You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
59 lines
1.5 KiB
59 lines
1.5 KiB
-- Example of loading a mission from the SD card using Scripting |
|
-- Would be trivial to select a mission based on scripting params or RC switch |
|
|
|
local function read_mission(file_name) |
|
|
|
-- Open file |
|
file = assert(io.open(file_name), 'Could open :' .. file_name) |
|
|
|
-- check header |
|
assert(string.find(file:read('l'),'QGC WPL 110') == 1, file_name .. ': incorrect format') |
|
|
|
-- clear any existing mission |
|
assert(mission:clear(), 'Could not clear current mission') |
|
|
|
-- read each line and write to mission |
|
local item = mavlink_mission_item_int_t() |
|
local index = 0 |
|
while true do |
|
|
|
local data = {} |
|
for i = 1, 12 do |
|
data[i] = file:read('n') |
|
if data[i] == nil then |
|
if i == 1 then |
|
gcs:send_text(6, 'loaded mission: ' .. file_name) |
|
return -- got to the end of the file |
|
else |
|
mission:clear() -- clear part loaded mission |
|
error('failed to read file') |
|
end |
|
end |
|
end |
|
|
|
item:seq(data[1]) |
|
item:frame(data[3]) |
|
item:command(data[4]) |
|
item:param1(data[5]) |
|
item:param2(data[6]) |
|
item:param3(data[7]) |
|
item:param4(data[8]) |
|
item:x(data[9]*10^7) |
|
item:y(data[10]*10^7) |
|
item:z(data[11]) |
|
|
|
if not mission:set_item(index,item) then |
|
mission:clear() -- clear part loaded mission |
|
error(string.format('failed to set mission item %i',index)) |
|
end |
|
index = index + 1 |
|
end |
|
|
|
end |
|
|
|
function update() |
|
read_mission('Tools/autotest/Generic_Missions/CMAC-bigloop.txt') |
|
return |
|
end |
|
|
|
return update, 5000
|
|
|