From 2c58206a755bc58eda6e556795a2f388fbf29f00 Mon Sep 17 00:00:00 2001 From: nrt Date: Sat, 6 Aug 2022 20:35:06 +0530 Subject: [PATCH] AP_Scripting: added Lua example demonstrating the use of active source set --- .../AP_Scripting/examples/active_source_set.lua | 12 ++++++++++++ .../AP_Scripting/generator/description/bindings.desc | 1 + 2 files changed, 13 insertions(+) create mode 100644 libraries/AP_Scripting/examples/active_source_set.lua diff --git a/libraries/AP_Scripting/examples/active_source_set.lua b/libraries/AP_Scripting/examples/active_source_set.lua new file mode 100644 index 0000000000..a149086d78 --- /dev/null +++ b/libraries/AP_Scripting/examples/active_source_set.lua @@ -0,0 +1,12 @@ + +--returns active source set used by EKF3 +-- can be used for infering the current source set in use without RC for autonomous source switching + +function update() -- this is the loop which periodically runs + + gcs:send_text(0, string.format("current source set in use :%d", ahrs:get_posvelyaw_source_set())) + + return update, 1000 -- 1000ms reschedules the loop (1Hz) +end + +return update() -- run immediately before starting to reschedule diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc index fa98ee464a..0c6ae87ada 100644 --- a/libraries/AP_Scripting/generator/description/bindings.desc +++ b/libraries/AP_Scripting/generator/description/bindings.desc @@ -54,6 +54,7 @@ singleton AP_AHRS method set_home boolean Location singleton AP_AHRS method get_origin boolean Location'Null singleton AP_AHRS method set_origin boolean Location singleton AP_AHRS method initialised boolean +singleton AP_AHRS method get_posvelyaw_source_set uint8_t include AP_Arming/AP_Arming.h