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Merge pull request #7628 from mavlink/customQuickThermal 

Quick access to thermal modes
QGC4.4
Gus Grubba 6 years ago committed by GitHub
parent
3ee40d01bb 27b0db4e6a
commit
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GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 376 additions and 248 deletions
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  1. 4
      custom-example/custom.qrc
  2. 487
      custom-example/res/CustomCameraControl.qml
  3. 5
      custom-example/res/CustomFlyView.qml
  4. 19
      custom-example/res/Images/thermal-brightness.svg
  5. 17
      custom-example/res/Images/thermal-palette.svg
  6. 11
      custom-example/res/Images/thermal-pip.svg
  7. 9
      custom-example/res/Images/thermal-standard.svg
  8. 4
      custom-example/src/CustomPlugin.cc
  9. 40
      custom-example/src/FirmwarePlugin/CustomCameraControl.cc
  10. 28
      custom-example/src/FirmwarePlugin/CustomCameraControl.h

4
custom-example/custom.qrc
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@ -27,6 +27,10 @@ @@ -27,6 +27,10 @@
<file alias="horizontal_speed.svg">res/Images/horizontal_speed.svg</file>
<file alias="microSD.svg">res/Images/microSD.svg</file>
<file alias="odometer.svg">res/Images/odometer.svg</file>
<file alias="thermal-brightness.svg">res/images/thermal-brightness.svg</file>
<file alias="thermal-palette.svg">res/images/thermal-palette.svg</file>
<file alias="thermal-pip.svg">res/images/thermal-pip.svg</file>
<file alias="thermal-standard.svg">res/images/thermal-standard.svg</file>
<file alias="vertical_speed.svg">res/Images/vertical_speed.svg</file>
<file alias="void.png">res/Images/void.png</file>
</qresource>

487
custom-example/res/CustomCameraControl.qml
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@ -30,11 +30,14 @@ import CustomQuickInterface 1.0 @@ -30,11 +30,14 @@ import CustomQuickInterface 1.0
import Custom.Widgets 1.0
Item {
height: cameraRect.height
width: cameraRect.width + (ScreenTools.defaultFontPixelWidth * 2)
height: mainColumn.height
width: mainColumn.width + (ScreenTools.defaultFontPixelWidth * 2)
visible: !QGroundControl.videoManager.fullScreen
readonly property string _commLostStr: qsTr("NO CAMERA")
readonly property string _commLostStr: qsTr("NO CAMERA")
readonly property real buttonSize: ScreenTools.defaultFontPixelWidth * 4
readonly property real buttonRadius: ScreenTools.defaultFontPixelWidth * 0.5
readonly property real iconRatio: 0.666
property real _spacers: ScreenTools.defaultFontPixelHeight
property real _labelFieldWidth: ScreenTools.defaultFontPixelWidth * 28
@ -56,6 +59,8 @@ Item { @@ -56,6 +59,8 @@ Item {
property bool _recordingVideo: _cameraVideoMode && _camera.videoStatus === QGCCameraControl.VIDEO_CAPTURE_STATUS_RUNNING
property bool _settingsEnabled: !_communicationLost && _camera && _camera.cameraMode !== QGCCameraControl.CAM_MODE_UNDEFINED && _camera.photoStatus === QGCCameraControl.PHOTO_CAPTURE_IDLE && !_recordingVideo
property bool _hasZoom: _camera && _camera.hasZoom
property Fact _evFact: _camera ? _camera.ev : null
property Fact _irPaletteFact: _camera ? _camera.irPalette : null
Connections {
target: QGroundControl.multiVehicleManager.activeVehicle
@ -70,234 +75,348 @@ Item { @@ -70,234 +75,348 @@ Item {
anchors.fill: parent
}
Rectangle {
id: cameraRect
height: cameraCol.height
width: cameraCol.width + (ScreenTools.defaultFontPixelWidth * 4)
