mirror of https://github.com/ArduPilot/ardupilot
33 lines
1.1 KiB
Lua
33 lines
1.1 KiB
Lua
-- this shows how to protect against faults in your scripts
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-- you can wrap your update() call (or any other call) in a pcall()
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-- which catches errors, allowing you to take an appropriate action
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-- example main loop function
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function update()
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local t = 0.001 * millis():tofloat()
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gcs:send_text(0, string.format("TICK %.1fs", t))
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if math.floor(t) % 10 == 0 then
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-- deliberately make a bad call to cause a fault, asking for the 6th GPS status
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-- as this is done inside a pcall() the error will be caught instead of stopping the script
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local status = gps:status(5)
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end
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end
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-- wrapper around update(). This calls update() at 5Hz,
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-- and if update faults then an error is displayed, but the script is not
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-- 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(0, "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, 200
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end
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-- start running update loop
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return protected_wrapper()
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