AP_Scripting: add set_target_angle_and_thrust() and get_throttle_in()

ArduPilot · Dec 17, 2023 · 5cee51e · 5cee51e
1 parent 15166e9
commit 5cee51e
Show file tree

Hide file tree

Showing 2 changed files with 16 additions and 0 deletions.
diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
@@ -1297,6 +1297,10 @@ function motors:get_forward() end
 ---@return number
 function motors:get_throttle() end
 
+-- get thrust motor input
+---@return number
+function motors:get_throttle_in() end
+
 -- get throttle motor output
 ---@return integer
 ---| '0' # Shut down
@@ -2095,6 +2099,16 @@ function vehicle:get_circle_radius() end
 ---@return boolean
 function vehicle:set_target_angle_and_climbrate(roll_deg, pitch_deg, yaw_deg, climb_rate_ms, use_yaw_rate, yaw_rate_degs) end
 
+-- desc
+---@param roll_deg number
+---@param pitch_deg number
+---@param yaw_deg number
+---@param thrust number
+---@param use_yaw_rate boolean
+---@param yaw_rate_degs number
+---@return boolean
+function vehicle:set_target_angle_and_thrust(roll_deg, pitch_deg, yaw_deg, thrust, use_yaw_rate, yaw_rate_degs) end
+
 -- desc
 ---@param vel_ned Vector3f_ud
 ---@param align_yaw_to_target? boolean

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -285,6 +285,7 @@ singleton AP_Vehicle method set_target_posvelaccel_NED boolean Vector3f Vector3f
 singleton AP_Vehicle method set_target_velaccel_NED boolean Vector3f Vector3f boolean float -360 +360 boolean float'skip_check boolean
 singleton AP_Vehicle method set_target_velocity_NED boolean Vector3f boolean
 singleton AP_Vehicle method set_target_angle_and_climbrate boolean float -180 180 float -90 90 float -360 360 float'skip_check boolean float'skip_check
+singleton AP_Vehicle method set_target_angle_and_thrust boolean float -180 180 float -90 90 float -360 360 float'skip_check boolean float'skip_check
 singleton AP_Vehicle method get_circle_radius boolean float'Null
 singleton AP_Vehicle method set_circle_rate boolean float'skip_check
 singleton AP_Vehicle method set_steering_and_throttle boolean float -1 1 float -1 1
@@ -625,6 +626,7 @@ singleton AP::motors() method get_pitch_ff float
 singleton AP::motors() method get_yaw float
 singleton AP::motors() method get_yaw_ff float
 singleton AP::motors() method get_throttle float
+singleton AP::motors() method get_throttle_in float
 singleton AP::motors() method get_forward float
 singleton AP::motors() method get_lateral float
 singleton AP::motors() method get_spool_state uint8_t