AP_Scripting: select auto or manual gimbal/camera control mode
I have a camera that has picture and video trigger on the same channel. As ArduPilot is not able to handle that currently I wrote a script that allows to switch between auto and manual gimbal and camera control modes. Switching to manual camera control allows to enable picture as well as video trigger.
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drtrigon
Andrew Tridgell
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libraries/AP_Scripting/applets/Gimbal_Camera_Mode.lua
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113
libraries/AP_Scripting/applets/Gimbal_Camera_Mode.lua
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-- This script is a useful tool when using gimbal and camera. You can use it to switch between manual
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-- and auto control for mission mode. It is meant for use with a transmitter that has a free switch
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-- available.
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-- The camera is setup for picture trigger during auto but can do other things e.g. video during
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-- manual mode also. The script changes parameters but does not store them.
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-- Setup Gimbal and Camera incl. manual control channels, then setting SCR_USER1 to 1 enables this script.
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-- (known issue is that manual and auto mode do not have same travel as SERVOn_ settings are ignored
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-- for "pass-through" RCINn channels - a scaled and bounded variant must be introduced and used here)
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-- Tested and working as of 25th Aug 2020 (Copter Dev)
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-- Derived from Heli_IM_COL_Tune.lua in https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Scripting/applets
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-- Tested and working as of 9th and 24th of Oct 2021 (drtrigon)
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function update()
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-- read switch input from designated scripting RCx_OPTION
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local rcin_select = select_switch_ch:get_aux_switch_pos()
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-- Save params only if switch changed
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if rcin_select ~= rcin_select_pre then
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if rcin_select == 0 then
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-- low: set gimbal and cam to manual mode (RCIN9, RCIN10, RCIN12)
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set_save_param('SERVO8_FUNCTION',59,false)
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set_save_param('SERVO9_FUNCTION',60,false)
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set_save_param('SERVO10_FUNCTION',62,false)
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gcs:send_text(6, 'LUA: Gimbal-Cam mode manual') -- MAV_SEVERITY_INFO
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elseif rcin_select == 1 then
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-- middle: set gimbal to auto and cam to manual mode (mount_tilt, mount_roll, RCIN12)
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set_save_param('SERVO8_FUNCTION',7,false)
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set_save_param('SERVO9_FUNCTION',8,false)
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set_save_param('SERVO10_FUNCTION',62,false)
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gcs:send_text(6, 'LUA: Gimbal-Cam mode auto/manual') -- MAV_SEVERITY_INFO
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else
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-- high: set gimbal and cam to auto mode (mount_tilt, mount_roll, camera_trigger)
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set_save_param('SERVO8_FUNCTION',7,false)
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set_save_param('SERVO9_FUNCTION',8,false)
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set_save_param('SERVO10_FUNCTION',10,false)
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gcs:send_text(6, 'LUA: Gimbal-Cam mode auto') -- MAV_SEVERITY_INFO
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-- No script exit condition (runs always)
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end
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rcin_select_pre = rcin_select
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end
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-- Reschedule
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return script_cont_stop()
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end
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-- Standardised function for stopping or continuing
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function script_cont_stop()
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-- Get SCR_USER1 parameter value and check whether to run or not
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if param:get('SCR_USER1') ~= 1 then -- DISABLED (any number) or FAULT (nil)
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-- gcs:send_text(6, string.format('LUA: %s = %i',param_name,value)) -- MAV_SEVERITY_INFO
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-- gcs:send_text(6, 'LUA: Gimbal-Cam mode disabled') -- MAV_SEVERITY_INFO
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rcin_select_pre = -1
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-- return -- stop running until reboot of FC
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return script_cont_stop, 10000 -- stop running until change of param +10s
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end
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-- Set RC channels to use to control gimbal and cam servo params
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-- SERVOn_FUNCTION = 7 (mount_tilt) -> SERVO8_FUNCTION and MNT_RC_IN_TILT -> RC9 -> RCIN9 (59)
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-- SERVOn_FUNCTION = 8 (mount_roll) -> SERVO9_FUNCTION and MNT_RC_IN_ROLL -> RC10 -> RCIN10 (60)
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-- SERVOn_FUNCTION = ? (mount_pan) -> ...
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-- SERVOn_FUNCTION = 10 (camera_trigger) -> SERVO10_FUNCTION and RCn_OPTION = 9 (Camera Trigger) -> RC12_OPTION -> RCIN12 (62)
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-- Set RC channels to use to control gimbal and cam servo params
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select_switch_ch = rc:find_channel_for_option(300) --scripting ch 1
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if (select_switch_ch == nil) then -- NORC
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gcs:send_text(3, 'LUA: RC channels not set') -- MAV_SEVERITY_ERROR
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return script_cont_stop, 10000 -- stop running until valid param +10s
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end
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-- Script is HEALTHY, continue running update() (in fast loop)
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-- return update, 500
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return update, 1000
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end
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-- function for setting and saving parameter
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function set_save_param(str,val,save)
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if save then
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-- Set and save
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if param:set_and_save(str,val) then
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gcs:send_text(2, 'LUA: params saved') -- MAV_SEVERITY_CRITICAL
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else
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gcs:send_text(2, 'LUA: param set failed') -- MAV_SEVERITY_CRITICAL
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end
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else
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-- Just set
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if not(param:set(str,val)) then
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gcs:send_text(2, 'LUA: param set failed') -- MAV_SEVERITY_CRITICAL
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end
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end
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end
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--- -- -- Initial Setup --- --- ---
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-- Script status buffers
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rcin_select_pre = -1
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gcs:send_text(6, 'LUA: Gimbal-Cam mode started') -- MAV_SEVERITY_INFO
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-- Only continue running script if healthy
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return script_cont_stop()
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97
libraries/AP_Scripting/applets/Gimbal_Camera_Mode.md
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libraries/AP_Scripting/applets/Gimbal_Camera_Mode.md
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# Gimbal_Camera_Mode Lua Script
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This script is a useful tool when using gimbal and camera. You can use it to switch between manual
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and auto control for mission mode. It is meant for use with a transmitter that has a free switch
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available (3-pos).
