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4.3 KiB
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62 lines
4.3 KiB
Markdown
# DroneCAN Lights
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PX4 can control external LEDs on a connected DroneCAN peripheral using the standard DroneCAN [LightsCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#lightscommand) message.
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Up to 2 lights are supported.
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These can show [system status colours](../getting_started/led_meanings.md#ui-led), a fixed colour (used for indicating aircraft orientation), or switch between both depending on arm state.
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## 지원되는 RTK 장치
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Any DroneCAN peripheral implementing the standard `LightsCommand` message type should work.
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The following have been tested:
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- **Vertiq ESC LED add-ons**: Each ESC exposes two light IDs — one RGB (for status) and one white.
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The `light_id` for each is calculated as `esc_index × 3 + BASE_ID`, where `BASE_ID` is 1 for RGB and 2 for white.
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See [Vertiq](../peripherals/vertiq.md) for other ESC setup details.
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## PX4 설정
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1. Set up DroneCAN as described in [DroneCAN](index.md) (`UAVCAN_ENABLE` ≥ 2).
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2. Set [UAVCAN_LGT_NUM](../advanced_config/parameter_reference.md#UAVCAN_LGT_NUM) to the number of lights (1 or 2).
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Then reboot and reopen the ground station so that parameters for the new instances become visible.
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3. Set the `light_id` and [light functions](#light_functions) of each light:
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- [UAVCAN_LGT_ID0](../advanced_config/parameter_reference.md#UAVCAN_LGT_ID0) / [UAVCAN_LGT_ID1](../advanced_config/parameter_reference.md#UAVCAN_LGT_ID1): Set to a `light_id` value (as defined by the specific product).
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- [UAVCAN_LGT_FN0](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN0) / [UAVCAN_LGT_FN1](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN1): Choose the desired [light function](#light_functions).
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4. Set [UAVCAN_LGT_MODE](#UAVCAN_LGT_MODE) to control when fixed "orientation" colours activate.
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5. Reboot for changes to take effect.
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### Light Functions {#light_functions}
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The functions of enabled lights are configured using [UAVCAN_LGT_FN0](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN0) and [UAVCAN_LGT_FN1](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN1), respectively.
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Each function is represented by a value that defines two behaviours: one when the activation mode is **inactive** and one when it is **active**.
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| Value | 명칭 | When mode inactive | When mode active |
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| ----- | ------------- | -------------------- | -------------------- |
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| 0 | Status/Status | System status colour | System status colour |
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| 1 | Off/White | Off | 흰색 |
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| 2 | Off/Red | Off | 빨강 |
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| 3 | Off/Green | Off | 녹색 |
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| 4 | Status/White | System status colour | 흰색 |
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| 5 | Status/Red | System status colour | 빨강 |
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| 6 | Status/Green | System status colour | 녹색 |
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| 7 | Status/Off | System status colour | Off |
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Notes:
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- The [system status colours](../getting_started/led_meanings.md#ui-led) is the same LED pattern used by the flight controller's onboard status LED (e.g. red when disarmed, green when armed and ready).
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- A fixed colour, commonly used to indicate aircraft orientation. For example it is a common convention to have a red light on the port side, green on starboard, or white to the rear.
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These colours do not change with flight controller state.
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- For _hybrid_ functions, such as `Status/Red`, the light shows the Status colour while the activation mode is inactive, then switches to the "fixed" light colour once the mode becomes active.
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### Activation Mode (`UAVCAN_LGT_MODE`) {#UAVCAN_LGT_MODE}
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The activation mode parameter ([UAVCAN_LGT_MODE](#UAVCAN_LGT_MODE)) controls when each light switches from its _inactive_ to its _active_ behaviour (configured with the [Light function](#light_functions)):
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| Value | 설명 |
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| ----- | --------------------------------------------------------------------------- |
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| 0 | Always inactive (lights always show the inactive column) |
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| 1 | Active when armed (default) |
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| 2 | Active when prearmed or armed |
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| 3 | Always active (lights always show the active column) |
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