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ardupilot/libraries/AP_Scripting/drivers/mount-viewpro-driver.lua

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-- mount-viewpro-driver.lua: Viewpro mount/gimbal driver
--[[
How to use
Connect gimbal UART to one of the autopilot's serial ports
Set SERIALx_PROTOCOL = 28 (Scripting) where "x" corresponds to the serial port connected to the gimbal
Set SCR_ENABLE = 1 to enable scripting and reboot the autopilot
Set MNT1_TYPE = 9 (Scripting) to enable the mount/gimbal scripting driver
Set CAM1_TYPE = 7 (Scripting) to enable the camera scripting driver
Set RCx_OPTION = 300 (Scripting1) to allow real-time selection of the video feed and camera control
Copy this script to the autopilot's SD card in the APM/scripts directory and reboot the autopilot
Set VIEP_CAM_SWLOW, VIEP_CAM_SWMID, VIEP_CAM_SWHIGH to which cameras are controlled by the auxiliary switch
0: No change in camera selection
1: EO1
2: IR thermal
3: EO1 + IR Picture-in-picture
4: IR + EO1 Picture-in-picture
5: Fusion
6: IR1 13mm
7: IR2 52mm
Set VIEP_ZOOM_SPEED to control speed of zoom (value between 0 and 7)
Set VIEP_ZOOM_MAX to the maximum zoom. E.g. for a camera with 20x zoom, set to 20
Optionally set VIEP_DEBUG = 1 or 2 to increase level of debug output to the GCS
Packet format
byte description notes
0~2 header 0x55 0xAA 0xDC
3 body length bit0~5: body length, n=all bytes from byte3 to checksum, min=4, max=63. bits6~7: frame counter
4 frame id
5~n+1 data 1st byte is command id?
n+2 checksum XOR of byte3 to n+1 (inclusive)
--]]
-- parameters
local PARAM_TABLE_KEY = 39
assert(param:add_table(PARAM_TABLE_KEY, "VIEP_", 6), "could not add param table")
assert(param:add_param(PARAM_TABLE_KEY, 1, "DEBUG", 0), "could not add VIEP_DEBUG param")
assert(param:add_param(PARAM_TABLE_KEY, 2, "CAM_SWLOW", 1), "could not add VIEP_CAM_SWLOW param")
assert(param:add_param(PARAM_TABLE_KEY, 3, "CAM_SWMID", 2), "could not add VIEP_CAM_SWMID param")
assert(param:add_param(PARAM_TABLE_KEY, 4, "CAM_SWHIGH", 6), "could not add VIEP_CAM_CAM_SWHIGH param")
assert(param:add_param(PARAM_TABLE_KEY, 5, "ZOOM_SPEED", 7), "could not add VIEP_ZOOM_SPEED param")
assert(param:add_param(PARAM_TABLE_KEY, 6, "ZOOM_MAX", 20), "could not add VIEP_ZOOM_MAX param")
-- bind parameters to variables
local MNT1_TYPE = Parameter("MNT1_TYPE") -- should be 9:Scripting
local CAM1_TYPE = Parameter("CAM1_TYPE") -- should be 7:Scripting
--[[
// @Param: VIEP_DEBUG
// @DisplayName: ViewPro debug
// @Description: ViewPro debug
// @Values: 0:Disabled, 1:Enabled, 2:Enabled including attitude reporting
// @User: Advanced
--]]
local VIEP_DEBUG = Parameter("VIEP_DEBUG") -- debug level. 0:disabled 1:enabled 2:enabled with attitude reporting
--[[
// @Param: VIEP_CAM_SWLOW
// @DisplayName: ViewPro Camera For Switch Low
// @Description: Camera selection when switch is in low position
// @Values: 0:No change in camera selection, 1:EO1, 2:IR thermal, 3:EO1 + IR Picture-in-picture, 4:IR + EO1 Picture-in-picture, 5:Fusion, 6:IR1 13mm, 7:IR2 52mm
// @User: Standard
--]]
local VIEP_CAM_SWLOW = Parameter("VIEP_CAM_SWLOW") -- RC swith low position's camera selection
--[[
// @Param: VIEP_CAM_SWMID
// @DisplayName: ViewPro Camera For Switch Mid
// @Description: Camera selection when switch is in middle position
// @Values: 0:No change in camera selection, 1:EO1, 2:IR thermal, 3:EO1 + IR Picture-in-picture, 4:IR + EO1 Picture-in-picture, 5:Fusion, 6:IR1 13mm, 7:IR2 52mm
// @User: Standard
--]]
local VIEP_CAM_SWMID = Parameter("VIEP_CAM_SWMID") -- RC swith middle position's camera selection
--[[
// @Param: VIEP_CAM_SWHIGH
// @DisplayName: ViewPro Camera For Switch High
// @Description: Camera selection when switch is in high position
