AHRS Lua Function

cNavio2 · May 11, 2023, 5:44am

New to LUA scripting.

Getting an error from the script “call to nill value” for ahrs:get_posvelyaw_source_set()).

But in the LUA docs it says it exists.

Currently using rover 4.1

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/docs/docs.lua#L2649


      
          -- desc
          ---@class ahrs
          ahrs = {}
          
          
-- desc
          ---@return Quaternion_ud|nil
          function ahrs:get_quaternion() end
          
          
-- desc
          ---@return integer
          function ahrs:get_posvelyaw_source_set() end
          
          
-- desc
          ---@return boolean
          function ahrs:initialised() end
          
          
-- desc
          ---@param loc Location_ud
          ---@return boolean
          function ahrs:set_origin(loc) end

Yuri_Rage · May 11, 2023, 5:54pm

Looks like you’ll need to be on Rover 4.3 or higher to use that binding.

cNavio2 · May 12, 2023, 12:39am

How did you determine this? Just trying to see how to better read the documentation

Yuri_Rage · May 12, 2023, 12:46am

I looked at the source branches on GitHub. The getter function didn’t exist until 4.3.

Was a little tricky, though, because the binding appears to sort of magically predate the existence of the bound function in AHRS.h. Maybe an artifact of a backport.