LUA: Mission Rotation - Up to 10 selectable missions via tx switch

libraries/AP_Scripting/applets/MissionRotation.lua

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+-- Script to load one of up to 10 mission files based on AUX switch state
+-- Always loads mission0.txt at boot, cycles missions on AUX high if held less than 3 seconds
+-- Reset the mission0.txt if AUX is high for more than 3 seconds
+-- Prevents mission change if the vehicle is in AUTO mode
+-- Prevents the script from loading if the vehicle is in AUTO
+
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+local rc_switch = rc:find_channel_for_option(302)
+
+if not rc_switch then
+    gcs:send_text(MAV_SEVERITY.ERROR, "RCx_OPTION not right assigned")
+    return
+end
+
+local vehicle_type
+local vehicle_fw_type = FWVersion:type()
+
+if vehicle_fw_type == 3 then
+    vehicle_type = "Plane"
+elseif vehicle_fw_type == 2 then
+    vehicle_type = "Rover"
+elseif vehicle_fw_type == 4 then
+    vehicle_type = "Copter"
+elseif vehicle_fw_type == 5 then
+    vehicle_type = "Submarine"
+elseif vehicle_fw_type == 10 then
+    vehicle_type = "Tracker"
+else
+    gcs:send_text(MAV_SEVERITY.ERROR, "Unrecognized vehicle type!")
+    return
+end
+
+gcs:send_text(MAV_SEVERITY.INFO, "Vehicle Type: " .. vehicle_type)
+
+local mode_auto
+if vehicle_type == "Plane" then
+    mode_auto = 10
+elseif vehicle_type == "Copter" then
+    mode_auto = 3
+elseif vehicle_type == "Rover" then
+    mode_auto = 10
+elseif vehicle_type == "Submarine" then
+    mode_auto = 10
+elseif vehicle_type == "Helicopter" then
+    mode_auto = 3
+elseif vehicle_type == "Tracker" then
+    mode_auto = 10
+elseif vehicle_type == "Sailboat" then
+    mode_auto = 3
+elseif vehicle_type == "Car" then
+    mode_auto = 10
+elseif vehicle_type == "Boat" then
+    mode_auto = 3
+elseif vehicle_type == "VTOL" then
+    mode_auto = 10
+else
+    return
+end
+
+if vehicle:get_mode() == mode_auto then
+    gcs:send_text(MAV_SEVERITY.ERROR, "The script cannot be loaded in AUTO mode")
+    return
+end
+
+local current_mission_index = 0
+local max_missions = 9
+local high_timer = 0
+local reset_done = false
+
+local function read_mission(file_name)
+    local file = io.open(file_name, "r")
+    if not file then
+        gcs:send_text(MAV_SEVERITY.ERROR, file_name .. " not found")
+        return false
+    end
+
+    local header = file:read('l')
+    assert(string.find(header, 'QGC WPL 110') == 1, file_name .. ': incorrect format')
+
+    if not mission:clear() then
+        gcs:send_text(MAV_SEVERITY.ERROR, "Could not clear current mission")
+        file:close()
+        return false
+    end
+
+    local item = mavlink_mission_item_int_t()
+    local index = 0
+    local last_event = nil
+
+    while true do
+        local line = file:read('l')
+        if not line then break end
+        if string.match(line, '^%s*$') == nil then
+            last_event = line
+        end
+        local data = {}
+        for number in string.gmatch(line, "[^%s]+") do
+            table.insert(data, tonumber(number))
+        end
+        if #data >= 12 then
+            item:seq(data[1])
+            item:frame(data[3])
+            item:command(data[4])
+            item:param1(data[5])
+            item:param2(data[6])
+            item:param3(data[7])
+            item:param4(data[8])
+            item:x(data[9] * 10^7)
+            item:y(data[10] * 10^7)
+            item:z(data[11])
+            if not mission:set_item(index, item) then
+                mission:clear()
+                error(string.format('Failed to set mission item %i', index))
+            end
+            index = index + 1
+        end
+    end
+    file:close()
+
+    if last_event then
+        local first_number = tonumber(string.match(last_event, "^%d+"))
+        gcs:send_text(MAV_SEVERITY.INFO, "Loaded " .. file_name .. " with " .. tostring(first_number) .. " events")
+    else
+        gcs:send_text(MAV_SEVERITY.INFO, "Loaded " .. file_name .. " with 0 events")
+    end
+    return true
+end
+
+if not read_mission("mission0.txt") then
+    gcs:send_text(MAV_SEVERITY.CRITICAL, "mission0.txt not found, script stopped")
+    return
+end
+
+local function load_next_mission()
+    if vehicle:get_mode() == mode_auto then
+        gcs:send_text(MAV_SEVERITY.WARNING, "Cannot switch missions in AUTO mode")
+        return
+    end
+
+    local attempts = 0
+    repeat
+        current_mission_index = (current_mission_index + 1) % (max_missions + 1)
+        local file_name = string.format("mission%d.txt", current_mission_index)
+        local file = io.open(file_name, "r")
+        if file then
+            file:close()
+            if read_mission(file_name) then
+                return
+            end
+        end
+        attempts = attempts + 1
+    until attempts > max_missions
+
+    gcs:send_text(MAV_SEVERITY.ERROR, "No valid mission files found")
+end
+
+function update()
+    local sw_pos = rc_switch:get_aux_switch_pos()
+
+    if sw_pos == 2 then
+        high_timer = high_timer + 1
+        if high_timer >= 3 then
+            if not reset_done and vehicle:get_mode() ~= mode_auto then
+                current_mission_index = 0
+                if read_mission("mission0.txt") then
+                    gcs:send_text(MAV_SEVERITY.INFO, "Reset to mission0.txt")
+                end
+                reset_done = true
+            end
+        end
+    else
+        if high_timer > 0 and high_timer < 3 then
+            load_next_mission()
+        end
+        high_timer = 0
+        reset_done = false
+    end
+
+    return update, 1000
+end
+
+gcs:send_text(MAV_SEVERITY.NOTICE, "Mission Rotation loaded")
+return update, 1000

libraries/AP_Scripting/applets/MissionRotation.md

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+# MissionRotation LUA script for Ardupilot Plane
+
+This LUA script is an evolution on the MissionSelector.LUA.
+
+Allows you to select up to 10 missions, either while arming or in the unarmed state.
+
+Requires that an RCx_OPTION be set to 302 or another value that contemplates scripting, in which case it will also have to be changed within the LUA.
+
+The scripts should be installed in the SCRIPTS folder on the MicroSD, and the mission files in the root.
+
+The mission file called mission0.txt (the default mission) must exist and is loaded at boot, if the script does not find it it stops working.
+
+To load to the next mission file just bring AUX switch from low to high for no more than three seconds, each switch high-low loads the next mission file in numerical order.
+
+If the next mission file numerically does not exist load the next one, at the end of the rotation it returns to load mission0.txt.
+
+If AUX is held at high state for more than three seconds the script will restart by loading mission0.txt.
+
+If a mission switch is attempted in AUTO flight mode, a warning "Cannot switch missions in AUTO mode" will be shown and no operation will be performed.
+
+If the script is loaded while the flight mode is AUTO you will get the error message "The script cannot be loaded in AUTO mode".
+
+Provides for sending messages under any condition, load or error.