ArduPilot Lua Scripts Repository

This repository contains a collection of Lua scripts designed for use with ArduPilot-based autonomous vehicles (e.g., drones, rovers). These scripts extend ArduPilot's functionality by adding custom behaviors and automation.

Scripts Included

This repository includes the following scripts:

• Obstacle Avoidance Script (Front LiDAR)
• Auto Mode → 90° Left → Fly 200m
• High Current Monitoring Script

Obstacle Avoidance Script (Front LiDAR)

Overview

This Lua script implements a basic obstacle avoidance system using a front-facing rangefinder (like LiDAR). When the vehicle is in AUTO mode and detects an obstacle within a specified threshold, it switches to BRAKE mode. Once the obstacle is cleared, the vehicle resumes AUTO mode. If the vehicle remains in BRAKE mode for a defined timeout, it switches to RTL (Return To Launch) mode.

Features

• Front Obstacle Detection: Uses data from a front-facing rangefinder.
• Automatic Braking: Switches to BRAKE mode when an obstacle is detected.
• Resumption of Autonomous Flight: Resumes AUTO mode after the obstacle is cleared.
• Timeout to RTL: Switches to RTL mode if the vehicle is stuck in BRAKE mode.
• GCS Messaging: Sends status and warning messages to the Ground Control Station (GCS).

Configuration

The following parameters can be configured within the script:

• FRONT: Orientation ID of the front-facing rangefinder.
• AUTO: Numerical ID for the AUTO flight mode.
• BRAKE: Numerical ID for the BRAKE flight mode.
• RTL: Numerical ID for the RTL flight mode.
• threshold_m: Obstacle detection threshold (meters).
• timeout_ms: Brake timeout (milliseconds).

Installation

1. Save the script to your ArduPilot flight controller's SD card (e.g., APM/lua/).
2. Enable Lua scripting in ArduPilot (LUA_ENABLED = 1).
3. Configure your rangefinder in ArduPilot.
4. Reboot the flight controller.

Usage

The script automatically monitors for obstacles when the vehicle is in AUTO mode.

Important Considerations

• Ensure your rangefinder is properly calibrated and functioning.
• Adjust threshold_m based on your vehicle's braking distance.
• Test in a safe environment.

Auto Mode → 90° Left → Fly 200m

Overview

This script automates a flight sequence: when the vehicle is armed and switched to AUTO mode, it calculates a waypoint 200 meters to the left of its initial heading and flies to that waypoint at 20 meters altitude.

Features

• Automated Trigger: Triggers when the flight mode is set to AUTO after arming.
• Relative Calculation: Calculates the waypoint relative to the vehicle's initial position and heading.
• Single Waypoint Mission: Creates a simple mission to fly to the calculated waypoint.
• Altitude Control: Sets the target altitude for the mission.
• GCS Feedback: Sends mission status and waypoint information to the GCS.

Configuration

The following parameters can be configured by modifying the script:

• Turn angle: The script contains a hardcoded value of 90 degrees for the left turn.
• Flight distance: The script contains a hardcoded value of 200 meters.
• Target altitude: The script contains a hardcoded value of 20 meters.

Installation

1. Save the script to your ArduPilot flight controller's SD card.
2. Enable Lua scripting in ArduPilot (LUA_ENABLED = 1).
3. Reboot the flight controller.

Usage

1. Arm the vehicle.
2. Switch the flight mode to AUTO.

Important Considerations

• Requires a good GPS lock.
• Ensure accurate compass calibration.
• The target altitude is relative to the home altitude.
• The script executes the maneuver only once per arming cycle.

High Current Monitoring Script

Overview

This script monitors the total current draw from the vehicle's batteries. If the current exceeds a defined threshold, it sends a critical warning to the GCS.

Features

• Continuous Current Monitoring: Periodically checks the total current.
• Configurable Threshold: The current threshold can be adjusted in the script.
• Multi-Battery Support: Supports up to two batteries.
• Critical Overcurrent Warning: Sends a high-priority warning to the GCS.
• Debug Information: Sends total current readings and arming status to the GCS.
• Pause on Disarm: Pauses monitoring when the vehicle is disarmed.

Configuration

The following parameters can be configured within the script:

• CHECK_INTERVAL_MS: Interval (milliseconds) for checking the current.
• CURRENT_THRESHOLD: Maximum allowed current (Amperes).

Installation

1. Save the script to your ArduPilot flight controller's SD card.
2. Enable Lua scripting in ArduPilot (LUA_ENABLED = 1).
3. Reboot the flight controller.

Usage

The script automatically starts monitoring the battery current when the vehicle is armed.

Important Considerations

• The script assumes a maximum of two batteries. Modify the script for more batteries.
• Ensure your current sensors are properly calibrated.
• Set the CURRENT_THRESHOLD appropriately for your power system.
• A stable GCS connection is required for receiving warnings.

General Notes

• All scripts are written in Lua and designed to run on ArduPilot firmware.
• Ensure that Lua scripting is enabled in your ArduPilot configuration.
• Refer to the ArduPilot documentation for more information on Lua scripting and supported functions.
• Test these scripts thoroughly in a safe environment before using them in critical applications.