mirror of https://github.com/ArduPilot/ardupilot
AP_Scripting: promote video-stream-information to applet
This commit is contained in:
Randy Mackay
parent
3325bdd7df
commit
1308efb9a4
|
|
@ -0,0 +1,302 @@
|
|||
--[[
|
||||
Populate the VIDEO_STREAM_INFORMATION message based on user parameters
|
||||
--]]
|
||||
|
||||
local PARAM_TABLE_KEY = 87
|
||||
local PARAM_TABLE_PREFIX = "VID1_"
|
||||
|
||||
local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
|
||||
local VID_TYPE_ENUM = {RTSP=0, RTPUDP=1, TCP_MPEG=2, MPEG_TS=3}
|
||||
local CAMMODEL_ENUM = {UNKNOWN=0, SIYI_A8=1, SIYI_ZR10=2, SIYI_ZR30=3, SIYI_ZT30_ZOOM=4, SIYI_ZT30_WIDE=5,
|
||||
SIYI_ZT30_IR=6, SIYI_ZT6_RGB=7, SIYI_ZT6_IR=8, HERELINK_WIFIAP=9, HERELINK_USB_TETHERING=10,
|
||||
TOPOTEK_1080P=11, TOPOTEK_480P=12, VIEWPRO=13}
|
||||
local TEXT_PREFIX_STR = "video-stream-information:"
|
||||
local SIYI_IP_DEFAULT = '192.168.144.25:8554'
|
||||
local TOPOTEK_IP_DEFAULT = '192.168.144.108:554'
|
||||
local VIEWPRO_IP_DEFAULT = '192.168.2.119:554'
|
||||
|
||||
-- add a parameter and bind it to a variable
|
||||
function bind_add_param(name, idx, default_value)
|
||||
assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
|
||||
return Parameter(PARAM_TABLE_PREFIX .. name)
|
||||
end
|
||||
|
||||
-- setup script specific parameters
|
||||
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 15), 'could not add param table')
|
||||
|
||||
--[[
|
||||
// @Param: VID1_CAMMODEL
|
||||
// @DisplayName: Camera1 Video Stream Camera Model
|
||||
// @Description: Video stream camera model
|
||||
// @Values: 0:Unknown, 1:Siyi A8, 2:Siyi ZR10, 3:Siyi ZR30, 4:Siyi ZT30 Zoom, 5:Siyi ZT30 Wide, 6:Siyi ZT30 IR, 7:Siyi ZT6 RGB, 8:Siyi ZT6 IR, 9:Herelink WifiAP, 10:Herelink USB-tethering, 11:Topotek 1080p, 12:Topotek 480p, 13:Viewpro
|
||||
// @User: Standard
|
||||
--]]
|
||||
-- values should match CAMMODEL_ENUM
|
||||
local VID1_CAMMODEL = bind_add_param('CAMMODEL', 1, 0)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_ID
|
||||
// @DisplayName: Camera1 Video Stream Id
|
||||
// @Description: Video stream id
|
||||
// @Range: 0 50
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_ID = bind_add_param('ID', 2, 1)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_TYPE
|
||||
// @DisplayName: Camera1 Video Stream Type
|
||||
// @Description: Video stream type
|
||||
// @Values: 0:RTSP, 1:RTPUDP, 2:TCP_MPEG, 3:MPEG_TS
|
||||
// @User: Standard
|
||||
--]]
|
||||
-- values should match VID_TYPE_ENUM
|
||||
local VID1_TYPE = bind_add_param('TYPE', 3, 0)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_FLAG
|
||||
// @DisplayName: Camera1 Video Stream Flags
|
||||
// @Description: Video stream flags
|
||||
// @Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_FLAG = bind_add_param('FLAG', 4, 1)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_FRAME_RATE
|
||||
// @DisplayName: Camera1 Video Stream Frame Rate
|
||||
// @Description: Video stream frame rate
|
||||
// @Range: 0 50
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_FR = bind_add_param('FRAME_RATE', 5, 30)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_HRES
|
||||
// @DisplayName: Camera1 Video Stream Horizontal Resolution
|
||||
// @Description: Video stream horizontal resolution
|
||||
// @Range: 0 4096
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_HRES = bind_add_param('HRES', 6, 1920)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_VRES
|
||||
