ardupilot/libraries/AP_Scripting
Andrew Tridgell 5e74152444 AP_Scripting: Add servo chan override w/ timeout
Adds a feature to override a servo output for a given time. Scripting bindings and example included.
2020-05-25 14:10:01 +10:00
..
examples AP_Scripting: Add servo chan override w/ timeout 2020-05-25 14:10:01 +10:00
generator AP_Scripting: Add servo chan override w/ timeout 2020-05-25 14:10:01 +10:00
lua AP_Scripting: avoid build warnings 2020-04-28 10:32:23 +10:00
tests AP_Scripting: move scripting_test.lua from examples to tests 2020-03-19 15:28:39 -07:00
.gitignore AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
AP_Scripting.cpp AP_Scripting: Delete the lua object if we failed to allocate the required memory 2020-03-28 21:16:09 +11:00
AP_Scripting.h AP_Scripting: Add support for REPL over MAVLink 2020-02-18 17:23:22 -07:00
README.md AP_Scripting: update README.md 2020-05-12 19:55:21 +10:00
lua_bindings.cpp AP_Scripting: add AP_Logger binding 2020-05-19 09:09:48 +10:00
lua_bindings.h AP_Scripting: Enforce a time limit for a script 2018-11-14 01:41:35 +00:00
lua_boxed_numerics.cpp AP_Scripting: Add support for UART drivers 2020-01-13 20:06:31 -07:00
lua_boxed_numerics.h AP_Scripting: Add support for UART drivers 2020-01-13 20:06:31 -07:00
lua_repl.cpp AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
lua_scripts.cpp AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
lua_scripts.h AP_Scripting: Add support for REPL over MAVLink 2020-02-18 17:23:22 -07:00
wscript AP_Scripting: fixed build on cygwin with deep directories 2020-05-12 19:55:21 +10:00

README.md

AP_Scripting

Enabling Scripting Support in Builds

Scripting is automatically enabled on all boards with at least 1MB of flash space. The following example enables scripting, builds the ArduPlane firmware for the Cube, and uploads it.

$ waf configure --board=CubeBlack

$ waf plane

$ waf plane --upload

To run SITL you can simply use the sim_vehicle.py script which will wrap the configuration, compilation, and launching of the simulation into one command for you.

$ Tools/autotest/sim_vehicle.py -v ArduPlane

Once you have a vehicle flashed with scripting you need to set the SCR_ENABLE parameter to 1 to enable scripting and reboot.

Adding Scripts

The vehicle will automatically look for and launch any scripts that are contained in the scripts folder when it starts. On real hardware this should be inside of the APM folder of the SD card. In SITL this should be in the working directory (typically the main ardupilot directory).

An example script is given below:

function update () -- periodic function that will be called
  current_pos = ahrs:get_position()
  home = ahrs:get_home()
  if current_pos and home then
    distance = current_pos:get_distance(ahrs:get_home()) -- calculate the distance from home
    if distance > 1000 then -- if more then 1000 meters away
      distance = 1000;      -- clamp the distance to 1000 meters
    end
    SRV_Channels:set_output_pwm(96, 1000 + distance) -- set the servo assigned function 96 (scripting3) to a proportional value
  end

  return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now
end

return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now

Working with bindings

Edit bindings.desc and rebuild. The waf build will automatically re-run the code generator.