mirror of https://github.com/ArduPilot/ardupilot
37 lines
879 B
Lua
37 lines
879 B
Lua
-- This Script is a example of the safety states avalalbe to lua
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local last_armed
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local last_motors_armed
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local last_E_stop
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local last_safe
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function update()
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local armed = arming:is_armed()
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if armed ~= last_armed then
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gcs:send_text(0, 'Vehicle armed: ' .. tostring(armed))
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end
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last_armed = armed
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local motors_armed = motors:get_interlock()
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if motors_armed ~= last_motors_armed then
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gcs:send_text(0, 'Motors armed: ' .. tostring(motors_armed))
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end
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last_motors_armed = motors_armed
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local E_stop = SRV_Channels:get_emergency_stop()
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if E_stop ~= last_E_stop then
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gcs:send_text(0, 'E-Stop active: ' .. tostring(E_stop))
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end
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last_E_stop = E_stop
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local safe = SRV_Channels:get_safety_state()
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if safe ~= last_safe then
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gcs:send_text(0, 'Safe state: ' .. tostring(safe))
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end
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last_safe = safe
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return update, 100
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end
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return update()
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