// @DisplayName: Camera1 Video Stream Vertical Resolution
|
||||
// @Description: Video stream vertical resolution
|
||||
// @Range: 0 4096
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_VRES = bind_add_param('VRES', 7, 1080)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_BITRATE
|
||||
// @DisplayName: Camera1 Video Stream Bitrate
|
||||
// @Description: Video stream bitrate
|
||||
// @Range: 0 10000
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_BITR = bind_add_param('BITRATE', 8, 1500)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_HFOV
|
||||
// @DisplayName: Camera1 Video Stream Horizontal FOV
|
||||
// @Description: Video stream horizontal FOV
|
||||
// @Range: 0 360
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_HFOV = bind_add_param('HFOV', 9, 0)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_ENCODING
|
||||
// @DisplayName: Camera1 Video Stream Encoding
|
||||
// @Description: Video stream encoding
|
||||
// @Values: 0:Unknown, 1:H264, 2:H265
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_ENCODING = bind_add_param('ENCODING', 10, 1)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_IPADDR0
|
||||
// @DisplayName: Camera1 Video Stream IP Address 0
|
||||
// @Description: Video stream IP Address first octet
|
||||
// @Range: 0 255
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_IPADDR0 = bind_add_param('IPADDR0', 11, -1)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_IPADDR1
|
||||
// @DisplayName: Camera1 Video Stream IP Address 1
|
||||
// @Description: Video stream IP Address second octet
|
||||
// @Range: 0 255
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_IPADDR1 = bind_add_param('IPADDR1', 12, -1)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_IPADDR2
|
||||
// @DisplayName: Camera1 Video Stream IP Address 2
|
||||
// @Description: Video stream IP Address third octet
|
||||
// @Range: 0 255
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_IPADDR2 = bind_add_param('IPADDR2', 13, -1)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_IPADDR3
|
||||
// @DisplayName: Camera1 Video Stream IP Address 3
|
||||
// @Description: Video stream IP Address fourth octet
|
||||
// @Range: 0 255
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_IPADDR3 = bind_add_param('IPADDR3', 14, -1)
|
||||
|
||||
--[[
|
||||
// @Param: VID1_IPPORT
|
||||
// @DisplayName: Camera1 Video Stream IP Address Port
|
||||
// @Description: Video stream IP Address Port
|
||||
// @Range: 0 65535
|
||||
// @User: Standard
|
||||
--]]
|
||||
local VID1_IPPORT = bind_add_param('IPPORT', 15, -1)
|
||||
|
||||
function set_video_stream_information()
|
||||
local INSTANCE = 0
|
||||
local name = 'Video'
|
||||
|
||||
-- set defaults by camera model
|
||||
local uri_ip = ''
|
||||
local uri_suffix = ''
|
||||
local hfov = 50
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_A8 then
|
||||
uri_ip = SIYI_IP_DEFAULT
|
||||
uri_suffix = '/main.264'
|
||||
hfov = 81
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZR10 then
|
||||
uri_ip = SIYI_IP_DEFAULT
|
||||
uri_suffix = '/main.264'
|
||||
hfov = 62
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZR30 then
|
||||
uri_ip = SIYI_IP_DEFAULT
|
||||
uri_suffix = '/main.264'
|
||||
hfov = 58
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_ZOOM then
|
||||
uri_ip = SIYI_IP_DEFAULT
|
||||
uri_suffix = '/video2'
|
||||
hfov = 58
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_WIDE then
|
||||
uri_ip = SIYI_IP_DEFAULT
