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21 lines
714 B
21 lines
714 B
-- This script displays the vehicle lean angles and rotation rates at 1hz |
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function update() -- this is the loop which periodically runs |
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roll = math.deg(ahrs:get_roll()) |
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pitch = math.deg(ahrs:get_pitch()) |
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yaw = math.deg(ahrs:get_yaw()) |
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rates = ahrs:get_gyro() |
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if rates then |
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roll_rate = math.deg(rates:x()) |
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pitch_rate = math.deg(rates:y()) |
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yaw_rate = math.deg(rates:z()) |
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else |
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roll_rate = 0 |
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pitch_rate = 0 |
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yaw_rate = 0 |
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end |
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gcs:send_text(0, string.format("Ang R:%.1f P:%.1f Y:%.1f Rate R:%.1f P:%.1f Y:%.1f", roll, pitch, yaw, roll_rate, pitch_rate, yaw_rate)) |
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return update, 1000 -- reschedules the loop |
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end |
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return update() -- run immediately before starting to reschedule
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