mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.4 KiB
Lua
59 lines
1.4 KiB
Lua
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-- This script is a test of led override
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local count = 0
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local num_leds = 16
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-- constrain a value between limits
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function constrain(v, vmin, vmax)
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if v < vmin then
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v = vmin
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end
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if v > vmax then
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v = vmax
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end
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return v
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end
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--[[
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Table of colors on a rainbow, red first
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--]]
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local rainbow = {
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{ 255, 0, 0 },
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{ 255, 127, 0 },
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{ 255, 255, 0 },
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{ 0, 255, 0 },
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{ 0, 0, 255 },
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{ 75, 0, 130 },
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{ 143, 0, 255 },
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}
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--[[
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Function to set a LED to a color on a classic rainbow spectrum, with v=0 giving red
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--]]
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function set_Rainbow(led, v)
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local num_rows = #rainbow
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local row = math.floor(constrain(v * (num_rows-1)+1, 1, num_rows-1))
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local v0 = (row-1) / (num_rows-1)
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local v1 = row / (num_rows-1)
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local p = (v - v0) / (v1 - v0)
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r = math.floor(rainbow[row][1] + p * (rainbow[row+1][1] - rainbow[row][1]))
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g = math.floor(rainbow[row][2] + p * (rainbow[row+1][2] - rainbow[row][2]))
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b = math.floor(rainbow[row][3] + p * (rainbow[row+1][3] - rainbow[row][3]))
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notify:handle_rgb_id(r, g, b, led)
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end
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function update() -- this is the loop which periodically runs
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count = count + 1
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if count > 16 then
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count = 0
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end
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for led = 0, num_leds-1 do
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local v = ((count+led)%16)/16
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set_Rainbow(led, v)
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end
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return update, 20 -- reschedules the loop in 15 seconds
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end
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return update() -- run immediately before starting to reschedule
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