mirror of https://github.com/ArduPilot/ardupilot
98 lines
4.0 KiB
Markdown
98 lines
4.0 KiB
Markdown
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# Gimbal_Camera_Mode Lua Script
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This script is a useful tool when using gimbal and camera. You can use it to switch between manual
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and auto control for mission mode. It is meant for use with a transmitter that has a free switch
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available (3-pos).
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## How it works
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The camera is setup for picture trigger during auto but can do other things e.g. video during
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manual mode also. The script changes parameters but does not store them.
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It changes the `SERVO<X>_FUNCTION`s and switches between `RCIN<X>` (pass-through) and `mount_tilt`,
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`mount_roll` and `camera_trigger`.
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In order to see the stored parameter values, disable the script (SCR_USER1) and reboot the FC.
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## Modes
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The control modes set by the 3-pos switch are as follows:
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- Gimbal-Cam mode manual: Gimbal and Camera in manual control mode (pass-through)
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- Gimbal-Cam mode auto/manual: Gimbal auto and Camera in manual control mode
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- Gimbal-Cam mode auto: Gimbal and Camera in auto control mode (controlled by ArduPilot and mission)
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## Setup and Use
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- If you have not done so already, follow the instructions on ArduPilot's wiki page to enable auto camera and gimbal control.
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- Also configure channels for manual control.
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- For example I then have (to convert the values use https://ardupilot.org/copter/docs/parameters.html):
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- SERVO8_FUNCTION = 7 (mount_tilt) leads to MNT_RC_IN_TILT = 9 (RC9) and to RCIN9 (59)
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- SERVO9_FUNCTION = 8 (mount_roll) leads to MNT_RC_IN_ROLL = 10 (RC10) and to RCIN10 (60)
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- SERVOn_FUNCTION = ? (mount_pan) is not used in this example
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- SERVO10_FUNCTION = 10 (camera_trigger) leads to RC12_OPTION = 9 (Camera Trigger) and to RCIN12 (62)
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- Now fill these into the script Gimbal_Camera_Mode.lua:
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- - -
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-- low: set gimbal and cam to manual mode (RCIN9, RCIN10, RCIN12)
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set_save_param('SERVO8_FUNCTION',59,false)
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set_save_param('SERVO9_FUNCTION',60,false)
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set_save_param('SERVO10_FUNCTION',62,false)
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- - -
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-- middle: set gimbal to auto and cam to manual mode (mount_tilt, mount_roll, RCIN12)
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set_save_param('SERVO8_FUNCTION',7,false)
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set_save_param('SERVO9_FUNCTION',8,false)
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set_save_param('SERVO10_FUNCTION',62,false)
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- - -
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-- high: set gimbal and cam to auto mode (mount_tilt, mount_roll, camera_trigger)
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set_save_param('SERVO8_FUNCTION',7,false)
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set_save_param('SERVO9_FUNCTION',8,false)
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set_save_param('SERVO10_FUNCTION',10,false)
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- - -
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(these settings in 'update()' could be automatically derived if Gimbal and Camera are fully setup, but
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that would cause a bigger memory footprint of the script and increase the chance of faulty behaviour also)
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- - -
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- To get appropriate feedback from the script it is advised to set `SCR_DEBUG_LVL` to 3 during setup.
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- Load the modified Gimbal_Camera_Mode.lua to the 'scripts' folder on your flight controller.
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- Reboot your flight controller.
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- Set `RC<X>_OPTION` to 300 for the RC input channel that corresponds to the switch that you would like to control the mode.
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- Set `SCR_USER1` to 1 in order to enable the script and allow it to run.
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- Test the script by moving the switch and checking the log messages output.
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## Output Messages
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### "LUA: Gimbal-Cam mode started"
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The script has been started and runs now.
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This message is usually immediately followed by "LUA: Gimbal-Cam mode < X >". If NOT, it might be disabled, check `SCR_USER1`. The script should run as soon as setting `SCR_USER1` to 1 (if not, there is a major error with lua scripting in general as the parameter `SCR_USER1` cannot be read).
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### "LUA: RC channels not set"
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The RC channel is not set to the scripting channel (300). Set it!
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### "LUA: Gimbal-Cam mode < X >"
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Mode chosen, confer 'Modes' above.
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### "LUA: param set failed"
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Failed to set parameter. Script will persist to try and set parameters without exiting. If this message continues to show, consider landing and investigating the underlying issue.
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## Known Issues
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Manual and auto modes do not have same travel as SERVOn_ settings are ignored for "pass-through" RCINn channels - a scaled and bounded variant must be introduced and used here.
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