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AP_Scripting: message_interval example handles 0hz #27873

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Aug 21, 2024
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AP_Scripting: message_interval example handles 0hz #27873

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41 changes: 37 additions & 4 deletions libraries/AP_Scripting/examples/message_interval.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -5,17 +5,50 @@
-- during the initial connection, so by resetting them periodically we ensure we get
-- the expected telemetry rate

local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}

local loop_time = 5000 -- number of ms between runs

-- mavlink message ids
local AHRS_ID = uint32_t(163)
local AHRS2_ID = uint32_t(178)
local ATTITUDE_ID = uint32_t(30)
--local EKF_STATUS_REPORT_ID = uint32_t(193)
--local GLOBAL_POSITION_INT_ID = uint32_t(33)
--local GPS_RAW_INT_ID = uint32_t(24)
--local LOCAL_POSITION_NED_ID = uint32_t(32)
--local NAV_CONTROLLER_OUTPUT_ID = uint32_t(62)
--local POWER_STATUS_ID = uint32_t(125)
--local RAW_IMU_ID = uint32_t(27)
--local RC_CHANNELS_ID = uint32_t(65)
--local SERVO_OUTPUT_RAW_ID = uint32_t(36)
--local SYS_STATUS_ID = uint32_t(1)
--local SYSTEM_TIME_ID = uint32_t(2)
--local VFR_HUD_ID = uint32_t(74)
--local VIBRATION_ID = uint32_t(241)
--local WIND_ID = uint32_t(168)

-- serial port
local serial_port = 0

-- intervals is a table which contains a table for each entry we want to adjust
-- each entry is arranged as {the serial link to adjust, the mavlink message ID, and the broadcast interval in Hz}
local intervals = {{0, uint32_t(30), 2.0}, -- First serial, ATTITUDE, 2Hz
{0, uint32_t(163), 5.0}} -- First serial, AHRS, 5Hz
local intervals = {{serial_port, ATTITUDE_ID, 2.0}, -- ATTITUDE, 2Hz
{serial_port, AHRS_ID, 5.0}, -- AHRS, 5Hz
{serial_port, AHRS2_ID, 0}, -- AHRS2, 0hz
}

local loop_time = 5000 -- number of ms between runs
-- print welcome message
gcs:send_text(MAV_SEVERITY.INFO, "Loaded message_interval.lua")

function update() -- this is the loop which periodically runs
for i = 1, #intervals do -- we want to iterate over every specified interval
local channel, message, interval_hz = table.unpack(intervals[i]) -- this extracts the channel, MAVLink ID, and interval
gcs:set_message_interval(channel, message, math.floor(1000000 / interval_hz)) -- actually sets the interval as appropriate
local interval_us = -1
if interval_hz > 0 then
interval_us = math.floor(1000000 / interval_hz) -- convert the interval to microseconds
end
gcs:set_message_interval(channel, message, interval_us) -- actually sets the interval as appropriate
end
return update, loop_time -- reschedules the loop
end
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