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AP_Scripting: promote video-stream-information to applet
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libraries/AP_Scripting/applets/video-stream-information.lua
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--[[ | ||
Populate the VIDEO_STREAM_INFORMATION message based on user parameters | ||
--]] | ||
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local PARAM_TABLE_KEY = 87 | ||
local PARAM_TABLE_PREFIX = "VID1_" | ||
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local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7} | ||
local VID_TYPE_ENUM = {RTSP=0, RTPUDP=1, TCP_MPEG=2, MPEG_TS=3} | ||
local CAMMODEL_ENUM = {UNKNOWN=0, SIYI_A8=1, SIYI_ZR10=2, SIYI_ZR30=3, SIYI_ZT30_ZOOM=4, SIYI_ZT30_WIDE=5, | ||
SIYI_ZT30_IR=6, SIYI_ZT6_RGB=7, SIYI_ZT6_IR=8, HERELINK_WIFIAP=9, HERELINK_USB_TETHERING=10, | ||
TOPOTEK_1080P=11, TOPOTEK_480P=12} | ||
local TEXT_PREFIX_STR = "video-stream-information:" | ||
local SIYI_IP_DEFAULT = '192.168.144.25:8554' | ||
local TOPOTEK_IP_DEFAULT = '192.168.144.108:554' | ||
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-- 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 | ||
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-- setup script specific parameters | ||
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 15), 'could not add param table') | ||
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--[[ | ||
// @Param: VID1_CAMMODEL | ||
// @DisplayName: Camera1 Video Stream Camera Model | ||
// @Description: Video stream camera model | ||
// @Values: 0:Unknown, 1:Siyi A8, 2:Siyi ZR10, 3:Siyi ZR30, 4:Siyi ZT30 Zoom, 5:Siyi ZT30 Wide, 6:Siyi ZT30 IR, 7:Siyi ZT6 RGB, 8:Siyi ZT6 IR, 9:Herelink WifiAP, 10:Herelink USB-tethering, 11:Topotek 1080p, 12:Topotek 480p | ||
// @User: Standard | ||
--]] | ||
-- values should match CAMMODEL_ENUM | ||
local VID1_CAMMODEL = bind_add_param('CAMMODEL', 1, 0) | ||
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--[[ | ||
// @Param: VID1_ID | ||
// @DisplayName: Camera1 Video Stream Id | ||
// @Description: Video stream id | ||
// @Range: 0 50 | ||
// @User: Standard | ||
--]] | ||
local VID1_ID = bind_add_param('ID', 2, 1) | ||
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--[[ | ||
// @Param: VID1_TYPE | ||
// @DisplayName: Camera1 Video Stream Type | ||
// @Description: Video stream type | ||
// @Values: 0:RTSP, 1:RTPUDP, 2:TCP_MPEG, 3:MPEG_TS | ||
// @User: Standard | ||
--]] | ||
-- values should match VID_TYPE_ENUM | ||
local VID1_TYPE = bind_add_param('TYPE', 3, 0) | ||
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--[[ | ||
// @Param: VID1_FLAG | ||
// @DisplayName: Camera1 Video Stream Flags | ||
// @Description: Video stream flags | ||
// @Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled | ||
// @User: Standard | ||
--]] | ||
local VID1_FLAG = bind_add_param('FLAG', 4, 1) | ||
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--[[ | ||
// @Param: VID1_FRAME_RATE | ||
// @DisplayName: Camera1 Video Stream Frame Rate | ||
// @Description: Video stream frame rate | ||
// @Range: 0 50 | ||
// @User: Standard | ||
--]] | ||
local VID1_FR = bind_add_param('FRAME_RATE', 5, 30) | ||
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--[[ | ||
// @Param: VID1_HRES | ||
// @DisplayName: Camera1 Video Stream Horizontal Resolution | ||
// @Description: Video stream horizontal resolution | ||
// @Range: 0 4096 | ||
// @User: Standard | ||
--]] | ||
local VID1_HRES = bind_add_param('HRES', 6, 1920) | ||
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--[[ | ||
// @Param: VID1_VRES | ||
// @DisplayName: Camera1 Video Stream Vertical Resolution | ||
// @Description: Video stream vertical resolution | ||
// @Range: 0 4096 | ||
// @User: Standard | ||
--]] | ||
local VID1_VRES = bind_add_param('VRES', 7, 1080) | ||
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--[[ | ||
// @Param: VID1_BITRATE | ||
// @DisplayName: Camera1 Video Stream Bitrate | ||
// @Description: Video stream bitrate | ||
// @Range: 0 10000 | ||
// @User: Standard | ||
--]] | ||
local VID1_BITR = bind_add_param('BITRATE', 8, 1500) | ||
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--[[ | ||
// @Param: VID1_HFOV | ||
// @DisplayName: Camera1 Video Stream Horizontal FOV | ||
// @Description: Video stream horizontal FOV | ||
// @Range: 0 360 | ||
// @User: Standard | ||
--]] | ||
local VID1_HFOV = bind_add_param('HFOV', 9, 0) | ||
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--[[ | ||
// @Param: VID1_ENCODING | ||
