mirror of https://github.com/ArduPilot/ardupilot
99 lines
3.5 KiB
Lua
99 lines
3.5 KiB
Lua
--------------------------------------------------
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--------------------------------------------------
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--------- VTX LUA for SMARTAUDIO 2.0 -------------
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------------based on work by----------------------
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---------Craig Fitches 07/07/2020 ----------------
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-------------Mods by H. Wurzburg -----------------
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------------clean up by Peter Hall----------------
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-----------------HARDWARE------------------
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-- tested on CUAVv5Nano and TX8111 VTX
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-- Prerequisites ----------------------------------
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-- 1. Only works in Ardupilot 4.1dev or later
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-- 2. FC with 2MB cache for LUA Scripting
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-- 3. Currently only works with SmartAudio 2.0
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------------ Instructions ------------------------
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-- 1. Set an unused Serial port in Ardupilot to protocol 28 (scripting) and option 4 (half-duplex)
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-- 2. Setup an rc channel's RXc_OPTION to 300 for changing power and SCR_USER1 parameter for initial power upon boot
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---------and set to -1 for unchanged, 0 (PitMode),1,2,3, or 4 for power level (1 lowest,4 maximum)
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-- 3. Attach the UART's TX for the Serial port chosen above to the VTX's SmartAudio input
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---@diagnostic disable: need-check-nil
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-- init local variables
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local startup_pwr = param:get('SCR_USER1')
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local scripting_rc = rc:find_channel_for_option(300)
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local port = serial:find_serial(0)
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local _current_power = -1
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-- hexadecimal smart audio 2.0 commands
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local power_commands = {}
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power_commands[1] = { {0x00,0x00,0xAA,0x55,0x0B,0x01,0x01,0xF8,0x00}, "VTX Pit Mode" }
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power_commands[2] = { {0x00,0x00,0xAA,0x55,0x05,0x01,0x00,0x6B,0x00}, "VTX PWR LOW" } -- SMARTAUDIO_V2_COMMAND_POWER_0
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power_commands[3] = { {0x00,0x00,0xAA,0x55,0x05,0x01,0x01,0xBE,0x00}, "VTX PWR MED" } -- SMARTAUDIO_V2_COMMAND_POWER_1
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power_commands[4] = { {0x00,0x00,0xAA,0x55,0x05,0x01,0x02,0x14,0x00}, "VTX PWR HIGH" } -- SMARTAUDIO_V2_COMMAND_POWER_2
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power_commands[5] = { {0x00,0x00,0xAA,0x55,0x05,0x01,0x03,0xC1,0x00}, "VTX PWR MAX" } -- SMARTAUDIO_V2_COMMAND_POWER_3
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-- return a power level from 1 to 5 as set with a switch
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function get_power()
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input = scripting_rc:norm_input() -- - 1 to 1
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input = (input + 1) * 2 -- 0 to 4
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return math.floor(input+0.5) + 1 -- integer 1 to 5
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end
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-- set the power in the range 1 to 5
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function setPower(power)
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if power == _current_power then
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return
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end
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updateSerial(power_commands[power][1])
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gcs:send_text(4, power_commands[power][2])
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_current_power = power
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end
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-- write output to the serial port
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function updateSerial(value)
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for count = 1, #value do
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port:write(value[count])
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end
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end
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---- main update ---
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function update()
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setPower(get_power())
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return update, 500
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end
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-- initialization
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function init()
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-- check if setup properly
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if not port then
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gcs:send_text(0, "SmartAudio: No Scripting Serial Port")
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return
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end
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if not scripting_rc then
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gcs:send_text(0, "SmartAudio: No RC option for scripting")
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return
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end
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port:begin(4800)
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-- Set initial power after boot based on SCR_USER1
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if startup_pwr then -- make sure we found the param
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if startup_pwr >= 0 and startup_pwr < 5 then
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setPower(math.floor(startup_pwr) + 1)
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-- set the current power local to that requested by the rc in
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-- this prevents instantly changing the power from the startup value
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_current_power = get_power()
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end
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end
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return update, 500
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end
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return init, 2000 --Wait 2 sec before initializing, gives time for RC in to come good in SITL, also gives a better chance to see errors
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