AP_Scripting: add rangefinder bindings

libraries/AP_Scripting/examples/rangefinder_test.lua

@@ -0,0 +1,31 @@
+-- This script checks RangeFinder
+
+local rotation_downward = 25
+local rotation_forward = 0
+
+function update()
+  local sensor_count = rangefinder:num_sensors()
+  gcs:send_text(0, string.format("%d rangefinder sensors found.", sensor_count))
+
+  for i = 0, rangefinder:num_sensors() do
+    if rangefinder:has_data_orient(rotation_downward) then
+      info(rotation_downward)
+    elseif rangefinder:has_data_orient(rotation_forward) then
+      info(rotation_forward)
+    end
+  end
+
+  return update, 1000 -- check again in 1Hz
+end
+
+function info(rotation)
+  local ground_clearance = rangefinder:ground_clearance_cm_orient(rotation)
+  local distance_min = rangefinder:min_distance_cm_orient(rotation)
+  local distance_max = rangefinder:max_distance_cm_orient(rotation)
+  local offset = rangefinder:get_pos_offset_orient(rotation)
+  local distance_cm = rangefinder:distance_cm_orient(rotation)
+
+  gcs:send_text(0, string.format("Ratation %d %.0f cm range %d - %d offset %.0f %.0f %.0f ground clearance %.0f", rotation, distance_cm, distance_min, distance_max, offset:x(), offset:y(), offset:z(), ground_clearance))
+end
+
+return update(), 1000 -- first message may be displayed 1 seconds after start-up

libraries/AP_Scripting/generator/description/bindings.desc

@@ -128,6 +128,13 @@ include AP_RangeFinder/AP_RangeFinder.h
 
 singleton RangeFinder alias rangefinder
 singleton RangeFinder method num_sensors uint8_t
+singleton RangeFinder method has_orientation boolean Rotation'enum ROTATION_NONE ROTATION_MAX-1
+singleton RangeFinder method distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
+singleton RangeFinder method max_distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
+singleton RangeFinder method min_distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
+singleton RangeFinder method ground_clearance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
+singleton RangeFinder method has_data_orient boolean Rotation'enum ROTATION_NONE ROTATION_MAX-1
+singleton RangeFinder method get_pos_offset_orient Vector3f Rotation'enum ROTATION_NONE ROTATION_MAX-1
 
 include AP_Terrain/AP_Terrain.h