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AP_Scripting: fix mount-poi script check errors

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remove unused variables
re-enable script checks
This commit is contained in:
Randy Mackay 2023-04-11 16:38:47 +09:00 committed by Peter Barker
parent 3ab63cc6b1
commit f40a939a0c
1 changed files with 1 additions and 8 deletions
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9
libraries/AP_Scripting/applets/mount-poi.lua
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@ -18,7 +18,6 @@
-- 9. repeat step 6, 7 and 8 until the test_loc's altitude falls below the terrain altitude
-- 10. interpolate between test_loc and prev_test_loc to find the lat, lon, alt (above sea-level) where alt-above-terrain is zero
-- 11. display the POI to the user
-- luacheck: only 0
-- global definitions
local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
@ -43,8 +42,6 @@ local POI_DIST_MAX = Parameter("POI_DIST_MAX")
TERRAIN_SPACING = Parameter("TERRAIN_SPACING")
-- local variables and definitions
local user_update_interval_ms = 10000 -- send user updates every 10 sec
local last_user_update_ms = 0 -- system time that update was last sent to user
local last_rc_switch_pos = 0 -- last known rc switch position. Used to detect change in RC switch position
-- helper functions
@ -88,9 +85,6 @@ end
-- the main update function that performs a simplified version of RTL
function update()
-- get current system time
local now_ms = millis()
-- find RC channel used to trigger POI
rc_switch_ch = rc:find_channel_for_option(300) --scripting ch 1
if (rc_switch_ch == nil) then
@ -123,7 +117,7 @@ function update()
vehicle_loc:change_alt_frame(ALT_FRAME_ABSOLUTE)
-- retrieve gimbal attitude
local roll_deg, pitch_deg, yaw_bf_deg = mount:get_attitude_euler(0)
local _, pitch_deg, yaw_bf_deg = mount:get_attitude_euler(0)
if pitch_deg == nil or yaw_bf_deg == nil then
gcs:send_text(MAV_SEVERITY.ERROR, "POI: gimbal attitude unavailable") -- MAV_SEVERITY_ERROR
return update, UPDATE_INTERVAL_MS
@ -185,7 +179,6 @@ function update()
local dist_interp_m = interpolate(0, dist_increment_m, 0, prev_test_loc:alt() * 0.01 - prev_terrain_amsl_m, test_loc:alt() * 0.01 - terrain_amsl_m)
local poi_loc = prev_test_loc:copy()
poi_loc:offset_bearing_and_pitch(mount_yaw_ef_deg, mount_pitch_deg, dist_interp_m)
local poi_terr_asml_m = terrain:height_amsl(poi_loc, true)
gcs:send_text(MAV_SEVERITY.INFO, string.format("POI %.7f, %.7f, %.2f (asml)", poi_loc:lat()/10000000.0, poi_loc:lng()/10000000.0, poi_loc:alt() * 0.01))
end