Add camera tracking functionality

qgcimages.qrc

@@ -185,6 +185,7 @@
         <file alias="subMenuButtonImage.png">resources/CogWheels.png</file>
         <file alias="subVehicleArrowOpaque.png">src/FlightMap/Images/sub.png</file>
         <file alias="TelemRSSI.svg">src/ui/toolbar/Images/TelemRSSI.svg</file>
+        <file alias="TrackingIcon.svg">src/ui/toolbar/Images/TrackingIcon.svg</file>
         <file alias="TuningComponentIcon.png">src/AutoPilotPlugins/Common/Images/TuningComponentIcon.png</file>
         <file alias="vehicleArrowOpaque.svg">src/FlightMap/Images/vehicleArrowOpaque.svg</file>
         <file alias="vehicleArrowOutline.svg">src/FlightMap/Images/vehicleArrowOutline.svg</file>

src/Camera/QGCCameraControl.cc

@@ -187,6 +187,15 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
     _recTimer.setSingleShot(false);
     _recTimer.setInterval(333);
     connect(&_recTimer, &QTimer::timeout, this, &QGCCameraControl::_recTimerHandler);
+    //-- Tracking
+    if(_info.flags & CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE) {
+        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus | TRACKING_RECTANGLE);
+        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus | TRACKING_SUPPORTED);
+    }
+    if(_info.flags & CAMERA_CAP_FLAGS_HAS_TRACKING_POINT) {
+        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus | TRACKING_POINT);
+        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus | TRACKING_SUPPORTED);
+    }
 }
 
 //-----------------------------------------------------------------------------
@@ -1614,6 +1623,45 @@ QGCCameraControl::handleVideoStatus(const mavlink_video_stream_status_t* vs)
 
 //-----------------------------------------------------------------------------
 void
+QGCCameraControl::handleTrackingImageStatus(const mavlink_camera_tracking_image_status_t *tis)
+{
+    if (tis) {
+        _trackingImageStatus = *tis;
+
+        if (_trackingImageStatus.tracking_status == 0 || !trackingEnabled()) {
+            _trackingImageRect = {};
+            qCDebug(CameraControlLog) << "Tracking off";
+        } else {
+            if (_trackingImageStatus.tracking_mode == 2) {
+                _trackingImageRect = QRectF(QPointF(_trackingImageStatus.rec_top_x, _trackingImageStatus.rec_top_y),
+                                            QPointF(_trackingImageStatus.rec_bottom_x, _trackingImageStatus.rec_bottom_y));
+            } else {
+                float r = _trackingImageStatus.radius;
+                if (qIsNaN(r) || r <= 0 ) {
+                    r = 0.05f;
+                }
+                // Bottom is NAN so that we can draw perfect square using video aspect ratio
+                _trackingImageRect = QRectF(QPointF(_trackingImageStatus.point_x - r, _trackingImageStatus.point_y - r),
+                                            QPointF(_trackingImageStatus.point_x + r, NAN));
+            }
+            // get rectangle into [0..1] boundaries
+            _trackingImageRect.setLeft(std::min(std::max(_trackingImageRect.left(), 0.0), 1.0));
+            _trackingImageRect.setTop(std::min(std::max(_trackingImageRect.top(), 0.0), 1.0));
+            _trackingImageRect.setRight(std::min(std::max(_trackingImageRect.right(), 0.0), 1.0));
+            _trackingImageRect.setBottom(std::min(std::max(_trackingImageRect.bottom(), 0.0), 1.0));
+
+            qCDebug(CameraControlLog) << "Tracking Image Status [left:" << _trackingImageRect.left()
+                                      << "top:" << _trackingImageRect.top()
+                                      << "right:" << _trackingImageRect.right()
+                                      << "bottom:" << _trackingImageRect.bottom() << "]";
+        }
+
+        emit trackingImageStatusChanged();
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
 QGCCameraControl::setCurrentStream(int stream)
 {
     if(stream != _currentStream && stream >= 0 && stream < _streamLabels.count()) {
@@ -2275,3 +2323,93 @@ QGCVideoStreamInfo::update(const mavlink_video_stream_status_t* vs)
     }
     return changed;
 }
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraControl::setTrackingEnabled(bool set)
+{
+    if(set) {
+        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus | TRACKING_ENABLED);
+    } else {
+        _trackingStatus = static_cast<TrackingStatus>(_trackingStatus & ~TRACKING_ENABLED);
+    }
+    emit trackingEnabledChanged();
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraControl::startTracking(QRectF rec)
+{
+    if(_trackingMarquee != rec) {
+        _trackingMarquee = rec;
+
+        qCDebug(CameraControlLog) << "Start Tracking (Rectangle: ["
+                                  << static_cast<float>(rec.x()) << ", "
+                                  << static_cast<float>(rec.y()) << "] - ["
+                                  << static_cast<float>(rec.x() + rec.width()) << ", "
+                                  << static_cast<float>(rec.y() + rec.height()) << "]";
+
+        _vehicle->sendMavCommand(_compID,
+                                 MAV_CMD_CAMERA_TRACK_RECTANGLE,
+                                 true,
+                                 static_cast<float>(rec.x()),
+                                 static_cast<float>(rec.y()),
+                                 static_cast<float>(rec.x() + rec.width()),
+                                 static_cast<float>(rec.y() + rec.height()));
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraControl::startTracking(QPointF point, double radius)
+{
+    if(_trackingPoint != point || _trackingRadius != radius) {
+        _trackingPoint  = point;
+        _trackingRadius = radius;
+
+        qCDebug(CameraControlLog) << "Start Tracking (Point: ["
+                                  << static_cast<float>(point.x()) << ", "
+                                  << static_cast<float>(point.y()) << "], Radius:  "
+                                  << static_cast<float>(radius);
+
+        _vehicle->sendMavCommand(_compID,
+                                 MAV_CMD_CAMERA_TRACK_POINT,
+                                 true,
+                                 static_cast<float>(point.x()),
+                                 static_cast<float>(point.y()),
+                                 static_cast<float>(radius));
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraControl::stopTracking()
+{
+    qCDebug(CameraControlLog) << "Stop Tracking";
+
+    //-- Stop Tracking
+    _vehicle->sendMavCommand(_compID,
+                             MAV_CMD_CAMERA_STOP_TRACKING,
+                             true);
+
+    //-- Stop Sending Tracking Status
+    _vehicle->sendMavCommand(_compID,
+                             MAV_CMD_SET_MESSAGE_INTERVAL,
+                             true,
+                             MAVLINK_MSG_ID_CAMERA_TRACKING_IMAGE_STATUS,
+                             -1);
+
+    // reset tracking image rectangle
+    _trackingImageRect = {};
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraControl::_requestTrackingStatus()
+{
+    _vehicle->sendMavCommand(_compID,
+                             MAV_CMD_SET_MESSAGE_INTERVAL,
+                             true,
+                             MAVLINK_MSG_ID_CAMERA_TRACKING_IMAGE_STATUS,
+                             500000); // Interval (us)
+}

