AP_Scripting: update examples to not use deprecated methods

ArduPilot · Dec 26, 2024 · 567f9eb · 567f9eb
1 parent c89eb87
commit 567f9eb
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Showing 9 changed files with 10 additions and 10 deletions.
diff --git a/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua b/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua
@@ -184,7 +184,7 @@ function update()
   -- get rangefinder distance
   local rngfnd_distance_m = 0
   if rangefinder:has_data_orient(rangefinder_rotation) then
-    rngfnd_distance_m = rangefinder:distance_cm_orient(rangefinder_rotation) * 0.01
+    rngfnd_distance_m = rangefinder:distance_orient(rangefinder_rotation)
   end
   local rngfnd_over_threshold = (rngfnd_distance_m == 0) or (rngfnd_distance_m > ESRC_RNGFND_MAX:get())
 

diff --git a/libraries/AP_Scripting/applets/plane_package_place.lua b/libraries/AP_Scripting/applets/plane_package_place.lua
@@ -108,7 +108,7 @@ function update()
    -- check the distance, if less than RNG_ORIENT_DOWN then release
    local dist_m
    if not landed then
-      dist_m = rangefinder:distance_cm_orient(RNG_ORIENT_DOWN) * 0.01
+      dist_m = rangefinder:distance_orient(RNG_ORIENT_DOWN)
    else
       dist_m = 0.0
    end

diff --git a/libraries/AP_Scripting/applets/plane_precland.lua b/libraries/AP_Scripting/applets/plane_precland.lua
@@ -166,7 +166,7 @@ local function update()
    --[[ get rangefinder distance, and if PLND_ALT_CUTOFF is set then
       stop precland operation if below the cutoff
    --]]
-   local rngfnd_distance_m = rangefinder:distance_cm_orient(rangefinder_orient) * 0.01
+   local rngfnd_distance_m = rangefinder:distance_orient(rangefinder_orient)
    if PLND_ALT_CUTOFF:get() > 0 and rngfnd_distance_m < PLND_ALT_CUTOFF:get() then
       return
    end

diff --git a/libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua b/libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua
@@ -121,7 +121,7 @@ function update()
   -- get rangefinder distance
   local rngfnd_distance_m = 0
   if rangefinder:has_data_orient(rangefinder_rotation) then
-    rngfnd_distance_m = rangefinder:distance_cm_orient(rangefinder_rotation) * 0.01
+    rngfnd_distance_m = rangefinder:distance_orient(rangefinder_rotation)
   end
   local rngfnd_over_threshold = (rngfnd_distance_m == 0) or (rngfnd_distance_m > rangefinder_thresh_dist)
 

diff --git a/libraries/AP_Scripting/examples/ahrs-source.lua b/libraries/AP_Scripting/examples/ahrs-source.lua
@@ -85,7 +85,7 @@ function update()
   -- get rangefinder distance
   local rngfnd_distance_m = 0
   if rangefinder:has_data_orient(rangefinder_rotation) then
-    rngfnd_distance_m = rangefinder:distance_cm_orient(rangefinder_rotation) * 0.01
+    rngfnd_distance_m = rangefinder:distance_orient(rangefinder_rotation)
   end
   local rngfnd_over_threshold = (rngfnd_distance_m == 0) or (rngfnd_distance_m > rangefinder_thresh_dist)
 

diff --git a/libraries/AP_Scripting/examples/copter-wall-climber.lua b/libraries/AP_Scripting/examples/copter-wall-climber.lua
@@ -140,7 +140,7 @@ function update()
   if (climb_mode == 1) then
     -- convert rangefinder distance to pitch speed
     if rangefinder:has_data_orient(0) then
-      local distance_m = rangefinder:distance_cm_orient(0) * 0.01
+      local distance_m = rangefinder:distance_orient(0)
       wall_pitch_speed = (distance_m - wall_dist_target) * wall_dist_to_speed_P
       wall_pitch_speed = math.min(wall_pitch_speed, wall_pitch_speed_max)
       wall_pitch_speed = math.max(wall_pitch_speed, -wall_pitch_speed_max)

diff --git a/libraries/AP_Scripting/examples/jump_tags_calibrate_agl.lua b/libraries/AP_Scripting/examples/jump_tags_calibrate_agl.lua
@@ -61,7 +61,7 @@ function sample_rangefinder_to_get_AGL()
     end
 
     -- we're actively sampling rangefinder distance to ground
-    local distance_raw_m = rangefinder:distance_cm_orient(ROTATION_PITCH_270) * 0.01
+    local distance_raw_m = rangefinder:distance_orient(ROTATION_PITCH_270)
 
     -- correct the range for attitude (multiply by DCM.c.z, which is cos(roll)*cos(pitch))
     local ahrs_get_rotation_body_to_ned_c_z = math.cos(ahrs:get_roll())*math.cos(ahrs:get_pitch())

diff --git a/libraries/AP_Scripting/examples/land_hagl.lua b/libraries/AP_Scripting/examples/land_hagl.lua
@@ -33,7 +33,7 @@ local function send_HAGL()
       last_active = false
       return
    end
-   local rangefinder_dist = rangefinder:distance_cm_orient(RANGEFINDER_ORIENT)*0.01
+   local rangefinder_dist = rangefinder:distance_orient(RANGEFINDER_ORIENT)
    local correction = math.cos(ahrs:get_roll())*math.cos(ahrs:get_pitch())
    local rangefinder_corrected = rangefinder_dist * correction
    if RANGEFINDER_ORIENT == ROTATION_PITCH_90 then

diff --git a/libraries/AP_Scripting/examples/rangefinder_quality_test.lua b/libraries/AP_Scripting/examples/rangefinder_quality_test.lua
@@ -88,12 +88,12 @@ local function get_and_eval(test_idx, dist_m_in, signal_quality_pct_in, status_e
 
     -- L U A   I N T E R F A C E   T E S T
     -- Check that the distance and signal_quality from the frontend are as expected
-    local distance1_cm_out = rangefinder:distance_cm_orient(RNGFND_ORIENTATION_DOWN)
+    local distance1_cm_out = rangefinder:distance_orient(RNGFND_ORIENTATION_DOWN) * 100
     local signal_quality1_pct_out = rangefinder:signal_quality_pct_orient(RNGFND_ORIENTATION_DOWN)
 
     -- Make sure data was returned
     if not distance1_cm_out or not signal_quality1_pct_out then
-        return "No data returned from rangefinder:distance_cm_orient()"
+        return "No data returned from rangefinder:distance_orient()"
     end
 
     send(string.format("Frontend test %i dist in_m: %.2f out_cm: %.2f, signal_quality_pct in: %.1f out: %.1f",