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Ardupilot Lua

ardupilot use Lua version 5.3

ardupilot lua API

Lua demo script

Can be found libraries/AP_Scripting/tests

Demo

Run lua script using SITL

  • Create scripts folder in SITL executable folder
  • Add SCR_ENABLE=1 parameter to param file
  • Place the lua script under the scripts folder
hello.lua
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function update()
    gcs:send_text(0, "Hello from Lua script!")
    return update, 1000  -- run every 1000 ms
end

return update()

Parameters

Parameter Purpose Typical Use
SCR_ENABLE Enable Lua Always set to 1
SCR_DIR_DISABLE Disable auto script loading Rare
SCR_HEAP_SIZE Memory for Lua Increase if crash

There more parameters for logging and debugging check documentation

Predefined parameters

SCR_USERx parameter are generic parameters meant exactly for Lua scripts.

Parameter Type Purpose
SCR_USER1 float user-defined value
SCR_USER2 float user-defined value
SCR_USER3 float user-defined value
SCR_USER4 float user-defined value
SCR_USER5 float user-defined value
SCR_USER6 float user-defined value 
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local gain = param:get("SCR_USER1")

Custom parameter

Ardupilot Accessing/Adding Parameters via Scripts

VSCode

VSCode lua

Using docs.lua

Get libraries/AP_Scripting/docs/docs.lua from ardupilot github (choose the right version)

  • This file is not meant to run
  • It’s a fake API definition for tooling (IntelliSense, completion)
.vscode/settings.json
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{
  "Lua.workspace.library": [
    "/path/to/ardupilot/libraries/AP_Scripting/docs"
  ],
  "Lua.diagnostics.globals": [
    "vehicle",
    "ahrs",
    "gcs",
    "arming",
    "param"
  ]
}

Reference