AP_Scripting: added EAHRS test script

libraries/AP_Scripting/examples/EAHRS_testing.lua

@@ -0,0 +1,51 @@
+--[[
+   script to facilitate testing of external AHRS with focus on dead-reckoning
+
+   Two key functions:
+   - ability to switch between EKF3, EKF2 and EAHRS on a 3 position switch
+   - ability to disable use of GPS by EKF3 and EAHRS using a 2 position switch
+--]]
+
+local AHRS_EKF_TYPE = Parameter('AHRS_EKF_TYPE')
+local EAHRS_OPTIONS = Parameter('EAHRS_OPTIONS')
+
+local AHRS_SWITCH_FN = 300
+local GPS_SWITCH_FN = 301
+
+local last_ahrs_sw = -1
+local last_gps_sw = -1
+
+function update()
+
+   local ahrs_sw_pos = rc:get_aux_cached(AHRS_SWITCH_FN)
+   if ahrs_sw_pos ~= last_ahrs_sw then
+      if ahrs_sw_pos == 0 then
+         AHRS_EKF_TYPE:set(2)
+      elseif ahrs_sw_pos == 1 then
+         AHRS_EKF_TYPE:set(3)
+      else
+         AHRS_EKF_TYPE:set(11)
+      end
+      last_ahrs_sw = ahrs_sw_pos
+   end
+
+   local gps_sw_pos = rc:get_aux_cached(GPS_SWITCH_FN)
+   if gps_sw_pos ~= last_gps_sw then
+      if gps_sw_pos == 2 then
+         gcs:send_text(0, "Disable GPS")
+         ahrs:set_posvelyaw_source_set(1)
+         EAHRS_OPTIONS:set(EAHRS_OPTIONS:get() | 4)
+      else
+         gcs:send_text(0, "Enable GPS")
+         ahrs:set_posvelyaw_source_set(0)
+         EAHRS_OPTIONS:set(EAHRS_OPTIONS:get() & ~4)
+      end
+      last_gps_sw = gps_sw_pos
+   end
+
+   return update, 100
+end
+
+gcs:send_text(0, "EAHRS Testing loaded")
+
+return update()