AP_Scripting: lua bindings for scripted notches

libraries/AP_Scripting/docs/docs.lua

@@ -739,7 +739,7 @@ local Parameter_ud = {}
 ---@return Parameter_ud
 function Parameter() end
 
--- Set the defualt value of this parameter, if the parameter has not been configured by the user its value will be updated to the new defualt.
+-- Set the default value of this parameter, if the parameter has not been configured by the user its value will be updated to the new defualt.
 ---@param value number
 ---@return boolean
 function Parameter_ud:set_default(value) end
@@ -1917,6 +1917,37 @@ function ins:get_gyro(instance) end
 ---@return Vector3f_ud
 function ins:get_accel(instance) end
 
+-- desc
+---@class AP_InertialSensor__HarmonicNotch_ud
+local AP_InertialSensor__HarmonicNotch_ud = {}
+
+-- Get a specific scripting enabled harmonic notch instance
+---@param instance integer -- the 0-based index of the harmonic notch instance to return.
+---@return AP_InertialSensor__HarmonicNotch_ud|nil
+function ins:get_harmonic_notch(instance) end
+
+-- get array field
+---@param index integer
+---@return number
+function AP_InertialSensor__HarmonicNotch_ud:get_frequency(index) end
+
+-- set array field
+---@param index integer
+---@param value number
+function AP_InertialSensor__HarmonicNotch_ud:set_frequency(index, value) end
+
+-- get field
+---@return integer
+function AP_InertialSensor__HarmonicNotch_ud:get_num_frequencies() end
+
+-- set field
+---@param value integer
+function AP_InertialSensor__HarmonicNotch_ud:set_num_frequencies(value) end
+
+-- desc
+---@param value number
+function AP_InertialSensor__HarmonicNotch_ud:update_frequency(value) end
+
 -- desc
 Motors_dynamic = {}
 

libraries/AP_Scripting/generator/description/bindings.desc

@@ -675,6 +675,15 @@ singleton AP_InertialSensor method calibrating boolean
 singleton AP_InertialSensor method get_gyro Vector3f uint8_t'skip_check
 singleton AP_InertialSensor method get_accel Vector3f uint8_t'skip_check
 singleton AP_InertialSensor method gyros_consistent boolean uint8_t'skip_check
+ap_object AP_InertialSensor::HarmonicNotch depends AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
+singleton AP_InertialSensor method get_harmonic_notch AP_InertialSensor::HarmonicNotch uint8_t 0 HAL_INS_NUM_HARMONIC_NOTCH_FILTERS
+
+ap_object AP_InertialSensor::HarmonicNotch method set_frequency void uint8_t 0 INS_MAX_NOTCHES float'skip_check
+ap_object AP_InertialSensor::HarmonicNotch method get_frequency float uint8_t 0 INS_MAX_NOTCHES
+ap_object AP_InertialSensor::HarmonicNotch method set_num_frequencies void uint8_t 0 INS_MAX_NOTCHES
+ap_object AP_InertialSensor::HarmonicNotch method get_num_frequencies uint8_t
+ap_object AP_InertialSensor::HarmonicNotch method update_freq_hz void float'skip_check
+ap_object AP_InertialSensor::HarmonicNotch method update_freq_hz rename update_frequency
 
 singleton CAN manual get_device lua_get_CAN_device 1 1
 singleton CAN manual get_device2 lua_get_CAN_device2 1 1

libraries/AP_Scripting/tests/static_notches.lua

@@ -0,0 +1,45 @@
+-- static_notches.lua: use notch scripting to set several static notches
+--
+
+local PARAM_TABLE_KEY = 35
+local PARAM_TABLE_PREFIX = "SNOTCH"
+local SNTCH_NUM_NOTCHES = 8
+local SNTCH_NUM_HARMONIC_NOTCHES = 2
+
+local notches = {}
+
+param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, SNTCH_NUM_NOTCHES)
+
+for idx = 1, SNTCH_NUM_NOTCHES, 1 do
+    param:add_param(PARAM_TABLE_KEY, idx, idx .. "_FREQ", 0)
+    notches[idx-1] = Parameter(PARAM_TABLE_PREFIX .. idx .. "_FREQ")
+end
+
+
+function update()
+    for n = 0, SNTCH_NUM_HARMONIC_NOTCHES-1, 1 do
+        local notch = ins:get_harmonic_notch(n)
+
+        if notch == nil then
+            goto continue
+        end
+        local nfreqs = 0
+        for idx = 0, SNTCH_NUM_NOTCHES-1, 1 do
+            if notches[idx] ~= nil and notches[idx]:get() ~= nil then
+                local f = notches[idx]:get()
+                if f ~= 0 then
+                    if f ~= notch:get_frequency(idx) then
+                        print("HNTC" .. n+1 .."(" .. idx + 1 .. ") set to " .. f .. " (was " .. notch:get_frequency(idx) .. ")")
+                        notch:set_frequency(idx, f)
+                    end
+                    nfreqs = nfreqs + 1
+                end
+            end
+        end
+        notch:set_num_frequencies(nfreqs)
+        ::continue::
+    end
+    return update, 500
+end
+
+return update()