-- mount-djirs2-driver.lua: DJIRS2 mount/gimbal driver -- luacheck: only 0 --[[ How to use Connect gimbal to autopilot's CAN1 port or CAN2 port If connected to CAN1, set CAN_D1_PROTOCOL = 10 (Scripting), CAN_P1_DRIVER = 1 (First driver) If connected to CAN2, set CAN_D2_PROTOCOL = 10 (Scripting), CAN_P2_DRIVER = 2 (Second driver) Set SCR_ENABLE = 1 to enable scripting Set SCR_HEAP_SIZE = 120000 (or higher) Set MNT1_TYPE = 9 (Scripting) to enable the mount/gimbal scripting driver Reboot the autopilot Copy this script to the autopilot's SD card in the APM/scripts directory and reboot the autopilot set DJIR_DEBUG to 1 to display parsing and errors stats at 5sec. Set to 2 to display gimbal angles The following sources were used as a reference during the development of this script Constant Robotics DJIR SDK: https://github.com/ConstantRobotics/DJIR_SDK Ceinem's ROS node for DJI RS2: https://github.com/ceinem/dji_rs2_ros_controller CAN format packet's data segment holds up to 8 serial bytes. These should be extracted and sent to the serial packet parser the CAN packets will never hold the contents of more than one serial packet the external caller (e.g. this script) must send CAN frames with frameId = 0x223 gimbal will reply with frameId = 0x222 Serial Packet format byte description notes 0 header AA 1~2 Ver/Length bits 0~9 are length of entire frame, LSB first. bits 10~15 are version number 3 CmdType bits 0~4 are Reply type, 0=No Reply required, 1=Can reply or not after data sent, 2~31=Reply is required after data sent bit 5 is Frame type, 0=Command frame, 1=Reply Frame bits 6~7 reserved (0 by default) 4 ENC bits 0~4 length of supplementary bytes when encrypting bits 5~7 Encryption type, 0=Unencrypted, 1=AES256 encyrption 5~7 RES reserved 8~9 SEQ sequence number. increments with each packet 10~11 CRC-16 frame header check 12~n Data Data segment Start 12 CmdSet Data segment Command set 13 CmdID Data segment Command code 14~n Data content Data content n+1 CRC-32 frame check (the entire frame) Used CmdSet and CmdId 0x0E, 0x00: Handheld Gimbal Position Control Command frame bytes 0~1: yaw angle * 10, int16, -1800 to +1800 2~3: roll angle * 10, int16, -300 to +300 4~5: pitch angle * 10, int16, -560 to +1460 6: ctrl_byte, uint8 bit0 = 0:relative control, 1:absolute control bit1 = 0:yaw axis valid, 1:invalid bit2 = 0:roll axis valid, 1:invalid bit3 = 0:pitch axis valid, 1:invalid bit4~7 = reserved, must be zero 7: time for action, uint8_t, unit: 0.1s. e.g. if 20, gimbal will rotate to the position desired within 2sec Reply frame bytes 0: return code, uint8_t 0x0E, 0x02: Obtain the angle information of handheld gimbal, including joint angle and attitude angle Command frame bytes 0: ctrl_byte, uint8_t, 0x00:No operation, 0x01:angle of handlheld gimbal, 0x02:joint angle of handheld gimbal Reply frame bytes 0: return code, uint8_t 1: data_type, uint8_t, 0x00:Data is not ready, 0x01:attitude angle, 0x02:joint angle 2~3: yaw angle * 10, int16, -1800 to +1800 4~5: roll angle * 10, int16, -300 to +300 6~7: pitch angle * 10, int16, -560 to +1460 --]] -- global definitions local INIT_INTERVAL_MS = 3000 -- attempt to initialise the gimbal at this interval local UPDATE_INTERVAL_MS = 1 -- update interval in millis local REPLY_TIMEOUT_MS = 1000 -- timeout waiting for