mirror of https://github.com/ArduPilot/ardupilot
67 lines
2.2 KiB
Lua
67 lines
2.2 KiB
Lua
-- runcam_on_arm.lua: start and stop video recording on arm/disarm
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--
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-- ArduPilot can turn a RUNCAM on and off with a TX switch if you set
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-- its function to 78:RunCamControl. This script uses
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-- `rc:run_aux_function()' to start and stop the camera without human
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-- intervention or a separate RC channel.
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--
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-- An interesting aspect of this script is variable rescheduling
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-- time. RUNCAM serial protocol controls the camera by simulating a
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-- button press both to start and stop recording--it's the same
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-- button. If you send commands faster than the camera can process
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-- them, it can ignore a command and interpret the next one as the
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-- opposite of what you intend, e.g., you may lose a button press to
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-- stop recording, and the camera keeps rolling; when you're ready to
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-- start recording again, the camera interprets your button press as a
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-- command to stop recording. To address this, AP has a special
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-- parameter, `CAM_RC_BTN_DELAY'. I use this parameter as the
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-- rescheduling delay after a button press. But between button
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-- presses, I want the script to be responsive and start recording as
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-- soon as the vehicle arms, so there I use a shorter delay.
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-- constants
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local RC_OPTION = {RunCamControl=78}
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local AuxSwitchPos = {LOW=0, MIDDLE=1, HIGH=2}
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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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-- configuration
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local DELAY_LONG = param:get("CAM_RC_BTN_DELAY")
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if not DELAY_LONG then
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gcs:send_text(MAV_SEVERITY.ERROR, "CAM_RC_* parameters missing; camera autoarming unavailable")
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return
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end
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local DELAY_SHORT = DELAY_LONG / 3
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gcs:send_text(MAV_SEVERITY.NOTICE, "Arming controls RUNCAM recording")
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-- state
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local prev_armed = false
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function update()
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local is_armed = arming:is_armed()
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local delay = DELAY_SHORT
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if is_armed ~= prev_armed then
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-- a state transition has occurred
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if is_armed then
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gcs:send_text(MAV_SEVERITY.INFO, "RUNCAM on")
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rc:run_aux_function(RC_OPTION.RunCamControl, AuxSwitchPos.HIGH)
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else
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gcs:send_text(MAV_SEVERITY.INFO, "RUNCAM off")
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rc:run_aux_function(RC_OPTION.RunCamControl, AuxSwitchPos.LOW)
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end
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delay = DELAY_LONG
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end
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prev_armed = is_armed
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return update, delay
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end
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return update()
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