mirror of https://github.com/ArduPilot/ardupilot
36 lines
1.2 KiB
Lua
36 lines
1.2 KiB
Lua
-- warn the user if wind speed exceeds a threshold, failsafe if a second threshold is exceeded
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-- note that this script is only intended to be run on ArduPlane
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-- tuning parameters
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local warn_speed = 10 -- metres/second
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local failsafe_speed = 15 -- metres/second
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local warning_interval_ms = uint32_t(15000) -- send user message every 15s
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local warning_last_sent_ms = uint32_t() -- time we last sent a warning message to the user
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function update()
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local wind = ahrs:wind_estimate() -- get the wind estimate
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if wind then
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-- make a 2D wind vector
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wind_xy = Vector2f()
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wind_xy:x(wind:x())
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wind_xy:y(wind:y())
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speed = wind_xy:length() -- compute the wind speed
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if speed > failsafe_speed then
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gcs:send_text(0, "Wind failsafe at " .. speed .. " metres/second")
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vehicle:set_mode(11) -- FIXME: should be an enum. 11 is RTL.
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return
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end
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if speed > warn_speed then
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if millis() - warning_last_sent_ms > warning_interval_ms then
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gcs:send_text(4, "Wind warning at " .. speed .. " metres/second")
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warning_last_sent_ms = millis()
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end
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end
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end
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return update, 1000
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end
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return update, 1000
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