lua

name	lua
description	Write or modify ArduPilot Lua applets. Use when the user asks to create, debug, or modify Lua scripts for AP_Scripting.

ArduPilot Lua Scripting

Before writing or modifying any Lua code, read the full playbook and API reference:

1. Read the playbook: libraries/AP_Scripting/AGENTS.override.md
2. Read the API docs: libraries/AP_Scripting/docs/docs.lua — this is the absolute source of truth for all function signatures. Never invent or assume API patterns.

For vehicle control tasks, also read: libraries/AP_Scripting/CODEX_VEHICLE_CONTROL.md For CRSF menu tasks, also read: libraries/AP_Scripting/CODEX_CRSF_MENU.md

Task: $ARGUMENTS

Quick Reference

Required Applet Structure

• Header comment, parameter table, bind_param/bind_add_param helpers
• MAV_SEVERITY enum, ENABLE parameter, RC activation
• update() function with reschedule return, protected_wrapper() with pcall
• Corresponding .md documentation file

Key Constraints

• Lua 5.3 — isolated sandbox, single-threaded, non-blocking
• Always verify API in docs.lua before calling any function
• millis() and micros() return userdata — use :tofloat() not tonumber()
• Parameter() constructor for existing params, bind_add_param() for script params
• Parameter names max 16 chars total (PREFIX_NAME)
• Unique PARAM_TABLE_KEY (1-200) — check existing scripts first

Deliverables

1. .lua script (luacheck compliant, no trailing whitespace)
2. .md documentation (purpose, parameters, setup instructions)
3. Offer to generate SITL autotest