mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.6 KiB
Lua
41 lines
1.6 KiB
Lua
-- Rover motor driver for an Ackerman style vehicle (i.e. the frame has separate throttle and steering controls)
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--
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-- The following parameters should be set:
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-- SERVO1_FUNCTION = 94 (Script 1)
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-- SERVO3_FUNCTION = 96 (Script 3)
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--
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-- The Frame's steering control should be connected to the autopilot's output1, throttle control to output3
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--
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-- CAUTION: This script only works for Rover
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-- This script retrieves the high level controller outputs that have been sent to the regular motor driver
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-- and then outputs them to the "Script 1" and "Script 3" outputs. This does not add any real value beyond
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-- serving as an example of how lua scripts can be used to implement a custom motor driver
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local K_SCRIPTING1 = 94 -- for steering control
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local K_SCRIPTING3 = 96 -- for throttle control
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local CONTROL_OUTPUT_THROTTLE = 3
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local CONTROL_OUTPUT_YAW = 4
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function update()
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if not arming:is_armed() then
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-- if not armed move steering and throttle to mid
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SRV_Channels:set_output_norm(K_SCRIPTING1, 0)
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SRV_Channels:set_output_norm(K_SCRIPTING3, 0)
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else
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-- retrieve high level steering and throttle control outputs from vehicle in -1 to +1 range
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local steering = vehicle:get_control_output(CONTROL_OUTPUT_YAW)
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local throttle = vehicle:get_control_output(CONTROL_OUTPUT_THROTTLE)
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if (steering and throttle) then
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if throttle < 0 then
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steering = -steering
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end
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SRV_Channels:set_output_norm(K_SCRIPTING1, steering)
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SRV_Channels:set_output_norm(K_SCRIPTING3, throttle)
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end
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end
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return update, 10 -- run at 100hz
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end
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gcs:send_text(6, "rover-motor-driver.lua is running")
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return update()
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