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libraries/AP_Scripting/examples/notch_switch.lua
47 строк
1 KB
Andrew Tridgell
AP_Scripting: added notch_switch example
29 май 2024, 05:56
29 май 2024, 05:56
bf9f3b8
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--[[ example script to switch between two notch setups by changing the attenuation to zero on the notch to disable. This allows for easy in-flight switching between two different notch setups --]] local INS_HNTCH_ATT = Parameter('INS_HNTCH_ATT') local INS_HNTC2_ATT = Parameter('INS_HNTC2_ATT') local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7} if not INS_HNTCH_ATT:get() or not INS_HNTC2_ATT:get() then gcs:send_text(MAV_SEVERITY.ERROR, string.format("Need 2 notches configured")) return end local last_sw = -1 local AUX_FN = 300 local attenuation = INS_HNTCH_ATT:get() if not attenuation then gcs:send_text(MAV_SEVERITY.ERROR, string.format("Unable to get attenuation")) return end function update() local sw_current = rc:get_aux_cached(AUX_FN) if not sw_current then -- treat unset as notch1 sw_current = 0 end if sw_current ~= last_sw then last_sw = sw_current if sw_current == 0 then INS_HNTC2_ATT:set(0) INS_HNTCH_ATT:set(attenuation) gcs:send_text(MAV_SEVERITY.INFO, string.format("Switched to notch1 %.2f", attenuation)) else INS_HNTC2_ATT:set(attenuation) INS_HNTCH_ATT:set(0) gcs:send_text(MAV_SEVERITY.INFO, string.format("Switched to notch2 %.2f", attenuation)) end end return update,100 end return update()