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