AP_Scripting: mount-poi supports locking mount to Location

libraries/AP_Scripting/applets/mount-poi.lua

@@ -1,7 +1,7 @@
 -- mount-poi.lua: finds the point-of-interest that the gimbal mount is pointing at using the vehicle's current Location, mount attitude and terrain database
 --
 -- How To Use
---   1. set RCx_OPTION to 300 to enable triggering the POI calculation from an auxiliary switch
+--   1. Set RCx_OPTION to 300 or 301 to enable triggering the POI calculation from an auxiliary switch.  If 301 is used the gimbal will also lock onto the location
 --   2. optionally set POI_DIST_MAX to the maximum distance (in meters) that the POI point could be from the vehicle
 --   3. fly the vehicle and point the camera gimbal at a point on the ground
 --   4. raise the RC auxiliary switch and check the GCS's messages tab for the latitude, longitude and alt (above sea-level)
@@ -42,7 +42,8 @@ local POI_DIST_MAX = Parameter("POI_DIST_MAX")
 TERRAIN_SPACING = Parameter("TERRAIN_SPACING")
 
 -- local variables and definitions
-local last_rc_switch_pos = 0            -- last known rc switch position.  Used to detect change in RC switch position
+local last_poi_switch_pos = 0           -- last known rc poi switch position.  Used to detect change in RC switch position
+local last_roi_switch_pos = 0           -- last known rc roi switch position.  Used to detect change in RC switch position
 local success_count = 0                 -- count of the number of POI calculations (sent to GCS in CAMERA_FEEDBACK message)
 
 -- mavlink message definition
@@ -157,29 +158,25 @@ function interpolate(low_output, high_output, var_value, var_low, var_high)
 end
 
 
--- the main update function that performs a simplified version of RTL
+-- the main update function called at 10hz
 function update()
 
-  -- find RC channel used to trigger POI
+  -- check if user has raised POI switch
-  rc_switch_ch = rc:find_channel_for_option(300) --scripting ch 1
+  local poi_switch_pos = rc:get_aux_cached(300) -- scripting ch 1 (drop icon on map where mount is pointing)
-  if (rc_switch_ch == nil) then
+  local poi_switch_pulled_high = (poi_switch_pos ~= nil) and (poi_switch_pos ~= last_poi_switch_pos) and (poi_switch_pos == 2)
-      gcs:send_text(MAV_SEVERITY.ERROR, 'MountPOI: RCx_OPTION = 300 not set')    -- MAV_SEVERITY_ERROR
+  last_poi_switch_pos = poi_switch_pos
-      return update, 10000  -- check again in 10 seconds
-  end
 
-  -- check if user has raised RC switch
+  -- check if user has raised ROI switch
-  local rc_switch_pos = rc_switch_ch:get_aux_switch_pos()
+  local roi_switch_pos = rc:get_aux_cached(301) -- scripting ch 2 (drop icon and lock mount on location)
-  if rc_switch_pos == last_rc_switch_pos then
+  local roi_switch_pulled_high = (roi_switch_pos ~= nil) and (roi_switch_pos ~= last_roi_switch_pos) and (roi_switch_pos == 2)
+  last_roi_switch_pos = roi_switch_pos
+  
+  -- return if neither switch was pulled high
+  if not poi_switch_pulled_high and not roi_switch_pulled_high then
     return update, UPDATE_INTERVAL_MS
   end
 
-  -- switch has changed position
+  -- POI or ROI has been requested
-  last_rc_switch_pos = rc_switch_pos
-  if rc_switch_pos ~= 2 then
-    return update, UPDATE_INTERVAL_MS
-  end
-
-  -- POI has been requested
 
   -- retrieve vehicle location
   local vehicle_loc = ahrs:get_location()
@@ -256,6 +253,11 @@ function update()
     poi_loc:offset_bearing_and_pitch(mount_yaw_ef_deg, mount_pitch_deg, dist_interp_m)
     gcs:send_text(MAV_SEVERITY.INFO, string.format("POI %.7f, %.7f, %.2f (asml)", poi_loc:lat()/10000000.0, poi_loc:lng()/10000000.0, poi_loc:alt() * 0.01))
 
+    -- if ROI requested then also lock gimbal to location
+    if roi_switch_pulled_high then
+      mount:set_roi_target(0, poi_loc)
+    end
+
     -- send feedback to GCS so it can display icon on map
     success_count = success_count + 1
     send_camera_feedback(poi_loc:lat(), poi_loc:lng(), poi_loc:alt(), poi_loc:alt(), 0, 0, 0, 0, 0, success_count)

libraries/AP_Scripting/applets/mount-poi.md

@@ -8,10 +8,10 @@ POI_DIST_MAX : POI's max distance (in meters) from the vehicle
 
 # How To Use
 
-1. Set RCx_OPTION to 300 (scripting1) to allow triggering the POI calculation from an auxiliary switch
+1. Set RCx_OPTION to 300 or 301 to enable triggering the POI calculation from an auxiliary switch.  If 301 is used the gimbal will also lock onto the location
 2. Optionally set POI_DIST_MAX to the maximum distance (in meters) that the POI point could be from the vehicle
 3. Fly the vehicle and point the camera gimbal at a point on the ground
-4. Raise the RC auxiliary switch and check the GCS's messages tab for the latitude, longitude and alt (above sea-level)
+4. Raise one of the RC auxiliary switches and check the GCS's messages tab for the latitude, longitude and alt (above sea-level)
 
 # How It Works