|
||||
uri_suffix = '/video2'
|
||||
hfov = 85
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_IR then
|
||||
uri_ip = SIYI_IP_DEFAULT
|
||||
uri_suffix = '/video1'
|
||||
hfov = 24
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT6_RGB then
|
||||
uri_ip = SIYI_IP_DEFAULT
|
||||
uri_suffix = '/video2'
|
||||
hfov = 85
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT6_IR then
|
||||
uri_ip = SIYI_IP_DEFAULT
|
||||
uri_suffix = '/video1'
|
||||
hfov = 32
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.HERELINK_WIFIAP then
|
||||
uri_ip = '192.168.42.1:8554'
|
||||
uri_suffix = '/fpv_stream'
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.HERELINK_USB_TETHERING then
|
||||
uri_ip = '192.168.42.129:8554'
|
||||
uri_suffix = '/fpv_stream'
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.TOPOTEK_1080P then
|
||||
uri_ip = TOPOTEK_IP_DEFAULT
|
||||
uri_suffix = '/stream=0'
|
||||
hfov = 50
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.TOPOTEK_480P then
|
||||
uri_ip = TOPOTEK_IP_DEFAULT
|
||||
uri_suffix = '/stream=1'
|
||||
hfov = 50
|
||||
end
|
||||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.VIEWPRO then
|
||||
uri_ip = VIEWPRO_IP_DEFAULT
|
||||
end
|
||||
|
||||
-- calculate hfov
|
||||
if VID1_HFOV:get() ~= 0 then
|
||||
hfov = VID1_HFOV:get()
|
||||
end
|
||||
|
||||
-- construct uri
|
||||
if VID1_IPADDR0:get() > 0 or VID1_IPADDR1:get() > 0 or
|
||||
VID1_IPADDR2:get() > 0 or VID1_IPADDR3:get() > 0 or
|
||||
VID1_IPPORT:get() > 0 then
|
||||
uri_ip = math.floor(VID1_IPADDR0:get()) .. '.' ..
|
||||
math.floor(VID1_IPADDR1:get()) .. '.' ..
|
||||
math.floor(VID1_IPADDR2:get()) .. '.' ..
|
||||
math.floor(VID1_IPADDR3:get()) .. ':' ..
|
||||
math.floor(VID1_IPPORT:get())
|
||||
end
|
||||
local uri
|
||||
if VID1_TYPE:get() == VID_TYPE_ENUM.RTPUDP or VID1_TYPE:get() == VID_TYPE_ENUM.MPEG_TS then
|
||||
-- sanity check port number
|
||||
if VID1_IPPORT:get() < 0 then
|
||||
gcs:send_text(MAV_SEVERITY.ERROR, TEXT_PREFIX_STR .. "check VID1_IPPORT")
|
||||
do return end
|
||||
end
|
||||
uri = tostring(math.floor(VID1_IPPORT:get()))
|
||||
elseif VID1_TYPE:get() == VID_TYPE_ENUM.RTSP then
|
||||
-- sanity check IP address
|
||||
if uri_ip == '' then
|
||||
gcs:send_text(MAV_SEVERITY.ERROR, TEXT_PREFIX_STR .. "check VID1_IPADDR params")
|
||||
do return end
|
||||
end
|
||||
uri = 'rtsp://' .. uri_ip .. uri_suffix
|
||||
else
|
||||
uri = uri_ip .. uri_suffix
|
||||
end
|
||||
|
||||
-- create Video Stream Information message
|
||||
local stream_info = mavlink_video_stream_information_t()
|
||||
stream_info:stream_id(VID1_ID:get())
|
||||
stream_info:count(1) -- hard coded to just a single stream
|
||||
stream_info:type(VID1_TYPE:get())
|
||||
stream_info:flags(VID1_FLAG:get())
|
||||
stream_info:framerate(VID1_FR:get())
|
||||
stream_info:resolution_h(VID1_HRES:get())
|
||||
stream_info:resolution_v(VID1_VRES:get())
|
||||
stream_info:bitrate(VID1_BITR:get())
|
||||
stream_info:rotation(0) -- video image rotation clockwise, hardcoded to zero
|
||||
stream_info:hfov(hfov)
|
||||
stream_info:encoding(VID1_ENCODING:get())
|
||||
|
||||
for i = 0, #name do
|
||||
stream_info:name(i, name:byte(i+1))
|
||||
end
|
||||
for i = 0, #uri do
|
||||
stream_info:uri(i, uri:byte(i+1))
|
||||
end
|
||||
|
||||
-- update camera library with the latest stream information
|
||||
camera:set_stream_information(INSTANCE, stream_info)
|
||||
end
|
||||
|
||||
-- print welcome message
|