reply after 1 sec local REQUEST_ATTITUDE_INTERVAL_MS = 100-- request attitude at 10hz local SET_ATTITUDE_INTERVAL_MS = 100 -- set attitude at 10hz local MOUNT_INSTANCE = 0 -- always control the first mount/gimbal local SEND_FRAMEID = 0x223 -- send CAN messages with this frame id local RECEIVE_FRAMEID = 0x222 -- receive CAN messages with this frame id local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7} -- parameters local PARAM_TABLE_KEY = 38 assert(param:add_table(PARAM_TABLE_KEY, "DJIR_", 2), "could not add param table") assert(param:add_param(PARAM_TABLE_KEY, 1, "DEBUG", 0), "could not add DJIR_DEBUG param") assert(param:add_param(PARAM_TABLE_KEY, 2, "UPSIDEDOWN", 0), "could not add DJIR_UPSIDEDOWN param") --[[ // @Param: DJIR_DEBUG // @DisplayName: DJIRS2 debug // @Description: Enable DJIRS2 debug // @Values: 0:Disabled,1:Enabled,2:Enabled with attitude reporting // @User: Advanced --]] local DJIR_DEBUG = Parameter("DJIR_DEBUG") -- debug level. 0:disabled 1:enabled 2:enabled with attitude reporting --[[ // @Param: DJIR_UPSIDEDOWN // @DisplayName: DJIRS2 upside down // @Description: DJIRS2 upside down // @Values: 0:Right side up,1:Upside down // @User: Standard --]] local DJIR_UPSIDEDOWN = Parameter("DJIR_UPSIDEDOWN") -- 0:rightsideup, 1:upsidedown -- bind parameters to variables local CAN_P1_DRIVER = Parameter("CAN_P1_DRIVER") -- If using CAN1, should be 1:First driver local CAN_P1_BITRATE = Parameter("CAN_P1_BITRATE") -- If using CAN1, should be 1000000 local CAN_D1_PROTOCOL = Parameter("CAN_D1_PROTOCOL") -- If using CAN1, should be 10:Scripting local CAN_P2_DRIVER = Parameter("CAN_P2_DRIVER") -- If using CAN2, should be 2:Second driver local CAN_P2_BITRATE = Parameter("CAN_P2_BITRATE") -- If using CAN2, should be 1000000 local CAN_D2_PROTOCOL = Parameter("CAN_D2_PROTOCOL") -- If using CAN2, should be 10:Scripting local MNT1_TYPE = Parameter("MNT1_TYPE") -- should be 9:Scripting -- message definitions local HEADER = 0xAA local RETURN_CODE = {SUCCESS=0x00, PARSE_ERROR=0x01, EXECUTION_FAILED=0x02, UNDEFINED=0xFF} -- parsing state definitions local PARSE_STATE_WAITING_FOR_HEADER = 0 local PARSE_STATE_WAITING_FOR_VERLENGTH = 1 local PARSE_STATE_WAITING_FOR_DATA = 2 -- other parsing definitions local CAN_PACKET_LENGTH_MAX = 8 -- CAN packet maximum length local SERIAL_PACKET_LENGTH_MAX = 32 -- serial packet maximum length. used to sanity check length of incoming messages local SERIAL_PACKET_LENGTH_MIN = 16 -- serial packet minimum length. used to sanity check sends -- local variables and definitions local driver -- CAN bus local initialised = false -- true once connection to gimbal has been initialised local parse_state = PARSE_STATE_WAITING_FOR_HEADER -- parse state local parse_length = 0 -- incoming message's packet length local parse_buff = {} -- message buffer holding roll, pitch and yaw angles from gimbal local parse_bytes_recv = 0 -- message buffer length. count of the number of bytes received in the message so far local last_send_seq = 0 -- last sequence number sent local last_req_attitude_ms = 0 -- system time of last request for attitude local last_set_attitude_ms = 0 -- system time of last set attitude call local REPLY_TYPE = {NONE=0, ATTITUDE=1, POSITION_CONTROL=2, SPEED_CONTROL=3} -- enum of expected reply types local expected_reply = REPLY_TYPE.NONE -- currently expected reply type local expected_reply_ms = 0 -- system time that reply is first expected. used for timeouts -- parsing status reporting variables local last_print_ms = 0 -- system time that debug output was last printed local bytes_read = 0 -- number of bytes read from gimbal local bytes_written = 0 -- number of bytes written to gimbal local bytes_error = 0 -- number of bytes read that could not be parsed local msg_ignored = 0 -- number of ignored messages (because frame id does not match) local write_fails = 0 -- number of times write failed local execute_fails = 0 -- number of times that gimbal was unable to execute the command local reply_timeouts = 0 -- number of timeouts waiting for replies local crc16_lookup = { 0x0000, 0xc0c1, 0xc181, 0x0140, 0xc301, 0x03c0, 0x0280, 0xc241, 0xc601, 0x06c0, 0x0780, 0xc741, 0x0500, 0xc5c1, 0xc481, 0x0440, 0xcc01, 0x0cc0, 0x0d80, 0xcd41, 0x0f00, 0xcfc1, 0xce81, 0x0e40, 0x0a00, 0xcac1, 0xcb81, 0x0b40, 0xc901, 0x09c0, 0x0880, 0xc841, 0xd801, 0x18c0, 0x1980, 0xd941, 0x1b00, 0xdbc1, 0xda81, 0x1a40, 0x1e00, 0xdec1, 0xdf81, 0x1f40, 0xdd01, 0x1dc0, 0x1c80, 0xdc41, 0x1400, 0xd4c1, 0xd581, 0x1540, 0xd701, 0x17c0, 0x1680, 0xd641, 0xd201, 0x12c0, 0x1380, 0xd341, 0x1100, 0xd1c1, 0xd081, 0x1040, 0xf001, 0x30c0, 0x3180, 0xf141, 0x3300, 0xf3c1, 0xf281, 0x3240, 0x3600, 0xf6c1, 0xf781, 0x3740, 0xf501, 0x35c0, 0x3480, 0xf441, 0x3c00, 0xfcc1, 0xfd81, 0x3d40, 0xff01, 0x3fc0, 0x3e80, 0xfe41, 0xfa01, 0x3ac0, 0x3b80, 0xfb41, 0x3900, 0xf9c1, 0xf881, 0x3840, 0x2800, 0xe8c1, 0xe981, 0x2940, 0xeb01, 0x2bc0, 0x2a80, 0xea41, 0xee01, 0x2ec0, 0x2f80, 0xef41, 0x2d00, 0xedc1, 0xec81, 0x2c40, 0xe401, 0x24c0, 0x2580, 0xe541, 0x2700, 0xe7c1, 0xe681, 0x2640, 0x2200, 0xe2c1, 0xe381, 0x2340, 0xe101, 0x21c0, 0x2080, 0xe041, 0xa001, 0x60c0, 0x6180, 0xa141, 0x6300, 0xa3c1, 0xa281, 0x6240, 0x6600, 0xa6c1, 0xa781, 0x6740, 0xa501, 0x65c0, 0x6480, 0xa441, 0x6c00, 0xacc1, 0xad81, 0x6d40, 0xaf01, 0x6fc0, 0x6e80, 0xae41, 0xaa01, 0x6ac0, 0x6b80, 0xab41, 0x6900, 0xa9c1, 0xa881, 0x6840, 0x7800, 0xb8c1, 0xb981, 0x7940, 0xbb01, 0x7bc0, 0x7a80, 0xba41, 0xbe01, 0x7ec0, 0x7f80, 0xbf41, 0x7d00, 0xbdc1, 0xbc81, 0x7c40, 0xb401, 0x74c0, 0x7580, 0xb541, 0x7700, 0xb7c1, 0xb681, 0x7640, 0x7200, 0xb2c1, 0xb381, 0x7340, 0xb101, 0x71c0, 0x7080, 0xb041, 0x5000, 0x90c1, 0x9181, 0x5140, 0x9301, 0x53c0, 0x5280, 0x9241, 0x9601, 0x56c0, 0x5780, 0x9741, 0x5500, 0x95c1, 0x9481, 0x5440, 0x9c01, 0x5cc0, 0x5d80, 0x9d41, 0x5f00, 0x9fc1, 0x9e81, 0x5e40, 0x5a00, 0x9ac1, 0x9b81, 0x5b40, 0x9901, 0x59c0, 0x5880, 0x9841, 0x8801, 0x48c0, 0x4980, 0x8941, 0x4b00, 0x8bc1, 0x8a81, 0x4a40, 0x4e00, 0x8ec1, 0x8f81, 0x4f40, 0x8d01, 0x4dc0, 0x4c80, 0x8c41, 0x4400, 0x84c1, 0x8581, 0x4540, 0x8701, 0x47c0, 0x4680, 0x8641, 0x8201, 0x42c0, 0x4380, 0x8341, 0x4100, 0x81c1, 0x8081, 0x4040 } local crc32_lookup = { 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d } -- calculate crc16 for a series of bytes -- byte_array should be a table of uint8 values -- start_byte should be the first byte to start from (using 1 indexing) or left as nil to default to the first byte -- num_bytes should be the number of bytes to process or left as nil to use the entire message function calc_crc16(byte_array, start_byte, num_bytes) start_byte = start_byte or 1 num_bytes = num_bytes or #byte_array - start_byte + 1 local crc = 0x3AA3 for i = start_byte, num_bytes do local b = byte_array[i] & 0xFF local crc16_lookup_index = ((crc ~ b) % 256) + 1 local lookup_val = crc16_lookup[crc16_lookup_index] crc = ((crc >> 8) & 0xFF) ~ lookup_val end return crc end -- calculate crc32 for a series of bytes -- byte_array should be a table of uint8 values -- start_byte should be the first byte to start from (using 1 indexing) or left as nil to default to the first byte -- num_bytes should be the number of bytes to process or left as nil to use the entire message function calc_crc32(byte_array, start_byte, num_bytes) start_byte = start_byte or 1 num_bytes = num_bytes or #byte_array - start_byte + 1 local crc = 0x3AA3 for i = start_byte, num_bytes do local b = byte_array[i] & 0xFF local crc32_lookup_index = (((crc ~ b) & 0xff) + 1) local lookup_val = crc32_lookup[crc32_lookup_index] crc = ((crc >> 8) & 0x00FFFFFF) ~ lookup_val end return crc end -- get lowbyte of a number function lowbyte(num) return num & 0xFF end -- get highbyte of a number function highbyte(num) return (num >> 8) & 0xFF end -- get int16 from two bytes function int16_value(hbyte, lbyte) local uret = uint16_value(hbyte, lbyte) if uret <= 0x8000 then return uret else return uret - 0x10000 end end -- get uint16 from two bytes function uint16_value(hbyte, lbyte) return ((hbyte & 0xFF) << 8) | (lbyte & 0xFF) end -- get uint32 from four bytes function uint32_value(byte3, byte2, byte1, byte0) return (((byte3 & 0xFF) << 24) | ((byte2 & 0xFF) << 16) | ((byte1 & 0xFF) << 8) | (byte0 & 0xFF)) end -- wrap yaw angle in degrees to value between 0 and 360 function wrap_360(angle) local res = math.fmod(angle, 360.0) if res < 0 then res = res + 360.0 end return res end -- wrap yaw angle in degrees to value between -180 and +180 function wrap_180(angle_deg) local res = wrap_360(angle_deg) if res > 180 then res = res - 360 end return res end -- perform any require initialisation function init() -- check parameter settings if CAN_D1_PROTOCOL:get() ~= 10 and CAN_D2_PROTOCOL:get() ~= 10 then gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_D1_PROTOCOL or CAN_D2_PROTOCOL=10") do return end end if CAN_D1_PROTOCOL:get() == 10 and CAN_D2_PROTOCOL:get() == 10 then gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_D1_PROTOCOL or CAN_D2_PROTOCOL=0") do return end end if CAN_D1_PROTOCOL:get() == 10 then if CAN_P1_DRIVER:get() <= 0 then gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P1_DRIVER=1") do return end end if CAN_P1_BITRATE:get() ~= 1000000 then gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P1_BITRATE=1000000") do return end end end if CAN_D2_PROTOCOL:get() == 10 then if CAN_P2_DRIVER:get() <= 0 then gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P2_DRIVER=2") do return end end if CAN_P2_BITRATE:get() ~= 1000000 then gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set CAN_P2_BITRATE=1000000") do return end end end if MNT1_TYPE:get() ~= 9 then gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: set MNT1_TYPE=9") do return end end -- get CAN device driver = CAN:get_device(25) if driver then initialised = true gcs:send_text(MAV_SEVERITY.INFO, "DJIR: mount driver started") else gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: failed to connect to CAN