ardupilot/libraries/AP_Scripting/examples/set-target-location.lua

54 lines
2.0 KiB
Lua

-- performs the equivalent of a simple RTL in Guided mode using set_target_location
--
-- CAUTION: This script only works for Copter
-- this script checks for RC input > 1800 and then:
-- a) switches to Guided mode
-- b) sets the target location to be 10m above home
-- c) switches the vehicle to land once it is within a couple of meters of home
local wp_radius = 2
local target_alt_above_home = 10
local copter_guided_mode_num = 4
local copter_land_mode_num = 9
local sent_target = false
-- the main update function that performs a simplified version of RTL
function update()
if not arming:is_armed() then -- reset state when disarmed
sent_target = false
else
pwm7 = rc:get_pwm(7)
if pwm7 and pwm7 > 1800 then -- check if RC input 7 has moved high
local mode = vehicle:get_mode() -- get current mode
if not sent_target then -- if we haven't sent the target yet
if not (mode == copter_guided_mode_num) then -- change to guided mode
vehicle:set_mode(copter_guided_mode_num)
else
local above_home = ahrs:get_home() -- get home location
if above_home then
above_home:alt(above_home:alt() + (target_alt_above_home * 100))
sent_target = vehicle:set_target_location(above_home) -- set target above home
end
end
else
-- change to land mode when within 2m of home
if not (mode == copter_land_mode_num) then
local home = ahrs:get_home()
local curr_loc = ahrs:get_position()
if home and curr_loc then
local home_dist = curr_loc:get_distance(home) -- get horizontal distance to home
if (home_dist < wp_radius) then -- change to land mode if close
vehicle:set_mode(copter_land_mode_num)
end
end
end
end
end
end
return update, 1000
end
return update()