AP_Scripting: message_interval example handles 0hz

ArduPilot · Aug 20, 2024 · c9ba33b · c9ba33b
1 parent ebc8a71
commit c9ba33b
Showing 1 changed file with 37 additions and 4 deletions.
diff --git a/libraries/AP_Scripting/examples/message_interval.lua b/libraries/AP_Scripting/examples/message_interval.lua
@@ -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