// @DisplayName: Camera1 Video Stream Encoding | ||
// @Description: Video stream encoding | ||
// @Values: 0:Unknown, 1:H264, 2:H265 | ||
// @User: Standard | ||
--]] | ||
local VID1_ENCODING = bind_add_param('ENCODING', 10, 1) | ||
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--[[ | ||
// @Param: VID1_IPADDR0 | ||
// @DisplayName: Camera1 Video Stream IP Address 0 | ||
// @Description: Video stream IP Address first octet | ||
// @Range: 0 255 | ||
// @User: Standard | ||
--]] | ||
local VID1_IPADDR0 = bind_add_param('IPADDR0', 11, -1) | ||
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--[[ | ||
// @Param: VID1_IPADDR1 | ||
// @DisplayName: Camera1 Video Stream IP Address 1 | ||
// @Description: Video stream IP Address second octet | ||
// @Range: 0 255 | ||
// @User: Standard | ||
--]] | ||
local VID1_IPADDR1 = bind_add_param('IPADDR1', 12, -1) | ||
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--[[ | ||
// @Param: VID1_IPADDR2 | ||
// @DisplayName: Camera1 Video Stream IP Address 2 | ||
// @Description: Video stream IP Address third octet | ||
// @Range: 0 255 | ||
// @User: Standard | ||
--]] | ||
local VID1_IPADDR2 = bind_add_param('IPADDR2', 13, -1) | ||
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--[[ | ||
// @Param: VID1_IPADDR3 | ||
// @DisplayName: Camera1 Video Stream IP Address 3 | ||
// @Description: Video stream IP Address fourth octet | ||
// @Range: 0 255 | ||
// @User: Standard | ||
--]] | ||
local VID1_IPADDR3 = bind_add_param('IPADDR3', 14, -1) | ||
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--[[ | ||
// @Param: VID1_IPPORT | ||
// @DisplayName: Camera1 Video Stream IP Address Port | ||
// @Description: Video stream IP Address Port | ||
// @Range: 0 65535 | ||
// @User: Standard | ||
--]] | ||
local VID1_IPPORT = bind_add_param('IPPORT', 15, -1) | ||
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function set_video_stream_information() | ||
local INSTANCE = 0 | ||
local name = 'Video' | ||
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-- set defaults by camera model | ||
local uri_ip = '' | ||
local uri_suffix = '' | ||
local hfov = 50 | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_A8 then | ||
uri_ip = SIYI_IP_DEFAULT | ||
uri_suffix = '/main.264' | ||
hfov = 81 | ||
end | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZR10 then | ||
uri_ip = SIYI_IP_DEFAULT | ||
uri_suffix = '/main.264' | ||
hfov = 62 | ||
end | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZR30 then | ||
uri_ip = SIYI_IP_DEFAULT | ||
uri_suffix = '/main.264' | ||
hfov = 58 | ||
end | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_ZOOM then | ||
uri_ip = SIYI_IP_DEFAULT | ||
uri_suffix = '/video2' | ||
hfov = 58 | ||
end | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_WIDE then | ||
uri_ip = SIYI_IP_DEFAULT | ||
uri_suffix = '/video2' | ||
hfov = 85 | ||
end | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT30_IR then | ||
uri_ip = SIYI_IP_DEFAULT | ||
uri_suffix = '/video1' | ||
hfov = 24 | ||
end | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT6_RGB then | ||
uri_ip = SIYI_IP_DEFAULT | ||
uri_suffix = '/video2' | ||
hfov = 85 | ||
end | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.SIYI_ZT6_IR then | ||
uri_ip = SIYI_IP_DEFAULT | ||
uri_suffix = '/video1' | ||
hfov = 32 | ||
end | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.HERELINK_WIFIAP then | ||
uri_ip = '192.168.42.1:8554' | ||
uri_suffix = '/fpv_stream' | ||
end | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.HERELINK_USB_TETHERING then | ||
uri_ip = '192.168.42.129:8554' | ||
uri_suffix = '/fpv_stream' | ||
end | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.TOPOTEK_1080P then | ||
uri_ip = TOPOTEK_IP_DEFAULT | ||
uri_suffix = '/stream=0' | ||
hfov = 50 | ||
end | ||
if VID1_CAMMODEL:get() == CAMMODEL_ENUM.TOPOTEK_480P then | ||
uri_ip = TOPOTEK_IP_DEFAULT | ||
uri_suffix = '/stream=1' | ||
hfov = 50 | ||
end | ||
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-- calculate hfov | ||
if VID1_HFOV:get() ~= 0 then | ||
hfov = VID1_HFOV:get() | ||
end | ||
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-- construct uri | ||
if VID1_IPADDR0:get() > 0 or VID1_IPADDR1:get() > 0 or | ||
VID1_IPADDR2:get() > 0 or VID1_IPADDR3:get() > 0 or | ||
VID1_IPPORT:get() > 0 then | ||
uri_ip = math.floor(VID1_IPADDR0:get()) .. '.' .. | ||
math.floor(VID1_IPADDR1:get()) .. '.' .. | ||
math.floor(VID1_IPADDR2:get()) .. '.' .. | ||
math.floor(VID1_IPADDR3:get()) .. ':' .. | ||
math.floor(VID1_IPPORT:get()) | ||
end | ||
local uri | ||