color: qgcPal.windowShade
radius: ScreenTools.defaultFontPixelWidth * 0.5
Column {
id: cameraCol
spacing: _spacers
anchors.centerIn: parent
Item {
height: 1
width: 1
}
//-----------------------------------------------------------------
//-- Camera Name
QGCLabel {
text: activeVehicle ? (_camera && _camera.modelName !== "" ? _camera.modelName : _commLostStr) : _commLostStr
font.pointSize: ScreenTools.smallFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
//-------------------------------------------------------------------------
//-- Main Column
Column {
id: mainColumn
spacing: ScreenTools.defaultFontPixelHeight
anchors.centerIn: parent
//---------------------------------------------------------------------
//-- Quick Thermal Modes
Rectangle {
id: backgroundRect
width: buttonsRow.width + (ScreenTools.defaultFontPixelWidth * 4)
height: buttonsRow.height + (ScreenTools.defaultFontPixelHeight)
color: qgcPal.windowShade
radius: height * 0.5
visible: _camera && _camera.modelName === "DSC-QX30" && QGroundControl.videoManager.hasThermal
anchors.horizontalCenter: parent.horizontalCenter
ButtonGroup {
id: buttonGroup
exclusive: true
buttons: buttonsRow.children
}
//-----------------------------------------------------------------
//-- Camera Mode
Item {
width: modeCol.width
height: modeCol.height
anchors.horizontalCenter: parent.horizontalCenter
Column {
id: modeCol
spacing: _spacers * 0.5
Row {
id: buttonsRow
spacing: ScreenTools.defaultFontPixelWidth * 0.25
anchors.centerIn: parent
//-- Standard
QGCHoverButton {
width: buttonSize
height: width
checkable: true
radius: buttonRadius
onClicked: {
_camera.thermalMode = QGCCameraControl.THERMAL_OFF
//-- Restore EV to 0
if(_evFact) {
_evFact.value = 6
}
}
QGCColoredImage {
height: ScreenTools.defaultFontPixelHeight * 1.25
width: height
source: (_cameraModeUndefined || _cameraPhotoMode) ? "/custom/img/camera_photo.svg" : "/custom/img/camera_video.svg"
color: qgcPal.text
fillMode: Image.PreserveAspectFit
source: "/custom/img/thermal-standard.svg"
color: parent.checked ? qgcPal.buttonHighlightText : qgcPal.buttonText
width: parent.width * iconRatio
height: width
anchors.centerIn: parent
sourceSize.height: height
anchors.horizontalCenter: parent.horizontalCenter
}
QGCLabel {
text: _cameraVideoMode ? qsTr("Video") : qsTr("Photo")
font.pointSize: ScreenTools.smallFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
}
MouseArea {
anchors.fill: parent
enabled: !_cameraModeUndefined && _camera && _camera.videoStatus !== QGCCameraControl.VIDEO_CAPTURE_STATUS_RUNNING && _cameraPhotoIdle
onClicked: {
_camera.toggleMode()
//-- PIP
QGCHoverButton {
width: buttonSize
height: width
checkable: true
radius: buttonRadius
onClicked: _camera.thermalMode = QGCCameraControl.THERMAL_PIP
QGCColoredImage {
source: "/custom/img/thermal-pip.svg"
color: parent.checked ? qgcPal.buttonHighlightText : qgcPal.buttonText
width: parent.width * iconRatio
height: width
anchors.centerIn: parent
sourceSize.height: height
}
}
}
//-----------------------------------------------------------------
//-- Shutter
Rectangle {
color: Qt.rgba(0,0,0,0)
width: height
height: ScreenTools.defaultFontPixelHeight * 4
radius: width * 0.5
border.color: qgcPal.buttonText
border.width: 2
anchors.horizontalCenter: parent.horizontalCenter
Rectangle {
width: parent.width * 0.75
// Visual with high brightness
QGCHoverButton {
width: buttonSize
height: width
radius: width * 0.5
