LUA scripts within SITL simulations?

Albcem · July 20, 2020, 7:31am

Is it possible to setup the LUA script environment to test scripts within SITL simulations? How does one do that?

Notorious7 · July 20, 2020, 2:29pm

yup, if you are using sim_vehicle.py approach to simulate then create a scripts folder in your /home/user/ardupilot directory, and add your lua scripts in that folder, then just follow the rest of the instructions as given in this link: https://ardupilot.org/copter/docs/common-lua-scripts.html

Albcem · July 21, 2020, 2:46am

Thank you very much - it worked out beautifully! One pitfall that I discovered is that one can not control servos that are passthrough (Servo#_Function=1) with LUA scripts. Of course, this should have been obvious since the beginning but hey, I am a mortal.

Cheers!

iampete · July 21, 2020, 10:39am

I think you should be able to control any servo with the new override binding with a timeout.

github.com

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

-- Testing set_output_pwm_chan_timeout and get_output_pwm
--
-- This will set MAIN1 servo to 1700 pwm for 1 second,
-- then assigned function behavior for 1 second, and then 1100 pwm for 1 second

local flipflop = true
local K_AILERON = 4
local aileron_channel = SRV_Channels:find_channel(K_AILERON)

function update()
    if flipflop then
        SRV_Channels:set_output_pwm_chan_timeout(aileron_channel, 1700, 1000)
        gcs:send_text(6, "flip---")
    else
        SRV_Channels:set_output_pwm_chan_timeout(aileron_channel, 1100, 1000)
        gcs:send_text(6, "---flop")
    end
    flipflop = not flipflop
    output_pwm = SRV_Channels:get_output_pwm(K_AILERON)
    gcs:send_text(6, "Function "..K_AILERON..", channel "..aileron_channel..", output "..output_pwm)

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Albcem · July 21, 2020, 11:13am

Thanks Peter, I will give it another shot but out of the 8 channels I have, only one was pass through and failed to work. When I assigned a new function to it it started working.

For instance in the example you sent the servo function is 4 (aileron). That’s why the code works. If the function were 1, it would not work. I think it makes sense that it doesn’t because pass through should mean that the APM can not manipulate it whether with or without a script.

Thanks