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AP_Scripting: Update rockblock and MAVLinkHL with gcs:run_command and…
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… MISSION_SET_CURRENT
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@stephendade
stephendade committed Jan 30, 2025
1 parent aeeef36 commit 083c7ad
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Showing 2 changed files with 50 additions and 96 deletions.
73 changes: 25 additions & 48 deletions libraries/AP_Scripting/applets/RockBlock.lua
View file
Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,8 @@ local function MAVLinkProcessor()
COMMAND_INT = 75,
HIGH_LATENCY2 = 235,
MISSION_ITEM_INT = 73,
SET_MODE = 11
SET_MODE = 11,
MISSION_SET_CURRENT = 41
}

-- private fields
Expand All @@ -121,6 +122,7 @@ local function MAVLinkProcessor()
_crc_extra[235] = 0xb3
_crc_extra[73] = 0x26
_crc_extra[11] = 0x59
_crc_extra[41] = 0x1c

local _messages = {}
_messages[75] = { -- COMMAND_INT
Expand Down Expand Up @@ -156,6 +158,9 @@ local function MAVLinkProcessor()
_messages[11] = { -- SET_MODE
{ "custom_mode", "<I4" }, { "target_system", "<B" }, { "base_mode", "<B" },
}
_messages[41] = { -- MISSION_SET_CURRENT
{ "seq", "<I2" }, { "target_system", "<B" }, { "target_component", "<B" },
}
function self.getSeqID() return _txseqid end

function self.generateCRC(buffer)
Expand Down Expand Up @@ -269,53 +274,25 @@ local function MAVLinkProcessor()
end
elseif _mavresult.msgid == self.SET_MODE then
vehicle:set_mode(_mavresult.custom_mode)
elseif _mavresult.msgid == self.COMMAND_LONG or _mavresult.msgid ==
self.COMMAND_INT then
if _mavresult.command == 400 then -- MAV_CMD_COMPONENT_ARM_DISARM
if _mavresult.param1 == 1 then
arming:arm()
elseif _mavresult.param1 == 0 then
arming:disarm()
end
elseif _mavresult.command == 176 then -- MAV_CMD_DO_SET_MODE
vehicle:set_mode(_mavresult.param2)
elseif _mavresult.command == 20 then -- MAV_CMD_NAV_RETURN_TO_LAUNCH (Mode RTL) may vary depending on frame
if FWVersion:type() == 2 then -- copter
vehicle:set_mode(6)
elseif FWVersion:type() == 3 then -- plane
vehicle:set_mode(11)
elseif FWVersion:type() == 1 then -- rover
vehicle:set_mode(11)
end
elseif _mavresult.command == 21 then -- MAV_CMD_NAV_LAND (Mode LAND) may vary depending on frame
if FWVersion:type() == 2 then -- copter
vehicle:set_mode(9)
elseif FWVersion:type() == 12 then -- blimp
vehicle:set_mode(0)
end
elseif _mavresult.command == 22 then -- MAV_CMD_NAV_TAKEOFF
vehicle:start_takeoff(_mavresult.param7)
elseif _mavresult.command == 84 then -- MAV_CMD_NAV_VTOL_TAKEOFF
vehicle:start_takeoff(_mavresult.param7)
elseif _mavresult.command == 85 then -- MAV_CMD_NAV_VTOL_LAND (Mode QLAND)
vehicle:set_mode(20)
elseif _mavresult.command == 300 then -- MAV_CMD_MISSION_START --mode auto and then start mission
if FWVersion:type() == 2 then -- copter
vehicle:set_mode(3)
elseif FWVersion:type() == 3 then -- plane
vehicle:set_mode(10)
elseif FWVersion:type() == 1 then -- rover
vehicle:set_mode(10)
elseif FWVersion:type() == 7 then -- sub
vehicle:set_mode(3)
end
elseif _mavresult.command == 2600 then -- MAV_CMD_CONTROL_HIGH_LATENCY
if _mavresult.param1 == 1 then
gcs:enable_high_latency_connections(true)
else
gcs:enable_high_latency_connections(false)
end
end
elseif _mavresult.msgid == self.COMMAND_LONG then
gcs:run_command_long(_mavresult.command, { p1 = _mavresult.param1,
p2 = _mavresult.param2,
p3 = _mavresult.param3,
p4 = _mavresult.param4,
p5 = _mavresult.param5,
p6 = _mavresult.param6,
p7 = _mavresult.param7})
elseif _mavresult.msgid == self.COMMAND_INT then
gcs:run_command_int(_mavresult.command, { p1 = _mavresult.param1,
p2 = _mavresult.param2,
p3 = _mavresult.param3,
p4 = _mavresult.param4,
x = _mavresult.x,
y = _mavresult.y,
z = _mavresult.z,
frame = _mavresult.frame })
elseif _mavresult.msgid == self.MISSION_SET_CURRENT then
mission:set_current_cmd(_mavresult.seq)
end
_mavbuffer = ""
return true
Expand Down
73 changes: 25 additions & 48 deletions libraries/AP_Scripting/examples/MAVLinkHL.lua
View file
Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,8 @@ local function MAVLinkProcessor()
COMMAND_INT = 75,
HIGH_LATENCY2 = 235,
MISSION_ITEM_INT = 73,
SET_MODE = 11
SET_MODE = 11,
MISSION_SET_CURRENT = 41
}

