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master
libraries/AP_Scripting/examples/Safety_States.lua
36 строк
879 B
Iampete1
AP_Scripting: add bindings for E-stop, Interlock and Safety state
07 фев 2023, 02:24
07 фев 2023, 02:24
c5c7863
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-- This Script is a example of the safety states avalalbe to lua local last_armed local last_motors_armed local last_E_stop local last_safe function update() local armed = arming:is_armed() if armed ~= last_armed then gcs:send_text(0, 'Vehicle armed: ' .. tostring(armed)) end last_armed = armed local motors_armed = motors:get_interlock() if motors_armed ~= last_motors_armed then gcs:send_text(0, 'Motors armed: ' .. tostring(motors_armed)) end last_motors_armed = motors_armed local E_stop = SRV_Channels:get_emergency_stop() if E_stop ~= last_E_stop then gcs:send_text(0, 'E-Stop active: ' .. tostring(E_stop)) end last_E_stop = E_stop local safe = SRV_Channels:get_safety_state() if safe ~= last_safe then gcs:send_text(0, 'Safe state: ' .. tostring(safe)) end last_safe = safe return update, 100 end return update()