mirror of https://github.com/ArduPilot/ardupilot
38 lines
1.0 KiB
Lua
38 lines
1.0 KiB
Lua
--[[
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example for getting cached aux function value
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--]]
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local RATE_HZ = 10
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local MAV_SEVERITY_ERROR = 3
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local MAV_SEVERITY_INFO = 6
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local AUX_FUNCTION_NUM = 302
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local last_func_val = nil
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local last_aux_pos = nil
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function update()
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local aux_pos = rc:get_aux_cached(AUX_FUNCTION_NUM)
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if aux_pos ~= last_aux_pos then
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last_aux_pos = aux_pos
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gcs:send_text(MAV_SEVERITY_INFO, string.format("Aux set to %u", aux_pos))
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end
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end
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-- wrapper around update(). This calls update() and if update faults
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-- then an error is displayed, but the script is not stopped
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function protected_wrapper()
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local success, err = pcall(update)
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if not success then
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gcs:send_text(MAV_SEVERITY_ERROR, "Internal Error: " .. err)
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-- when we fault we run the update function again after 1s, slowing it
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-- down a bit so we don't flood the console with errors
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return protected_wrapper, 1000
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end
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return protected_wrapper, math.floor(1000 / RATE_HZ)
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end
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-- start running update loop
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return protected_wrapper()
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