AP_Scripting: add Lua bindings to check VTOL approach and land phases

ArduPlane/quadplane.h

@@ -636,31 +636,6 @@ class QuadPlane
     QAutoTune qautotune;
 #endif
 
-    /*
-      are we in the approach phase of a VTOL landing?
-     */
-    bool in_vtol_land_approach(void) const;
-
-    /*
-      are we in the final landing phase of a VTOL landing?
-     */
-    bool in_vtol_land_final(void) const;
-
-    /*
-      are we in any of the phases of a VTOL landing?
-     */
-    bool in_vtol_land_sequence(void) const;
-
-    /*
-      see if we are in the VTOL position control phase of a landing
-    */
-    bool in_vtol_land_poscontrol(void) const;
-
-    /*
-      are we in the airbrake phase of a VTOL landing?
-     */
-    bool in_vtol_airbrake(void) const;
-
     // returns true if the vehicle should currently be doing a spiral landing
     bool landing_with_fixed_wing_spiral_approach(void) const;
 
@@ -720,6 +695,32 @@ class QuadPlane
     MAV_RESULT mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type,
                                         uint16_t throttle_value, float timeout_sec,
                                         uint8_t motor_count);
+
+    /*
+      are we in the approach phase of a VTOL landing?
+     */
+    bool in_vtol_land_approach(void) const;
+
+    /*
+      are we in the final landing phase of a VTOL landing?
+     */
+    bool in_vtol_land_final(void) const;
+
+    /*
+      are we in any of the phases of a VTOL landing?
+     */
+    bool in_vtol_land_sequence(void) const;
+
+    /*
+      see if we are in the VTOL position control phase of a landing
+    */
+    bool in_vtol_land_poscontrol(void) const;
+
+    /*
+      are we in the airbrake phase of a VTOL landing?
+     */
+    bool in_vtol_airbrake(void) const;
+
 private:
     void motor_test_stop();
 

libraries/AP_Scripting/docs/docs.lua

@@ -1809,22 +1809,42 @@ function sub:set_rangefinder_target_cm(new_target_cm) end
 -- desc
 quadplane = {}
 
--- desc
+-- true when in the airbrake stage of VTOL approach
 ---@return boolean
-function quadplane:in_assisted_flight() end
+function quadplane:in_vtol_airbrake() end
 
--- desc
+-- true when in the position control stage of VTOL landing
 ---@return boolean
-function quadplane:in_vtol_mode() end
+function quadplane:in_vtol_land_poscontrol() end
+
+-- true when in any stage of VTOL approach and landing
+---@return boolean
+function quadplane:in_vtol_land_sequence() end
+
+-- true when in the final stage of VTOL landing
+---@return boolean
+function quadplane:in_vtol_land_final() end
 
--- true in descent phase of VTOL landing
+-- true when in the approach phase of VTOL landing
+---@return boolean
+function quadplane:in_vtol_land_approach() end
+
+-- true when in descent phase of VTOL landing
 ---@return boolean
 function quadplane:in_vtol_land_descent() end
 
 -- abort a VTOL landing, climbing back up
 ---@return boolean
 function quadplane:abort_landing() end
 
+-- true when in VTOL assisted flight
+---@return boolean
+function quadplane:in_assisted_flight() end
+
+-- true when in VTOL modes
+---@return boolean
+function quadplane:in_vtol_mode() end
+
 
 -- desc
 LED = {}

libraries/AP_Scripting/examples/vtol_land_status.lua

@@ -0,0 +1,51 @@
+--[[
+Example script to test VTOL approach bindings. Prints a message to the console once in the VTOL land sequence 
+indicating which phase of the approach and landing the aircraft is in.
+]]--
+
+-- Function to retrieve VTOL status
+function get_vtol_status()
+    -- Retrieve the status from the QuadPlane methods
+    local in_vtol_land_approach = quadplane:in_vtol_land_approach()
+    local in_vtol_land_final = quadplane:in_vtol_land_final()
+    local in_vtol_land_poscontrol = quadplane:in_vtol_land_poscontrol()
+    local in_vtol_airbrake = quadplane:in_vtol_airbrake()
+
+    -- Return the status as a table
+    return {
+      approach = in_vtol_land_approach,
+      final = in_vtol_land_final,
+      poscontrol = in_vtol_land_poscontrol,
+      airbrake = in_vtol_airbrake
+    }
+end
+
+-- Function to send VTOL status to GCS
+function send_status_to_gcs()
+    -- Get the VTOL status
+    local status = get_vtol_status()
+
+    -- Create the message to send to the GCS
+    local message = string.format("VTOL Status - Approach: %s, Final: %s, PosControl: %s, Airbrake: %s",
+                                  tostring(status.approach),
+                                  tostring(status.final),
+                                  tostring(status.poscontrol),
+                                  tostring(status.airbrake))
+    -- Send the message to the GCS if in VTOL land sequence
+    gcs:send_text(6, message)
+end
+
+-- Main update function
+function update()
+
+    -- Call the function to send status to GCS
+    if quadplane:in_vtol_land_sequence() then
+     send_status_to_gcs()
+    end
+
+    -- Schedule the next run of this function in 1000 ms (1 Hz)
+    return update, 1000
+end
+
+-- Start the main loop
+return update, 1000

libraries/AP_Scripting/generator/description/bindings.desc

@@ -539,6 +539,11 @@ singleton QuadPlane method in_vtol_mode boolean
 singleton QuadPlane method in_assisted_flight boolean
 singleton QuadPlane method abort_landing boolean
 singleton QuadPlane method in_vtol_land_descent boolean
+singleton QuadPlane method in_vtol_land_approach boolean
+singleton QuadPlane method in_vtol_land_final boolean
+singleton QuadPlane method in_vtol_land_sequence boolean
+singleton QuadPlane method in_vtol_land_poscontrol boolean
+singleton QuadPlane method in_vtol_airbrake boolean
 
 include ../ArduSub/Sub.h depends APM_BUILD_TYPE(APM_BUILD_ArduSub)
 singleton Sub rename sub