mirror of https://github.com/ArduPilot/ardupilot
22 lines
714 B
Lua
22 lines
714 B
Lua
-- This script displays the vehicle lean angles and rotation rates at 1hz
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function update() -- this is the loop which periodically runs
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roll = math.deg(ahrs:get_roll())
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pitch = math.deg(ahrs:get_pitch())
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yaw = math.deg(ahrs:get_yaw())
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rates = ahrs:get_gyro()
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if rates then
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roll_rate = math.deg(rates:x())
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pitch_rate = math.deg(rates:y())
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yaw_rate = math.deg(rates:z())
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else
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roll_rate = 0
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pitch_rate = 0
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yaw_rate = 0
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end
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gcs:send_text(0, string.format("Ang R:%.1f P:%.1f Y:%.1f Rate R:%.1f P:%.1f Y:%.1f", roll, pitch, yaw, roll_rate, pitch_rate, yaw_rate))
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return update, 1000 -- reschedules the loop
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end
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return update() -- run immediately before starting to reschedule
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