mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.7 KiB
Lua
61 lines
1.7 KiB
Lua
|
|
-- 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID,26:Heli_Autorotate
|
|
-- and arming:is_armed()
|
|
|
|
local MODE_AUTO = 3
|
|
local MODE_LOITER = 5
|
|
local MODE_ALT_HOLD = 2
|
|
local MODE_RTL = 6
|
|
local MODE_LAND = 9
|
|
local counter = 0
|
|
|
|
function update()
|
|
local pos = ahrs:get_location()
|
|
|
|
if (vehicle:get_mode() == MODE_AUTO or vehicle:get_mode() == MODE_LOITER) then
|
|
setfence(true)
|
|
elseif vehicle:get_mode() == MODE_ALT_HOLD and not pos then
|
|
setfence(false)
|
|
elseif vehicle:get_mode() == MODE_ALT_HOLD and pos then
|
|
setfence(true)
|
|
end
|
|
|
|
if (vehicle:get_mode() ~= MODE_AUTO and vehicle:get_mode() ~= MODE_LOITER and vehicle:get_mode() ~= MODE_ALT_HOLD and vehicle:get_mode() ~= MODE_RTL and vehicle:get_mode() ~= MODE_LAND) then
|
|
if not pos then
|
|
vehicle:set_mode(MODE_ALT_HOLD)
|
|
gcs:send_text(0, "JoeyFence: Invalid Mode, Changing no gps")
|
|
else
|
|
vehicle:set_mode(MODE_LOITER)
|
|
gcs:send_text(0, "JoeyFence: Invalid Mode, Changing gps")
|
|
end
|
|
end
|
|
|
|
if (counter >= 5 * 5) then
|
|
--gcs:send_text(0, "JoeyFence: Running")
|
|
counter = 0
|
|
end
|
|
|
|
counter = counter + 1
|
|
-- run at 5Hz
|
|
return update, 200
|
|
end
|
|
|
|
function setfence(enabled)
|
|
if (enabled) then
|
|
value = param:get('FENCE_ENABLE')
|
|
if(value ~= 1) then
|
|
param:set('FENCE_ENABLE',1)
|
|
gcs:send_text(0, "JoeyFence: Enabled")
|
|
end
|
|
else
|
|
value = param:get('FENCE_ENABLE')
|
|
if(value ~= 0) then
|
|
param:set('FENCE_ENABLE',0)
|
|
gcs:send_text(0, "JoeyFence: Disabled")
|
|
end
|
|
end
|
|
end
|
|
|
|
-- start running update loop
|
|
return update()
|