mirror of
https://github.com/ArduPilot/ardupilot.git
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Gregor Kikelj
ebe4fc2074
https://ardupilot.org/copter/docs/common-lua-scripts.html The docs reference 2MB limit, discord discussion suggested 2MB is the real limit.
68 lines
2.5 KiB
Markdown
68 lines
2.5 KiB
Markdown
# AP_Scripting
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## Enabling Scripting Support in Builds
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Scripting is automatically enabled on all boards with more than 1MB of flash space.
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The following example enables scripting, builds the ArduPlane firmware for the Cube, and uploads it.
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```
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$ waf configure --board=CubeBlack
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$ waf plane
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$ waf plane --upload
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```
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To run SITL you can simply use the `sim_vehicle.py` script which will wrap the configuration, compilation,
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and launching of the simulation into one command for you.
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```
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$ Tools/autotest/sim_vehicle.py -v ArduPlane
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```
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Once you have a vehicle flashed with scripting you need to set the `SCR_ENABLE` parameter to 1 to enable scripting and reboot.
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## Adding Scripts
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The vehicle will automatically look for and launch any scripts that are contained in the `scripts` folder when it starts.
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On real hardware this should be inside of the `APM` folder of the SD card. In SITL this should be in the working directory (typically the main `ardupilot` directory).
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An example script is given below:
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```lua
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function update () -- periodic function that will be called
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local current_pos = ahrs:get_location() -- fetch the current position of the vehicle
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local home = ahrs:get_home() -- fetch the home position of the vehicle
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if current_pos and home then -- check that both a vehicle location, and home location are available
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local distance = current_pos:get_distance(home) -- calculate the distance from home in meters
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if distance > 1000 then -- if more then 1000 meters away
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distance = 1000; -- clamp the distance to 1000 meters
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end
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SRV_Channels:set_output_pwm(96, 1000 + distance) -- set the servo assigned function 96 (scripting3) to a proportional value
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end
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return update, 1000 -- request "update" to be rerun again 1000 milliseconds (1 second) from now
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end
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return update, 1000 -- request "update" to be the first time 1000 milliseconds (1 second) after script is loaded
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```
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## Examples
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See the [code examples folder](https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Scripting/examples)
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## Working with bindings
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Edit bindings.desc and rebuild. The waf build will automatically
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re-run the code generator.
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## Lua Source Code
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The Lua 5.3.6 source code is vendored in `lua/`. This is a customized
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version of the [official
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distribution](https://www.lua.org/ftp/lua-5.3.6.tar.gz). Where possible,
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differences have been marked of the code.
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Lua (not including modifications) is distributed under the terms of the
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MIT license.
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