// @Values: 0:No change in camera selection, 1:EO1, 2:IR thermal, 3:EO1 + IR Picture-in-picture, 4:IR + EO1 Picture-in-picture, 5:Fusion, 6:IR1 13mm, 7:IR2 52mm
// @User: Standard
--]]
local VIEP_CAM_SWHIGH = Parameter("VIEP_CAM_SWHIGH") -- RC swith high position's camera selection
--[[
// @Param: VIEP_ZOOM_SPEED
// @DisplayName: ViewPro Zoom Speed
// @Description: ViewPro Zoom Speed. Higher numbers result in faster zooming
// @Range: 0 7
// @User: Standard
--]]
local VIEP_ZOOM_SPEED = Parameter("VIEP_ZOOM_SPEED") -- zoom speed from 0 (slow) to 7 (fast)
--[[
// @Param: VIEP_ZOOM_MAX
// @DisplayName: ViewPro Zoom Times Max
// @Description: ViewPro Zoom Times Max
// @Range: 0 30
// @User: Standard
--]]
local VIEP_ZOOM_MAX = Parameter("VIEP_ZOOM_MAX") -- zoom times max
-- global definitions
local CAM_SELECT_RC_OPTION = 300 -- rc channel option used to control which camera/video is used. RCx_OPTION = 300 (scripting1)
local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
local INIT_INTERVAL_MS = 3000 -- attempt to initialise the gimbal at this interval
local UPDATE_INTERVAL_MS = 100 -- update at 10hz
local MOUNT_INSTANCE = 0 -- always control the first mount/gimbal
local CAMERA_INSTANCE = 0 -- always use the first camera
-- packet parsing definitions
local HEADER1 = 0x55 -- 1st header byte
local HEADER2 = 0xAA -- 2nd header byte
local HEADER3 = 0xDC -- 3rd header byte
local PACKET_LENGTH_MIN = 4 -- serial packet minimum length. used for sanity checks
local PACKET_LENGTH_MAX = 63 -- serial packet maximum length. used for sanity checks
-- parsing state definitions
local PARSE_STATE_WAITING_FOR_HEADER1 = 0
local PARSE_STATE_WAITING_FOR_HEADER2 = 1
local PARSE_STATE_WAITING_FOR_HEADER3 = 2
local PARSE_STATE_WAITING_FOR_LENGTH = 3
local PARSE_STATE_WAITING_FOR_FRAMEID = 4
local PARSE_STATE_WAITING_FOR_DATA = 5
-- received FrameId
local T1_F1_B1_D1_FRAMEID = 0x40 -- includes roll, pitch, yaw angles
-- camera operation commands
local CAM_COMMAND_NO_ACTION = 0x00
local CAM_COMMAND_STOP_FOCUS_AND_ZOOM = 0x01
local CAM_COMMAND_ZOOM_OUT = 0x08
local CAM_COMMAND_ZOOM_IN = 0x09
local CAM_COMMAND_FOCUS_PLUS = 0x0A
local CAM_COMMAND_FOCUS_MINUS = 0x0B
local CAM_COMMAND_TAKE_PICTURE = 0x13
local CAM_COMMAND_START_RECORD = 0x14
local CAM_COMMAND_STOP_RECORD = 0x15
local CAM_COMMAND_AUTO_FOCUS = 0x19
local CAM_COMMAND_MANUAL_FOCUS = 0x1A
-- tracking commands
local TRACK_COMMAND_STOP = 0x01
local TRACK_COMMAND_START = 0x03
local TRACK_COMMAND2_SET_POINT = 0x0A
local TRACK_COMMAND2_SET_RECT_TOPLEFT = 0x0B
local TRACK_COMMAND2_SET_RECT_BOTTOMRIGHT = 0x0C
-- camera control2 commands
local CAM_COMMAND2_SET_EO_ZOOM = 0x53
-- hardcoded outgoing messages
local HEARTBEAT_MSG = {0x55,0xAA,0xDC,0x44,0x00,0x00,0x44}
-- local variables and definitions
local uart -- uart object connected to mount
local initialised = false -- true once connection to gimbal has been initialised
local parse_state = PARSE_STATE_WAITING_FOR_HEADER1 -- parse state
local parse_expected_crc = 0 -- incoming messages expected crc. this is checked against actual crc received
local parse_length = 0 -- incoming message parsed length
local parse_frameid = 0 -- incoming message command id
local parse_data_buff = {} -- data buffer holding roll, pitch and yaw angles from gimbal
local parse_data_bytes_recv = 0 -- count of the number of bytes received in the message so far
local last_frame_counter = 0 -- last frame counter sent to gimbal. always between 0 and 3
local cam_choice = 0 -- last camera choice (see VIEP_CAM_SWLOW/MID/HIGH parameters)
local cam_pic_count = 0 -- last picture count. used to detect trigger pic
local cam_rec_video = false -- last record video state. used to detect record video
