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libraries/AP_Scripting/examples/command_int.lua
55 строк
1 KB
Andrew Tridgell
AP_Scripting: added gcs:run_command_int() binding
01 июл 2024, 13:08
01 июл 2024, 13:08
38ca478
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--[[ demonstrate using the gcs:command_int() interface to send commands from MAVLink MAV_CMD_xxx set --]] local MAV_FRAME_GLOBAL_RELATIVE_ALT = 3 local MAV_CMD_DO_SET_MODE = 176 local MAV_CMD_DO_REPOSITION = 192 -- some plane flight modes for testing local MODE_LOITER = 12 local MODE_GUIDED = 15 local MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 --[[ create a NaN value --]] local function NaN() return 0/0 end --[[ test API calls. When in LOITER mode change to GUIDED and force flying to a location NE of home --]] local function test_command_int() if vehicle:get_mode() ~= MODE_LOITER then return end local home = ahrs:get_home() if not home then return end -- force mode GUIDED gcs:run_command_int(MAV_CMD_DO_SET_MODE, { p1 = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, p2 = MODE_GUIDED }) -- and fly to 200m NE of home and 100m above home local dest = home:copy() dest:offset_bearing(45, 200) gcs:run_command_int(MAV_CMD_DO_REPOSITION, { frame = MAV_FRAME_GLOBAL_RELATIVE_ALT, p1 = -1, p4 = NaN(), x = dest:lat(), y = dest:lng(), z = 100 }) end local function update() test_command_int() return update, 1000 end return update, 1000