ardupilot/libraries/AP_Scripting
Michael du Breuil 5da062b850 AP_Scripting: Forward declare lua_new_uint32_t 2020-01-06 16:02:50 -07:00
..
examples AP_Scripting: added RCIN example script 2019-12-20 19:51:46 -07:00
generator AP_Scripting: added rc input bindings 2019-12-20 19:51:46 -07:00
lua AP_Scripting: use AP_Filesystem API 2019-08-27 15:40:43 +10:00
scripts AP_Scripting: Fix nullable arguments numbering, add location bearing 2019-10-25 08:48:22 +08:00
AP_Scripting.cpp AP_Scripting: increase heap size (again) 2019-12-20 19:51:46 -07:00
AP_Scripting.h AP_Scripting: init sends failure message 2019-12-03 12:48:32 +08:00
README.md AP_Scripting: Disable by default, fix a nullable type, update README 2019-06-18 00:06:32 -07:00
lua_bindings.cpp AP_Scripting: Fix up some warnings 2019-05-11 18:25:43 -07:00
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: Forward declare lua_new_uint32_t 2020-01-06 16:02:50 -07:00
lua_boxed_numerics.h AP_Scripting: Support enum types, add millis() remove manual GCS wrapper 2019-05-11 18:25:43 -07:00
lua_generated_bindings.cpp AP_Scripting: regen bindings for Lua 2019-12-20 19:51:46 -07:00
lua_generated_bindings.h AP_Scripting: regen bindings for Lua 2019-12-20 19:51:46 -07:00
lua_scripts.cpp AP_Scripting: Don't restart scripts if it panic'd during the initial VM creation 2019-12-05 15:08:43 -07:00
lua_scripts.h AP_Scripting: add init failure check 2019-12-03 12:48:32 +08:00

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
    servo.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