Add time delay to GUIDED mode

fdndimon · November 13, 2022, 4:37pm

How can I add a time delay option to GUIDED mode?
So that the vehicle is not always in it, but only for the specified time. And when it expires, switch back to AUTO mode.

Yuri_Rage · November 13, 2022, 4:45pm

Look into Lua scripting to enable such a feature.

fdndimon · November 13, 2022, 4:49pm

How can I add a numerical time parameter from the ground station to the script? Use some already existing parameter?

Yuri_Rage · November 13, 2022, 5:47pm

Assuming you are using a capable autopilot, Lua scripts run onboard (not on the GCS).

https://ardupilot.org/copter/docs/common-lua-scripts.html

If you want to send information from the GCS, a custom parameter can easily be created and used. You could modify that parameter directly via Mission Planner or even use an RC switch to increment/decrement it.

fdndimon · November 14, 2022, 7:04am

Yes, I want to send information from the GCS Mission Planner. How can I created and used custom parameter? In Mission Planeer I need to add to set this parameter?

Yuri_Rage · November 14, 2022, 11:38am

You add the parameter via scripting, and when you reboot and refresh the parameter list, it will be available in Mission Planner.

Example:

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/param_add.lua

-- example for adding parameters to a lua script

-- the table key must be used by only one script on a particular flight
-- controller. If you want to re-use it then you need to wipe your old parameters
-- the key must be a number between 0 and 200. The key is persistent in storage
local PARAM_TABLE_KEY = 72

-- create a parameter table with 2 parameters in it. A table can have
-- at most 63 parameters. The table size for a particular table key
-- cannot increase without a reboot. The prefix "MY_" is used with
-- every parameter in the table. This prefix is used to ensure another
-- script doesn't use the same PARAM_TABLE_KEY.
assert(param:add_table(PARAM_TABLE_KEY, "MY_", 2), 'could not add param table')

-- create two parameters. The param indexes (2nd argument) must
-- be between 1 and 63. All added parameters are floats, with the given
-- default value (4th argument).
assert(param:add_param(PARAM_TABLE_KEY, 1, 'TEST', 3.14), 'could not add param1')
assert(param:add_param(PARAM_TABLE_KEY, 2, 'TEST2', 5.7), 'could not add param2')

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fdndimon · November 14, 2022, 11:56am

Thanks for the help. Another problem has surfaced. My PixhackV3X does not want to run scripts in any way. SCR_ENABLED=1. SCR_HEAP_SIZE=16000. In the messages he writes: Scripting: stopped.
If I change SCR_HEAP_SIZE, then in general - Scripting: Unable to allocate memory. Firmware latest 4.3.1

fdndimon · November 14, 2022, 1:23pm

Set up LOG_FILE_BUFSIZE = 8 - and all it is OK!