ardupilot/libraries/AP_Scripting
Marco Robustini 32daea7cd5
Update MissionRotation.lua
Cosmetics
2024-12-10 18:13:24 +01:00
..
applets Update MissionRotation.lua 2024-12-10 18:13:24 +01:00
docs AP_Scripting: added get_output_pwm_chan 2024-11-28 09:24:03 +11:00
drivers AP_Scripting: added UltraMotion servo driver 2024-11-28 09:24:03 +11:00
examples AP_Scripting: ahrs/ekf origin script promoted to an applet 2024-12-03 11:15:00 +11:00
generator AP_Scripting: added get_output_pwm_chan 2024-11-28 09:24:03 +11:00
lua AP_Scripting: Fix method of accessing character string to fix Qurt compiler warning 2024-11-19 14:12:25 +11:00
modules AP_Scripting: mavlink_msgs global-position-int and heartbeat 2024-10-04 09:25:56 +09:00
tests AP_Scripting: add test for require() after rescheduling 2024-07-30 10:33:56 +10:00
.gitignore AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
AP_Scripting.cpp AP_Scripting: added ability to expand heap at runtime if armed 2024-11-20 07:32:03 +11:00
AP_Scripting.h AP_Scripting: added ability to expand heap at runtime if armed 2024-11-20 07:32:03 +11:00
AP_Scripting_CANSensor.cpp AP_Scripting: use NEW_NOTHROW for new(std::nothrow) 2024-06-04 09:20:21 +10:00
AP_Scripting_CANSensor.h AP_Scripting: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
AP_Scripting_SerialAccess.cpp AP_Scripting: introduce serial device simulation support 2024-06-27 12:00:18 +10:00
AP_Scripting_SerialAccess.h AP_Scripting: introduce serial device simulation support 2024-06-27 12:00:18 +10:00
AP_Scripting_SerialDevice.cpp AP_Scripting: correct compilation when AP_SCRIPTING_SERIALDEVICE_ENABLED false 2024-08-13 10:43:29 +10:00
AP_Scripting_SerialDevice.h AP_Scripting: correct compilation when AP_SCRIPTING_SERIALDEVICE_ENABLED false 2024-08-13 10:43:29 +10:00
AP_Scripting_config.h AP_Scripting: tweak conditions for scripting-requires-filesystem 2024-09-10 11:47:37 +10:00
AP_Scripting_helpers.cpp AP_Scripting: remove redundant memsets 2024-07-30 09:55:25 +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: added support for FlexDebug message 2024-11-05 17:03:23 +09:00
lua_bindings.h AP_Scripting: added support for FlexDebug message 2024-11-05 17:03:23 +09:00
lua_boxed_numerics.cpp AP_Scripting: improve object allocation efficiency 2024-07-30 09:55:25 +10:00
lua_boxed_numerics.h AP_Scripting: add uint64 userdata 2024-06-18 10:37:13 +10:00
lua_common_defs.h AP_Scripting: reference script environment directly 2024-07-30 10:33:56 +10:00
lua_scripts.cpp AP_Scripting: added warning on heap expansion 2024-11-20 07:32:03 +11:00
lua_scripts.h AP_Scripting: use AP_MultiHeap 2024-11-20 07:32:03 +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.