From 22166a11574c66fe691ea4f7d8270c95dfdcc3b0 Mon Sep 17 00:00:00 2001
From: Stefan Dunca <stefan@auterion.com>
Date: Tue, 30 Jul 2019 22:46:31 +0200
Subject: [PATCH] Custom Example: Fix gimbal state getting out of the limits.
 Fix palette button not working if not in thermal mode. Increase zoom buttons

---
 custom-example/res/CustomCameraControl.qml | 18 +++++++++++-------
 custom-example/res/CustomFlyView.qml       |  7 +++++--
 2 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/custom-example/res/CustomCameraControl.qml b/custom-example/res/CustomCameraControl.qml
index be0052a..38a0ee2 100644
--- a/custom-example/res/CustomCameraControl.qml
+++ b/custom-example/res/CustomCameraControl.qml
@@ -85,7 +85,7 @@ Item {
         //---------------------------------------------------------------------
         //-- Quick Thermal Modes
         Item {
-            id:             backgroundRect
+            id:             thermalBackgroundRect
             width:          buttonsRow.width  + (ScreenTools.defaultFontPixelWidth  * 4)
             height:         buttonsRow.height + (ScreenTools.defaultFontPixelHeight)
             visible:        _irPaletteFact && QGroundControl.videoManager.hasThermal || _camera.vendor === "NextVision"
@@ -143,14 +143,12 @@ Item {
                 // Thermal palette options
                 CustomQuickButton {
                     checkable:          false
-                    enabled:            thermalFull.checked || thermalPip.checked
                     width:              buttonSize
                     height:             buttonSize
+                    visible:            _irPaletteFact
                     iconSource:        "/custom/img/thermal-palette.svg"
                     onClicked:  {
-                        if(_irPaletteFact) {
-                            thermalPalettes.open()
-                        }
+                        thermalPalettes.open()
                     }
                 }
             }
@@ -466,7 +464,7 @@ Item {
             visible:        _hasZoom
             mainColor:      qgcPal.window
             contentColor:   qgcPal.text
-            fontPointSize:  ScreenTools.defaultFontPointSize * 1.25
+            fontPointSize:  ScreenTools.defaultFontPointSize * 1.75
             zoomLevelVisible: false
             zoomLevel:      _hasZoom ? _camera.zoomLevel : NaN
             anchors.horizontalCenter: parent.horizontalCenter
@@ -942,7 +940,7 @@ Item {
         id:                     thermalPalettes
         width:                  Math.min(mainWindow.width * 0.666, ScreenTools.defaultFontPixelWidth * 40)
         height:                 mainWindow.height * 0.5
-        modal:                  true
+        //modal:                  true
         focus:                  true
         parent:                 Overlay.overlay
         x:                      Math.round((mainWindow.width  - width)  * 0.5)
@@ -980,6 +978,12 @@ Item {
                             anchors.horizontalCenter: parent.horizontalCenter
                             onClicked: {
                                 _irPaletteFact.value = index
+                                if(thermalBackgroundRect.visible) {
+                                    if(_camera.thermalMode !== QGCCameraControl.THERMAL_PIP && _camera.thermalMode !== QGCCameraControl.THERMAL_FULL) {
+                                        _camera.thermalMode = QGCCameraControl.THERMAL_FULL
+                                    }
+                                }
+
                                 thermalPalettes.close()
                             }
                         }
diff --git a/custom-example/res/CustomFlyView.qml b/custom-example/res/CustomFlyView.qml
index 940f841..36c94b8 100644
--- a/custom-example/res/CustomFlyView.qml
+++ b/custom-example/res/CustomFlyView.qml
@@ -563,8 +563,11 @@ Item {
                         //console.info("error: " + pitch_angle_error + "; angle_state: " + pitch_angle)
                         pitch = pitch_setpoint
                         yaw += stick.xAxis * gimbalControl.speedMultiplier
+
                         yaw = clamp(yaw, -180, 180)
-                        pitch = clamp(pitch, -45, 45)
+                        pitch = clamp(pitch, -90, 45)
+                        pitch_angle = clamp(pitch_angle, -90, 45)
+
                         //console.info("P: " + pitch + "; Y: " + yaw)
                         activeVehicle.gimbalControlValue(pitch, yaw);
                         gimbalControl._currentYaw = yaw
@@ -572,7 +575,7 @@ Item {
                         gimbalControl.time_last_seconds = time_current_seconds
                     } else {
                         yaw += stick.xAxis * gimbalControl.speedMultiplier
-                        var hackedYaw = yaw + (stick.xAxis * gimbalControl.speedMultiplier * 25)
+                        var hackedYaw = yaw + (stick.xAxis * gimbalControl.speedMultiplier * 50)
                         pitch += pitch_stick * gimbalControl.speedMultiplier
                         hackedYaw = clamp(hackedYaw, -180, 180)
                         yaw = clamp(yaw, -180, 180)