src/Camera/QGCCameraControl.h

@@ -138,12 +138,21 @@ public:
         THERMAL_PIP,
     };
 
+    enum TrackingStatus {
+        TRACKING_UNKNOWN        = 0,
+        TRACKING_SUPPORTED      = 1,
+        TRACKING_ENABLED        = 2,
+        TRACKING_RECTANGLE      = 4,
+        TRACKING_POINT          = 8
+    };
+
     Q_ENUM(CameraMode)
     Q_ENUM(VideoStatus)
     Q_ENUM(PhotoStatus)
     Q_ENUM(PhotoMode)
     Q_ENUM(StorageStatus)
     Q_ENUM(ThermalViewMode)
+    Q_ENUM(TrackingStatus)
 
     Q_PROPERTY(int          version             READ version            NOTIFY infoChanged)
     Q_PROPERTY(QString      modelName           READ modelName          NOTIFY infoChanged)
@@ -158,6 +167,7 @@ public:
     Q_PROPERTY(bool         hasZoom             READ hasZoom            NOTIFY infoChanged)
     Q_PROPERTY(bool         hasFocus            READ hasFocus           NOTIFY infoChanged)
     Q_PROPERTY(bool         hasVideoStream      READ hasVideoStream     NOTIFY infoChanged)
+    Q_PROPERTY(bool         hasTracking         READ hasTracking        NOTIFY infoChanged)
     Q_PROPERTY(bool         photosInVideoMode   READ photosInVideoMode  NOTIFY infoChanged)
     Q_PROPERTY(bool         videoInPhotoMode    READ videoInPhotoMode   NOTIFY infoChanged)
     Q_PROPERTY(bool         isBasic             READ isBasic            NOTIFY infoChanged)
@@ -197,6 +207,10 @@ public:
     Q_PROPERTY(QStringList  streamLabels        READ streamLabels                                   NOTIFY streamLabelsChanged)
     Q_PROPERTY(ThermalViewMode thermalMode      READ thermalMode        WRITE  setThermalMode       NOTIFY thermalModeChanged)
     Q_PROPERTY(double       thermalOpacity      READ thermalOpacity     WRITE  setThermalOpacity    NOTIFY thermalOpacityChanged)
+    Q_PROPERTY(bool         trackingEnabled     READ trackingEnabled    WRITE setTrackingEnabled    NOTIFY trackingEnabledChanged)
+    Q_PROPERTY(TrackingStatus trackingStatus    READ trackingStatus                                 CONSTANT)
+    Q_PROPERTY(bool         trackingImageStatus READ trackingImageStatus                            NOTIFY trackingImageStatusChanged)
+    Q_PROPERTY(QRectF       trackingImageRect   READ trackingImageRect                              NOTIFY trackingImageStatusChanged)
 