local cam_zoom_type = 0 -- last zoom type 1:Rate 2:Pct
local cam_zoom_value = 0 -- last zoom value. If rate, zoom out = -1, hold = 0, zoom in = 1. If Pct then value from 0 to 100
local cam_focus_type = 0 -- last focus type 1:Rate, 2:Pct, 4:Auto
local cam_focus_value = 0 -- last focus value. If Rate then focus in = -1, focus hold = 0, focus out = 1
local last_tracking_type = 0 -- last recorded tracking type (0:None, 1:Point, 2:Rectangle)
local last_tracking_p1x = 0 -- last recorded tracking point1 (used for center or top-left)
local last_tracking_p1y = 0 -- last recorded tracking point1 (used for center or top-left)
local last_tracking_p2x = 0 -- last recorded tracking point2 (bottom-right)
local last_tracking_p2y = 0 -- last recorded tracking point2 (bottom-right)
local tracking_active = false -- true when tracking is active (rate and angle controls are disabled)
-- 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)
-- debug variables
local last_test_send_md = 0 -- system time that a test message was last sent
local debug_buff = {} -- debug buffer to display bytes from gimbal
-- 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 uint16 from two bytes
function uint16_value(hbyte, lbyte)
return ((hbyte & 0xFF) << 8) | (lbyte & 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
-- 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
-- calculate crc from existing crc value and new byte
function calc_crc(orig_crc, b)
local crc = (orig_crc ~ b) & 0xFF
return crc
end
-- find and initialise serial port connected to gimbal
function init()
-- check mount parameter
if MNT1_TYPE:get() ~= 9 then
gcs:send_text(MAV_SEVERITY.CRITICAL, "ViewPro: set MNT1_TYPE=9")
do return end
end
-- check cam type parametr
if CAM1_TYPE:get() ~= 7 then
gcs:send_text(MAV_SEVERITY.CRITICAL, "ViewPro: set CAM1_TYPE=7")
do return end
end
-- find and init first instance of SERIALx_PROTOCOL = 28 (Scripting)
uart = serial:find_serial(0)
if uart == nil then
gcs:send_text(3, "ViewPro: no SERIALx_PROTOCOL = 28") -- MAV_SEVERITY_ERR
else
uart:begin(115200)
uart:set_flow_control(0)
initialised = true
gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: started")
end
end
-- send hard coded message
function send_msg(msg)
for i=1,#msg do
uart:write(msg[i])
-- debug
bytes_written = bytes_written + 1
end
end
-- parse test message
function parse_test_msg(msg)
for i=1,#msg do
parse_byte(msg[i])
end
end
-- reading incoming packets from gimbal
function read_incoming_packets()
local n_bytes = uart:available()
while n_bytes > 0 do
n_bytes = n_bytes - 1
parse_byte(uart:read())
end
end
-- parse a single byte from gimbal
function parse_byte(b)
-- record num bytes for reporting
bytes_read = bytes_read + 1
-- debug
if VIEP_DEBUG:get() > 1 then
debug_buff[#debug_buff+1] = b
if #debug_buff >= 10 then
gcs:send_text(MAV_SEVERITY.INFO, string.format("ViewPro: %x %x %x %x %x %x %x %x %x %x", debug_buff[1], debug_buff[2], debug_buff[3], debug_buff[4], debug_buff[5], debug_buff[6], debug_buff[7], debug_buff[8], debug_buff[9], debug_buff[10]))
debug_buff = {}
end
end
-- waiting for header1
if parse_state == PARSE_STATE_WAITING_FOR_HEADER1 then
if b == HEADER1 then
parse_state = PARSE_STATE_WAITING_FOR_HEADER2
parse_expected_crc = 0
parse_data_bytes_recv = 0
do return end
end
bytes_error = bytes_error + 1
end
-- waiting for header2
if parse_state == PARSE_STATE_WAITING_FOR_HEADER2 then
if b == HEADER2 then
parse_state = PARSE_STATE_WAITING_FOR_HEADER3
else
-- unexpected byte so reset parsing state
parse_state = PARSE_STATE_WAITING_FOR_HEADER1
bytes_error = bytes_error + 1
end
do return end
end
-- waiting for header3
if parse_state == PARSE_STATE_WAITING_FOR_HEADER3 then
if b == HEADER3 then
