ardupilot/libraries/AP_Scripting
Iampete1 3606022cd7 AP_Scripting: add MiniCheetah CAN motor driver example 2021-12-21 08:51:22 +11:00
..
applets AP_Scripting: select auto or manual gimbal/camera control mode 2021-10-27 18:40:42 +11:00
docs AP_Scripting: Docs: document arguments 2021-11-07 08:01:32 +11:00
examples AP_Scripting: add MiniCheetah CAN motor driver example 2021-12-21 08:51:22 +11:00
generator AP_Scripting: added bindings for NAV_SCRIPT_TIME support 2021-11-08 21:08:52 +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: expand to 6 SCR_USER parameters 2021-12-07 10:33:13 +11:00
AP_Scripting.h AP_Scripting: expand to 6 SCR_USER parameters 2021-12-07 10:33:13 +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 CANSensor and manaul bindings to load. 2021-07-27 09:04:17 +10:00
AP_Scripting_helpers.cpp AP_Scripting: add param accesss helper 2021-01-05 10:55:36 +11:00
AP_Scripting_helpers.h AP_Scripting: add param accesss helper 2021-01-05 10:55:36 +11:00
README.md AP_Scripting: update README.md 2020-05-12 19:55:21 +10:00
lua_bindings.cpp AP_Scripting: fixed bug in string logging with logger.write() 2021-10-06 18:14:54 +11:00
lua_bindings.h AP_Scripting: Enforce a time limit for a script 2018-11-14 01:41:35 +00:00
lua_boxed_numerics.cpp AP_Scripting: remove compile errors and warnings 2020-09-22 09:37:02 +10:00
lua_boxed_numerics.h AP_Scripting: Add support for UART drivers 2020-01-13 20:06:31 -07:00
lua_repl.cpp AP_Scripting: Add missing const in member functions 2021-02-03 18:45:14 +11:00
lua_scripts.cpp AP_Scripting: correct compilation when HAL_LOGGER_FILE_CONTENTS_ENABLED is 0 2021-12-07 09:36:48 +11:00
lua_scripts.h AP_Scripting: log files and runtime stats 2021-11-17 19:16:46 +11:00
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_position()
  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.