ardupilot/libraries/AP_Scripting
Michael du Breuil 17e258d347 AP_Scripting: Reenable file IO 2019-04-26 08:07:19 +10:00
..
generator AP_Scripting: Add support for terrain 2019-04-26 08:07:19 +10:00
lua AP_Scripting: Reenable file IO 2019-04-26 08:07:19 +10:00
scripts AP_Scripting: Reenable file IO 2019-04-26 08:07:19 +10:00
AP_Scripting.cpp AP_Scripting: Add a debug level param 2019-04-11 23:03:20 -07:00
AP_Scripting.h AP_Scripting: Add a debug level param 2019-04-11 23:03:20 -07:00
README.md AP_Scripting: Add alias suppport to the scripting generator 2019-04-26 08:07:19 +10:00
lua_bindings.cpp AP_Scripting: Add boxed numerics for uint32_t types 2019-04-26 08:07:19 +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 boxed numerics for uint32_t types 2019-04-26 08:07:19 +10:00
lua_boxed_numerics.h AP_Scripting: Add uint32_t support to generator 2019-04-26 08:07:19 +10:00
lua_generated_bindings.cpp AP_Scripting: Add support for terrain 2019-04-26 08:07:19 +10:00
lua_generated_bindings.h AP_Scripting: Add support for terrain 2019-04-26 08:07:19 +10:00
lua_scripts.cpp AP_Scripting: Add a debug level param 2019-04-11 23:03:20 -07:00
lua_scripts.h AP_Scripting: Add a debug level param 2019-04-11 23:03:20 -07:00

README.md

AP_Scripting

Enabling Scripting Support in Builds

To enable scripting the --enable-scripting flag must be passed to waf. The following example enables scripting and builds the ArduPlane firmware for the Cube.

$ waf configure --enable-scripting --board=CubeBlack

$ waf plane

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 --waf-configure-arg --enable-scripting -v ArduPlane

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 = Location()
  ahrs:get_position(current_pos)
  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
  servo.set_output_pwm(96, 1000 + distance) -- set the servo assigned function 96 (scripting3) to a proportional value

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