mirror of https://github.com/ArduPilot/ardupilot
303 lines
9.3 KiB
Lua
303 lines
9.3 KiB
Lua
--[[
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Populate the VIDEO_STREAM_INFORMATION message based on user parameters
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--]]
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local PARAM_TABLE_KEY = 87
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local PARAM_TABLE_PREFIX = "VID1_"
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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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local VID_TYPE_ENUM = {RTSP=0, RTPUDP=1, TCP_MPEG=2, MPEG_TS=3}
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local CAMMODEL_ENUM = {UNKNOWN=0, SIYI_A8=1, SIYI_ZR10=2, SIYI_ZR30=3, SIYI_ZT30_ZOOM=4, SIYI_ZT30_WIDE=5,
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SIYI_ZT30_IR=6, SIYI_ZT6_RGB=7, SIYI_ZT6_IR=8, HERELINK_WIFIAP=9, HERELINK_USB_TETHERING=10,
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TOPOTEK_1080P=11, TOPOTEK_480P=12, VIEWPRO=13}
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local TEXT_PREFIX_STR = "video-stream-information:"
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local SIYI_IP_DEFAULT = '192.168.144.25:8554'
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local TOPOTEK_IP_DEFAULT = '192.168.144.108:554'
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local VIEWPRO_IP_DEFAULT = '192.168.2.119:554'
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-- add a parameter and bind it to a variable
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function bind_add_param(name, idx, default_value)
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assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
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return Parameter(PARAM_TABLE_PREFIX .. name)
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end
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-- setup script specific parameters
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assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 15), 'could not add param table')
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--[[
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// @Param: VID1_CAMMODEL
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// @DisplayName: Camera1 Video Stream Camera Model
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// @Description: Video stream camera model
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// @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
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// @User: Standard
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--]]
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-- values should match CAMMODEL_ENUM
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local VID1_CAMMODEL = bind_add_param('CAMMODEL', 1, 0)
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--[[
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// @Param: VID1_ID
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// @DisplayName: Camera1 Video Stream Id
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// @Description: Video stream id
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// @Range: 0 50
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// @User: Standard
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--]]
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local VID1_ID = bind_add_param('ID', 2, 1)
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--[[
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// @Param: VID1_TYPE
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// @DisplayName: Camera1 Video Stream Type
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// @Description: Video stream type
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// @Values: 0:RTSP, 1:RTPUDP, 2:TCP_MPEG, 3:MPEG_TS
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// @User: Standard
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--]]
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-- values should match VID_TYPE_ENUM
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local VID1_TYPE = bind_add_param('TYPE', 3, 0)
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--[[
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// @Param: VID1_FLAG
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// @DisplayName: Camera1 Video Stream Flags
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// @Description: Video stream flags
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// @Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled
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// @User: Standard
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--]]
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local VID1_FLAG = bind_add_param('FLAG', 4, 1)
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--[[
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// @Param: VID1_FRAME_RATE
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// @DisplayName: Camera1 Video Stream Frame Rate
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// @Description: Video stream frame rate
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// @Range: 0 50
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// @User: Standard
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--]]
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local VID1_FR = bind_add_param('FRAME_RATE', 5, 30)
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--[[
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// @Param: VID1_HRES
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// @DisplayName: Camera1 Video Stream Horizontal Resolution
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// @Description: Video stream horizontal resolution
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// @Range: 0 4096
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// @User: Standard
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--]]
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local VID1_HRES = bind_add_param('HRES', 6, 1920)
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--[[
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// @Param: VID1_VRES
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// @DisplayName: Camera1 Video Stream Vertical Resolution
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// @Description: Video stream vertical resolution
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// @Range: 0 4096
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// @User: Standard
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--]]
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local VID1_VRES = bind_add_param('VRES', 7, 1080)
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--[[
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// @Param: VID1_BITRATE
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// @DisplayName: Camera1 Video Stream Bitrate
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// @Description: Video stream bitrate
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// @Range: 0 10000
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// @User: Standard
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--]]
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local VID1_BITR = bind_add_param('BITRATE', 8, 1500)
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--[[
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// @Param: VID1_HFOV
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// @DisplayName: Camera1 Video Stream Horizontal FOV
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// @Description: Video stream horizontal FOV
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// @Range: 0 360
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// @User: Standard
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--]]
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local VID1_HFOV = bind_add_param('HFOV', 9, 0)
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--[[
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// @Param: VID1_ENCODING
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// @DisplayName: Camera1 Video Stream Encoding
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// @Description: Video stream encoding
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// @Values: 0:Unknown, 1:H264, 2:H265
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// @User: Standard
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--]]
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local VID1_ENCODING = bind_add_param('ENCODING', 10, 1)
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--[[
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// @Param: VID1_IPADDR0
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// @DisplayName: Camera1 Video Stream IP Address 0
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// @Description: Video stream IP Address first octet
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// @Range: 0 255
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// @User: Standard
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--]]
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local VID1_IPADDR0 = bind_add_param('IPADDR0', 11, -1)
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--[[
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// @Param: VID1_IPADDR1
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// @DisplayName: Camera1 Video Stream IP Address 1
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// @Description: Video stream IP Address second octet
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// @Range: 0 255
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// @User: Standard
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--]]
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local VID1_IPADDR1 = bind_add_param('IPADDR1', 12, -1)
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--[[
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// @Param: VID1_IPADDR2
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// @DisplayName: Camera1 Video Stream IP Address 2
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// @Description: Video stream IP Address third octet
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// @Range: 0 255
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// @User: Standard
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--]]
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local VID1_IPADDR2 = bind_add_param('IPADDR2', 13, -1)
