AP_Scripting: ViewPro driver supports zoom pct
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Randy Mackay
Andrew Tridgell
parent
4090c50e8f
commit
ea1836304a
@ -19,7 +19,8 @@
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6: IR1 13mm
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7: IR2 52mm
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Set VIEP_ZOOM_SPEED to control speed of zoom (value between 0 and 7)
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Set VIEP_DEBUG = 1 or 2 to increase level of debug output to the GCS
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Set VIEP_ZOOM_MAX to the maximum zoom. E.g. for a camera with 20x zoom, set to 20
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Optionally set VIEP_DEBUG = 1 or 2 to increase level of debug output to the GCS
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Packet format
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byte description notes
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@ -32,12 +33,13 @@
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-- parameters
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local PARAM_TABLE_KEY = 39
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assert(param:add_table(PARAM_TABLE_KEY, "VIEP_", 5), "could not add param table")
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assert(param:add_table(PARAM_TABLE_KEY, "VIEP_", 6), "could not add param table")
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assert(param:add_param(PARAM_TABLE_KEY, 1, "DEBUG", 0), "could not add VIEP_DEBUG param")
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assert(param:add_param(PARAM_TABLE_KEY, 2, "CAM_SWLOW", 1), "could not add VIEP_CAM_SWLOW param")
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assert(param:add_param(PARAM_TABLE_KEY, 3, "CAM_SWMID", 2), "could not add VIEP_CAM_SWMID param")
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assert(param:add_param(PARAM_TABLE_KEY, 4, "CAM_SWHIGH", 6), "could not add VIEP_CAM_CAM_SWHIGH param")
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assert(param:add_param(PARAM_TABLE_KEY, 5, "ZOOM_SPEED", 7), "could not add VIEP_ZOOM_SPEED param")
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assert(param:add_param(PARAM_TABLE_KEY, 6, "ZOOM_MAX", 20), "could not add VIEP_ZOOM_MAX param")
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-- bind parameters to variables
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local MNT1_TYPE = Parameter("MNT1_TYPE") -- should be 9:Scripting
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@ -88,6 +90,15 @@ local VIEP_CAM_SWHIGH = Parameter("VIEP_CAM_SWHIGH") -- RC swith high positio
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--]]
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local VIEP_ZOOM_SPEED = Parameter("VIEP_ZOOM_SPEED") -- zoom speed from 0 (slow) to 7 (fast)
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--[[
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// @Param: VIEP_ZOOM_MAX
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// @DisplayName: ViewPro Zoom Times Max
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// @Description: ViewPro Zoom Times Max
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// @Range: 0 30
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// @User: Standard
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--]]
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local VIEP_ZOOM_MAX = Parameter("VIEP_ZOOM_MAX") -- zoom times max
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-- global definitions
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local CAM_SELECT_RC_OPTION = 300 -- rc channel option used to control which camera/video is used. RCx_OPTION = 300 (scripting1)
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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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@ -127,6 +138,9 @@ local CAM_COMMAND_STOP_RECORD = 0x15
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local CAM_COMMAND_AUTO_FOCUS = 0x19
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local CAM_COMMAND_MANUAL_FOCUS = 0x1A
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-- camera control2 commands
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local CAM_COMMAND2_SET_EO_ZOOM = 0x53
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-- hardcoded outgoing messages
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local HEARTBEAT_MSG = {0x55,0xAA,0xDC,0x44,0x00,0x00,0x44}
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@ -143,7 +157,8 @@ local last_frame_counter = 0 -- last frame counter sent to gimbal. a
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local cam_choice = 0 -- last camera choice (see VIEP_CAM_SWLOW/MID/HIGH parameters)
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local cam_pic_count = 0 -- last picture count. used to detect trigger pic
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local cam_rec_video = false -- last record video state. used to detect record video
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local cam_zoom_step = 0 -- last zoom step state. zoom out = -1, hold = 0, zoom in = 1
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local cam_zoom_type = 0 -- last zoom type 1:Rate 2:Pct
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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
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local cam_focus_step = 0 -- last focus step state. focus in = -1, focus hold = 0, focus out = 1
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local cam_autofocus = false -- last auto focus state
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@ -489,6 +504,30 @@ function send_camera_control(camera_choice, cam_command)
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write_byte(checksum, 0) -- checksum
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end
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-- send camera commands using C2 message
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function send_camera_control2(cam_command, cam_value)
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-- ensure cam_value is an integer