parse_state = PARSE_STATE_WAITING_FOR_LENGTH
else
-- unexpected byte so reset parsing state
parse_state = PARSE_STATE_WAITING_FOR_HEADER1
bytes_error = bytes_error + 1
end
do return end
end
-- waiting for length
if parse_state == PARSE_STATE_WAITING_FOR_LENGTH then
parse_expected_crc = calc_crc(parse_expected_crc, b)
parse_length = b & 0x3F
if parse_length >= PACKET_LENGTH_MIN and parse_length <= PACKET_LENGTH_MAX then
parse_state = PARSE_STATE_WAITING_FOR_FRAMEID
else
-- unexpected length
parse_state = PARSE_STATE_WAITING_FOR_HEADER1
bytes_error = bytes_error + 1
if VIEP_DEBUG:get() > 0 then
gcs:send_text(MAV_SEVERITY.ERROR, string.format("ViewPro: invalid len:%d", parse_length))
end
end
do return end
end
-- waiting for command id
if parse_state == PARSE_STATE_WAITING_FOR_FRAMEID then
parse_expected_crc = calc_crc(parse_expected_crc, b)
parse_frameid = b
parse_state = PARSE_STATE_WAITING_FOR_DATA
do return end
end
-- waiting for data
if parse_state == PARSE_STATE_WAITING_FOR_DATA then
-- check for crc
if parse_data_bytes_recv >= parse_length - 3 then
if b == parse_expected_crc then
-- crc matched, process packet
local processed = false
-- T1_F1_B1_D1
if parse_frameid == T1_F1_B1_D1_FRAMEID then
processed = true
-- T1 holds target info including target lean angles
-- F1 holds tracker sensor status (which camera, tracking vs lost)
-- B1 section holds actual lean angles
-- D1 section holds camera status including zoom level
local servo_status = (parse_data_buff[24] & 0xF0 >> 4)
local roll_deg = int16_value(parse_data_buff[24] & 0x0F, parse_data_buff[25]) * (180.0/4095.0) - 90.0
local yaw_deg = int16_value(parse_data_buff[26], parse_data_buff[27]) * (360.0 / 65536.0)
local pitch_deg = int16_value(parse_data_buff[28], parse_data_buff[29]) * (360.0 / 65536.0)
mount:set_attitude_euler(MOUNT_INSTANCE, roll_deg, pitch_deg, yaw_deg)
if VIEP_DEBUG:get() > 0 then
gcs:send_text(MAV_SEVERITY.INFO, string.format("ViewPro: r:%f p:%f y:%f ss:%x", roll_deg, pitch_deg, yaw_deg, servo_status))
end
end
if not processed then
msg_ignored = msg_ignored + 1
if VIEP_DEBUG:get() > 0 then
gcs:send_text(MAV_SEVERITY.INFO, string.format("ViewPro: ignored frameid:%x", parse_frameid))
end
end
else
-- crc mismatch
bytes_error = bytes_error + 1
if VIEP_DEBUG:get() > 0 then
gcs:send_text(MAV_SEVERITY.INFO, string.format("ViewPro: crc exp:%x got:%x", parse_expected_crc, b))
end
end
parse_state = PARSE_STATE_WAITING_FOR_HEADER1
do return end
end
-- add latest byte to crc and buffer
parse_expected_crc = calc_crc(parse_expected_crc, b)
parse_data_bytes_recv = parse_data_bytes_recv + 1
parse_data_buff[parse_data_bytes_recv] = b
end
end
-- write a byte to the uart and update the checksum
function write_byte(b, checksum)
if b == nil or checksum == nil then
gcs:send_text(3, "ViewPro: failed to write byte") -- MAV_SEVERITY_ERR
return
end
local byte_to_write = b & 0xFF
uart:write(byte_to_write)
bytes_written = bytes_written + 1
local checksum_ret = (checksum ~ byte_to_write) & 0xFF
return checksum_ret
end
-- calculate length and frame count byte
-- length is all bytes after the header including CRC
function calc_length_and_frame_byte(length)
-- increment frame counter
last_frame_counter = last_frame_counter + 1 & 0x03
return (last_frame_counter << 6 | length & 0x3F) & 0xFF
end
-- send target angles (in degrees) to gimbal
-- yaw_angle_deg is always a body-frame angle
function send_target_angles(pitch_angle_deg, yaw_angle_deg)
-- prepare A1 message, FrameId 0x1A, CmdId 0x0B
local length_and_frame_counter = calc_length_and_frame_byte(0x0C)
local pitch_angle_output = math.floor((-pitch_angle_deg / 360.0 * 65536.0) + 0.5)
local yaw_angle_output = math.floor((yaw_angle_deg / 360.0 * 65536.0) + 0.5)