if VID1_TYPE:get() == VID_TYPE_ENUM.RTPUDP or VID1_TYPE:get() == VID_TYPE_ENUM.MPEG_TS then | ||
-- sanity check port number | ||
if VID1_IPPORT:get() < 0 then | ||
gcs:send_text(MAV_SEVERITY.ERROR, TEXT_PREFIX_STR .. "check VID1_IPPORT") | ||
do return end | ||
end | ||
uri = tostring(math.floor(VID1_IPPORT:get())) | ||
elseif VID1_TYPE:get() == VID_TYPE_ENUM.RTSP then | ||
-- sanity check IP address | ||
if uri_ip == '' then | ||
gcs:send_text(MAV_SEVERITY.ERROR, TEXT_PREFIX_STR .. "check VID1_IPADDR params") | ||
do return end | ||
end | ||
uri = 'rtsp://' .. uri_ip .. uri_suffix | ||
else | ||
uri = uri_ip .. uri_suffix | ||
end | ||
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-- create Video Stream Information message | ||
local stream_info = mavlink_video_stream_information_t() | ||
stream_info:stream_id(VID1_ID:get()) | ||
stream_info:count(1) -- hard coded to just a single stream | ||
stream_info:type(VID1_TYPE:get()) | ||
stream_info:flags(VID1_FLAG:get()) | ||
stream_info:framerate(VID1_FR:get()) | ||
stream_info:resolution_h(VID1_HRES:get()) | ||
stream_info:resolution_v(VID1_VRES:get()) | ||
stream_info:bitrate(VID1_BITR:get()) | ||
stream_info:rotation(0) -- video image rotation clockwise, hardcoded to zero | ||
stream_info:hfov(hfov) | ||
stream_info:encoding(VID1_ENCODING:get()) | ||
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for i = 0, #name do | ||
stream_info:name(i, name:byte(i+1)) | ||
end | ||
for i = 0, #uri do | ||
stream_info:uri(i, uri:byte(i+1)) | ||
end | ||
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-- update camera library with the latest stream information | ||
camera:set_stream_information(INSTANCE, stream_info) | ||
end | ||
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-- print welcome message | ||
gcs:send_text(MAV_SEVERITY.INFO, "video-stream-information script loaded") | ||
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-- update function runs every 5 secs | ||
function update() | ||
set_video_stream_information() | ||
return update, 5000 | ||
end | ||
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return update() |
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libraries/AP_Scripting/applets/video-stream-information.md
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# Video Stream Information | ||
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This script updates the ArduPilot Camera library with the values required to populate the VIDEO_STREAM_INFORMATION | ||
mavlink message allow the GCS to find and display live video to the user | ||
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# Parameters | ||
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- VID1_CAMMODEL: Video stream camera model (1:Siyi A8, 2:Siyi ZR10, 3:Siyi ZR30, 4:Siyi ZT30 Zoom, 5:Siyi ZT30 Wide, 6:Siyi ZT30 IR, 7:Siyi ZT6 RGB, 8:Siyi ZT6 IR) | ||
- VID1_ID: Video stream id | ||
- VID1_TYPE: Video stream type (0:RTSP, 1:RTPUDP, 2:TCP_MPEG, 3:MPEG_TS) | ||
- VID1_FLAG: Video stream flags (Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled) | ||
- VID1_FRAME_RATE: Video stream frame rate | ||
- VID1_HRES: Video stream horizontal resolution | ||
- VID1_VRES: Video stream vertical resolution | ||
- VID1_BITR: Video stream bitrate | ||
- VID1_HFOV: Video stream horizontal FOV in degrees | ||
- VID1_ENCODING: Video stream encoding (0:Unknown, 1:H264, 2:H265) | ||
- VID1_IPADDR0: Video stream IP Address first octet | ||
- VID1_IPADDR1: Video stream IP Address second octet | ||
- VID1_IPADDR2: Video stream IP Address third octet | ||
- VID1_IPADDR3: Video stream IP Address fourth octet | ||
- VID1_IPPORT: Video Stream IP Address Port | ||
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# How To Use | ||
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1. Setup the camera gimbal as described on the ArduPilot wiki including ethernet setup | ||
2. Check the IP address of the camera gimbal | ||
3. Setup scripting per https://ardupilot.org/plane/docs/common-lua-scripts.html and reboot the autopilot | ||
4. Copy this script to the vehicle autopilot's "scripts" directory | ||
5. Set the VID1_CAMMODEL parameter to the camera gimbal model and adjust the new VID1 params as required | ||
6. If necessary using the GCS's mavlink inspector to confirm the VIDEO_STREAM_INFORMATION URI field is correct | ||
7. Confirm the ground station can display the live video |
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libraries/AP_Scripting/examples/set_VIDEO_STREAM_INFORMATION.lua
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