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libraries/AP_Scripting/examples/terrain_warning.lua
59 строк
2 KB
Iampete1
AP_Scripting: fix easy lua check issues in examples
31 окт 2023, 03:11
31 окт 2023, 03:11
069507c
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-- height above terrain warning script -- min altitude above terrain, script will warn if lower than this local terrain_min_alt = 20 -- warning is only enabled further than this distance from home local home_dist_enable = 25 -- must have climbed at least this distance above terrain since arming to enable warning local height_enable = 10 -- warning repeat time in ms local warn_ms = 10000 local height_threshold_passed = false function update() if not arming:is_armed() then -- not armed, nothing to do, reset height threshold height_threshold_passed = false return update, 1000 end -- get the height above terrain, allowing extrapolation -- this used the terrain database only, not considering rangefinders local terrain_height = terrain:height_above_terrain(true) if not terrain_height then -- could not get a valid terrain alt return update, 1000 end if (not height_threshold_passed) and (terrain_height < height_enable) then -- not climbed far enough to enable, nothing to do return update, 1000 end height_threshold_passed = true local home_dist = ahrs:get_relative_position_NED_home() if home_dist then -- only check home dist if we have a valid home -- do not consider altitude above home in radius calc home_dist:z(0) if home_dist:length() < home_dist_enable then -- to close to home return update, 1000 end end if terrain_height < terrain_min_alt then -- send message at severity level 2 (MAV_SEVERITY_CRITICAL), this will appear on the MP HUD and be read out if speech is enabled gcs:send_text(2, string.format("Terrain Warning: %0.1f meters",terrain_height)) return update, warn_ms end return update, 1000 end return update, 10000