write_byte(HEADER1, 0)
write_byte(HEADER2, 0)
write_byte(HEADER3, 0)
local checksum = write_byte(length_and_frame_counter, 0) -- length and frame count
checksum = write_byte(0x1A, checksum) -- 0x1A: A1 FrameId
checksum = write_byte(0x0B, checksum) -- 0x0B: absolute angle
checksum = write_byte(highbyte(yaw_angle_output), checksum) -- yaw angle MSB
checksum = write_byte(lowbyte(yaw_angle_output), checksum) -- yaw angle LSB
checksum = write_byte(highbyte(pitch_angle_output), checksum) -- pitch angle MSB
checksum = write_byte(lowbyte(pitch_angle_output), checksum) -- pitch angle LSB
checksum = write_byte(0, checksum) -- unused
checksum = write_byte(0, checksum) -- unused
checksum = write_byte(0, checksum) -- unused
checksum = write_byte(0, checksum) -- unused
write_byte(checksum, 0) -- checksum
end
-- send target rates (in deg/sec) to gimbal
function send_target_rates(pitch_rate_degs, yaw_rate_degs)
-- prepare A1 message, FrameId 0x1A, CmdId 0x01
local length_and_frame_counter = calc_length_and_frame_byte(0x0C)
local pitch_rate_output = math.floor((-pitch_rate_degs * 100.0) + 0.5)
local yaw_rate_output = math.floor((yaw_rate_degs * 100.0) + 0.5)
write_byte(HEADER1, 0)
write_byte(HEADER2, 0)
write_byte(HEADER3, 0)
local checksum = write_byte(length_and_frame_counter, 0) -- length and frame count
checksum = write_byte(0x1A, checksum) -- 0x1A: A1 FrameId
checksum = write_byte(0x01, checksum) -- 0x01: manual rate angle
checksum = write_byte(highbyte(yaw_rate_output), checksum) -- yaw rate MSB
checksum = write_byte(lowbyte(yaw_rate_output), checksum) -- yaw rate LSB
checksum = write_byte(highbyte(pitch_rate_output), checksum) -- pitch angle MSB
checksum = write_byte(lowbyte(pitch_rate_output), checksum) -- pitch angle LSB
checksum = write_byte(0, checksum) -- unused
checksum = write_byte(0, checksum) -- unused
checksum = write_byte(0, checksum) -- unused
checksum = write_byte(0, checksum) -- unused
write_byte(checksum, 0) -- checksum
end
-- send camera commands
function send_camera_control(camera_choice, cam_command)
-- prepare C1 message, FrameId 0x1C
-- bits 0~2 : video choose
-- bits 3~5 : zoom speed
-- bits 6~12 : operation command
-- bits 13~15 : LRF (rangefinder)
local length_and_frame_counter = calc_length_and_frame_byte(0x05)
local video_choose = camera_choice & 0x07
local zoom_speed = 0
if cam_command == CAM_COMMAND_ZOOM_OUT or cam_command == CAM_COMMAND_ZOOM_IN then
zoom_speed = (VIEP_ZOOM_SPEED:get() & 0x07) << 3
end
local operation_cmd = ((cam_command & 0xFFFF) & 0x7F) << 6
local data_bytes = video_choose | zoom_speed | operation_cmd
-- debug
--gcs:send_text(MAV_SEVERITY.INFO, string.format("ViewPro: camcmd:%x msb:%x lsb:%x", cam_command, highbyte(cmd_shifted), lowbyte(cmd_shifted)))
gcs:send_text(MAV_SEVERITY.INFO, string.format("ViewPro: cam choice:%x", video_choose))
write_byte(HEADER1, 0)
write_byte(HEADER2, 0)
write_byte(HEADER3, 0)
local checksum = write_byte(length_and_frame_counter, 0) -- length and frame count
checksum = write_byte(0x1C, checksum) -- 0x1C: C1 FrameId
checksum = write_byte(highbyte(data_bytes), checksum) -- msb
checksum = write_byte(lowbyte(data_bytes), checksum) -- lsb
write_byte(checksum, 0) -- checksum
end
-- send camera commands using C2 message
function send_camera_control2(cam_command, cam_value)
-- ensure cam_value is an integer
cam_value = math.floor(cam_value + 0.5)
-- prepare C2 message, FrameId 0x2C
-- byte0 : command (0x50:set brightness, 0x51:set contrast, 0x52: set aperture, 0x53:set EO zoom, 0x54:set focus, 0x55:set ISO, 0x56:set thermal cam digital zoom)
-- byte1~2 : value related to command
local length_and_frame_counter = calc_length_and_frame_byte(0x06)
cam_command = cam_command & 0xFF
local data_bytes = cam_value & 0xFFFF
