mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.1 KiB
Lua
87 lines
2.1 KiB
Lua
--[[
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Script to control LED strips based on the roll of the aircraft. This is an example to demonstrate
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the LED interface for WS2812 LEDs
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--]]
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--[[
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for this demo we will use a single strip with 30 LEDs
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--]]
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local num_leds = 30
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--[[
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use SERVOn_FUNCTION 94 for LED. We can control up to 16 separate strips of LEDs
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by putting them on different channels
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--]]
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local chan = SRV_Channels:find_channel(94)
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if not chan then
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gcs:send_text(6, string.format("LEDs: channel not set"))
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return
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end
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-- find_channel returns 0 to 15, convert to 1 to 16
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chan = chan + 1
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gcs:send_text(6, string.format("LEDs: chan=" .. tostring(chan)))
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-- initialisation code
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--serialLED:set_num_neopixel(chan, num_leds)
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serialLED:set_num_profiled(chan, num_leds)
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-- constrain a value between limits
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function constrain(v, vmin, vmax)
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if v < vmin then
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v = vmin
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end
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if v > vmax then
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v = vmax
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end
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return v
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end
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--[[
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Table of colors on a rainbow, red first
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--]]
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local rainbow = {
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{ 255, 0, 0 },
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{ 255, 127, 0 },
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{ 255, 255, 0 },
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{ 0, 255, 0 },
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{ 0, 0, 255 },
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{ 75, 0, 130 },
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{ 143, 0, 255 },
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}
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--[[
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Function to set a LED to a color on a classic rainbow spectrum, with v=0 giving red
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--]]
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function set_Rainbow(chan, led, v)
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local num_rows = #rainbow
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local row = math.floor(constrain(v * (num_rows-1)+1, 1, num_rows-1))
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local v0 = (row-1) / (num_rows-1)
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local v1 = row / (num_rows-1)
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local p = (v - v0) / (v1 - v0)
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r = math.floor(rainbow[row][1] + p * (rainbow[row+1][1] - rainbow[row][1]))
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g = math.floor(rainbow[row][2] + p * (rainbow[row+1][2] - rainbow[row][2]))
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b = math.floor(rainbow[row][3] + p * (rainbow[row+1][3] - rainbow[row][3]))
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serialLED:set_RGB(chan, led, r, g, b)
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end
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--[[
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We will set the colour of the LEDs based on roll of the aircraft
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--]]
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function update_LEDs()
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local roll = constrain(ahrs:get_roll(), math.rad(-60), math.rad(60))
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for led = 0, num_leds-1 do
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local v = constrain(0.5 + 0.5 * math.sin(roll * (led - num_leds/2) / (num_leds/2)), 0, 1)
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set_Rainbow(chan, led, v)
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end
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serialLED:send(chan)
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return update_LEDs, 20 -- run at 50Hz
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end
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return update_LEDs, 1000
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