mirror of https://github.com/ArduPilot/ardupilot
30 lines
1.0 KiB
Lua
30 lines
1.0 KiB
Lua
-- This script runs a custom arming check for index == 1 and it must be a takeoff missionn item
|
|
|
|
local auth_id = arming:get_aux_auth_id()
|
|
|
|
local MAV_CMD_NAV_TAKEOFF = 22
|
|
local MAV_CMD_NAV_VTOL_TAKEOFF = 84
|
|
|
|
function update() -- this is the loop which periodically runs
|
|
if auth_id then
|
|
local cmd_id = mission:get_current_nav_id()
|
|
local index = mission:get_current_nav_index()
|
|
|
|
if not cmd_id or not index then
|
|
arming:set_aux_auth_failed(auth_id, "Could not retrieve mission")
|
|
elseif ((index ~= 0) and (index ~= 1)) then
|
|
-- index of 0 is valid because when you switch to AUTO it will automatically change to 1
|
|
arming:set_aux_auth_failed(auth_id, "Mission index is not ready")
|
|
elseif ((cmd_id ~= MAV_CMD_NAV_TAKEOFF) and (cmd_id ~= MAV_CMD_NAV_VTOL_TAKEOFF)) then
|
|
arming:set_aux_auth_failed(auth_id, "Mission is not ready to takeoff")
|
|
else
|
|
arming:set_aux_auth_passed(auth_id)
|
|
end
|
|
end
|
|
return update, 2000 -- reschedules the loop in 2 seconds
|
|
end
|
|
|
|
return update() -- run immediately before starting to reschedule
|
|
|
|
|