Execute LUA scripts without SD card

[mobius (Vitali Rudenia)]

For not lot od FCs has 16Mb or more data flash chips.
Is there any way to use it as LUA script storage?

[dkemxr (Dave)]

Just read the Wiki.
Lua scripts

[mobius (Vitali Rudenia)]

Hi, I’ve already read about this. It also says that it’s impossible to run scripts integrated into the firmware without an SD card slot on the flight controller. Or did I misunderstand something?

[Eosbandi (Andras Schaffer)]

Here does it says that ?

[mobius (Vitali Rudenia)]

Lua scripts on hardware without SD card

I would like to have the ability to run some scripts on hardware without SD card. Scripts could be stored in ROMFS (this is already possible, but only if hardware supports SD card) or in external flash. It seems that the scripting engine is not compiled on hardware without SDMMC pins defined in hwdef.dat I’ve tried adding some random lines on the hardware definition files just to see if I can have the scripting engine to compile, like: define AP_FILESYSTEM_ROMFS_ENABLED 1 define HAL_OS_FATFS_…

[dkemxr (Dave)]

And how did that work out?

[martinwilco (MW)]

You can run Lua scripts on flight controllers without an SD card slot. It just takes some hardware-specific additions to the hardware definition files (emulated SD card slot) and a custom compiled firmware. I’ve been using Lua scripts on a Kakute H7 Mini for almost two years now and never had a problem.

[mobius (Vitali Rudenia)]

@martinwilco hej. I do have exact same board
Can you please share your changes?

Thanks!

[martinwilco (MW)]

@mobius
Add the following to the hardware definition files:

hwdef.dat:

# SPI3 for emulated SD card
PA15 SDCARD_CS CS
PC10 SPI3_SCK SPI3
PC11 SPI3_MISO SPI3
PC12 SPI3_MOSI SPI3

# added emulated SD card as spi device
SPIDEV sdcard   SPI3 DEVID1 SDCARD_CS   MODE0 400*KHZ 25*MHZ

# enabled filesystem and directories, mandatory to enable scripting
define HAL_OS_FATFS_IO 1
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"

hwdef-bl.dat:

# Add CS pins to ensure they are high in bootloader
PA15 SDCARD_CS CS

defaults.parm:

SCR_ENABLE 1 

You can either place your Lua scripts directly into KakuteH7Mini/scripts or /ROMFS_custom/scripts. That way they will be included in the compiled firmware.

If needed, you can compare your changes with my ArduPilot fork:
ardupilot/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini_custom at Copter-KakuteH7Mini_custom · martinwilco/ardupilot

Tell me if it works:)