color: _cameraModeUndefined ? qgcPal.colorGrey : ( _cameraVideoMode ? qgcPal.colorRed : qgcPal.text )
visible: !pauseVideo.visible
anchors.centerIn: parent
checkable: true
radius: buttonRadius
onClicked: {
_camera.thermalMode = QGCCameraControl.THERMAL_OFF
//-- Set EV to +1.3
if(_evFact) {
_evFact.value = 10
}
}
QGCColoredImage {
id: busyIndicator
height: parent.height * 0.75
width: height
source: "/qmlimages/MapSync.svg"
source: "/custom/img/thermal-brightness.svg"
color: parent.checked ? qgcPal.buttonHighlightText : qgcPal.buttonText
width: parent.width * iconRatio
height: width
anchors.centerIn: parent
sourceSize.height: height
fillMode: Image.PreserveAspectFit
mipmap: true
smooth: true
color: qgcPal.windowShade
visible: {
if(_cameraPhotoMode && !_cameraPhotoIdle && !_cameraElapsedMode) {
return true
}
}
// Thermal with color-map
QGCHoverButton {
width: buttonSize
height: width
checkable: true
radius: buttonRadius
onClicked: {
if(_irPaletteFact) {
var entryIdx = _irPaletteFact.enumStrings.find("Rainbow")
if(entryIdx !== undefined) {
_irPaletteFact.value = entryIdx;
}
return false
_camera.thermalMode = QGCCameraControl.THERMAL_FULL
}
}
QGCColoredImage {
source: "/custom/img/thermal-palette.svg"
color: parent.checked ? qgcPal.buttonHighlightText : qgcPal.buttonText
width: parent.width * iconRatio
height: width
anchors.centerIn: parent
RotationAnimation on rotation {
loops: Animation.Infinite
from: 360
to: 0
duration: 740
running: busyIndicator.visible
sourceSize.height: height
}
}
}
}
//---------------------------------------------------------------------
//-- Main Camera Control
Rectangle {
id: cameraRect
height: cameraCol.height
width: cameraCol.width + (ScreenTools.defaultFontPixelWidth * 4)
color: qgcPal.windowShade
radius: ScreenTools.defaultFontPixelWidth * 0.5
anchors.horizontalCenter: parent.horizontalCenter
Column {
id: cameraCol
spacing: _spacers
anchors.centerIn: parent
Item {
height: 1
width: 1
}
//-----------------------------------------------------------------
//-- Camera Name
QGCLabel {
text: activeVehicle ? (_camera && _camera.modelName !== "" ? _camera.modelName : _commLostStr) : _commLostStr
font.pointSize: ScreenTools.smallFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
//-----------------------------------------------------------------
//-- Camera Mode
Item {
width: modeCol.width
height: modeCol.height
anchors.horizontalCenter: parent.horizontalCenter
Column {
id: modeCol
spacing: _spacers * 0.5
QGCColoredImage {
height: ScreenTools.defaultFontPixelHeight * 1.25
width: height
source: (_cameraModeUndefined || _cameraPhotoMode) ? "/custom/img/camera_photo.svg" : "/custom/img/camera_video.svg"
color: qgcPal.text
fillMode: Image.PreserveAspectFit
sourceSize.height: height
anchors.horizontalCenter: parent.horizontalCenter
}
QGCLabel {
text: _cameraVideoMode ? qsTr("Video") : qsTr("Photo")
font.pointSize: ScreenTools.smallFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
}
QGCLabel {
text: _camera ? _camera.photoLapse.toFixed(0) + 's' : qsTr('N/A')
font.family: ScreenTools.demiboldFontFamily
color: qgcPal.colorBlue
visible: _cameraElapsedMode
anchors.centerIn: parent
MouseArea {
anchors.fill: parent
enabled: !_cameraModeUndefined && _camera && _camera.videoStatus !== QGCCameraControl.VIDEO_CAPTURE_STATUS_RUNNING && _cameraPhotoIdle
onClicked: {
_camera.toggleMode()
}
}
}
//-----------------------------------------------------------------
//-- Shutter
Rectangle {
id: pauseVideo