bus") end end -- send serial message over CAN bus -- returns true on success, false on failure function send_msg(serial_msg) if not serial_msg then gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: cannot send invalid message") do return false end end -- calculate number of CAN frames required to send mesage local num_frames = math.floor(#serial_msg / CAN_PACKET_LENGTH_MAX) if #serial_msg % CAN_PACKET_LENGTH_MAX > 0 then num_frames = num_frames + 1 end -- create and send CAN messages for i=0, num_frames-1 do local start_byte = i * CAN_PACKET_LENGTH_MAX + 1 local finish_byte = math.min(start_byte + CAN_PACKET_LENGTH_MAX - 1 , #serial_msg) local num_bytes = finish_byte - start_byte + 1 local canframe = CANFrame() canframe:id(SEND_FRAMEID) canframe:dlc(num_bytes) for j = 0, num_bytes-1 do canframe:data(j, serial_msg[start_byte+j]) end if driver:write_frame(canframe, 10000) then bytes_written = bytes_written + num_bytes else write_fails = write_fails + 1 -- on failure do not send rest of message do return false end end end return true end -- get next sequence number that should be used for send commands function get_next_sequence_number() last_send_seq = last_send_seq + 1 if last_send_seq > 0xFFFF then last_send_seq = 0 end return last_send_seq end -- update serial message's sequence number, crc-16 and crc-32 fields function update_msg_seq_and_crc(serial_msg) -- sanity checks if not serial_msg then gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: update_msg_seq_and_crc null arg") do return end end if #serial_msg < SERIAL_PACKET_LENGTH_MIN then gcs:send_text(MAV_SEVERITY.CRITICAL, "DJIR: update_msg_seq_and_crc message too short") do return end end -- update sequence local seq = get_next_sequence_number() serial_msg[9] = lowbyte(seq) serial_msg[10] = highbyte(seq) -- update header crc16 local crc16 = calc_crc16(serial_msg, 1, 10) serial_msg[11] = lowbyte(crc16) serial_msg[12] = highbyte(crc16) -- update entire frame's crc32 local crc32 = calc_crc32(serial_msg, 1, #serial_msg-4) serial_msg[#serial_msg-3] = lowbyte(crc32) serial_msg[#serial_msg-2] = lowbyte(crc32 >> 8) serial_msg[#serial_msg-1] = lowbyte(crc32 >> 16) serial_msg[#serial_msg] = lowbyte(crc32 >> 24) end -- request attitude from gimbal function request_attitude() -- Field number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 -- SOF LenL LenH CmdTyp Enc RES RES RES SeqL SeqH CrcL CrcH CmdSet CmdId Data1 CRC32 CRC32 CRC32 CRC32 local request_attitude_msg = {0xAA, 0x13, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x0E, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00} -- update_msg_seq_and_crc update_msg_seq_and_crc(request_attitude_msg) -- send bytes if send_msg(request_attitude_msg) then expected_reply = REPLY_TYPE.ATTITUDE expected_reply_ms = millis() else expected_reply = REPLY_TYPE.NONE end end -- send target angles (in degrees) to gimbal -- yaw_angle_deg is always a body-frame angle function send_target_angles(roll_angle_deg, pitch_angle_deg, yaw_angle_deg, time_sec) -- default argument values roll_angle_deg = roll_angle_deg or 0 pitch_angle_deg = pitch_angle_deg or 0 yaw_angle_deg = yaw_angle_deg or 0 time_sec = time_sec or 2 -- if upsidedown, add 180deg to yaw if DJIR_UPSIDEDOWN:get() > 0 then yaw_angle_deg = wrap_180(yaw_angle_deg + 180) end -- ensure