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libraries/AP_Scripting/examples/gps_switch.lua
59 строк
1 KB
Ryan Friedman
AP_Scripting: Add GPS switch script
04 ноя 2025, 01:48
04 ноя 2025, 01:48
8884567
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-- Lua script to switch between GPS1 and GPS2 using an RC AUX switch -- To test in SITL: -- SIM_GPS2_ENABLE 1 -- SIM_GPS2_TYPE 1 -- GPS2_TYPE 1 -- RC8_OPTION 300 -- GPS_AUTO_SWITCH 0 -- reboot -- param fetch GPS_PRIMARY -- rc 8 2000 -- param fetch GPS_PRIMARY -- rc 8 1000 -- param fetch GPS_PRIMARY -- The RCx_OPTION should be set to "300" (script function) for the desired channel local AUX_FUNCTION_NUM = 300 -- Parameters local GPS_PRIMARY = Parameter("GPS_PRIMARY") local GPS_AUTO_SWITCH = Parameter("GPS_AUTO_SWITCH") -- should be 0 to allow manual switching -- Constants local GPS_FIRST = 0 local GPS_SECOND = 1 function update() -- Read switch position (0=low, 1=mid, 2=high) local sw_pos = rc:get_aux_cached(AUX_FUNCTION_NUM) if sw_pos == nil then return update, 100 end -- Check if GPS_AUTO_SWITCH is 0 (manual mode) if GPS_AUTO_SWITCH:get() ~= 0 then gcs:send_text(0, "Set GPS_AUTO_SWITCH to 0 for GPS switching control") return update, 5000 end if sw_pos == 0 then if GPS_PRIMARY:get() ~= GPS_FIRST then GPS_PRIMARY:set(GPS_FIRST) gcs:send_text(0, "Switched to GPS1") end else if GPS_PRIMARY:get() ~= GPS_SECOND then GPS_PRIMARY:set(GPS_SECOND) gcs:send_text(0, "Switched to GPS2") end end -- check every 0.1s to allow for reasonably quick switching if one GPS is bad. return update, 100 end gcs:send_text(0, "GPS switch script loaded (GPS1 <-> GPS2)") return update()