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--[[
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// @Param: VID1_IPADDR3
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// @DisplayName: Camera1 Video Stream IP Address 3
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// @Description: Video stream IP Address fourth octet
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// @Range: 0 255
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// @User: Standard
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--]]
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local VID1_IPADDR3 = bind_add_param('IPADDR3', 14, -1)
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--[[
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// @Param: VID1_IPPORT
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// @DisplayName: Camera1 Video Stream IP Address Port
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// @Description: Video stream IP Address Port
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// @Range: 0 65535
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// @User: Standard
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--]]
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local VID1_IPPORT = bind_add_param('IPPORT', 15, -1)
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function set_video_stream_information()
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local INSTANCE = 0
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local name = 'Video'
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-- set defaults by camera model
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local uri_ip = ''
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local uri_suffix = ''
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local hfov = 50
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_A8 then
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uri_ip = SIYI_IP_DEFAULT
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uri_suffix = '/main.264'
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hfov = 81
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZR10 then
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uri_ip = SIYI_IP_DEFAULT
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uri_suffix = '/main.264'
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hfov = 62
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZR30 then
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uri_ip = SIYI_IP_DEFAULT
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uri_suffix = '/main.264'
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hfov = 58
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_ZOOM then
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uri_ip = SIYI_IP_DEFAULT
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uri_suffix = '/video2'
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hfov = 58
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_WIDE then
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uri_ip = SIYI_IP_DEFAULT
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uri_suffix = '/video2'
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hfov = 85
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_IR then
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uri_ip = SIYI_IP_DEFAULT
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uri_suffix = '/video1'
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hfov = 24
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT6_RGB then
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uri_ip = SIYI_IP_DEFAULT
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uri_suffix = '/video2'
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hfov = 85
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT6_IR then
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uri_ip = SIYI_IP_DEFAULT
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uri_suffix = '/video1'
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hfov = 32
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.HERELINK_WIFIAP then
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uri_ip = '192.168.42.1:8554'
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uri_suffix = '/fpv_stream'
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.HERELINK_USB_TETHERING then
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uri_ip = '192.168.42.129:8554'
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uri_suffix = '/fpv_stream'
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.TOPOTEK_1080P then
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uri_ip = TOPOTEK_IP_DEFAULT
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uri_suffix = '/stream=0'
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hfov = 50
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.TOPOTEK_480P then
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uri_ip = TOPOTEK_IP_DEFAULT
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uri_suffix = '/stream=1'
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hfov = 50
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end
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if VID1_CAMMODEL:get() == CAMMODEL_ENUM.VIEWPRO then
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uri_ip = VIEWPRO_IP_DEFAULT
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end
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-- calculate hfov
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if VID1_HFOV:get() ~= 0 then
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hfov = VID1_HFOV:get()
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end
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-- construct uri
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if VID1_IPADDR0:get() > 0 or VID1_IPADDR1:get() > 0 or
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VID1_IPADDR2:get() > 0 or VID1_IPADDR3:get() > 0 or
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VID1_IPPORT:get() > 0 then
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uri_ip = math.floor(VID1_IPADDR0:get()) .. '.' ..
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math.floor(VID1_IPADDR1:get()) .. '.' ..
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math.floor(VID1_IPADDR2:get()) .. '.' ..
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math.floor(VID1_IPADDR3:get()) .. ':' ..
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math.floor(VID1_IPPORT:get())
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end
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local uri
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if VID1_TYPE:get() == VID_TYPE_ENUM.RTPUDP or VID1_TYPE:get() == VID_TYPE_ENUM.MPEG_TS then
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-- sanity check port number
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if VID1_IPPORT:get() < 0 then
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gcs:send_text(MAV_SEVERITY.ERROR, TEXT_PREFIX_STR .. "check VID1_IPPORT")
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do return end
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end
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uri = tostring(math.floor(VID1_IPPORT:get()))
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elseif VID1_TYPE:get() == VID_TYPE_ENUM.RTSP then
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-- sanity check IP address
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if uri_ip == '' then
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gcs:send_text(MAV_SEVERITY.ERROR, TEXT_PREFIX_STR .. "check VID1_IPADDR params")
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do return end
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end
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uri = 'rtsp://' .. uri_ip .. uri_suffix
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else
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uri = uri_ip .. uri_suffix
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end
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-- create Video Stream Information message
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local stream_info = mavlink_video_stream_information_t()
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stream_info:stream_id(VID1_ID:get())
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stream_info:count(1) -- hard coded to just a single stream
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stream_info:type(VID1_TYPE:get())
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stream_info:flags(VID1_FLAG:get())
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stream_info:framerate(VID1_FR:get())
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stream_info:resolution_h(VID1_HRES:get())
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stream_info:resolution_v(VID1_VRES:get())
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stream_info:bitrate(VID1_BITR:get())
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stream_info:rotation(0) -- video image rotation clockwise, hardcoded to zero
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stream_info:hfov(hfov)
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stream_info:encoding(VID1_ENCODING:get())
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for i = 0, #name do
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stream_info:name(i, name:byte(i+1))
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end
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for i = 0, #uri do
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stream_info:uri(i, uri:byte(i+1))
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end
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-- update camera library with the latest stream information
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camera:set_stream_information(INSTANCE, stream_info)
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end
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-- print welcome message
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gcs:send_text(MAV_SEVERITY.INFO, "video-stream-information script loaded")
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-- update function runs every 5 secs
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function update()
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set_video_stream_information()
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return update, 5000
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end
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return update()
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