width: parent.width * 0.5
height: width
color: _cameraModeUndefined ? qgcPal.colorGrey : qgcPal.colorRed
visible: {
if(_cameraVideoMode && _camera.videoStatus === QGCCameraControl.VIDEO_CAPTURE_STATUS_RUNNING) {
return true
}
if(_cameraPhotoMode) {
if(_camera.photoStatus === QGCCameraControl.PHOTO_CAPTURE_INTERVAL_IDLE || _camera.photoStatus === QGCCameraControl.PHOTO_CAPTURE_INTERVAL_IN_PROGRESS) {
color: Qt.rgba(0,0,0,0)
width: height
height: ScreenTools.defaultFontPixelHeight * 4
radius: width * 0.5
border.color: qgcPal.buttonText
border.width: 2
anchors.horizontalCenter: parent.horizontalCenter
Rectangle {
width: parent.width * 0.75
height: width
radius: width * 0.5
color: _cameraModeUndefined ? qgcPal.colorGrey : ( _cameraVideoMode ? qgcPal.colorRed : qgcPal.text )
visible: !pauseVideo.visible
anchors.centerIn: parent
QGCColoredImage {
id: busyIndicator
height: parent.height * 0.75
width: height
source: "/qmlimages/MapSync.svg"
sourceSize.height: height
fillMode: Image.PreserveAspectFit
mipmap: true
smooth: true
color: qgcPal.windowShade
visible: {
if(_cameraPhotoMode && !_cameraPhotoIdle && !_cameraElapsedMode) {
return true
}
return false
}
anchors.centerIn: parent
RotationAnimation on rotation {
loops: Animation.Infinite
from: 360
to: 0
duration: 740
running: busyIndicator.visible
}
}
QGCLabel {
text: _camera ? _camera.photoLapse.toFixed(0) + 's' : qsTr('N/A')
font.family: ScreenTools.demiboldFontFamily
color: qgcPal.colorBlue
visible: _cameraElapsedMode
anchors.centerIn: parent
}
}
Rectangle {
id: pauseVideo
width: parent.width * 0.5
height: width
color: _cameraModeUndefined ? qgcPal.colorGrey : qgcPal.colorRed
visible: {
if(_cameraVideoMode && _camera.videoStatus === QGCCameraControl.VIDEO_CAPTURE_STATUS_RUNNING) {
return true
}
}
return false
if(_cameraPhotoMode) {
if(_camera.photoStatus === QGCCameraControl.PHOTO_CAPTURE_INTERVAL_IDLE || _camera.photoStatus === QGCCameraControl.PHOTO_CAPTURE_INTERVAL_IN_PROGRESS) {
return true
}
}
return false
}
anchors.centerIn: parent
}
anchors.centerIn: parent
}
MouseArea {
anchors.fill: parent
enabled: !_noSdCard
onClicked: {
if(_cameraVideoMode) {
if(_camera.videoStatus === QGCCameraControl.VIDEO_CAPTURE_STATUS_RUNNING) {
_camera.stopVideo()
} else {
if(!_fullSD) {
_camera.startVideo()
MouseArea {
anchors.fill: parent
enabled: !_noSdCard
onClicked: {
if(_cameraVideoMode) {
if(_camera.videoStatus === QGCCameraControl.VIDEO_CAPTURE_STATUS_RUNNING) {
_camera.stopVideo()
} else {
if(!_fullSD) {
_camera.startVideo()
}
}
}
} else {
if(_camera.photoStatus === QGCCameraControl.PHOTO_CAPTURE_INTERVAL_IDLE || _camera.photoStatus === QGCCameraControl.PHOTO_CAPTURE_INTERVAL_IN_PROGRESS) {
_camera.stopTakePhoto()
} else {
if(!_fullSD) {
_camera.takePhoto()
if(_camera.photoStatus === QGCCameraControl.PHOTO_CAPTURE_INTERVAL_IDLE || _camera.photoStatus === QGCCameraControl.PHOTO_CAPTURE_INTERVAL_IN_PROGRESS) {
_camera.stopTakePhoto()
} else {
if(!_fullSD) {
_camera.takePhoto()
}
}
}
}
}
}
}
//-----------------------------------------------------------------
//-- Settings
Item {
width: settingsCol.width
height: settingsCol.height
anchors.horizontalCenter: parent.horizontalCenter
Column {
id: settingsCol
spacing: _spacers * 0.5
//-----------------------------------------------------------------
//-- Settings
Item {
width: settingsCol.width
height: settingsCol.height
anchors.horizontalCenter: parent.horizontalCenter
Column {
id: settingsCol
