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40 lines
1.6 KiB
40 lines
1.6 KiB
-- Rover motor driver for an Ackerman style vehicle (i.e. the frame has separate throttle and steering controls) |
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-- |
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-- The following parameters should be set: |
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-- SERVO1_FUNCTION = 94 (Script 1) |
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-- SERVO3_FUNCTION = 96 (Script 3) |
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-- |
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-- The Frame's steering control should be connected to the autopilot's output1, throttle control to output3 |
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-- |
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-- CAUTION: This script only works for Rover |
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-- This script retrieves the high level controller outputs that have been sent to the regular motor driver |
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-- and then outputs them to the "Script 1" and "Script 3" outputs. This does not add any real value beyond |
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-- serving as an example of how lua scripts can be used to implement a custom motor driver |
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local K_SCRIPTING1 = 94 -- for steering control |
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local K_SCRIPTING3 = 96 -- for throttle control |
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local CONTROL_OUTPUT_THROTTLE = 3 |
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local CONTROL_OUTPUT_YAW = 4 |
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function update() |
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if not arming:is_armed() then |
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-- if not armed move steering and throttle to mid |
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SRV_Channels:set_output_norm(K_SCRIPTING1, 0) |
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SRV_Channels:set_output_norm(K_SCRIPTING3, 0) |
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else |
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-- retrieve high level steering and throttle control outputs from vehicle in -1 to +1 range |
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local steering = vehicle:get_control_output(CONTROL_OUTPUT_YAW) |
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local throttle = vehicle:get_control_output(CONTROL_OUTPUT_THROTTLE) |
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if (steering and throttle) then |
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if throttle < 0 then |
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steering = -steering |
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end |
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SRV_Channels:set_output_norm(K_SCRIPTING1, steering) |
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SRV_Channels:set_output_norm(K_SCRIPTING3, throttle) |
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end |
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end |
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return update, 10 -- run at 100hz |
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end |
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gcs:send_text(6, "rover-motor-driver.lua is running") |
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return update()
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