write_byte(HEADER1, 0)
write_byte(HEADER2, 0)
write_byte(HEADER3, 0)
local checksum = write_byte(length_and_frame_counter, 0) -- length and frame count
checksum = write_byte(0x2C, checksum) -- 0x2C: C2 FrameId
checksum = write_byte(cam_command, checksum) -- command
checksum = write_byte(highbyte(data_bytes), checksum) -- msb
checksum = write_byte(lowbyte(data_bytes), checksum) -- lsb
write_byte(checksum, 0) -- checksum
end
-- send tracking commands using E1 message
function send_tracking_control(camera_choice, tracking_command, param2)
-- prepare E1 message, FrameId 0x1E
-- byte0 : tracking source (0x01:EO 1, 0x02: IR, 0x03:EO 2)
-- byte1 : basic command
-- 0x02: Search (Bring up the cross
-- 0x03: Turn on tracking
-- 0x04: Switch tracking point to cross position(take placed by enable tracking)
-- 0X05: AI function ON/OFF
-- 0X08: For AI. Auto track target once identified
-- 0x09: For AI. Change target when click targets identified
-- 0x0A: For AI. Not change target when click identified targets.
-- 0X21: 32× 32 small template
-- 0X22: 64× 64 medium template
-- 0X23: 128× 128 big template
-- 0X24: Self-adapt between small and medium template
-- 0X25: Self-adapt between small and big template
-- 0X26: Self-adapt between medium and big template
-- 0X28: Self-adaption between small, medium and big template
-- byte2 : parameter 2, value related to above command
local length_and_frame_counter = calc_length_and_frame_byte(0x06)
write_byte(HEADER1, 0)
write_byte(HEADER2, 0)
write_byte(HEADER3, 0)
local checksum = write_byte(length_and_frame_counter, 0) -- length and frame count
checksum = write_byte(0x1E, checksum) -- 0x1E: E1 FrameId
checksum = write_byte(camera_choice, checksum) -- camera choice
checksum = write_byte(tracking_command & 0xFF, checksum) -- tracking command
checksum = write_byte(param2 & 0xFF, checksum) -- param2
write_byte(checksum, 0) -- checksum
end
-- send tracking commands using E2 message
function send_tracking_control2(tracking_command2, param1, param2)
-- prepare E2 message, FrameId 0x2E
-- byte0 : tracking source (0x01:EO 1, 0x02: IR, 0x03:EO 2)
-- byte1 : basic command
-- 0x0A: The tracking point moves to the commanded position
-- 0x0B: Rectangular tracking area, top left corner point set
-- 0x0C: Rectangular tracking area, lower right corner point set
-- byte2~3 : Tracking point yaw, 1bit=1pixel, -960~960, 0 is center, negative is left, positive is right
-- byte4~5 : Tracking point pitch, 1bit=1pixel, -540~540, 0 is center, negative is up, positive is down
param1 = math.floor(param1 + 0.5) & 0xFFFF
param2 = math.floor(param2 + 0.5) & 0xFFFF
local length_and_frame_counter = calc_length_and_frame_byte(0x08)
write_byte(HEADER1, 0)
write_byte(HEADER2, 0)
write_byte(HEADER3, 0)
local checksum = write_byte(length_and_frame_counter, 0) -- length and frame count
checksum = write_byte(0x2E, checksum) -- 0x1E: E1 FrameId
checksum = write_byte(tracking_command2 & 0xFF, checksum) -- tracking command2
checksum = write_byte(highbyte(param1), checksum) -- param1 msb
checksum = write_byte(lowbyte(param1), checksum) -- param1 lsb
checksum = write_byte(highbyte(param2), checksum) -- param2 msb
checksum = write_byte(lowbyte(param2), checksum) -- param2 lsb
write_byte(checksum, 0) -- checksum
end
-- return camera selection according to RC switch position and VIEW_CAM_SWxxx parameter
-- used in C1 message's "video choose" to specify which cameras should be controlled
function get_camera_choice()
local cam_switch_pos = rc:get_aux_cached(CAM_SELECT_RC_OPTION)
if cam_switch_pos == 0 then
return VIEP_CAM_SWLOW:get()
end
if cam_switch_pos == 1 then
return VIEP_CAM_SWMID:get()
end
return VIEP_CAM_SWHIGH:get()
end
