ardupilot/libraries/AP_Scripting
Henry Wurzburg 71099c881d AP_Scripting: add error check to mission_load.lua 2023-01-17 10:24:08 +11:00
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applets AP_Scripting: add error check to mission_load.lua 2023-01-17 10:24:08 +11:00
docs AP_Scripting: add error check to mission_load.lua 2023-01-17 10:24:08 +11:00
drivers AP_Scripting: adjust EFI_SkyPower for rev 0.3 protocol 2022-10-25 11:44:45 +11:00
examples AP_Scripting: add error check to mission_load.lua 2023-01-17 10:24:08 +11:00
generator AP_Scripting: add error check to mission_load.lua 2023-01-17 10:24:08 +11:00
lua AP_Scripting: remove support for loading binary luac 2022-11-28 06:23:29 +11:00
tests AP_Scripting: tests: add docs compare python script 2022-10-19 18:35:32 +11:00
.gitignore AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
AP_Scripting.cpp AP_Scripting: check for alloc failure of ObjectBuffer 2023-01-08 15:11:32 +11:00
AP_Scripting.h AP_Scripting: add readme.md file and completion 2023-01-04 16:20:12 +11:00
AP_Scripting_CANSensor.cpp AP_Scripting: add CANSensor and manaul bindings to load. 2021-07-27 09:04:17 +10:00
AP_Scripting_CANSensor.h AP_Scripting: add support for scripting2 protocol 2022-07-03 08:21:55 +10:00
AP_Scripting_helpers.cpp AP_Scripting: Parameter helper: allow optional param name in constructior 2022-09-14 13:59:40 +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: script switching system 2023-01-04 16:20:12 +11:00
lua_bindings.h AP_Scripting: script switching system 2023-01-04 16:20:12 +11:00
lua_boxed_numerics.cpp AP_Scripting: unint32: remove integer range check 2022-08-19 10:29:39 +10:00
lua_boxed_numerics.h AP_Scripting: reuse uint32 dev operation for idiv 2022-08-17 17:18:26 +10:00
lua_repl.cpp AP_Scripting: stop libraries including AP_Logger.h in .h files 2022-04-08 19:18:38 +10:00
lua_scripts.cpp AP_Scripting: use MultiHeap class 2023-01-16 09:19:16 +11:00
lua_scripts.h AP_Scripting: use MultiHeap class 2023-01-16 09:19:16 +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.