mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-02-08 20:09:13 +08:00
110 lines
2.8 KiB
Lua
110 lines
2.8 KiB
Lua
--[[
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a script to select other parameters using an auxillary switch
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from subdirectories in scripts directory labeled /1,/2, or /3
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--]]
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local SEL_CH = 302
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local PARAM_FILENAME = "params.param"
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--[[
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check that directory exists
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--]]
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function check_subdir_exists(n)
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return dirlist(get_scripts_dir() .. "/" .. n )
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end
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--[[
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get the path to the scripts directory. This will be scripts/ on SITL
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and APM/scripts on a ChibiOS board
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--]]
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function get_scripts_dir()
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local dlist1 = dirlist("APM/scripts")
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if dlist1 and #dlist1 > 0 then
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return "APM/scripts"
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end
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-- otherwise assume scripts/
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return "scripts"
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end
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--[[
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load parameters from a file PARAM_FILENAME from directory n
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--]]
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function param_load(n)
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count = 0
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failed = false
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file_name = get_scripts_dir() .. "/" .. n .."/" .. PARAM_FILENAME
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-- Open file
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file = io.open(file_name)
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if not file then
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gcs:send_text(0,string.format("%s not present",file_name))
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return
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end
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while true do
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local line = file:read()
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if not line then
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break
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end
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-- trim trailing spaces
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line = string.gsub(line, '^(.-)%s*$', '%1')
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-- skip empty lines and comments
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if line ~= "" and not string.match(line, "^%s*#") then
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-- Try comma-separated format first (PARAM,value)
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local _, _, parm, value = string.find(line, "^([%w_]+),([%d.-]+)")
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if not parm then
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-- Fall back to space-separated format (PARAM value)
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_, _, parm, value = string.find(line, "^([%w_]+)%s+([%d.-]+)")
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end
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if parm and value then
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local num_value = tonumber(value)
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if num_value then
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if param:set(parm, num_value) then
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count = count + 1
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else
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failed = true
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end
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else
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failed = true
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end
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end
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end
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end
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if not failed then
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gcs:send_text(6,string.format("Loaded %u parameters",count))
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else
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gcs:send_text(6,string.format("Loaded %u parameters but some params did not exist to set",count))
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end
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end
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local sw_last = -1
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local load_param = true
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function update()
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local sw_current = rc:get_aux_cached(SEL_CH)
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if (sw_current == sw_last) or (sw_current == nil) then
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return update, 500
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end
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if sw_current == 0 then
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subdir = 1
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elseif sw_current == 2 then
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subdir = 3
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else
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subdir = 2
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end
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sw_last = sw_current
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if not check_subdir_exists(subdir) then
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gcs:send_text(0,string.format("Scripts subdirectory /%s does not exist!",subdir))
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return update, 500
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end
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if load_param then
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param_load(subdir)
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load_param = false
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end
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return update, 500
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end
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gcs:send_text(5,"Loaded Parameter_Controller.lua")
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return update, 500
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