mirror of https://github.com/ArduPilot/ardupilot
AP_Scripting: mount-djirs2: increase bus/mount setup flexibility
In particular allows the use of the gimbal using PROTOCOL2 attached to a DroneCAN bus. ArduPilot 4.6 is recommended due to the timeout bug causing message sends to fail regularly on 4.5. Tested also that misconfiguring the CAN bus will result in the driver failing to start, though the error message will be less specific.
This commit is contained in:
Thomas Watson
Peter Barker
parent
1f0dff0178
commit
dd270dac2e
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@ -11,6 +11,12 @@
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Reboot the autopilot
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Copy this script to the autopilot's SD card in the APM/scripts directory and reboot the autopilot
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set DJIR_DEBUG to 1 to display parsing and errors stats at 5sec. Set to 2 to display gimbal angles
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Advanced usage
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The gimbal can be connected to an existing DroneCAN bus (on ArduPilot 4.6 or later) by setting CAN_Dx_PROTOCOL2=10 on that bus's driver
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The gimbal can be used as the Nth mount (instead of the first) by setting MNTn_TYPE = 9 and modifying the script's user definitions
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The gimbal can be used with the Scripting2 protocol by modifying the script's user definitions
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Multiple gimbals can be used at once by duplicating the script and connecting them to different buses
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The following sources were used as a reference during the development of this script
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Constant Robotics DJIR SDK: https://github.com/ConstantRobotics/DJIR_SDK
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@ -70,6 +76,9 @@
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--]]
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-- user definitions
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local MOUNT_INSTANCE = 0 -- default to MNT1
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local CAN_INSTANCE = 0 -- default to first scripting CAN protocol
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-- global definitions
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local INIT_INTERVAL_MS = 3000 -- attempt to initialise the gimbal at this interval
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@ -77,7 +86,6 @@ local UPDATE_INTERVAL_MS = 1 -- update interval in millis
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local REPLY_TIMEOUT_MS = 100 -- timeout waiting for reply after 0.1 sec
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local REQUEST_ATTITUDE_INTERVAL_MS = 100-- request attitude at 10hz
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local SET_ATTITUDE_INTERVAL_MS = 100 -- set attitude at 10hz
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local MOUNT_INSTANCE = 0 -- always control the first mount/gimbal
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local SEND_FRAMEID = 0x223 -- send CAN messages with this frame id
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local RECEIVE_FRAMEID = 0x222 -- receive CAN messages with this frame id
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local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
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@ -106,15 +114,6 @@ local DJIR_DEBUG = Parameter("DJIR_DEBUG") -- debug level. 0:disabl
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--]]
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local DJIR_UPSIDEDOWN = Parameter("DJIR_UPSIDEDOWN") -- 0:rightsideup, 1:upsidedown
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-- bind parameters to variables
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local CAN_P1_DRIVER = Parameter("CAN_P1_DRIVER") -- If using CAN1, should be 1:First driver
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local CAN_P1_BITRATE = Parameter("CAN_P1_BITRATE") -- If using CAN1, should be 1000000
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local CAN_D1_PROTOCOL = Parameter("CAN_D1_PROTOCOL") -- If using CAN1, should be 10:Scripting
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local CAN_P2_DRIVER = Parameter("CAN_P2_DRIVER") -- If using CAN2, should be 2:Second driver
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local CAN_P2_BITRATE = Parameter("CAN_P2_BITRATE") -- If using CAN2, should be 1000000
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local CAN_D2_PROTOCOL = Parameter("CAN_D2_PROTOCOL") -- If using CAN2, should be 10:Scripting
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local MNT1_TYPE = Parameter("MNT1_TYPE") -- should be 9:Scripting
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-- message definitions
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local HEADER = 0xAA
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local RETURN_CODE = {SUCCESS=0x00, PARSE_ERROR=0x01, EXECUTION_FAILED=0x02, UNDEFINED=0xFF}
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@ -309,42 +308,20 @@ end
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-- perform any require initialisation
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function init()
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-- check parameter settings
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if CAN_D1_PROTOCOL:get() ~= 10 and CAN_D2_PROTOCOL:get() ~= 10 then
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gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_D1_PROTOCOL or CAN_D2_PROTOCOL=10")
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do return end
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end
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if CAN_D1_PROTOCOL:get() == 10 and CAN_D2_PROTOCOL:get() == 10 then
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gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_D1_PROTOCOL or CAN_D2_PROTOCOL=0")
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do return end
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end
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if CAN_D1_PROTOCOL:get() == 10 then
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if CAN_P1_DRIVER:get() <= 0 then
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gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P1_DRIVER=1")
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do return end
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end
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if CAN_P1_BITRATE:get() ~= 1000000 then
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gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P1_BITRATE=1000000")
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do return end
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end
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end
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if CAN_D2_PROTOCOL:get() == 10 then
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if CAN_P2_DRIVER:get() <= 0 then
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gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P2_DRIVER=2")
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do return end
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end
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if CAN_P2_BITRATE:get() ~= 1000000 then
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gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P2_BITRATE=1000000")
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do return end
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end
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end
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if MNT1_TYPE:get() ~= 9 then
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gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set MNT1_TYPE=9")
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local mnt_type_name = ("MNT%d_TYPE"):format(MOUNT_INSTANCE+1)
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local mnt_type = param:get(mnt_type_name)
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if mnt_type ~= 9 then
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gcs:send_text(MAV_SEVERITY.CRITICAL, ("DJIR: set %s=9"):format(mnt_type_name))
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do return end
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end
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-- get CAN device and filter to receive only replies from the gimbal
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driver = CAN:get_device(8) -- buffer up to two replies
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local buffer_size = 8 -- buffer up to two replies
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if CAN_INSTANCE == 0 then
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driver = CAN:get_device(buffer_size)
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elseif CAN_INSTANCE == 1 then
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driver = CAN:get_device2(buffer_size)
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end
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if driver and driver:add_filter(-1, RECEIVE_FRAMEID) then
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initialised = true
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gcs:send_text(MAV_SEVERITY.INFO, "DJIR: mount driver started")
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@ -13,6 +13,12 @@ DJI RS2 and RS3-Pro gimbal mount driver lua script
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- Reboot the autopilot
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- Copy the mount-djirs2-driver.lua script to the autopilot's SD card in the APM/scripts directory and reboot the autopilot
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## Advanced usage
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- The gimbal can be connected to an existing DroneCAN bus (on ArduPilot 4.6 or later) by setting CAN_Dx_PROTOCOL2=10 on that bus's driver
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- The gimbal can be used as the Nth mount (instead of the first) by setting MNTn_TYPE = 9 and modifying the script's user definitions
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- The gimbal can be used with the Scripting2 protocol by modifying the script's user definitions
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- Multiple gimbals can be used at once by duplicating the script and connecting them to different buses
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## Issues
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If the ground station reports "Pre-arm: Mount not healthy", update the
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