AP_Scripting: examaples move to : acsess

libraries/AP_Scripting/applets/VTOL-quicktune.lua

@@ -320,7 +320,7 @@ function update_slew_gain()
       local ax_stage = string.sub(slew_parm, -1)
       adjust_gain(slew_parm, P:get()+slew_delta)
       slew_steps = slew_steps - 1
-      logger.write('QUIK','SRate,Gain,Param', 'ffn', get_slew_rate(axis), P:get(), axis .. ax_stage)
+      logger:write('QUIK','SRate,Gain,Param', 'ffn', get_slew_rate(axis), P:get(), axis .. ax_stage)
       if slew_steps == 0 then
          gcs:send_text(MAV_SEVERITY_INFO, string.format("%s %.4f", slew_parm, P:get()))
          slew_parm = nil
@@ -459,7 +459,7 @@ function update()
          adjust_gain(P_name, new_P)
       end
       setup_slew_gain(pname, new_gain)
-      logger.write('QUIK','SRate,Gain,Param', 'ffn', srate, P:get(), axis .. stage)
+      logger:write('QUIK','SRate,Gain,Param', 'ffn', srate, P:get(), axis .. stage)
       gcs:send_text(6, string.format("Tuning: %s done", pname))
       advance_stage(axis)
       last_stage_change = get_time()
@@ -469,7 +469,7 @@ function update()
          new_gain = 0.001
       end
       adjust_gain(pname, new_gain)
-      logger.write('QUIK','SRate,Gain,Param', 'ffn', srate, P:get(), axis .. stage)
+      logger:write('QUIK','SRate,Gain,Param', 'ffn', srate, P:get(), axis .. stage)
       if get_time() - last_gain_report > 3 then
          last_gain_report = get_time()
          gcs:send_text(MAV_SEVERITY_INFO, string.format("%s %.4f sr:%.2f", pname, new_gain, srate))

libraries/AP_Scripting/examples/Aerobatics/Missions/plane_aerobatics.lua

@@ -164,7 +164,7 @@ local function PI_controller(kP,kI,iMax)
    -- log the controller internals
    function self.log(name, add_total)
       -- allow for an external addition to total
-      logger.write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total)
+      logger:write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total)
    end
    -- return the instance
    return self

libraries/AP_Scripting/examples/Aerobatics/Via_Switch/10_loops-and-immelman.lua

@@ -139,7 +139,7 @@ local function PI_controller(kP,kI,iMax)
    -- log the controller internals
    function self.log(name, add_total)
       -- allow for an external addition to total
-      logger.write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total)
+      logger:write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total)
    end
    -- return the instance
    return self

libraries/AP_Scripting/examples/Aerobatics/Via_Switch/5_knifedges.lua

@@ -104,7 +104,7 @@ local function PI_controller(kP,kI,iMax)
    -- log the controller internals
    function self.log(name, add_total)
       -- allow for an external addition to total
-      logger.write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total)
+      logger:write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total)
    end
    -- return the instance
    return self

libraries/AP_Scripting/examples/CAN_MiniCheetah_drive.lua

@@ -2,7 +2,7 @@
 -- https://os.mbed.com/users/benkatz/code/HKC_MiniCheetah/docs/tip/CAN__com_8cpp_source.html
 
 -- Load CAN driver with a buffer size of 20
-local driver = CAN.get_device(20)
+local driver = CAN:get_device(20)
 
 local target_ID = uint32_t(1)
 

libraries/AP_Scripting/examples/CAN_read.lua

@@ -2,8 +2,8 @@
 
 -- Load CAN driver1. The first will attach to a protocol of 10, the 2nd to a protocol of 12
 -- this allows the script to distinguish packets on two CAN interfaces
-local driver1 = CAN.get_device(5)
-local driver2 = CAN.get_device2(5)
+local driver1 = CAN:get_device(5)
+local driver2 = CAN:get_device2(5)
 
 if not driver1 and not driver2 then
    gcs:send_text(0,"No scripting CAN interfaces found")

libraries/AP_Scripting/examples/CAN_write.lua

@@ -1,7 +1,7 @@
 -- This script is an example of writing to CAN bus
 
 -- Load CAN driver, using the scripting protocol and with a buffer size of 5
-local driver = CAN.get_device(5)
+local driver = CAN:get_device(5)
 
 -- transfer ID of the message were sending
 local Transfer_ID = 0

libraries/AP_Scripting/examples/OOP_example.lua

@@ -57,7 +57,7 @@ local function PIFF(kFF,kP,kI,iMax)
 
    -- log the controller internals
    function self.log(name)
-      logger.write(name,'Targ,Curr,FF,P,I,Total','ffffff',table.unpack(_log_data))
+      logger:write(name,'Targ,Curr,FF,P,I,Total','ffffff',table.unpack(_log_data))
    end
 
    -- return the instance
@@ -110,7 +110,7 @@ function PIFF2.update(self, target, current)
 end
 
 function PIFF2.log(self, name)
-   logger.write(name,'Targ,Curr,FF,P,I,Total','ffffff',table.unpack(self.log_data))
+   logger:write(name,'Targ,Curr,FF,P,I,Total','ffffff',table.unpack(self.log_data))
 end
 
 --[[

libraries/AP_Scripting/examples/SN-GCJA5-particle-sensor.lua

@@ -28,7 +28,7 @@ file:write('Lattitude (°), Longitude (°), Absolute Altitude (m), PM 1.0, PM 2.
 file:close()
 