-- private fields
Expand All @@ -67,6 +68,7 @@ local function MAVLinkProcessor()
_crc_extra[235] = 0xb3
_crc_extra[73] = 0x26
_crc_extra[11] = 0x59
_crc_extra[41] = 0x1c

local _messages = {}
_messages[75] = { -- COMMAND_INT
Expand Down Expand Up @@ -102,6 +104,9 @@ local function MAVLinkProcessor()
_messages[11] = { -- SET_MODE
{ "custom_mode", "<I4" }, { "target_system", "<B" }, { "base_mode", "<B" },
}
_messages[41] = { -- MISSION_SET_CURRENT
{ "seq", "<I2" }, { "target_system", "<B" }, { "target_component", "<B" },
}
function self.getSeqID() return _txseqid end

function self.generateCRC(buffer)
Expand Down Expand Up @@ -216,53 +221,25 @@ local function MAVLinkProcessor()
end
elseif _mavresult.msgid == self.SET_MODE then
vehicle:set_mode(_mavresult.custom_mode)
elseif _mavresult.msgid == self.COMMAND_LONG or _mavresult.msgid ==
self.COMMAND_INT then
if _mavresult.command == 400 then -- MAV_CMD_COMPONENT_ARM_DISARM
if _mavresult.param1 == 1 then
arming:arm()
elseif _mavresult.param1 == 0 then
arming:disarm()
end
elseif _mavresult.command == 176 then -- MAV_CMD_DO_SET_MODE
vehicle:set_mode(_mavresult.param2)
elseif _mavresult.command == 20 then -- MAV_CMD_NAV_RETURN_TO_LAUNCH (Mode RTL) may vary depending on frame
if FWVersion:type() == 2 then -- copter
vehicle:set_mode(6)
elseif FWVersion:type() == 3 then -- plane
vehicle:set_mode(11)
elseif FWVersion:type() == 1 then -- rover
vehicle:set_mode(11)
end
elseif _mavresult.command == 21 then -- MAV_CMD_NAV_LAND (Mode LAND) may vary depending on frame
if FWVersion:type() == 2 then -- copter
vehicle:set_mode(9)
elseif FWVersion:type() == 12 then -- blimp
vehicle:set_mode(0)
end
elseif _mavresult.command == 22 then -- MAV_CMD_NAV_TAKEOFF
vehicle:start_takeoff(_mavresult.param7)
elseif _mavresult.command == 84 then -- MAV_CMD_NAV_VTOL_TAKEOFF
vehicle:start_takeoff(_mavresult.param7)
elseif _mavresult.command == 85 then -- MAV_CMD_NAV_VTOL_LAND (Mode QLAND)
vehicle:set_mode(20)
elseif _mavresult.command == 300 then -- MAV_CMD_MISSION_START --mode auto and then start mission
if FWVersion:type() == 2 then -- copter
vehicle:set_mode(3)
elseif FWVersion:type() == 3 then -- plane
vehicle:set_mode(10)
elseif FWVersion:type() == 1 then -- rover
vehicle:set_mode(10)
elseif FWVersion:type() == 7 then -- sub
vehicle:set_mode(3)
end
elseif _mavresult.command == 2600 then -- MAV_CMD_CONTROL_HIGH_LATENCY
if _mavresult.param1 == 1 then
gcs:enable_high_latency_connections(true)
else
gcs:enable_high_latency_connections(false)
end
end
elseif _mavresult.msgid == self.COMMAND_LONG then
gcs:run_command_long(_mavresult.command, { p1 = _mavresult.param1,
p2 = _mavresult.param2,
p3 = _mavresult.param3,
p4 = _mavresult.param4,
p5 = _mavresult.param5,
p6 = _mavresult.param6,
p7 = _mavresult.param7})
elseif _mavresult.msgid == self.COMMAND_INT then
gcs:run_command_int(_mavresult.command, { p1 = _mavresult.param1,
p2 = _mavresult.param2,
p3 = _mavresult.param3,
p4 = _mavresult.param4,
x = _mavresult.x,
y = _mavresult.y,
z = _mavresult.z,
frame = _mavresult.frame })
elseif _mavresult.msgid == self.MISSION_SET_CURRENT then
mission:set_current_cmd(_mavresult.seq)
end
_mavbuffer = ""
return true
Expand Down

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