mirror of https://github.com/ArduPilot/ardupilot
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about large frame size |
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lua | ||
scripts | ||
AP_Scripting.cpp | ||
AP_Scripting.h | ||
README.md | ||
lua_bindings.cpp | ||
lua_bindings.h | ||
lua_scripts.cpp | ||
lua_scripts.h |
README.md
AP_Scripting
Enabling Scripting Support in Builds
To enable scripting the --enable-scripting
flag must be passed to waf.
The following example enables scripting and builds the ArduPlane firmware for the Cube.
$ waf configure --enable-scripting --board=CubeBlack
$ waf plane
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 --waf-configure-arg --enable-scripting -v ArduPlane
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
distance = ahrs:position():distance(ahrs: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
servo.set_output_pwm(96, 1000 + distance) -- set the servo assigned function 96 (scripting3) to a proportional value
return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now
end
return update, 0 -- immediately run the update function