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master
libraries/AP_Scripting/examples/rangefinder_test.lua
44 строки
1 KB
Peter Barker
AP_Scripting: allow for more than 327m range rangefinders
21 янв 2025, 02:54
21 янв 2025, 02:54
8ea5ef2
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-- This script checks RangeFinder local rotation_downward = 25 local rotation_forward = 0 function update() local sensor_count = rangefinder:num_sensors() gcs:send_text(0, string.format("%d rangefinder sensors found.", sensor_count)) for _ = 0, rangefinder:num_sensors() do if rangefinder:has_data_orient(rotation_downward) then info(rotation_downward) elseif rangefinder:has_data_orient(rotation_forward) then info(rotation_forward) end end return update, 1000 -- check again in 1Hz end function info(rotation) local ground_clearance = rangefinder:ground_clearance_orient(rotation) local distance_min = rangefinder:min_distance_orient(rotation) local distance_max = rangefinder:max_distance_orient(rotation) local offset = rangefinder:get_pos_offset_orient(rotation) local distance = rangefinder:distance_orient(rotation) gcs:send_text( 0, string.format( "rot=%d distance=%.2f min=%.2f max=%.2f offset=(%.0f,%.0f,%.0f) ground-clearance=%.2f", rotation, distance, distance_min, distance_max, offset:x(), offset:y(), offset:z(), ground_clearance ) ) end return update(), 1000 -- first message may be displayed 1 seconds after start-up