mirror of https://github.com/ArduPilot/ardupilot
47 lines
946 B
Lua
47 lines
946 B
Lua
-- enable use of Lidar on quadplanes only for landing, by changing RNGFN_LANDING
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local RNGFND_LANDING = Parameter("RNGFND_LANDING")
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MODE_QLAND = 20
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MODE_QRTL = 21
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MODE_AUTO = 10
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local NAV_LAND = 21
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local NAV_VTOL_LAND = 85
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function in_landing()
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local mode = vehicle:get_mode()
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if mode == MODE_QRTL or mode == MODE_QLAND then
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return true
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end
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if mode == MODE_AUTO then
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local id = mission:get_current_nav_id()
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if id == NAV_VTOL_LAND or id == NAV_LAND then
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return true
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end
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end
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return false
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end
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-- convert a boolean to an int
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function bool_to_int(v)
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return v and 1 or 0
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end
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function update()
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local v = bool_to_int(in_landing())
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if v ~= RNGFND_LANDING:get() then
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if v == 1 then
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gcs:send_text(0,"Enabling Lidar")
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else
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gcs:send_text(0,"Disabling Lidar")
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end
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RNGFND_LANDING:set(v)
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end
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-- run at 1Hz
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return update, 1000
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end
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return update()
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