Integration Manual Mandala variables Autopilot algorithms shiva Comm ports vcp Controls mixer controls Core modules mod Data Broker mdb GPIO ports controls.gpio Inertial Navigation ahrs Node modules tree node PHY Multiplexer ifc.mux Protocols protocols Telemetry streamer telemetry Vehicle Identity identity Vehicle limits vehicle WASM engine script

WASM engine

Nodes: ghanta nav sim com ifc | Module: script | Parameters: Script

This module provides virtual machine to execute WASM scripts onboard. The scripts are pre-compiled by the GCS and stored in node non-volatile memory along with the source code.

Key features

  • Efficient and extremely fast scripting engine;
  • LLVM compiler support with modern C++11;
  • Native functions to access node resources;
  • Functions (events) can be invoked by mission, or per GCS command;

Usage examples

  • Define and automate UAV safety procedures, specific to a vehicle;
  • Implement specific payload protocol to communicate via VCP;
  • Implement custom control algorithm and override autopilot;
  • Collect specific sensors data and send it to custom GCS plugin via VCP stream;

Script examples are available with the GCS distribution.

Configuration parameters

  • Script

    Scripting engine

    • restart Restart command
    • start Start command
    • stop Stop command
    • mode Scripting engine mode option [off,manual,auto]
      • off: the module is turned off;
      • manual: the script is available for editing and uploading, but started manually, via command from GCS;
      • auto: script will be executed automatically upon power up;
    • code Script source code script

      Contains pre-compiled WASM binary bytecode and packed source code;