AP_Scripting: examples: use binding for in_trim_dz

ArduPilot · Mar 18, 2024 · 9c53428 · 9c53428
1 parent 82ca2bd
commit 9c53428
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/libraries/AP_Scripting/examples/rover-MinFixType.lua b/libraries/AP_Scripting/examples/rover-MinFixType.lua
@@ -59,9 +59,7 @@ local USER_MODES = {
 }
 
 local MODE_CH  = param:get('MODE_CH')
-local THR_CH   = param:get('RCMAP_THROTTLE')
-local THR_TRIM = param:get(string.format('RC%d_TRIM', THR_CH))
-local THR_DZ   = param:get(string.format('RC%d_DZ', THR_CH))
+local THR_CH   = rc:find_channel_for_option(203)  -- see RC_Channel.h
 
 -- wrapper for gcs:send_text()
 local function gcs_msg(msg_type, severity, txt)
@@ -90,7 +88,7 @@ local function get_user_mode()
 end
 
 local function get_pause_mode()
-    if math.abs(rc:get_pwm(THR_CH) - THR_TRIM) > THR_DZ then
+    if not THR_CH:in_trim_dz() then
         return THR_SAFEGUARD_MODE
     end
     return MSN_PAUSE_MODE