AP_Scripting: add camera-change-settings applet

libraries/AP_Scripting/applets/camera-change-setting.lua

@@ -0,0 +1,94 @@
+--[[
+script to allow users to more easily change camera settings
+--]]
+
+local PARAM_TABLE_KEY = 85
+local PARAM_TABLE_PREFIX = "CAM1_"
+
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+local CAMERA_SETTINGS = {THERMAL_PALETTE=0, THERMAL_GAIN=1, THERMAL_RAW_DATA=2}  -- see AP_Camera_shareddefs.h
+
+-- add a parameter and bind it to a variable
+function bind_add_param(name, idx, default_value)
+   assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+   return Parameter(PARAM_TABLE_PREFIX .. name)
+end
+
+-- setup script specific parameters
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 3), 'could not add param table')
+
+--[[
+  // @Param: CAM1_THERM_PAL
+  // @DisplayName: Camera1 Thermal Palette
+  // @Description: thermal image colour palette
+  // @Values: -1:Leave Unchanged, 0:WhiteHot, 2:Sepia, 3:IronBow, 4:Rainbow, 5:Night, 6:Aurora, 7:RedHot, 8:Jungle, 9:Medical, 10:BlackHot, 11:GloryHot
+  // @User: Standard
+--]]
+local CAM1_THERM_PAL = bind_add_param('THERM_PAL', 1, -1)
+
+--[[
+  // @Param: CAM1_THERM_GAIN
+  // @DisplayName: Camera1 Thermal Gain
+  // @Description: thermal image temperature range
+  // @Values: -1:Leave Unchanged, 0:LowGain (50C to 550C), 1:HighGain (-20C to 150C)
+  // @User: Standard
+--]]
+local CAM1_THERM_GAIN = bind_add_param('THERM_GAIN', 2, -1)
+
+--[[
+  // @Param: CAM1_THERM_RAW
+  // @DisplayName: Camera1 Thermal Raw Data
+  // @Description: save images with raw temperatures
+  // @Values: -1:Leave Unchanged, 0:Disabled (30fps), 1:Enabled (25 fps)
+  // @Units: m
+  // @User: Standard
+--]]
+local CAM1_THERM_RAW = bind_add_param('THERM_RAW', 3, -1)
+
+-- local variables
+local update_rate_ms = 3000            -- update every 3 seconds
+local CAM1_THERM_PAL_saved_value = -1  -- true if thermal palette has been saved
+local CAM1_THERM_GAIN_saved_value = -1 -- true if thermal gain has been saved
+local CAM1_THERM_RAW_saved_value = -1  -- true if thermal raw data has been saved
+
+--[[
+   main update function, called at 1Hz
+--]]
+function update()
+
+   -- check if we should update any settings
+   if CAM1_THERM_PAL:get() >= 0 and CAM1_THERM_PAL:get() ~= CAM1_THERM_PAL_saved_value then
+      if camera:change_setting(0, CAMERA_SETTINGS.THERMAL_PALETTE, CAM1_THERM_PAL:get()) then
+         gcs:send_text(MAV_SEVERITY.INFO, string.format("Camera1 Thermal Palette to %d", CAM1_THERM_PAL:get()))
+         CAM1_THERM_PAL_saved_value = CAM1_THERM_PAL:get()
+      else
+         gcs:send_text(MAV_SEVERITY.ERROR, string.format("Failed to set Camera1 Thermal Palette to %d", CAM1_THERM_PAL:get()))
+      end
+   end
+
+   if CAM1_THERM_GAIN:get() >= 0 and CAM1_THERM_GAIN:get() ~= CAM1_THERM_GAIN_saved_value then
+      if camera:change_setting(0, CAMERA_SETTINGS.THERMAL_GAIN, CAM1_THERM_GAIN:get()) then
+         gcs:send_text(MAV_SEVERITY.INFO, string.format("Camera1 Thermal Gain to %d", CAM1_THERM_GAIN:get()))
+         CAM1_THERM_GAIN_saved_value = CAM1_THERM_GAIN:get()
+      else
+         gcs:send_text(MAV_SEVERITY.ERROR, string.format("Failed to set Camera1 Thermal Gain to %d", CAM1_THERM_GAIN:get()))
+      end
+   end
+
+   if CAM1_THERM_RAW:get() >= 0 and CAM1_THERM_RAW:get() ~= CAM1_THERM_RAW_saved_value then
+      if camera:change_setting(0, CAMERA_SETTINGS.THERMAL_RAW_DATA, CAM1_THERM_RAW:get()) then
+         gcs:send_text(MAV_SEVERITY.INFO, string.format("Camera1 Thermal Raw Data to %d", CAM1_THERM_RAW:get()))
+         CAM1_THERM_RAW_saved_value = CAM1_THERM_RAW:get()
+      else
+         gcs:send_text(MAV_SEVERITY.ERROR, string.format("Failed to set Camera1 Thermal Raw Data to %d", CAM1_THERM_RAW:get()))
+      end
+   end
+
+   return update, update_rate_ms
+end
+
+-- print welcome message
+gcs:send_text(MAV_SEVERITY.INFO, "Loaded camera-change-settings.lua")
+
+-- start running update loop
+return update, update_rate_ms

libraries/AP_Scripting/applets/camera-change-settings.md

@@ -0,0 +1,47 @@
+# Camera Change Settings
+
+Allows changing some camera settings that are not normallly used by the autopilot
+
+# Parameters
+
+## CAM1_THERM_PAL
+
+Set the camera's thermal palette
+
+Supported values are
+-1: leave unchanged
+0: WhiteHot
+2: Sepia
+3: IronBow
+4: Rainbow
+5: Night
+6: Aurora
+7: RedHot
+8: Jungle
+9: Medical
+10: BlackHot
+11: GloryHot
+
+## CAM1_THERM_GAIN
+
+Set the camera's thermal gain
+
+Supported values are
+-1: leave unchanged
+0: LowGain (50C to 550C)
+1: HighGain (-20C to 150C)
+
+## CAM1_THERM_RAW
+
+Enable/Disable the saving of raw thermal images.  Enabling raw iamges slightly slows the live video feed
+
+Supported values are
+-1: leave unchanged
+0: Disabled (30fps)
+1: Enabled (25 fps)
+
+# Operation
+
+Install the lua script in the APM/SCRIPTS directory on the flight
+controllers microSD card. Review the above parameter descriptions and
+decide on the right parameter values for your vehicle and operations.