114 lines
3.2 KiB
Lua
114 lines
3.2 KiB
Lua
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-- led-control.lua: Control serial LEDs with ArduPilot parameters and RC switch
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-- Constants
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local PIXEL_GROUPING = Parameter("PIXEL_GROUPING", 1) -- LEDs per arm
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local PIXEL_DEFAULT = Parameter("PIXEL_DEFAULT", 0) -- Default behavior (0: arming-based, 1: always active)
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local PIXEL_ARM = {
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Parameter("PIXEL_ARM1", 1),
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Parameter("PIXEL_ARM2", 1),
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Parameter("PIXEL_ARM3", 1),
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Parameter("PIXEL_ARM4", 1)
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}
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local RC_SWITCH_CHANNEL = 300 -- Use RC channel set in ArduPilot parameters
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local AuxSwitchPos = {LOW=0, MIDDLE=1, HIGH=2} -- Switch positions
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local RGB_COLORS = {
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{0, 255, 0}, -- Green
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{255, 0, 0}, -- Red
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{255, 255, 255}, -- White
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{128, 0, 128} -- Purple
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}
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local NUM_ARMS = 4
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local prev_pos = -1
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local leds_enabled = true
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-- Initialize serial LED channel
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local led_chan = assert(SRV_Channels:find_channel(94), "LED: channel not set") + 1
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gcs:send_text(6, "LED strip: chan=" .. tostring(led_chan))
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assert(serialLED:set_num_profiled(led_chan, 8), "Failed LED setup")
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-- Validate parameters to ensure safe behavior
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local function validate_params()
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if PIXEL_GROUPING:get() < 1 then
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gcs:send_text(3, "Invalid PIXEL_GROUPING. Defaulting to 1.")
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PIXEL_GROUPING:set(1)
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end
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for i = 1, NUM_ARMS do
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local arm_behavior = PIXEL_ARM[i]:get()
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if arm_behavior < 1 or arm_behavior > #RGB_COLORS then
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gcs:send_text(3, "Invalid PIXEL_ARM" .. i .. ". Defaulting to 1 (Green).")
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PIXEL_ARM[i]:set(1)
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end
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end
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end
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-- Set LEDs
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local function set_leds(color, start, count)
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for i = start, start + count - 1 do
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serialLED:set_RGB(led_chan, i, color[1], color[2], color[3]) -- RGB values
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end
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end
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-- Update LED behavior
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local function update_leds()
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local armed = arming:is_armed()
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local grouping = PIXEL_GROUPING:get()
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for arm = 1, NUM_ARMS do
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local behavior = PIXEL_ARM[arm]:get()
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local color = RGB_COLORS[behavior]
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-- Default to red if disarmed and PIXEL_DEFAULT is 0
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if not armed and PIXEL_DEFAULT:get() == 0 then
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color = RGB_COLORS[2] -- Red
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end
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local start_idx = (arm - 1) * grouping
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set_leds(color, start_idx, grouping)
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end
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serialLED:send(led_chan)
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end
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-- Main update loop
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local function update()
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-- Get the current RC switch position
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local sw_pos = rc:get_aux_cached(RC_SWITCH_CHANNEL)
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if sw_pos == nil then
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gcs:send_text(3, "RC_SWITCH_CHANNEL not configured.")
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return update, 1000
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end
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if sw_pos ~= prev_pos then
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if sw_pos == AuxSwitchPos.LOW then
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leds_enabled = false
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serialLED:clear(led_chan)
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gcs:send_text(6, "LEDs turned OFF")
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elseif sw_pos == AuxSwitchPos.MIDDLE then
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leds_enabled = true
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gcs:send_text(6, "LEDs turned ON (Dimmed)") -- Dimming logic can be added later
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elseif sw_pos == AuxSwitchPos.HIGH then
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leds_enabled = true
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gcs:send_text(6, "LEDs turned ON (Full Brightness)")
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end
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prev_pos = sw_pos
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end
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if leds_enabled then
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update_leds()
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end
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return update, 1000 -- Run every 1 second
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end
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-- Initialization
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serialLED:clear(led_chan)
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validate_params()
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if leds_enabled then
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update_leds()
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end
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return update()
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