spacing: _spacers * 0.5
anchors.horizontalCenter: parent.horizontalCenter
QGCColoredImage {
width: ScreenTools.defaultFontPixelHeight * 1.25
height: width
sourceSize.width: width
source: "qrc:/custom/img/camera_settings.svg"
color: qgcPal.text
fillMode: Image.PreserveAspectFit
opacity: _settingsEnabled ? 1 : 0.5
anchors.horizontalCenter: parent.horizontalCenter
}
QGCLabel {
text: qsTr("Settings")
font.pointSize: ScreenTools.smallFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
}
MouseArea {
anchors.fill: parent
enabled: _settingsEnabled
onClicked: {
cameraSettings.open()
}
}
}
//-----------------------------------------------------------------
//-- microSD Card
Column {
spacing: _spacers * 0.5
anchors.horizontalCenter: parent.horizontalCenter
QGCColoredImage {
width: ScreenTools.defaultFontPixelHeight * 1.25
height: width
sourceSize.width: width
source: "qrc:/custom/img/camera_settings.svg"
source: "qrc:/custom/img/microSD.svg"
color: qgcPal.text
fillMode: Image.PreserveAspectFit
opacity: _settingsEnabled ? 1 : 0.5
anchors.horizontalCenter: parent.horizontalCenter
}
QGCLabel {
text: qsTr("Settings")
font.pointSize: ScreenTools.smallFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
}
MouseArea {
anchors.fill: parent
enabled: _settingsEnabled
onClicked: {
cameraSettings.open()
text: {
if(_noSdCard) return qsTr("NONE")
if(_fullSD) return qsTr("FULL")
return _camera ? _camera.storageFreeStr : ""
}
color: (_noSdCard || _fullSD) ? qgcPal.colorOrange : qgcPal.text
font.pointSize: ScreenTools.smallFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
}
}
//-----------------------------------------------------------------
//-- microSD Card
Column {
spacing: _spacers * 0.5
anchors.horizontalCenter: parent.horizontalCenter
QGCColoredImage {
width: ScreenTools.defaultFontPixelHeight * 1.25
height: width
sourceSize.width: width
source: "qrc:/custom/img/microSD.svg"
color: qgcPal.text
fillMode: Image.PreserveAspectFit
opacity: _settingsEnabled ? 1 : 0.5
anchors.horizontalCenter: parent.horizontalCenter
/*
//-----------------------------------------------------------------
//-- Recording Time / Images Captured
CustomLabel {
text: (_cameraVideoMode && _camera.videoStatus === QGCCameraControl.VIDEO_CAPTURE_STATUS_RUNNING) ? _camera.recordTimeStr : "00:00:00"
visible: _cameraVideoMode
pointSize: ScreenTools.smallFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
QGCLabel {
text: {
if(_noSdCard) return qsTr("NONE")
if(_fullSD) return qsTr("FULL")
return _camera ? _camera.storageFreeStr : ""
}
color: (_noSdCard || _fullSD) ? qgcPal.colorOrange : qgcPal.text
font.pointSize: ScreenTools.smallFontPointSize
CustomLabel {
text: activeVehicle && _cameraPhotoMode ? ('00000' + activeVehicle.cameraTriggerPoints.count).slice(-5) : "00000"
visible: _cameraPhotoMode
pointSize: ScreenTools.smallFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
}
/*
//-----------------------------------------------------------------
//-- Recording Time / Images Captured
CustomLabel {
text: (_cameraVideoMode && _camera.videoStatus === QGCCameraControl.VIDEO_CAPTURE_STATUS_RUNNING) ? _camera.recordTimeStr : "00:00:00"
visible: _cameraVideoMode
pointSize: ScreenTools.smallFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
CustomLabel {
text: activeVehicle && _cameraPhotoMode ? ('00000' + activeVehicle.cameraTriggerPoints.count).slice(-5) : "00000"
visible: _cameraPhotoMode
pointSize: ScreenTools.smallFontPointSize
