AP_Scripting: added UltraMotion servo driver

libraries/AP_Scripting/drivers/UltraMotion.lua

@@ -27,6 +27,15 @@ assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 8), 'could not add p
 --]]
 UM_SERVO_MASK = bind_add_param("SERVO_MASK", 1, 0)
 
+--[[
+  // @Param: UM_CANDRV
+  // @DisplayName: Set CAN driver
+  // @Description: Set CAN driver
+  // @Values: 0:None,1:1stCANDriver,2:2ndCanDriver
+  // @User: Standard
+--]]
+local UM_CANDRV = bind_add_param('CANDRV', 2, 1)    -- CAN driver to use
+
 --[[
   // @Param: UM_RATE_HZ
   // @DisplayName: Update rate for UltraMotion servos
@@ -35,7 +44,7 @@ UM_SERVO_MASK = bind_add_param("SERVO_MASK", 1, 0)
   // @Range: 1 400
   // @User: Standard
 --]]
-UM_RATE_HZ = bind_add_param("RATE_HZ", 2, 70)
+UM_RATE_HZ = bind_add_param("RATE_HZ", 3, 70)
 
 --[[
   // @Param: UM_TORQUE_MAX
@@ -45,7 +54,7 @@ UM_RATE_HZ = bind_add_param("RATE_HZ", 2, 70)
   // @Range: 1 100
   // @User: Standard
 --]]
-UM_TORQUE_MAX = bind_add_param("TORQUE_MAX", 3, 30.5) -- default matches datasheet
+UM_TORQUE_MAX = bind_add_param("TORQUE_MAX", 4, 30.5) -- default matches datasheet
 
 --[[
   // @Param: UM_OPTIONS
@@ -54,15 +63,15 @@ UM_TORQUE_MAX = bind_add_param("TORQUE_MAX", 3, 30.5) -- default matches datashe
   // @Bitmask: 0:LogAllFrames,1:ParseTelemetry
   // @User: Standard
 --]]
-UM_OPTIONS = bind_add_param("OPTIONS", 4, 0)
+UM_OPTIONS = bind_add_param("OPTIONS", 5, 0)
 
 --[[
   // @Param: UM_TELEM_TXID
   // @DisplayName: Telemetry ID
   // @Description: Telemetry ID
   // @User: Standard
 --]]
-UM_TELEM_TXID = bind_add_param("TELEM_TXID", 5, 0)
+UM_TELEM_TXID = bind_add_param("TELEM_TXID", 6, 0)
 
 local OPTION_LOGALLFRAMES = 0x01
 local OPTION_PARSETELEM = 0x02
@@ -74,7 +83,12 @@ end
 
 -- Load CAN driver, using the scripting protocol
 -- use a buffer size of 25
-local driver = CAN:get_device(25)
+local CAN_BUF_LEN = 25
+if UM_CANDRV:get() == 1 then
+   driver = CAN.get_device(CAN_BUF_LEN)
+elseif UM_CANDRV:get() == 2 then
+   driver = CAN.get_device2(CAN_BUF_LEN)
+end
 if not driver then
    gcs:send_text(MAV_SEVERITY.INFO, "UltraMotion: init failed")
    return

libraries/AP_Scripting/drivers/UltraMotion.md

@@ -0,0 +1,38 @@
+# UltraMotion CAN Driver
+
+This driver implements support for the UltraMotion CAN servos
+
+# Parameters
+
+The script used the following parameters:
+
+## UM_SERVO_MASK
+
+Mask of servo channels to transmit using UltraMotion CAN messages
+
+## UM_CANDRV
+
+This sets the CAN scripting driver number to attach to. This is
+normally set to 1 to use a CAN driver with CAN_Dx_PROTOCOL=10. To use
+the 2nd scripting CAN driver set this to 2 and set CAN_Dx_PROTOCOL=12.
+
+## UM_RATE_HZ
+
+This sets the update rate of the script in Hz (how often it checks for
+new data from the ECU). A value of 200 is reasonable.
+
+## UM_TORQUE_MAX
+
+This sets the commanded maximum torque as a percentage
+
+# Operation
+
+This driver should be loaded by placing the lua script in the
+APM/SCRIPTS directory on the microSD card, which can be done either
+directly or via MAVFTP. The following key parameters should be set:
+
+ - SCR_ENABLE should be set to 1
+ - UM_SERVO_MASK needs to be set to a mask of servos
+
+then the flight controller should rebooted and parameters should be
+refreshed.