-- check for changes in camera state and send messages to gimbal if required
function check_camera_state()
-- check for change in camera
local curr_cam_choice = get_camera_choice()
if cam_choice ~= curr_cam_choice then
cam_choice = curr_cam_choice
send_camera_control(cam_choice, CAM_COMMAND_NO_ACTION)
end
-- get latest camera state from AP driver
local cam_state = camera:get_state(CAMERA_INSTANCE)
if not cam_state then
return
end
-- check for take picture
if cam_state:take_pic_incr() and cam_state:take_pic_incr() ~= cam_pic_count then
cam_pic_count = cam_state:take_pic_incr()
send_camera_control(cam_choice, CAM_COMMAND_TAKE_PICTURE)
if VIEP_DEBUG:get() > 0 then
gcs:send_text(MAV_SEVERITY.INFO, string.format("ViewPro: took pic %u", pic_count))
end
end
-- check for start/stop recording video
if cam_state:recording_video() ~= cam_rec_video then
cam_rec_video = cam_state:recording_video()
if cam_rec_video > 0 then
send_camera_control(cam_choice, CAM_COMMAND_START_RECORD)
gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: start recording")
else
send_camera_control(cam_choice, CAM_COMMAND_STOP_RECORD)
gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: stop recording")
end
if VIEP_DEBUG:get() > 0 then
gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: rec video:" .. tostring(cam_rec_video))
end
end
-- check zoom
-- zoom out = -1, hold = 0, zoom in = 1
local zoom_type_changed = cam_state:zoom_type() and (cam_state:zoom_type() ~= cam_zoom_type)
local zoom_value_changed = cam_state:zoom_value() and (cam_state:zoom_value() ~= cam_zoom_value)
if (zoom_type_changed or zoom_value_changed) then
cam_zoom_type = cam_state:zoom_type()
cam_zoom_value = cam_state:zoom_value()
-- zoom rate
if cam_zoom_type == 1 then
if cam_zoom_value < 0 then
send_camera_control(cam_choice, CAM_COMMAND_ZOOM_OUT)
elseif cam_zoom_value > 0 then
send_camera_control(cam_choice, CAM_COMMAND_ZOOM_IN)
else
send_camera_control(cam_choice, CAM_COMMAND_STOP_FOCUS_AND_ZOOM)
end
end
-- zoom percent
if cam_zoom_type == 2 then
-- convert zoom percentage (in the range 0 to 100) to value in the range of 0 to VIEW_ZOOM_MAX * 10
send_camera_control2(CAM_COMMAND2_SET_EO_ZOOM, VIEP_ZOOM_MAX:get() * cam_zoom_value * 0.1)
end
if VIEP_DEBUG:get() > 0 then
gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: zoom type:" .. tostring(cam_zoom_type) .. " value:" .. tostring(cam_zoom_value))
end
end
-- check manual focus
-- focus in = -1, focus hold = 0, focus out = 1
local focus_type_changed = cam_state:focus_type() and (cam_state:focus_type() ~= cam_focus_type)
local focus_value_changed = cam_state:focus_value() and (cam_state:focus_value() ~= cam_focus_value)
if (focus_type_changed or focus_value_changed) then
cam_focus_type = cam_state:focus_type()
cam_focus_value = cam_state:focus_value()
-- focus rate
if cam_focus_type == 1 then
if cam_focus_value < 0 then
send_camera_control(cam_choice, CAM_COMMAND_MANUAL_FOCUS)
send_camera_control(cam_choice, CAM_COMMAND_FOCUS_MINUS)
elseif cam_focus_value == 0 then
send_camera_control(cam_choice, CAM_COMMAND_STOP_FOCUS_AND_ZOOM)
elseif cam_focus_value > 0 then
send_camera_control(cam_choice, CAM_COMMAND_MANUAL_FOCUS)
send_camera_control(cam_choice, CAM_COMMAND_FOCUS_PLUS)
end
if VIEP_DEBUG:get() > 0 then
gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: focus:" .. tostring(cam_focus_step))
end
end
-- check auto focus
if cam_focus_type == 4 then
send_camera_control(cam_choice, CAM_COMMAND_AUTO_FOCUS)
if VIEP_DEBUG:get() > 0 then
gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: auto focus:" .. tostring(cam_autofocus))
end
end
end
end
-- check for changes in tracking state and send messages to gimbal if required
function check_tracking_state()
-- get latest camera state from AP driver
