ardupilot/libraries/AP_Scripting
jackhong12 4a4f361a17 all: use CLASS_NO_COPY() macro 2022-10-04 11:23:04 +11:00
..
applets AP_Scripting: revert logger acsess changes for applets 2022-09-14 13:59:40 +10:00
docs AP_Scripting: update docs 2022-10-02 08:15:06 +11:00
drivers AP_Scripting: delay getting EFI backend 2022-10-02 08:15:06 +11:00
examples AP_Scripting: ALT_OFFSET example for copter 2022-10-03 17:31:23 +11:00
generator AP_Scripting: changed bindings to ap_object 2022-10-02 08:15:06 +11:00
lua AP_Scripting: make LUA memory panic more helpful 2021-08-09 16:34:09 +10:00
tests AP_Scripting: move scripting_test.lua from examples to tests 2020-03-19 15:28:39 -07:00
.gitignore AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
AP_Scripting.cpp AP_Scripting: clear alocated i2c devices on scripting stop 2022-09-15 12:40:04 +10:00
AP_Scripting.h all: use CLASS_NO_COPY() macro 2022-10-04 11:23:04 +11:00
AP_Scripting_CANSensor.cpp AP_Scripting: add CANSensor and manaul bindings to load. 2021-07-27 09:04:17 +10:00
AP_Scripting_CANSensor.h AP_Scripting: add support for scripting2 protocol 2022-07-03 08:21:55 +10:00
AP_Scripting_helpers.cpp AP_Scripting: Parameter helper: allow optional param name in constructior 2022-09-14 13:59:40 +10:00
AP_Scripting_helpers.h AP_Scripting: Parameter helper: allow optional param name in constructior 2022-09-14 13:59:40 +10:00
README.md AP_Scripting: rename AP_AHRS::get_position to get_location 2022-01-25 10:47:22 +11:00
lua_bindings.cpp AP_Scripting: add maunal i2c binding allowing read of sequentual registers 2022-09-15 12:40:04 +10:00
lua_bindings.h AP_Scripting: add maunal i2c binding allowing read of sequentual registers 2022-09-15 12:40:04 +10:00
lua_boxed_numerics.cpp AP_Scripting: unint32: remove integer range check 2022-08-19 10:29:39 +10:00
lua_boxed_numerics.h AP_Scripting: reuse uint32 dev operation for idiv 2022-08-17 17:18:26 +10:00
lua_repl.cpp AP_Scripting: stop libraries including AP_Logger.h in .h files 2022-04-08 19:18:38 +10:00
lua_scripts.cpp AP_Scripting: add error message buffer semaphore 2022-08-31 17:04:24 +10:00
lua_scripts.h AP_Scripting: add error message buffer semaphore 2022-08-31 17:04:24 +10:00
wscript AP_Scripting: wscript: support docs option 2021-10-20 18:35:09 +11:00

README.md

AP_Scripting

Enabling Scripting Support in Builds

Scripting is automatically enabled on all boards with at least 1MB of flash space. The following example enables scripting, builds the ArduPlane firmware for the Cube, and uploads it.

$ waf configure --board=CubeBlack

$ waf plane

$ waf plane --upload

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 -v ArduPlane

Once you have a vehicle flashed with scripting you need to set the SCR_ENABLE parameter to 1 to enable scripting and reboot.

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
  current_pos = ahrs:get_location()
  home = ahrs:get_home()
  if current_pos and home then
    distance = current_pos:get_distance(ahrs:get_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
    SRV_Channels:set_output_pwm(96, 1000 + distance) -- set the servo assigned function 96 (scripting3) to a proportional value
  end

  return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now
end

return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now

Working with bindings

Edit bindings.desc and rebuild. The waf build will automatically re-run the code generator.