AP_Scripting: set-target-location example script

libraries/AP_Scripting/examples/set-target-location.lua

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+-- performs the equivalent of a simple RTL in Guided mode using set_target_location
+--
+-- CAUTION: This script only works for Copter
+-- this script checks for RC input > 1800 and then:
+--    a) switches to Guided mode
+--    b) sets the target location to be 10m above home
+--    c) switches the vehicle to land once it is within a couple of meters of home
+
+local wp_radius = 2
+local target_alt_above_home = 10
+local copter_guided_mode_num = 4
+local copter_land_mode_num = 9
+local sent_target = false
+
+-- the main update function that is used to decide when we should do a failsafe
+function update()
+  if not arming:is_armed() then -- reset state when disarmed
+    sent_target = false
+  else
+    pwm7 = rc:get_pwm(7)
+    if pwm7 and pwm7 > 1800 then                        -- check if RC input 7 has moved high
+      local mode = vehicle:get_mode()                   -- get current mode
+      if not sent_target then                           -- if we haven't sent the target yet
+        if not (mode == copter_guided_mode_num) then    -- change to guided mode
+          vehicle:set_mode(copter_guided_mode_num)
+        else
+          local above_home = ahrs:get_home()            -- get home location
+          if above_home then
+            above_home:alt(above_home:alt() + (target_alt_above_home * 100))
+            sent_target = vehicle:set_target_location(above_home)   -- set target above home
+          end
+        end
+      else
+
+        -- change to land mode when within 2m of home
+        if not (mode == copter_land_mode_num) then
+          local home = ahrs:get_home()
+          local curr_loc = ahrs:get_position()
+          if home and curr_loc then
+            local home_dist = curr_loc:get_distance(home)   -- get horizontal distance to home
+            if (home_dist < wp_radius) then                 -- change to land mode if close
+              vehicle:set_mode(copter_land_mode_num)
+            end
+          end
+        end
+      end
+    end
+  end
+
+  return update, 1000
+end
+
+return update()