From 12d8a4d543af3d080cdb6a94d9bbd4477400ea1b Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 16 Sep 2024 16:02:31 +1000 Subject: [PATCH] AP_Scripting: adjust description of aux function 90 (EK3 Source Set --- libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua | 4 ++-- libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.md | 2 +- libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua | 2 +- .../AP_Scripting/examples/ahrs-source-gps-wheelencoders.lua | 2 +- libraries/AP_Scripting/examples/ahrs-source.lua | 2 +- 5 files changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua b/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua index 759cb6d0a5b03..7b980ce88fa31 100644 --- a/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua +++ b/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua @@ -2,7 +2,7 @@ -- this script is intended to help vehicles automatically switch between ExternalNav and optical flow -- -- configure a downward facing lidar with a range of at least 5m --- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=external nav, middle=opticalflow, high=Not Used) +-- setup RCx_OPTION = 90 (EKF Source Set) to select the source (low=external nav, middle=opticalflow, high=Not Used) -- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected -- SRC_ENABLE = 1 (enable scripting) -- setup EK3_SRCn_ parameters so that ExternalNav is the primary source, opticalflow is secondary @@ -135,7 +135,7 @@ end function update() -- check for EKF Source Select switch position change - local rc_ekfsrc_pos = rc:get_aux_cached(90) -- RCx_OPTION = 90 (EKF Pos Source) + local rc_ekfsrc_pos = rc:get_aux_cached(90) -- RCx_OPTION = 90 (EKF Source Set) if rc_ekfsrc_pos == nil then rc_ekfsrc_pos = 0 end diff --git a/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.md b/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.md index 37eb93d157d2b..39eb2feca1f5a 100644 --- a/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.md +++ b/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.md @@ -14,7 +14,7 @@ This script is intended to help vehicles automatically switch between ExternalNa ## How to use Configure a downward facing lidar with a range of at least 5m -Set RCx_OPTION = 90 (EKF Pos Source) to select the source (low=ExternalNav, middle=opticalflow, high=Not Used) +Set RCx_OPTION = 90 (EKF Source Set) to select the source (low=ExternalNav, middle=opticalflow, high=Not Used) Set RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected Set SRC_ENABLE = 1 (enable scripting) Set EK3_SRCn_ parameters so that ExternalNav is the primary source, opticalflow is secondary diff --git a/libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua b/libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua index 0dfc23770c7b7..4db7fcd3f6462 100644 --- a/libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua +++ b/libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua @@ -2,7 +2,7 @@ -- this script is intended to help vehicles automatically switch between GPS and optical flow -- -- configure a forward or downward facing lidar with a range of at least 5m --- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=GPS, middle=opticalflow, high=Not Used) +-- setup RCx_OPTION = 90 (EKF Source Set) to select the source (low=GPS, middle=opticalflow, high=Not Used) -- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected -- SCR_ENABLE = 1 (enable scripting) -- setup EK3_SRCn_ parameters so that GPS is the primary source, opticalflow is secondary. diff --git a/libraries/AP_Scripting/examples/ahrs-source-gps-wheelencoders.lua b/libraries/AP_Scripting/examples/ahrs-source-gps-wheelencoders.lua index 96c4f7ed5fc7d..4b1f1080c998b 100644 --- a/libraries/AP_Scripting/examples/ahrs-source-gps-wheelencoders.lua +++ b/libraries/AP_Scripting/examples/ahrs-source-gps-wheelencoders.lua @@ -1,6 +1,6 @@ -- This script helps vehicles move between GPS and Non-GPS environments using GPS and Wheel Encoders -- --- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=primary, middle=secondary, high=tertiary) +-- setup RCx_OPTION = 90 (EKF Source Set) to select the source (low=primary, middle=secondary, high=tertiary) -- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected -- setup EK3_SRCn_ parameters so that GPS is the primary source, WheelEncoders are the secondary -- diff --git a/libraries/AP_Scripting/examples/ahrs-source.lua b/libraries/AP_Scripting/examples/ahrs-source.lua index 87f4d9853685d..4e269b6442cde 100644 --- a/libraries/AP_Scripting/examples/ahrs-source.lua +++ b/libraries/AP_Scripting/examples/ahrs-source.lua @@ -1,7 +1,7 @@ -- switches between AHRS/EKF sources based on the pilot's source selection switch or using an automatic source selection algorithm -- this script is intended to help vehicles move between GPS and Non-GPS environments -- --- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=primary, middle=secondary, high=tertiary) +-- setup RCx_OPTION = 90 (EKF Source Set) to select the source (low=primary, middle=secondary, high=tertiary) -- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected -- setup EK3_SRCn_ parameters so that GPS is the primary source, Non-GPS (i.e. T265) is secondary and optical flow tertiary -- configure a forward or downward facing lidar with a range of more than 5m