1, 0)
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local STEST_PCT = bind_add_param('PCT', 2, 100)
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local STEST_PWM_MIN = bind_add_param('PWM_MIN', 3, 1000)
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local STEST_PWM_MAX = bind_add_param('PWM_MAX', 4, 2000)
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local STEST_FREQ = bind_add_param('FREQ', 5, 1)
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function update()
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local chan = STEST_CHAN:get()
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local freq = STEST_FREQ:get()
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if chan > 0 and freq > 0 then
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local t = 0.001 * millis():tofloat()
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local pi = 3.1415
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local output = math.sin(pi * t * freq * 2.0) * STEST_PCT:get() * 0.01
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local pwm_min = STEST_PWM_MIN:get()
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local pwm_max = STEST_PWM_MAX:get()
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local pwm_mid = 0.5*(pwm_min+pwm_max)
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local pwm = math.floor(pwm_mid + (pwm_max-pwm_mid) * output)
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SRV_Channels:set_output_pwm_chan_timeout(chan-1, pwm, 100)
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--gcs:send_text(0, string.format("pwm=%u", pwm))
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end
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return update, 5 -- 200Hz
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end
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return update()
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