 -- load the i2c driver, bus 0
-local sensor = i2c.get_device(0,0x33)
+local sensor = i2c:get_device(0,0x33)
 sensor:set_retries(10)
 
 -- register names
@@ -173,7 +173,7 @@ function update() -- this is the loop which periodically runs
   file:close()
 
   -- save to data flash
-  logger.write('PART','PM1,PM2.5,PM10,Cnt0.5,Cnt1,Cnt2.5,Cnt5,Cnt7.5,Cnt10','fffffffff',PM1_0,PM2_5,PM10,PC0_5,PC1_0,PC2_5,PC5_0,PC7_5,PC10)
+  logger:write('PART','PM1,PM2.5,PM10,Cnt0.5,Cnt1,Cnt2.5,Cnt5,Cnt7.5,Cnt10','fffffffff',PM1_0,PM2_5,PM10,PC0_5,PC1_0,PC2_5,PC5_0,PC7_5,PC10)
 
   -- send to GCS
   gcs:send_named_float('PM 1.0',PM1_0)

libraries/AP_Scripting/examples/UART_log.lua

@@ -100,7 +100,7 @@ function update()
             -- format characters specify the type of variable to be logged, see AP_Logger/README.md
             -- not all format types are supported by scripting only: i, L, e, f, n, M, B, I, E, N, and Z
             -- Note that Lua automatically adds a timestamp in micro seconds
-            logger.write('SCR','Sensor1, Sensor2, Sensor3','fff',table.unpack(log_data))
+            logger:write('SCR','Sensor1, Sensor2, Sensor3','fff',table.unpack(log_data))
 
             -- reset for the next message
             log_data = {}

libraries/AP_Scripting/examples/i2c_scan.lua

@@ -2,7 +2,7 @@
 local address = 0
 local found = 0
 
-local i2c_bus = i2c.get_device(0,0)
+local i2c_bus = i2c:get_device(0,0)
 i2c_bus:set_retries(10)
 
 function update() -- this is the loop which periodically runs

libraries/AP_Scripting/examples/logging.lua

@@ -30,10 +30,10 @@ local function write_to_dataflash()
   -- https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Logger
   -- not all format types are supported by scripting only: i, L, e, f, n, M, B, I, E, and N
   -- lua automatically adds a timestamp in micro seconds
-  logger.write('SCR1','roll(deg),pitch(deg),yaw(deg)','fff',interesting_data[roll],interesting_data[pitch],interesting_data[yaw])
+  logger:write('SCR1','roll(deg),pitch(deg),yaw(deg)','fff',interesting_data[roll],interesting_data[pitch],interesting_data[yaw])
 
   -- it is also possible to give units and multipliers
-  logger.write('SCR2','roll,pitch,yaw','fff','ddd','---',interesting_data[roll],interesting_data[pitch],interesting_data[yaw])
+  logger:write('SCR2','roll,pitch,yaw','fff','ddd','---',interesting_data[roll],interesting_data[pitch],interesting_data[yaw])
 
 end
 

libraries/AP_Scripting/examples/plane-wind-fs.lua

@@ -244,7 +244,7 @@ function track_return_time()
       end
     end
 
-    logger.write('SFSC','total_return_time,remaining_return_time','If','ss','--',total_time,return_time)
+    logger:write('SFSC','total_return_time,remaining_return_time','If','ss','--',total_time,return_time)
   end
   return track_return_time, 100
 end
@@ -332,7 +332,7 @@ function update()
     return_q = 0.5 * density * return_airspeed^2 -- we could estimate the change in density also, but will be negligible
   end
 
-  logger.write('SFSA','return_time,return_airspeed,Q,return_Q','ffff','snPP','----',return_time,return_airspeed,q,return_q)
+  logger:write('SFSA','return_time,return_airspeed,Q,return_Q','ffff','snPP','----',return_time,return_airspeed,q,return_q)
 
   for i = 1, #batt_info do
     local instance, norm_filtered_amps, rated_capacity_mah = table.unpack(batt_info[i])
@@ -354,7 +354,7 @@ function update()
       local remaining_time = remaining_capacity / return_amps
 
       local buffer_time = remaining_time - ((return_time * time_SF) + margin)
-      logger.write('SFSB','Instance,current,rem_cap,rem_time,buffer','Bffff','#Aiss','--C--',i-1,return_amps,remaining_capacity,remaining_time,buffer_time)
+      logger:write('SFSB','Instance,current,rem_cap,rem_time,buffer','Bffff','#Aiss','--C--',i-1,return_amps,remaining_capacity,remaining_time,buffer_time)
       if  (return_time < 0) or buffer_time < 0 then
         if return_time < 0 then
           gcs:send_text(0, "Failsafe: ground speed low can not get home")

libraries/AP_Scripting/examples/plane_ship_landing.lua

@@ -253,7 +253,7 @@ function check_approach_tangent()
       local holdoff_dist = get_holdoff_distance()
       local error1 = math.abs(wrap_180(target_bearing_deg - ground_bearing_deg))
       local error2 = math.abs(wrap_180(ground_bearing_deg - (target_heading + SHIP_LAND_ANGLE:get())))
-      logger.write('SLND','TBrg,GBrg,Dist,HDist,Err1,Err2','ffffff',target_bearing_deg, ground_bearing_deg, distance, holdoff_dist, error1, error2)
+      logger:write('SLND','TBrg,GBrg,Dist,HDist,Err1,Err2','ffffff',target_bearing_deg, ground_bearing_deg, distance, holdoff_dist, error1, error2)
       if (error1 < margin and
           distance < 2.5*holdoff_dist and
           distance > 0.7*holdoff_dist and