mirror of https://github.com/ArduPilot/ardupilot
31 lines
919 B
Lua
31 lines
919 B
Lua
-- camera-test.lua. Tests triggering taking pictures at regular intervals
|
|
|
|
-- global definitions
|
|
local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
|
|
local TAKE_PIC_INTERVAL_MS = 5000 -- take pictures at this interval
|
|
local CAMERA_INSTANCE = 0 -- always control the first camera
|
|
|
|
-- local variables
|
|
local last_takepic_time_ms = 0 -- system time that picture was last taken
|
|
|
|
-- the main update function that performs a simplified version of RTL
|
|
function update()
|
|
|
|
-- get current system time
|
|
local now_ms = millis()
|
|
|
|
-- check if time to take picture
|
|
if (now_ms - last_takepic_time_ms > TAKE_PIC_INTERVAL_MS) then
|
|
last_takepic_time_ms = now_ms
|
|
camera:take_picture(CAMERA_INSTANCE)
|
|
end
|
|
|
|
-- update at 10hz
|
|
return update, 100
|
|
end
|
|
|
|
-- display startup message
|
|
gcs:send_text(MAV_SEVERITY.INFO, "camera-test.lua started")
|
|
|
|
return update()
|