angles are integers roll_angle_deg = math.floor(roll_angle_deg + 0.5) pitch_angle_deg = math.floor(pitch_angle_deg + 0.5) yaw_angle_deg = math.floor(yaw_angle_deg + 0.5) time_sec = math.floor(time_sec + 0.5) -- 0x0E, 0x00: Handheld Gimbal Position Control -- Command frame bytes -- 0~1: yaw angle * 10, int16, -1800 to +1800 -- 2~3: roll angle * 10, int16, -300 to +300 -- 4~5: pitch angle * 10, int16, -560 to +1460 -- 6: ctrl_byte, uint8 -- bit0 = 0:relative control, 1:absolute control -- bit1 = 0:yaw axis valid, 1:invalid -- bit2 = 0:roll axis valid, 1:invalid -- bit3 = 0:pitch axis valid, 1:invalid -- bit4~7 = reserved, must be zero -- 7: time for action, uint8_t, unit: 0.1s. e.g. if 20, gimbal will rotate to the position desired within 2sec -- -- Field number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 -- Field name SOF LenL LenH CmdTyp Enc RES RES RES SeqL SeqH CrcL CrcH CmdSet CmdId YawL YawH RollL RollH PitL PitH Ctrl Time CRC32 CRC32 CRC32 CRC32 local set_target_att_msg = {0xAA, 0x1A, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x20, 0x00, 0x30, 0x00, 0x40, 0x00, 0x01, 0x14, 0x00, 0x00, 0x00, 0x00} -- set angles set_target_att_msg[15] = lowbyte(yaw_angle_deg * 10) set_target_att_msg[16] = highbyte(yaw_angle_deg * 10) set_target_att_msg[17] = lowbyte(roll_angle_deg * 10) set_target_att_msg[18] = highbyte(roll_angle_deg * 10) set_target_att_msg[19] = lowbyte(pitch_angle_deg * 10) set_target_att_msg[20] = highbyte(pitch_angle_deg * 10) -- set time set_target_att_msg[22] = lowbyte(time_sec * 10) -- update_msg_seq_and_crc update_msg_seq_and_crc(set_target_att_msg) -- send bytes if send_msg(set_target_att_msg) then expected_reply = REPLY_TYPE.POSITION_CONTROL expected_reply_ms = millis() else expected_reply = REPLY_TYPE.NONE end end -- send target rates (in deg/sec) to gimbal function send_target_rates(roll_rate_degs, pitch_rate_degs, yaw_rate_degs) -- default argument values roll_rate_degs = roll_rate_degs or 0 pitch_rate_degs = pitch_rate_degs or 0 yaw_rate_degs = yaw_rate_degs or 0 time_sec = time_sec or 2 -- ensure rates are integers. invert roll direction roll_rate_degs = -math.floor(roll_rate_degs + 0.5) pitch_rate_degs = math.floor(pitch_rate_degs + 0.5) yaw_rate_degs = math.floor(yaw_rate_degs + 0.5) -- 0x0E, 0x01: Handheld Gimbal Speed Control -- Command frame bytes -- 0~1: yaw speed * 10, int16, -3600 to +3600 -- 2~3: roll speed * 10, int16, -3600 to +3600 -- 4~5: pitch speed * 10, int16, -3600 to +3600 -- 6: ctrl_byte, uint8, always use 0x88 -- bit0~2 = reserved, must be zero -- bit3 = 0:consider focal length, 1:do not consider focal length -- bit4~6 = reserved, must be zero -- bit7 = 0:release speed control, 1:take over speed control -- -- Field number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 -- Field name SOF LenL LenH CmdTyp Enc RES RES RES SeqL SeqH CrcL CrcH CmdSet CmdId YawL YawH RollL RollH PitL PitH Ctrl CRC32 CRC32 CRC32 CRC32 local set_target_speed_msg = {0xAA, 0x19, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0E, 0x01, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x88, 0x00, 0x00, 0x00, 0x00} -- set rates set_target_speed_msg[15] = lowbyte(yaw_rate_degs * 10) set_target_speed_msg[16] = highbyte(yaw_rate_degs * 10) set_target_speed_msg[17] = lowbyte(roll_rate_degs * 