LUA get_accel() help

Ethan_Blomberg · July 13, 2022, 7:39pm

I’m trying to get the acceleration vector3f data in a lua script. I have ahrs:get_roll() , pitch, and yaw working, but ‘accel = ahrs:get_accel()’ does not work and gives errors preventing running. It’s mentioned in ardupilot/libraries/AP_Scripting/Docs/docs.lua but nowhere else. It also isn’t used in any of their provided examples. I can’t find this problem mentioned anywhere else. I really don’t want to calculate acceleration if it is provided somewhere. Any help would be appreciated. Thanks.

Yuri_Rage · July 13, 2022, 7:45pm

It works just as expected and is used in my example here:

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/rover-TerrainDetector.lua

--[[----------------------------------------------------------------------------

TerrainDetector ArduPilot Lua script

Uses gyro and accelerometer data to detect rough terrain and slow the
vehicle's speed accordingly during auto missions.

Provides a set of custom tuning parameters:
ROUGH_SPEED     : (m/s) rough terrain desired speed, set to -1 to disable detection
ROUGH_TIMEOUT_MS: (ms) min time to remain slowed down for rough terrain
ROUGH_GZ_MAX    : (G) slow down on Gz impulses greater than this value
ROUGH_RATE_MAX  : (deg/s) slow down on rate transients greater than this value

These gain values are used for smooth terrain detection.
Smaller values (less than 1.0) are more restrictive about resuming normal speed.
ROUGH_GZ_GAIN   : Gz impulse gain
ROUGH_RATE_GAIN : gyro transient rate gain

CAUTION: This script is capable of engaging and disengaging autonomous control
of a vehicle.  Use this script AT YOUR OWN RISK.

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Ethan_Blomberg · July 13, 2022, 8:17pm

Thanks for the quick reply @Yuri_Rage ! I think my issue was my vehicle firmware version… I just updated from Copter 4.0 to 4.2 and it suddenly works… thanks anyways!

Yuri_Rage · July 13, 2022, 8:18pm

That is probably the case. 4.0 had limited bindings available.

Here are the 4.0 bindings.