     Q_INVOKABLE virtual void setVideoMode   ();
     Q_INVOKABLE virtual void setPhotoMode   ();
@@ -213,6 +227,9 @@ public:
     Q_INVOKABLE virtual void stopZoom       ();
     Q_INVOKABLE virtual void stopStream     ();
     Q_INVOKABLE virtual void resumeStream   ();
+    Q_INVOKABLE virtual void startTracking  (QRectF rec);
+    Q_INVOKABLE virtual void startTracking  (QPointF point, double radius);
+    Q_INVOKABLE virtual void stopTracking   ();
 
     virtual int         version             () { return _version; }
     virtual QString     modelName           () { return _modelName; }
@@ -226,6 +243,7 @@ public:
     virtual bool        hasModes            () { return _info.flags & CAMERA_CAP_FLAGS_HAS_MODES; }
     virtual bool        hasZoom             () { return _info.flags & CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM; }
     virtual bool        hasFocus            () { return _info.flags & CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS; }
+    virtual bool        hasTracking         () { return _trackingStatus & TRACKING_SUPPORTED; }
     virtual bool        hasVideoStream      () { return _info.flags & CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM; }
     virtual bool        photosInVideoMode   () { return _info.flags & CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODE; }
     virtual bool        videoInPhotoMode    () { return _info.flags & CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODE; }
@@ -287,9 +305,18 @@ public:
     virtual void        handleParamValue    (const mavlink_param_ext_value_t& value);
     virtual void        handleStorageInfo   (const mavlink_storage_information_t& st);
     virtual void        handleBatteryStatus (const mavlink_battery_status_t& bs);
+    virtual void        handleTrackingImageStatus(const mavlink_camera_tracking_image_status_t *tis);
     virtual void        handleVideoInfo     (const mavlink_video_stream_information_t *vi);
     virtual void        handleVideoStatus   (const mavlink_video_stream_status_t *vs);
 
+    virtual bool        trackingEnabled     () { return _trackingStatus & TRACKING_ENABLED; }
+    virtual void        setTrackingEnabled  (bool set);
+
+    virtual TrackingStatus trackingStatus   () { return _trackingStatus; }
+
+    virtual bool trackingImageStatus() { return _trackingImageStatus.tracking_status == 1; }
+    virtual QRectF trackingImageRect() { return _trackingImageRect; }
+
     /// Notify controller a parameter has changed
     virtual void        factChanged         (Fact* pFact);
     /// Allow controller to modify or invalidate incoming parameter
@@ -328,6 +355,8 @@ signals:
     void    autoStreamChanged               ();
     void    recordTimeChanged               ();
     void    streamLabelsChanged             ();
+    void    trackingEnabledChanged          ();
+    void    trackingImageStatusChanged      ();
     void    thermalModeChanged              ();
     void    thermalOpacityChanged           ();
     void    storageStatusChanged            ();
@@ -338,6 +367,7 @@ protected:
     virtual void    _setCameraMode          (CameraMode mode);
     virtual void    _requestStreamInfo      (uint8_t streamID);
     virtual void    _requestStreamStatus    (uint8_t streamID);
+    virtual void    _requestTrackingStatus  ();
     virtual QGCVideoStreamInfo* _findStream (uint8_t streamID, bool report = true);
     virtual QGCVideoStreamInfo* _findStream (const QString name);
 