10) set_target_speed_msg[18] = highbyte(roll_rate_degs * 10) set_target_speed_msg[19] = lowbyte(pitch_rate_degs * 10) set_target_speed_msg[20] = highbyte(pitch_rate_degs * 10) -- update_msg_seq_and_crc update_msg_seq_and_crc(set_target_speed_msg) -- send bytes if send_msg(set_target_speed_msg) then expected_reply = REPLY_TYPE.SPEED_CONTROL expected_reply_ms = millis() else expected_reply = REPLY_TYPE.NONE end end -- consume incoming CAN packets function read_incoming_packets() local canframe repeat canframe = driver:read_frame() if canframe then if uint32_t(canframe:id()) == uint32_t(RECEIVE_FRAMEID) then for i = 0, canframe:dlc()-1 do parse_byte(canframe:data(i)) end else msg_ignored = msg_ignored + 1 end end until not canframe end -- parse an byte from the gimbal function parse_byte(b) -- update num bytes read (for reporting only) bytes_read = bytes_read + 1 -- clear buffer while waiting for header if parse_state == PARSE_STATE_WAITING_FOR_HEADER then parse_expected_crc = 0 parse_bytes_recv = 0 end -- add byte to buffer parse_bytes_recv = parse_bytes_recv + 1 parse_buff[parse_bytes_recv] = b -- waiting for header if parse_state == PARSE_STATE_WAITING_FOR_HEADER then if b == HEADER then parse_state = PARSE_STATE_WAITING_FOR_VERLENGTH do return end else -- unexpected byte bytes_error = bytes_error + 1 end end -- waiting for version/length LSB if parse_state == PARSE_STATE_WAITING_FOR_VERLENGTH then if parse_bytes_recv == 2 then parse_length = b else parse_length = uint16_value(b & 0x03, parse_length) if (parse_length < SERIAL_PACKET_LENGTH_MIN) or (parse_length > SERIAL_PACKET_LENGTH_MAX) then -- invalid length parse_state = PARSE_STATE_WAITING_FOR_HEADER bytes_error = bytes_error + 1 else parse_state = PARSE_STATE_WAITING_FOR_DATA end end do return end end -- waiting for data if (parse_state == PARSE_STATE_WAITING_FOR_DATA) and (parse_bytes_recv >= parse_length) then -- check crc16 local expected_crc16 = calc_crc16(parse_buff, 1, 10) local received_crc16 = uint16_value(parse_buff[12], parse_buff[11]) if (expected_crc16 ~= received_crc16) then if DJIR_DEBUG:get() > 0 then gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: crc16 exp:%x got:%x", expected_crc16, received_crc16)) end bytes_error = bytes_error + 1 parse_state = PARSE_STATE_WAITING_FOR_HEADER do return end end -- check crc32 local expected_crc32 = calc_crc32(parse_buff, 1, parse_length-4) local received_crc32 = uint32_value(parse_buff[parse_length], parse_buff[parse_length-1], parse_buff[parse_length-2], parse_buff[parse_length-3]) if (expected_crc32 ~= received_crc32) then if DJIR_DEBUG:get() > 0 then gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: crc32 exp:%x got:%x", expected_crc32, received_crc32)) end bytes_error = bytes_error + 1 parse_state = PARSE_STATE_WAITING_FOR_HEADER do return end end -- check if reply local cmd_type_reply = (parse_buff[4] & 0x20) > 0 -- process reply messages if cmd_type_reply then if expected_reply == REPLY_TYPE.NONE then gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: unexpected reply len:%d", parse_length)) end -- parse attitude reply message if (expected_reply == REPLY_TYPE.ATTITUDE) and (parse_length >= 20) then local ret_code = parse_buff[13] if ret_code == RETURN_CODE.SUCCESS then local yaw_deg = int16_value(parse_buff[16],parse_buff[15]) * 