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cam_value = math.floor(cam_value + 0.5)
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-- prepare C2 message, FrameId 0x2C
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-- 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)
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-- byte1~2 : value related to command
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local length_and_frame_counter = calc_length_and_frame_byte(0x06)
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cam_command = cam_command & 0xFF
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local data_bytes = cam_value & 0xFFFF
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write_byte(HEADER1, 0)
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write_byte(HEADER2, 0)
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write_byte(HEADER3, 0)
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local checksum = write_byte(length_and_frame_counter, 0) -- length and frame count
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checksum = write_byte(0x2C, checksum) -- 0x2C: C2 FrameId
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checksum = write_byte(cam_command, checksum) -- command
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checksum = write_byte(highbyte(data_bytes), checksum) -- msb
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checksum = write_byte(lowbyte(data_bytes), checksum) -- lsb
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write_byte(checksum, 0) -- checksum
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end
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-- return camera selection according to RC switch position and VIEW_CAM_SWxxx parameter
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-- used in C1 message's "video choose" to specify which cameras should be controlled
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function get_camera_choice()
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@ -542,19 +581,33 @@ function check_camera_state()
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end
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end
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-- check manual zoom
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-- check zoom
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-- zoom out = -1, hold = 0, zoom in = 1
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if cam_state:zoom_step() and cam_state:zoom_step() ~= cam_zoom_step then
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cam_zoom_step = cam_state:zoom_step()
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if cam_zoom_step < 0 then
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local zoom_type_changed = cam_state:zoom_type() and (cam_state:zoom_type() ~= cam_zoom_type)
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local zoom_value_changed = cam_state:zoom_value() and (cam_state:zoom_value() ~= cam_zoom_value)
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if (zoom_type_changed or zoom_value_changed) then
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cam_zoom_type = cam_state:zoom_type()
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cam_zoom_value = cam_state:zoom_value()
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-- zoom rate
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if cam_zoom_type == 1 then
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if cam_zoom_value < 0 then
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send_camera_control(cam_choice, CAM_COMMAND_ZOOM_OUT)
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elseif cam_zoom_step == 0 then
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send_camera_control(cam_choice, CAM_COMMAND_STOP_FOCUS_AND_ZOOM)
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elseif cam_zoom_step > 0 then
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elseif cam_zoom_value > 0 then
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send_camera_control(cam_choice, CAM_COMMAND_ZOOM_IN)
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else
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send_camera_control(cam_choice, CAM_COMMAND_STOP_FOCUS_AND_ZOOM)
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end
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end
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-- zoom percent
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if cam_zoom_type == 2 then
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-- convert zoom percentage (in the range 0 to 100) to value in the range of 0 to VIEW_ZOOM_MAX * 10
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send_camera_control2(CAM_COMMAND2_SET_EO_ZOOM, VIEP_ZOOM_MAX:get() * cam_zoom_value * 0.1)
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end
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if VIEP_DEBUG:get() > 0 then
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gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: zoom:" .. tostring(cam_zoom_step))
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gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: zoom type:" .. tostring(cam_zoom_type) .. " value:" .. tostring(cam_zoom_value))
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end
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end
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@ -21,4 +21,5 @@ Viewpro gimbal driver lua script
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6: IR1 13mm
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7: IR2 52mm
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Set VIEP_ZOOM_SPEED to control speed of zoom (value between 0 and 7)
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Set VIEP_DEBUG = 1 or 2 to increase level of debug output to the GCS
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Set VIEP_ZOOM_MAX to the maximum zoom. E.g. for a camera with 20x zoom, set to 20
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Optionally set VIEP_DEBUG = 1 or 2 to increase level of debug output to the GCS
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