From 4e3eea222ab38ab3151fb72817266402b72ec655 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 28 May 2024 07:42:18 +1000 Subject: [PATCH] AP_Scripting: added GPS yaw binding useful for seeing if switching to a GPS yaw source set in EK3 will work --- libraries/AP_Scripting/docs/docs.lua | 7 +++++++ libraries/AP_Scripting/generator/description/bindings.desc | 1 + 2 files changed, 8 insertions(+) diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua index 6aa389f0cd549..4db54caa043f1 100644 --- a/libraries/AP_Scripting/docs/docs.lua +++ b/libraries/AP_Scripting/docs/docs.lua @@ -2819,6 +2819,13 @@ gps.GPS_OK_FIX_2D = enum_integer gps.NO_FIX = enum_integer gps.NO_GPS = enum_integer +-- get yaw from GPS in degrees +---@param instance integer -- instance number +---@return number|nil -- yaw in degrees +---@return number|nil -- yaw accuracy in degrees +---@return uint32_t_ud|nil -- time in milliseconds of last yaw reading +function gps:gps_yaw_deg(instance) end + -- Returns nil or the instance number of the first GPS that has not been fully configured. If all GPS’s have been configured this returns nil. ---@return integer|nil function gps:first_unconfigured_gps() end diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc index 82aee36abfcd1..0f3afd589a9ae 100644 --- a/libraries/AP_Scripting/generator/description/bindings.desc +++ b/libraries/AP_Scripting/generator/description/bindings.desc @@ -134,6 +134,7 @@ singleton AP_GPS method last_message_time_ms uint32_t uint8_t 0 ud->num_sensors( singleton AP_GPS method have_vertical_velocity boolean uint8_t 0 ud->num_sensors() singleton AP_GPS method get_antenna_offset Vector3f uint8_t 0 ud->num_sensors() singleton AP_GPS method first_unconfigured_gps boolean uint8_t'Null +singleton AP_GPS method gps_yaw_deg boolean uint8_t 0 ud->num_sensors() float'Null float'Null uint32_t'Null include AP_Math/AP_Math.h