local cam_state = camera:get_state(CAMERA_INSTANCE)
if not cam_state then
return
end
-- get current camera choice
local curr_cam_choice = get_camera_choice()
-- check for change in tracking state
local tracking_type_changed = cam_state:tracking_type() ~= last_tracking_type
local tracking_type_p1_changed = (cam_state:tracking_p1():x() ~= last_tracking_p1x) or (cam_state:tracking_p1():y() ~= last_tracking_p1y)
local tracking_type_p2_changed = (cam_state:tracking_p2():x() ~= last_tracking_p2x) or (cam_state:tracking_p2():y() ~= last_tracking_p2y)
last_tracking_type = cam_state:tracking_type()
last_tracking_p1x = cam_state:tracking_p1():x()
last_tracking_p1y = cam_state:tracking_p1():y()
last_tracking_p2x = cam_state:tracking_p2():x()
last_tracking_p2y = cam_state:tracking_p2():y()
if (last_tracking_type == 0) and tracking_type_changed then
-- turn off tracking
send_tracking_control(curr_cam_choice, TRACK_COMMAND_STOP, 0)
tracking_active = false
gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: tracking OFF")
end
if (last_tracking_type == 1) and (tracking_type_changed or tracking_type_p1_changed) then
-- turn tracking point on
local yaw_value = (last_tracking_p1x - 0.5) * 960
local pitch_value = (last_tracking_p1y - 0.5) * 540
send_tracking_control(curr_cam_choice, TRACK_COMMAND_START, 0)
send_tracking_control2(TRACK_COMMAND2_SET_POINT, yaw_value, pitch_value)
tracking_active = true
gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: tracking point ON")
end
if (last_tracking_type == 2) and (tracking_type_changed or tracking_type_p1_changed or tracking_type_p2_changed) then
-- turn tracking rectangle on
local yaw_value1 = (last_tracking_p1x - 0.5) * 960
local pitch_value1 = (last_tracking_p1y - 0.5) * 540
local yaw_value2 = (last_tracking_p2x - 0.5) * 960
local pitch_value2 = (last_tracking_p2y - 0.5) * 540
send_tracking_control(curr_cam_choice, TRACK_COMMAND_START, 0)
send_tracking_control2(TRACK_COMMAND2_SET_RECT_TOPLEFT, yaw_value1, pitch_value1)
send_tracking_control2(TRACK_COMMAND2_SET_RECT_BOTTOMRIGHT, yaw_value2, pitch_value2)
tracking_active = true
gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: tracking rectangle ON")
end
end
-- the main update function that performs a simplified version of RTL
function update()
-- get current system time
local now_ms = millis()
-- initialise connection to gimbal
if not initialised then
init()
return update, INIT_INTERVAL_MS
end
-- status reporting
if (VIEP_DEBUG:get() > 0) and (now_ms - last_print_ms > 5000) then
last_print_ms = now_ms
gcs:send_text(MAV_SEVERITY.INFO, string.format("ViewPro: r:%u w:%u err:%u ign:%u", bytes_read, bytes_written, bytes_error, msg_ignored))
end
-- consume incoming bytes
read_incoming_packets()
-- check camera state and send control messages
check_camera_state()
-- check tracking state and send tracking control messages
check_tracking_state()
-- send heartbeat, gimbal should respond with T1+F1+B1+D1
send_msg(HEARTBEAT_MSG)
-- request gimbal attitude by sending heartbeat
if now_ms - last_test_send_md > 1000 then
last_test_send_md = now_ms
send_msg(HEARTBEAT_MSG)
end
if not tracking_active then
-- send target angle to gimbal
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
yaw_deg = wrap_180(yaw_deg - math.deg(ahrs:get_yaw()))
end
send_target_angles(pitch_deg, yaw_deg)
return update, UPDATE_INTERVAL_MS
end
-- send target rate to gimbal
local roll_degs, pitch_degs, yaw_degs, _ = mount:get_rate_target(MOUNT_INSTANCE)
if roll_degs and pitch_degs and yaw_degs then
send_target_rates(pitch_degs, yaw_degs)
return update, UPDATE_INTERVAL_MS
end
end
return update, UPDATE_INTERVAL_MS
end
return update()
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