anchors.horizontalCenter: parent.horizontalCenter
}
*/
Item {
height: 1
width: 1
*/
Item {
height: 1
width: 1
}
}
}
}
//-------------------------------------------------------------------------
//-- Camera Settings
Popup {

5
custom-example/res/CustomFlyView.qml
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@ -512,10 +512,9 @@ Item { @@ -512,10 +512,9 @@ Item {
Item {
id: gimbalControl
visible: camControlLoader.visible && CustomQuickInterface.showGimbalControl
anchors.top: camControlLoader.bottom
anchors.topMargin: height * -0.5
anchors.bottom: camControlLoader.bottom
anchors.right: camControlLoader.left
anchors.rightMargin: ScreenTools.defaultFontPixelWidth * 2
anchors.rightMargin: ScreenTools.defaultFontPixelWidth * (QGroundControl.videoManager.hasThermal ? -4 : 2)
height: parent.width * 0.125
width: height
property real curPitch: 0

19
custom-example/res/Images/thermal-brightness.svg
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@ -0,0 +1,19 @@ @@ -0,0 +1,19 @@
<?xml version="1.0" encoding="utf-8"?>
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viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
<style type="text/css">
.st0{fill:#FFFFFF;}
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<g>
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17
custom-example/res/Images/thermal-palette.svg
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11
custom-example/res/Images/thermal-pip.svg
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viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
<style type="text/css">
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9
custom-example/res/Images/thermal-standard.svg
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@ -0,0 +1,9 @@ @@ -0,0 +1,9 @@
<?xml version="1.0" encoding="utf-8"?>
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viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
<style type="text/css">
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4
custom-example/src/CustomPlugin.cc
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@ -395,8 +395,8 @@ CustomPlugin::paletteOverride(QString colorName, QGCPalette::PaletteColorInfo_t& @@ -395,8 +395,8 @@ CustomPlugin::paletteOverride(QString colorName, QGCPalette::PaletteColorInfo_t&
colorInfo[QGCPalette::Light][QGCPalette::ColorGroupDisabled] = QColor("#585858");
}
else if (colorName == QStringLiteral("hoverColor")) {
colorInfo[QGCPalette::Dark][QGCPalette::ColorGroupEnabled] = QColor("#E7D8AE");
colorInfo[QGCPalette::Dark][QGCPalette::ColorGroupDisabled] = QColor("#E7D8AE");
colorInfo[QGCPalette::Dark][QGCPalette::ColorGroupEnabled] = QColor("#746D59");
colorInfo[QGCPalette::Dark][QGCPalette::ColorGroupDisabled] = QColor("#746D59");
colorInfo[QGCPalette::Light][QGCPalette::ColorGroupEnabled] = QColor("#464f5a");
colorInfo[QGCPalette::Light][QGCPalette::ColorGroupDisabled] = QColor("#464f5a");
}

40
custom-example/src/FirmwarePlugin/CustomCameraControl.cc
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@ -17,11 +17,12 @@ @@ -17,11 +17,12 @@
QGC_LOGGING_CATEGORY(CustomCameraLog, "CustomCameraLog")
QGC_LOGGING_CATEGORY(CustomCameraVerboseLog, "CustomCameraVerboseLog")
static const char* kCAM_IRPALETTE = "CAM_IRPALETTE";
//-----------------------------------------------------------------------------
CustomCameraControl::CustomCameraControl(const mavlink_camera_information_t *info, Vehicle* vehicle, int compID, QObject* parent)
