lua-vehicle

name	lua-vehicle
description	Write ArduPilot Lua scripts involving vehicle control, movement commands, RC input, or telemetry. Use when the user asks to control the vehicle from Lua.
argument-hint	<control task description>
allowed-tools	Read, Grep, Glob

ArduPilot Lua Vehicle Control

Before writing vehicle control code, read the full playbooks:

1. Read the vehicle control playbook: libraries/AP_Scripting/CLAUDE_VEHICLE_CONTROL.md — complete reference for movement commands, controller behavior, state/telemetry, RC input
2. Read the general playbook: libraries/AP_Scripting/CLAUDE.md — applet structure, parameter system, code constraints
3. Read the API docs: libraries/AP_Scripting/docs/docs.lua — verify all function signatures

Task: $ARGUMENTS

Quick Reference

Control Type Hierarchy (safest to most direct)

1. Position — set_target_location(), set_target_pos_NED() — fire-and-forget, fights wind
2. Velocity — set_target_velocity_NED() — continuous command, drifts without correction
3. Angle — set_target_angle_and_climbrate() — continuous, cannot go inverted
4. Rate — set_target_rate_and_throttle() — continuous, full control, CAN go inverted

Critical Rules

• Movement commands only work in Guided mode (or Auto with NAV_SCRIPT_TIME)
• Never mix controller types in the same update() cycle
• Rate controllers need continuous commands — stops rotating if commands stop
• Velocity controllers need continuous commands — drifts if not called
• Position controllers are fire-and-forget

State & Telemetry

• ahrs:get_location() — vehicle position
• ahrs:get_velocity_NED() — velocity in NED frame
• ahrs:get_roll_rad(), get_pitch_rad(), get_yaw_rad() — attitude (use _rad variants, not deprecated bare names)
• ahrs:airspeed_EAS() — airspeed (not deprecated airspeed_estimate())

RC Input

• rc:get_aux_cached(aux_func) — aux switch position (0/1/2)
• rc:get_channel(n):norm_input_dz() — normalized stick input with deadzone
• Read RCMAP_ROLL/PITCH/THROTTLE/YAW params to find control channels

Safety

• Check arming:is_armed() before motor commands
• Check flight mode before movement commands
• Pilot RC input has highest priority — relinquish on stick input
• Never interfere with failsafe mechanisms