Lua script to execute "on demand"

Robotic · June 11, 2024, 6:50pm

Hello,

I am trying to set up a Lua script to execute “on demand,” so that I can activate it from a mission, for example, when executing a trigger. Step by step, I have managed to configure the mount to move and take pictures with the script; what I need now is to be able to invoke it when needed from the mission.

I have seen examples where they invoke it from an RC, but that wouldn’t be the case here.

An interesting idea would also be for it to execute upon detecting that the drone stops for a time, say 3 seconds, and then it executes at that moment.

For practical purposes, using a “do set servo” to activate it would be ideal.

I have searched, read, and experimented without success.

Any idea on how to achieve this?

Yuri_Rage · June 11, 2024, 6:52pm

Seems you want to do this while in auto mode. NAV_SCRIPT_TIME is probably the answer:

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/copter-nav-script-time.lua

-- Copter perform a simple maneuver in response to a NAV_SCRIPT_TIME mission command while the vehicle is in Auto mode
--
-- Create a simple mission like below
-- TAKEOFF, Alt:10m
-- NAV_SCRIPT_TIME, command=0 (not used in this script), timeout=30 (seconds), arg1=5 (square width in meters), arg2=10 (square height in meters)
-- RETURN-TO-LAUNCH
--
-- Arm the vehicle (in Loiter mode), switch to Auto and raise the throttle
-- The vehicle should climb to 10m
-- This lua script will be fly the vehicle in square pattern in clockwise direction at the current altitude
-- "arg1" specifies the width (e.g. East-West) in meters
-- "arg2" specifies the height (e.g. North-South) in meters
-- Once the vehicle completes the square or the timeout expires the mission will continue and the vehicle should RTL home

---@diagnostic disable: param-type-mismatch
---@diagnostic disable: need-check-nil

local running = false
local last_id = -1          -- unique id used to detect if a new NAV_SCRIPT_TIME command has started
local start_loc             -- vehicle's location when command starts (South-West corner of square)

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Robotic · June 11, 2024, 8:58pm

Thank you very much for the reference, Yuri.

I will review the code in detail.