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## How it works
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The camera is setup for picture trigger during auto but can do other things e.g. video during
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manual mode also. The script changes parameters but does not store them.
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It changes the `SERVO<X>_FUNCTION`s and switches between `RCIN<X>` (pass-through) and `mount_tilt`,
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`mount_roll` and `camera_trigger`.
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In order to see the stored parameter values, disable the script (SCR_USER1) and reboot the FC.
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## Modes
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The control modes set by the 3-pos switch are as follows:
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- Gimbal-Cam mode manual: Gimbal and Camera in manual control mode (pass-through)
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- Gimbal-Cam mode auto/manual: Gimbal auto and Camera in manual control mode
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- Gimbal-Cam mode auto: Gimbal and Camera in auto control mode (controlled by ArduPilot and mission)
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## Setup and Use
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- If you have not done so already, follow the instructions on ArduPilot's wiki page to enable auto camera and gimbal control.
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- Also configure channels for manual control.
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- For example I then have (to convert the values use https://ardupilot.org/copter/docs/parameters.html):
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- SERVO8_FUNCTION = 7 (mount_tilt) leads to MNT_RC_IN_TILT = 9 (RC9) and to RCIN9 (59)
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- SERVO9_FUNCTION = 8 (mount_roll) leads to MNT_RC_IN_ROLL = 10 (RC10) and to RCIN10 (60)
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- SERVOn_FUNCTION = ? (mount_pan) is not used in this example
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- SERVO10_FUNCTION = 10 (camera_trigger) leads to RC12_OPTION = 9 (Camera Trigger) and to RCIN12 (62)
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- Now fill these into the script Gimbal_Camera_Mode.lua:
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- - -
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-- low: set gimbal and cam to manual mode (RCIN9, RCIN10, RCIN12)
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set_save_param('SERVO8_FUNCTION',59,false)
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set_save_param('SERVO9_FUNCTION',60,false)
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set_save_param('SERVO10_FUNCTION',62,false)
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- - -
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-- middle: set gimbal to auto and cam to manual mode (mount_tilt, mount_roll, RCIN12)
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set_save_param('SERVO8_FUNCTION',7,false)
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set_save_param('SERVO9_FUNCTION',8,false)
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set_save_param('SERVO10_FUNCTION',62,false)
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- - -
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-- high: set gimbal and cam to auto mode (mount_tilt, mount_roll, camera_trigger)
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set_save_param('SERVO8_FUNCTION',7,false)
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set_save_param('SERVO9_FUNCTION',8,false)
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set_save_param('SERVO10_FUNCTION',10,false)
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- - -
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(these settings in 'update()' could be automatically derived if Gimbal and Camera are fully setup, but
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that would cause a bigger memory footprint of the script and increase the chance of faulty behaviour also)
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- - -
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- To get appropriate feedback from the script it is advised to set `SCR_DEBUG_LVL` to 3 during setup.
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- Load the modified Gimbal_Camera_Mode.lua to the 'scripts' folder on your flight controller.
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- Reboot your flight controller.
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- Set `RC<X>_OPTION` to 300 for the RC input channel that corresponds to the switch that you would like to control the mode.
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- Set `SCR_USER1` to 1 in order to enable the script and allow it to run.
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- Test the script by moving the switch and checking the log messages output.
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## Output Messages
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### "LUA: Gimbal-Cam mode started"
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The script has been started and runs now.
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This message is usually immediately followed by "LUA: Gimbal-Cam mode < X >". If NOT, it might be disabled, check `SCR_USER1`. The script should run as soon as setting `SCR_USER1` to 1 (if not, there is a major error with lua scripting in general as the parameter `SCR_USER1` cannot be read).
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### "LUA: RC channels not set"
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The RC channel is not set to the scripting channel (300). Set it!
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### "LUA: Gimbal-Cam mode < X >"
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Mode chosen, confer 'Modes' above.
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### "LUA: param set failed"
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Failed to set parameter. Script will persist to try and set parameters without exiting. If this message continues to show, consider landing and investigating the underlying issue.
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## Known Issues
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Manual and auto modes do not have same travel as SERVOn_ settings are ignored for "pass-through" RCINn channels - a scaled and bounded variant must be introduced and used here.
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