AP_Scripting: added bindings and example for waypoint info

libraries/AP_Scripting/examples/wp_test.lua

@@ -0,0 +1,50 @@
+-- Example script for accessing waypoint info
+
+local wp_index
+local wp_distance
+local wp_bearing
+local wp_error
+local wp_max_distance = 0
+local last_log_ms = millis()
+
+
+function on_wp_change(index, distance)
+    wp_index = index
+    wp_distance = distance
+    wp_distance_max = distance;
+    gcs:send_text(0, string.format("NEW WP: idx=%d, dist=%.01fm", index, distance))
+end
+
+function refresh_wp_info()
+    local index = mission:get_current_nav_index()
+    local distance = vehicle:get_wp_distance_m()
+    local bearing = vehicle:get_wp_bearing_deg()
+    local error = vehicle:get_wp_crosstrack_error_m()
+
+    if index ~= nil and index ~= wp_index and distance ~= nil then
+        on_wp_change(index, distance)
+    end 
+
+    if index ~= nil and distance ~= nil and bearing ~= nil and error ~= nil then
+        wp_index = index
+        wp_bearing = bearing
+        wp_distance = distance
+        wp_error = error
+        wp_distance_max = math.max(wp_distance_max, wp_distance)
+    end
+end
+
+function log_wp_info(index, distance, bearing, error)
+    if index ~= nil and distance ~= nil and bearing ~= nil and error ~= nil then
+        local perc = wp_distance_max > 0 and 100-(100*(distance/wp_distance_max)) or 0
+        gcs:send_text(0, string.format("WP: %d, %.01fm (%.01f%%), b: %d°, xe:%.01fm", index, distance, perc, math.floor(bearing+0.5), error))
+    end
+end
+
+function update()
+    refresh_wp_info()
+    log_wp_info(wp_index, wp_distance, wp_bearing, wp_error)
+    return update, 1000 -- 1Hz
+end
+  
+return update(), 1000 -- start with a 1 sec delay

libraries/AP_Scripting/generator/description/bindings.desc

@@ -188,6 +188,9 @@ singleton AP_Vehicle method get_target_location boolean Location'Null
 singleton AP_Vehicle method set_target_velocity_NED boolean Vector3f
 singleton AP_Vehicle method set_target_angle_and_climbrate boolean float -180 180 float -90 90 float -360 360 float -FLT_MAX FLT_MAX boolean float -FLT_MAX FLT_MAX
 singleton AP_Vehicle method set_steering_and_throttle boolean float -1 1 float -1 1
+singleton AP_Vehicle method get_wp_distance_m boolean float'Null
+singleton AP_Vehicle method get_wp_bearing_deg boolean float'Null
+singleton AP_Vehicle method get_wp_crosstrack_error_m boolean float'Null
 
 include AP_SerialLED/AP_SerialLED.h
 singleton AP_SerialLED alias serialLED