||||
gcs:send_text(MAV_SEVERITY.INFO, "video-stream-information script loaded")
|
||||
|
||||
-- update function runs every 5 secs
|
||||
function update()
|
||||
set_video_stream_information()
|
||||
return update, 5000
|
||||
end
|
||||
|
||||
return update()
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
# Video Stream Information
|
||||
|
||||
This script updates the ArduPilot Camera library with the values required to populate the VIDEO_STREAM_INFORMATION
|
||||
mavlink message allow the GCS to find and display live video to the user
|
||||
|
||||
# Parameters
|
||||
|
||||
- VID1_CAMMODEL: Video stream camera model (1:Siyi A8, 2:Siyi ZR10, 3:Siyi ZR30, 4:Siyi ZT30 Zoom, 5:Siyi ZT30 Wide, 6:Siyi ZT30 IR, 7:Siyi ZT6 RGB, 8:Siyi ZT6 IR, 9:Herelink WifiAP, 10:Herelink USB-tethering, 11:Topotek 1080p, 12:Topotek 480p, 13:Viewpro)
|
||||
- VID1_ID: Video stream id
|
||||
- VID1_TYPE: Video stream type (0:RTSP, 1:RTPUDP, 2:TCP_MPEG, 3:MPEG_TS)
|
||||
- VID1_FLAG: Video stream flags (Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled)
|
||||
- VID1_FRAME_RATE: Video stream frame rate
|
||||
- VID1_HRES: Video stream horizontal resolution
|
||||
- VID1_VRES: Video stream vertical resolution
|
||||
- VID1_BITR: Video stream bitrate
|
||||
- VID1_HFOV: Video stream horizontal FOV in degrees
|
||||
- VID1_ENCODING: Video stream encoding (0:Unknown, 1:H264, 2:H265)
|
||||
- VID1_IPADDR0: Video stream IP Address first octet
|
||||
- VID1_IPADDR1: Video stream IP Address second octet
|
||||
- VID1_IPADDR2: Video stream IP Address third octet
|
||||
- VID1_IPADDR3: Video stream IP Address fourth octet
|
||||
- VID1_IPPORT: Video Stream IP Address Port
|
||||
|
||||
# How To Use
|
||||
|
||||
1. Setup the camera gimbal as described on the ArduPilot wiki including ethernet setup
|
||||
2. Check the IP address of the camera gimbal
|
||||
3. Setup scripting per https://ardupilot.org/plane/docs/common-lua-scripts.html and reboot the autopilot
|
||||
4. Copy this script to the vehicle autopilot's "scripts" directory
|
||||
5. Set the VID1_CAMMODEL parameter to the camera gimbal model and adjust the new VID1 params as required
|
||||
6. If necessary using the GCS's mavlink inspector to confirm the VIDEO_STREAM_INFORMATION URI field is correct
|
||||
7. Confirm the ground station can display the live video
|
||||
|
|
@ -1,33 +0,0 @@
|
|||
--[[
|
||||
Populate the fields of the VIDEO_STREAM_INFORMATION message sent by the selected camera instance.
|
||||
--]]
|
||||
function set_video_stream_information()
|
||||
-- set the Video Stream Information data
|
||||
local stream_info = mavlink_video_stream_information_t()
|
||||
|
||||
local INSTANCE = 0
|
||||
local name = 'Video'
|
||||
local uri = '127.0.0.1:5600'
|
||||
|
||||
stream_info:framerate(30)
|
||||
stream_info:bitrate(1500)
|
||||
stream_info:flags(1) -- VIDEO_STREAM_STATUS_FLAGS_RUNNING
|
||||
stream_info:resolution_h(1920)
|
||||
stream_info:resolution_v(1080)
|
||||
stream_info:rotation(0)
|
||||
stream_info:hfov(50)
|
||||
stream_info:stream_id(1)
|
||||
stream_info:count(1)
|
||||
stream_info:type(1) -- VIDEO_STREAM_TYPE_RTPUDP
|
||||
for i = 0, #name do
|
||||
stream_info:name(i, name:byte(i+1))
|
||||
end
|
||||
for i = 0, #uri do
|
||||
stream_info:uri(i, uri:byte(i+1))
|
||||
end
|
||||
|
||||
camera:set_stream_information(INSTANCE, stream_info)
|
||||
|
||||
end
|
||||
|
||||
return set_video_stream_information()
|
||||
Loading…
Reference in New Issue