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Peter BarkerandClaude Opus 4.5
7ceb7c31c7
global: fix MD007 unordered list indentation in markdown files Normalize unordered list indentation to use 2-space multiples: - Top-level list items start at column 0 - Nested list items use 2 additional spaces per level Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD009 trailing whitespace in markdown files Remove trailing whitespace from all affected markdown files. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD010 hard tabs in markdown files Replace hard tab characters with 4 spaces. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD012 multiple consecutive blank lines in markdown Collapse multiple consecutive blank lines to single blank lines across all markdown files (excluding vendored code). Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD007 list indentation base level in markdown Shift list indentation left by 2 spaces so top-level list items start at column 0 instead of column 2. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank lines around headings in markdown Ensure headings are surrounded by blank lines as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD032 blank lines around lists in markdown Ensure lists are surrounded by blank lines as required by markdownlint MD032 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD031 blank lines around code blocks in markdown Ensure fenced code blocks are surrounded by blank lines as required by markdownlint MD031 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD047 files should end with single newline Ensure all markdown files end with exactly one newline character as required by markdownlint MD047 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD023 headings must start at beginning of line Remove leading whitespace from heading lines as required by markdownlint MD023 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD007 remaining list indentation in markdown Fix unordered list indentation to use correct spacing as required by markdownlint MD007 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD030 spaces after list markers in markdown Reduce multiple spaces after list markers to single space as required by markdownlint MD030 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank lines around setext headings Ensure setext-style headings (underlined with === or ---) are surrounded by blank lines as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD018 missing space after hash in headings Add space after hash marks in atx-style headings as required by markdownlint MD018 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD019 multiple spaces after hash in headings Reduce multiple spaces after hash marks to single space in atx-style headings as required by markdownlint MD019 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD012 multiple consecutive blank lines in markdown Remove multiple consecutive blank lines and ensure files end with exactly one newline as required by markdownlint MD012 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD023 headings with leading whitespace Remove leading whitespace from setext-style heading text lines as required by markdownlint MD023 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank line after heading in markdown Add missing blank line after heading as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD009 trailing non-breaking space in markdown Remove trailing non-breaking space (U+00A0) as required by markdownlint MD009 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD012 remaining multiple blank lines in markdown Remove leading blank lines and whitespace-only lines that create multiple consecutive blank lines. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
1.4 KiB
1.4 KiB
DJI RS2 and RS3-Pro Mount Driver
DJI RS2 and RS3-Pro gimbal mount driver lua script
How to use
- Connect gimbal to autopilot's CAN1 port or CAN2 port
- If connected to CAN1, set CAN_D1_PROTOCOL = 10 (Scripting), CAN_P1_DRIVER = 1 (First driver)
- If connected to CAN2, set CAN_D2_PROTOCOL = 10 (Scripting), CAN_P2_DRIVER = 2 (Second driver)
- Set SCR_ENABLE = 1 to enable scripting
- Set SCR_HEAP_SIZE = 120000 (or higher)
- Set MNT1_TYPE = 9 (Scripting) to enable the mount/gimbal scripting driver
- Reboot the autopilot
- Copy the mount-djirs2-driver.lua script to the autopilot's SD card in the APM/scripts directory and reboot the autopilot
Advanced usage
- The gimbal can be connected to an existing DroneCAN bus (on ArduPilot 4.6 or later) by setting CAN_Dx_PROTOCOL2=10 on that bus's driver
- The gimbal can be used as the Nth mount (instead of the first) by setting MNTn_TYPE = 9 and modifying the script's user definitions
- The gimbal can be used with the Scripting2 protocol by modifying the script's user definitions
- Multiple gimbals can be used at once by duplicating the script and connecting them to different buses
Issues
If the ground station reports "Pre-arm: Mount not healthy", update the gimbal firmware using the DJI Ronin phone app to version 01.04.00.20 or later to correct a mismatch in the way data is received from the gimbal. Completing this update may take more than an hour.