: QGCCameraControl(info, vehicle, compID, parent)
{
connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &CustomCameraControl::_mavlinkMessageReceived);
}
//-----------------------------------------------------------------------------
@ -94,42 +95,15 @@ CustomCameraControl::_setVideoStatus(VideoStatus status) @@ -94,42 +95,15 @@ CustomCameraControl::_setVideoStatus(VideoStatus status)
//-----------------------------------------------------------------------------
void
CustomCameraControl::_mavlinkMessageReceived(const mavlink_message_t& message)
CustomCameraControl::handleCaptureStatus(const mavlink_camera_capture_status_t& cap)
{
switch (message.msgid) {
case MAVLINK_MSG_ID_MOUNT_ORIENTATION:
_handleGimbalOrientation(message);
break;
}
QGCCameraControl::handleCaptureStatus(cap);
}
//-----------------------------------------------------------------------------
void
CustomCameraControl::_handleGimbalOrientation(const mavlink_message_t& message)
Fact*
CustomCameraControl::irPalette()
{
mavlink_mount_orientation_t o;
mavlink_msg_mount_orientation_decode(&message, &o);
if(fabsf(_gimbalRoll - o.roll) > 0.5f) {
_gimbalRoll = o.roll;
emit gimbalRollChanged();
}
if(fabsf(_gimbalPitch - o.pitch) > 0.5f) {
_gimbalPitch = o.pitch;
emit gimbalPitchChanged();
}
if(fabsf(_gimbalYaw - o.yaw) > 0.5f) {
_gimbalYaw = o.yaw;
emit gimbalYawChanged();
}
if(!_gimbalData) {
_gimbalData = true;
emit gimbalDataChanged();
}
return (_paramComplete && _activeSettings.contains(kCAM_IRPALETTE)) ? getFact(kCAM_IRPALETTE) : nullptr;
}
//-----------------------------------------------------------------------------
void
CustomCameraControl::handleCaptureStatus(const mavlink_camera_capture_status_t& cap)
{
QGCCameraControl::handleCaptureStatus(cap);
}

28
custom-example/src/FirmwarePlugin/CustomCameraControl.h
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@ -28,11 +28,9 @@ class CustomCameraControl : public QGCCameraControl @@ -28,11 +28,9 @@ class CustomCameraControl : public QGCCameraControl
public:
CustomCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = nullptr);
Q_PROPERTY(qreal gimbalRoll READ gimbalRoll NOTIFY gimbalRollChanged)
Q_PROPERTY(qreal gimbalPitch READ gimbalPitch NOTIFY gimbalPitchChanged)
Q_PROPERTY(qreal gimbalYaw READ gimbalYaw NOTIFY gimbalYawChanged)
Q_PROPERTY(bool gimbalData READ gimbalData NOTIFY gimbalDataChanged)
Q_PROPERTY(Fact* irPalette READ irPalette NOTIFY parametersReady)
Fact* irPalette ();
bool takePhoto () override;
bool stopTakePhoto () override;
bool startVideo () override;
@ -41,29 +39,7 @@ public: @@ -41,29 +39,7 @@ public:
void setPhotoMode () override;
void handleCaptureStatus (const mavlink_camera_capture_status_t& capStatus) override;
qreal gimbalRoll () { return static_cast<qreal>(_gimbalRoll);}
qreal gimbalPitch () { return static_cast<qreal>(_gimbalPitch); }
qreal gimbalYaw () { return static_cast<qreal>(_gimbalYaw); }
bool gimbalData () { return _gimbalData; }
private slots:
void _mavlinkMessageReceived (const mavlink_message_t& message);
signals:
void gimbalRollChanged ();
void gimbalPitchChanged ();
void gimbalYawChanged ();
void gimbalDataChanged ();
protected:
void _setVideoStatus (VideoStatus status) override;
private:
void _handleGimbalOrientation(const mavlink_message_t& message);
private:
float _gimbalRoll = 0.0;
float _gimbalPitch = 0.0;
float _gimbalYaw = 0.0;
bool _gimbalData = false;
};

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