From be00dad4f0475ba48a6fa48d24af12b036443b19 Mon Sep 17 00:00:00 2001
From: Marco Robustini <robustinimarco@gmail.com>
Date: Mon, 2 Dec 2024 06:28:46 +0100
Subject: [PATCH] Update MissionRotation.lua

Changed the operating logic:

- always loads mission0.txt at startup, cycles missions to AUX high if held for less than 3 seconds
- resets mission0.txt if AUX is high for more than 3 seconds
---
 .../AP_Scripting/applets/MissionRotation.lua  | 43 +++++++++++--------
 1 file changed, 26 insertions(+), 17 deletions(-)

diff --git a/libraries/AP_Scripting/applets/MissionRotation.lua b/libraries/AP_Scripting/applets/MissionRotation.lua
index bba77528a99f43..ee79a1e264f0c4 100644
--- a/libraries/AP_Scripting/applets/MissionRotation.lua
+++ b/libraries/AP_Scripting/applets/MissionRotation.lua
@@ -1,15 +1,18 @@
 -- Script to load one of up to 10 mission files based on AUX switch state
--- Always loads mission0.txt at boot, then cycles through files on AUX high transitions
+-- 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.
 
+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(24)  -- AUX FUNC switch for mission loading
 if not rc_switch then
-    gcs:send_text(6, "Mission Reset switch not assigned.")
+    gcs:send_text(MAV_SEVERITY.ERROR, "Mission Reset switch not assigned.")
     return
 end
 
 local last_sw_pos = -1  -- Track the last switch position
 local current_mission_index = 0  -- Start with mission0.txt
 local max_missions = 9  -- Maximum mission index (mission0.txt to mission9.txt)
+local high_timer = 0  -- Timer to track how long AUX stays high
 
 local function read_mission(file_name)
     local file = io.open(file_name, "r")
@@ -31,7 +34,7 @@ local function read_mission(file_name)
             data[i] = file:read('n')
             if data[i] == nil then
                 if i == 1 then
-                    gcs:send_text(6, "Loaded mission: " .. file_name)
+                    gcs:send_text(MAV_SEVERITY.WARNING, "Loaded mission: " .. file_name)
                     file:close()
                     return true
                 else
@@ -62,33 +65,39 @@ end
 
 -- Ensure mission0.txt exists and load it; stop if not found
 if not read_mission("mission0.txt") then
-    gcs:send_text(6, "Critical error: mission0.txt not found. Script stopped.")
+    gcs:send_text(MAV_SEVERITY.CRITICAL, "Critical error: mission0.txt not found, script stopped.")
     return
 end
 
 local function load_next_mission()
-    while true do
-        local file_name = string.format("mission%d.txt", current_mission_index)
-        if read_mission(file_name) then
-            break
-        end
-        current_mission_index = (current_mission_index + 1) % (max_missions + 1)
+    current_mission_index = (current_mission_index + 1) % (max_missions + 1)
+    local file_name = string.format("mission%d.txt", current_mission_index)
+    if read_mission(file_name) then
+        gcs:send_text(MAV_SEVERITY.WARNING, "Loaded mission: " .. file_name)
     end
 end
 
 function update()
     local sw_pos = rc_switch:get_aux_switch_pos()
 
-    -- Check if AUX switch transitioned from low to high
-    if sw_pos == 2 and last_sw_pos ~= 2 then
-        current_mission_index = (current_mission_index + 1) % (max_missions + 1)
-        load_next_mission()
+    if sw_pos == 2 then  -- AUX high position
+        high_timer = high_timer + 1
+        if high_timer >= 3 then  -- 3 seconds elapsed
+            current_mission_index = 0
+            read_mission("mission0.txt")
+            gcs:send_text(MAV_SEVERITY.WARNING, "Reset to mission0.txt")
+            high_timer = 0  -- Reset the timer after reset
+        end
+    else
+        if high_timer > 0 and high_timer < 3 then
+            load_next_mission()  -- Load next mission only if held high for less than 3 seconds
+        end
+        high_timer = 0  -- Reset timer when AUX is not high
     end
 
     last_sw_pos = sw_pos
-
-    return update, 1000
+    return update, 1000  -- Run every second
 end
 
-gcs:send_text(5, "MissionRotation.lua loaded")
+gcs:send_text(MAV_SEVERITY.NOTICE, "MissionSelector loaded")
 return update, 1000