ardupilot/libraries/AP_Scripting
Randy Mackay b757a7d21a AP_Scripting: mount-poi applet sends camera feedback message 2023-05-31 10:06:37 +10:00
..
applets AP_Scripting: mount-poi applet sends camera feedback message 2023-05-31 10:06:37 +10:00
docs AP_Scripting: add is_landing and is_taking_off binding 2023-05-26 10:59:09 -07:00
drivers AP_Scripting: added Halo6000 generator/EFI driver 2023-05-30 21:04:34 +10:00
examples AP_Scripting: added Halo6000 generator/EFI driver 2023-05-30 21:04:34 +10:00
generator AP_Scripting: add is_landing and is_taking_off binding 2023-05-26 10:59:09 -07:00
lua AP_Scripting: add require with sandbox inheritence 2023-04-28 12:36:08 +10:00
tests AP_Scripting: change receive_msgid to register_rx_msgid 2023-05-24 19:03:28 +10:00
.gitignore AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
AP_Scripting.cpp AP_Scripting: use get_uint32 instead of luaL_checkinteger 2023-05-24 19:03:28 +10:00
AP_Scripting.h AP_Scripting: use get_uint32 instead of luaL_checkinteger 2023-05-24 19:03:28 +10:00
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: move and rename CAN Driver_Type enumeration 2023-04-20 08:53:46 +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: modify example script of README.md 2022-12-22 13:25:35 +09:00
lua_bindings.cpp AP_Scripting: use get_uint32 instead of luaL_checkinteger 2023-05-24 19:03:28 +10:00
lua_bindings.h AP_Scripting: use _chan to mark the methods that are mavlink channel based 2023-05-24 19:03:28 +10:00
lua_boxed_numerics.cpp AP_Scripting: fix uint32 bitwise not 2023-02-15 19:39:21 +11:00
lua_boxed_numerics.h AP_Scripting: reuse uint32 dev operation for idiv 2022-08-17 17:18:26 +10:00
lua_common_defs.h AP_Scripting: add require with sandbox inheritence 2023-04-28 12:36:08 +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 require with sandbox inheritence 2023-04-28 12:36:08 +10:00
lua_scripts.h AP_Scripting: add require with sandbox inheritence 2023-04-28 12:36:08 +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
  local current_pos = ahrs:get_location() -- fetch the current position of the vehicle
  local home = ahrs:get_home()            -- fetch the home position of the vehicle
  if current_pos and home then            -- check that both a vehicle location, and home location are available
    local distance = current_pos:get_distance(home) -- calculate the distance from home in meters
    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 "update" to be rerun again 1000 milliseconds (1 second) from now
end

return update, 1000   -- request "update" to be the first time 1000 milliseconds (1 second) after script is loaded

Examples

See the code examples folder

Working with bindings

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