0.1 local pitch_deg = int16_value(parse_buff[18],parse_buff[17]) * 0.1 local roll_deg = int16_value(parse_buff[20],parse_buff[19]) * 0.1 mount:set_attitude_euler(MOUNT_INSTANCE, roll_deg, pitch_deg, yaw_deg) if DJIR_DEBUG:get() > 1 then gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: roll:%4.1f pitch:%4.1f yaw:%4.1f", roll_deg, pitch_deg, yaw_deg)) end else execute_fails = execute_fails + 1 end end -- parse position control reply message if (expected_reply == REPLY_TYPE.POSITION_CONTROL) and (parse_length >= 13) then local ret_code = parse_buff[13] if ret_code ~= RETURN_CODE.SUCCESS then execute_fails = execute_fails + 1 end end -- parse speed control reply message if (expected_reply == REPLY_TYPE.SPEED_CONTROL) and (parse_length >= 13) then local ret_code = parse_buff[13] if ret_code ~= RETURN_CODE.SUCCESS then execute_fails = execute_fails + 1 end end -- clear expected reply flag expected_reply = REPLY_TYPE.NONE else -- not attempting to parse gcs:send_text(MAV_SEVERITY.INFO, "DJIR: skipped reply:" .. tostring(cmd_type_reply) .. "len:" .. tostring(parse_length)) end parse_state = PARSE_STATE_WAITING_FOR_HEADER do return end end end -- the main update function that performs a simplified version of RTL function update() -- initialise connection to gimbal if not initialised then init() return update, INIT_INTERVAL_MS end -- consume incoming bytes read_incoming_packets() -- get system time local now_ms = millis() -- report parsing status if (DJIR_DEBUG:get() > 0) and ((now_ms - last_print_ms) > 5000) then last_print_ms = now_ms gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: r:%u w:%u fail:%u,%u perr:%u to:%u ign:%u", bytes_read, bytes_written, write_fails, execute_fails, bytes_error, reply_timeouts, msg_ignored)) end -- do not send any messages until CAN traffic has been seen if msg_ignored == 0 and bytes_read == 0 then return update, UPDATE_INTERVAL_MS end -- handle expected reply timeouts if (expected_reply ~= REPLY_TYPE.NONE) then if ((now_ms - expected_reply_ms) > REPLY_TIMEOUT_MS) then if DJIR_DEBUG:get() > 0 then gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: timeout expecting %d", expected_reply)) end expected_reply = REPLY_TYPE.NONE reply_timeouts = reply_timeouts + 1 else -- do not process any messages return update, UPDATE_INTERVAL_MS end end -- request gimbal attitude if now_ms - last_req_attitude_ms > REQUEST_ATTITUDE_INTERVAL_MS then last_req_attitude_ms = now_ms request_attitude() return update, UPDATE_INTERVAL_MS end -- set gimbal attitude or rate if now_ms - last_set_attitude_ms > SET_ATTITUDE_INTERVAL_MS then last_set_attitude_ms = now_ms -- send angle target local roll_deg, pitch_deg, yaw_deg, yaw_is_ef = mount:get_angle_target(MOUNT_INSTANCE) if roll_deg and pitch_deg and yaw_deg then if yaw_is_ef then -- convert to body-frame yaw_deg = wrap_180(yaw_deg - math.deg(ahrs:get_yaw())) end send_target_angles(roll_deg, pitch_deg, yaw_deg, 1) return update, UPDATE_INTERVAL_MS end -- send rate target local roll_degs, pitch_degs, yaw_degs, yaw_is_ef = mount:get_rate_target(MOUNT_INSTANCE) if roll_degs and pitch_degs and yaw_degs then send_target_rates(roll_degs, pitch_degs, yaw_degs) return update, UPDATE_INTERVAL_MS end return update, UPDATE_INTERVAL_MS end return update, UPDATE_INTERVAL_MS end return update()