ardupilot/libraries/AP_Scripting
Andrew Tridgell 8d4ea68346 AP_Scripting: fixed float register save/restore in setjmp/longjmp
the register save must happen before the setjmp() call, which means
outside of the LUAI_TRY() macro. We also should be saving all 32
floating point registers
2024-05-16 10:58:26 +10:00
..
applets AP_Scripting: EKF source switching for ExtNav and optflow 2024-03-14 11:29:35 +11:00
docs AP_Scripting: add VisualOdom bindings 2024-03-14 11:29:35 +11:00
drivers AP_Scripting: added ANX CAN battery driver 2024-01-09 07:53:59 +11:00
examples AP_Scripting: fixed parameter names 2024-01-23 15:00:30 +11:00
generator AP_Scripting: add VisualOdom bindings 2024-03-14 11:29:35 +11:00
lua AP_Scripting: fixed float register save/restore in setjmp/longjmp 2024-05-16 10:58:26 +10:00
modules/MAVLink AP_Scripting: add MAVLink command long and ack examples 2023-07-04 10:20:42 +10:00
tests AP_Scripting: correct mavlink_test.lua 2023-12-05 20:15:21 +11:00
.gitignore AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
AP_Scripting.cpp AP_Scripting: fixed memory leak in sendfile() 2024-01-08 13:01:02 +11:00
AP_Scripting.h AP_Scripting: fixed memory leak in sendfile() 2024-01-08 13:01:02 +11:00
AP_Scripting_CANSensor.cpp AP_Scripting: CANSensor: Add filtering of incoming frames 2023-12-12 11:32:04 +11:00
AP_Scripting_CANSensor.h AP_Scripting: CANSensor: Add filtering of incoming frames 2023-12-12 11:32:04 +11:00
AP_Scripting_config.h AP_Scripting: require a file system 2023-10-17 10:23:20 +11:00
AP_Scripting_helpers.cpp AP_Scripting: allow AP_SCRIPTING_ENABLED to come from hwdef files 2023-06-09 16:10:52 +10:00
AP_Scripting_helpers.h AP_Scripting: Parameter helper: allow optional param name in constructior 2022-09-14 13:59:40 +10:00
README.md AP_Scripting: modify example script of README.md 2022-12-22 13:25:35 +09:00
lua_bindings.cpp AP_Scripting: prevent re-use of closed socket 2024-02-14 11:20:30 +11:00
lua_bindings.h AP_Scripting: Add LUA interface to access Range Finder state 2024-01-02 11:31:02 +11:00
lua_boxed_numerics.cpp AP_Scripting: allow AP_SCRIPTING_ENABLED to come from hwdef files 2023-06-09 16:10:52 +10:00
lua_boxed_numerics.h AP_Scripting: reuse uint32 dev operation for idiv 2022-08-17 17:18:26 +10:00
lua_common_defs.h AP_Scripting: add require with sandbox inheritence 2023-04-28 12:36:08 +10:00
lua_repl.cpp AP_Scripting: allow AP_SCRIPTING_ENABLED to come from hwdef files 2023-06-09 16:10:52 +10:00
lua_scripts.cpp AP_Scripting: fixed use after free bug 2023-12-29 11:33:58 +11:00
lua_scripts.h AP_Scripting: add checksum of running and loaded scripts with arming check 2023-12-05 11:03:58 +11:00
wscript AP_Scripting: wscript: support docs option 2021-10-20 18:35:09 +11:00

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
  local current_pos = ahrs:get_location() -- fetch the current position of the vehicle
  local home = ahrs:get_home()            -- fetch the home position of the vehicle
  if current_pos and home then            -- check that both a vehicle location, and home location are available
    local distance = current_pos:get_distance(home) -- calculate the distance from home in meters
    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 "update" to be rerun again 1000 milliseconds (1 second) from now
end

return update, 1000   -- request "update" to be the first time 1000 milliseconds (1 second) after script is loaded

Examples

See the code examples folder

Working with bindings

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