53cbd86cbe
start of the update This allows specifying a return value like "return update, 10" to run at a near perfect 100Hz, where as before it would be run 10 ms after the script had completed it's loop, which can be highly variable as the script experiences interupts from the system, as well as needing the script author to take responsibility for calculating the desired update rate at the end. This was always intended to be fixed, but I pushed it back during the initial development, however people are begining to run scripts that have enough processing, or are rate sensitive enough that we are now needing to start correcting this, or scripts will have to do their best to guess the time, which will be inferior to us providing it. As a note if you exceeded the time expected we will be rescheduling the script immediately, thus it will have a schedule time in the past and will be slotted in. This can't indefinetly starve other scripts as they will still be slotted in, but if you request an update in 1 ms, but took 100ms to run we will simply slide you back into the queue 1ms after when you started running. |
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|---|---|---|
| .. | ||
| applets | ||
| examples | ||
| generator | ||
| lua | ||
| tests | ||
| .gitignore | ||
| AP_Scripting.cpp | ||
| AP_Scripting.h | ||
| lua_bindings.cpp | ||
| lua_bindings.h | ||
| lua_boxed_numerics.cpp | ||
| lua_boxed_numerics.h | ||
| lua_repl.cpp | ||
| lua_scripts.cpp | ||
| lua_scripts.h | ||
| README.md | ||
| wscript | ||
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.