Scripting: added copter deploy example

libraries/AP_Arming/AP_Arming.h

@@ -96,6 +96,7 @@ class AP_Arming {
     // these functions should not be used by Copter which holds the armed state in the motors library
     Required arming_required() const;
     virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true);
+    virtual bool arm_force(AP_Arming::Method method) { return arm(method, false); }
     virtual bool disarm(AP_Arming::Method method, bool do_disarm_checks=true);
     bool is_armed() const;
     bool is_armed_and_safety_off() const;

libraries/AP_Scripting/docs/docs.lua

@@ -2107,6 +2107,11 @@ function baro:get_altitude() end
 ---@return boolean
 function baro:healthy(instance) end
 
+-- get altitude difference from a base pressure and current pressure
+---@param base_pressure number -- first reference pressure in Pa
+---@param pressure number -- 2nd pressure in Pa
+---@return number -- altitude difference in meters
+function baro:get_altitude_difference(base_pressure,pressure) end
 
 -- Serial ports
 serial = {}
@@ -3193,6 +3198,10 @@ function arming:get_aux_auth_id() end
 ---@return boolean -- true if armed successfully
 function arming:arm() end
 
+-- force arm the vehicle
+---@return boolean -- true if armed
+function arming:arm_force() end
+
 -- Returns a true if vehicle is currently armed.
 ---@return boolean -- true if armed
 function arming:is_armed() end

libraries/AP_Scripting/examples/copter_deploy.lua

@@ -0,0 +1,84 @@
+--[[
+   script to auto-deploy a vehicle on descent after reaching a specified altitude
+   uses raw pressure to not depend on either GPS or on home alt
+--]]
+local PARAM_TABLE_KEY = 72
+local PARAM_TABLE_PREFIX = "DEPL_"
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+---@diagnostic disable: missing-parameter
+---@diagnostic disable: param-type-mismatch
+
+-- bind a parameter to a variable
+function bind_param(name)
+   local p = Parameter()
+   assert(p:init(name), string.format('could not find %s parameter', name))
+   return p
+end
+
+-- add a parameter and bind it to a variable
+function bind_add_param(name, idx, default_value)
+   assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+   return bind_param(PARAM_TABLE_PREFIX .. name)
+end
+
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 10), 'could not add param table')
+
+local end_pos    = bind_add_param('OPEN_POS',    1, 1200)
+local offset     = bind_add_param('OPEN_OFFSET', 2, 400)
+local deployment_alt = bind_add_param('ALT', 3, 1)
+local DEPL_CLIMB_ALT = bind_add_param('CLIMB_ALT', 4, 2)
+local base_pressure = nil
+local SERVO_FUNCTION = 94
+local reached_climb_alt = false
+local deployed = false
+
+local MODE_LAND = 9
+
+function update_state()
+   local pressure = baro:get_pressure()
+   if not pressure then
+      return
+   end
+   if not base_pressure then
+      base_pressure = pressure
+   end
+   local altitude = baro:get_altitude_difference(base_pressure, pressure)
+   if not altitude then
+      return
+   end
+   gcs:send_named_float('DALT',altitude)
+   logger.write("DEPL",'BP,P,Alt','fff',
+                base_pressure, pressure, altitude)
+   if not reached_climb_alt then
+      local start_pos = end_pos:get() + offset:get()
+      SRV_Channels:set_output_pwm(SERVO_FUNCTION, start_pos)
+      if altitude > DEPL_CLIMB_ALT:get() then
+         reached_climb_alt = true
+         gcs:send_text(MAV_SEVERITY.ERROR, "DEPL: Reached climb alt")
+      end
+      return
+   end
+   if deployed then
+      return
+   end
+   if altitude > deployment_alt:get() then
+      return
+   end
+   deployed = true
+   gcs:send_text(MAV_SEVERITY.INFO, "DEPL: deploying")
+   vehicle:set_mode(MODE_LAND)
+   arming:arm_force()
+   if not vehicle:get_mode() == MODE_LAND or not arming:is_armed() then
+      gcs:send_text(MAV_SEVERITY.INFO, "DEPL: Arming failed")
+      return
+   end
+   --SRV_Channels:set_output_pwm(SERVO_FUNCTION, end_pos:get())
+   gcs:send_text(MAV_SEVERITY.INFO, "DEPL: Deployed successfully")
+end
+function update() -- this is the loop which periodically runs
+   update_state()
+   return update, 20 -- Reschedules the loop at 50Hz
+end
+gcs:send_text(MAV_SEVERITY.INFO, "DEPL: loaded")
+return update() -- Run immediately before starting to reschedule

libraries/AP_Scripting/generator/description/bindings.desc

@@ -70,6 +70,7 @@ singleton AP_Arming method disarm boolean AP_Arming::Method::SCRIPTING'literal
 singleton AP_Arming method is_armed boolean
 singleton AP_Arming method pre_arm_checks boolean false'literal
 singleton AP_Arming method arm boolean AP_Arming::Method::SCRIPTING'literal
+singleton AP_Arming method arm_force boolean AP_Arming::Method::SCRIPTING'literal
 singleton AP_Arming method get_aux_auth_id boolean uint8_t'Null
 singleton AP_Arming method set_aux_auth_passed void uint8_t'skip_check
 singleton AP_Arming method set_aux_auth_failed void uint8_t'skip_check string
@@ -418,6 +419,7 @@ singleton AP_Baro method get_temperature float
 singleton AP_Baro method get_external_temperature float
 singleton AP_Baro method get_altitude float
 singleton AP_Baro method healthy boolean uint8_t'skip_check
+singleton AP_Baro method get_altitude_difference float float'skip_check float'skip_check
 
 include AP_OpticalFlow/AP_OpticalFlow.h
 singleton AP_OpticalFlow depends AP_OPTICALFLOW_ENABLED