@@ -428,4 +458,10 @@ protected:
     QStringList                         _streamLabels;
     ThermalViewMode                     _thermalMode        = THERMAL_BLEND;
     double                              _thermalOpacity     = 85.0;
+    TrackingStatus                      _trackingStatus     = TRACKING_UNKNOWN;
+    QRectF                              _trackingMarquee;
+    QPointF                             _trackingPoint;
+    double                              _trackingRadius     = 0.0;
+    mavlink_camera_tracking_image_status_t         _trackingImageStatus;
+    QRectF                                         _trackingImageRect;
 };

src/Camera/QGCCameraManager.cc

@@ -101,6 +101,9 @@ QGCCameraManager::_mavlinkMessageReceived(const mavlink_message_t& message)
             case MAVLINK_MSG_ID_BATTERY_STATUS:
                 _handleBatteryStatus(message);
                 break;
+            case MAVLINK_MSG_ID_CAMERA_TRACKING_IMAGE_STATUS:
+                _handleTrackingImageStatus(message);
+                break;
         }
     }
 }
@@ -205,6 +208,7 @@ QGCCameraManager::_findCamera(int id)
 void
 QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
 {
+    qCDebug(CameraManagerLog) << "_handleCameraInfo";
     //-- Have we requested it?
     QString sCompID = QString::number(message.compid);
     if(_cameraInfoRequest.contains(sCompID) && !_cameraInfoRequest[sCompID]->infoReceived) {
@@ -371,6 +375,18 @@ QGCCameraManager::_handleBatteryStatus(const mavlink_message_t& message)
 
 //-----------------------------------------------------------------------------
 void
+QGCCameraManager::_handleTrackingImageStatus(const mavlink_message_t& message)
+{
+    QGCCameraControl* pCamera = _findCamera(message.compid);
+    if(pCamera) {
+        mavlink_camera_tracking_image_status_t tis;
+        mavlink_msg_camera_tracking_image_status_decode(&message, &tis);
+        pCamera->handleTrackingImageStatus(&tis);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
 QGCCameraManager::_requestCameraInfo(int compID)
 {
     qCDebug(CameraManagerLog) << "_requestCameraInfo(" << compID << ")";

src/Camera/QGCCameraManager.h

@@ -85,6 +85,7 @@ protected:
     virtual void    _handleVideoStreamInfo  (const mavlink_message_t& message);
     virtual void    _handleVideoStreamStatus(const mavlink_message_t& message);
     virtual void    _handleBatteryStatus    (const mavlink_message_t& message);
+    virtual void    _handleTrackingImageStatus(const mavlink_message_t& message);
 
 protected:
 

src/FlightDisplay/FlightDisplayViewVideo.qml

@@ -36,6 +36,13 @@ Item {
     property bool   _hasZoom:           _camera && _camera.hasZoom
     property int    _fitMode:           QGroundControl.settingsManager.videoSettings.videoFit.rawValue
 
+    function getWidth() {
+        return videoBackground.getWidth()
+    }
+    function getHeight() {
+        return videoBackground.getHeight()
+    }
+
     property double _thermalHeightFactor: 0.85 //-- TODO
 
         Image {
@@ -65,6 +72,7 @@ Item {
         }
 
     Rectangle {
+        id:             videoBackground
         anchors.fill:   parent
         color:          "black"
         visible:        QGroundControl.videoManager.decoding

src/FlightDisplay/FlyViewVideo.qml

@@ -18,6 +18,9 @@ Item {
     id:         _root
     visible:    QGroundControl.videoManager.hasVideo
 
+    property int    _track_rec_x:       0
+    property int    _track_rec_y:       0
+
     property Item pipState: videoPipState
     QGCPipState {
         id:         videoPipState
@@ -86,11 +89,149 @@ Item {
     }
 
     MouseArea {
-        id: flyViewVideoMouseArea
-        anchors.fill:       parent
-        enabled:            pipState.state === pipState.fullState
-        hoverEnabled: true
-        onDoubleClicked:    QGroundControl.videoManager.fullScreen = !QGroundControl.videoManager.fullScreen
+        id:                         flyViewVideoMouseArea
+        anchors.fill:               parent
+        enabled:                    pipState.state === pipState.fullState
+        hoverEnabled:               true
+
+        property double x0:         0
+        property double x1:         0
+        property double y0:         0
+        property double y1:         0
+        property double offset_x:   0
+        property double offset_y:   0
+        property double radius:     20
+        property var trackingROI:   null
+        property var trackingStatus: trackingStatusComponent.createObject(flyViewVideoMouseArea, {})
+
+        onDoubleClicked: QGroundControl.videoManager.fullScreen = !QGroundControl.videoManager.fullScreen
+
+        onPressed: {
+            _track_rec_x = mouse.x
+            _track_rec_y = mouse.y
+
+            //create a new rectangle at the wanted position
+            if(videoStreaming._camera) {
+                if (videoStreaming._camera.trackingEnabled) {
+                    trackingROI = trackingROIComponent.createObject(flyViewVideoMouseArea, {
+                        "x": mouse.x,
+                        "y": mouse.y
+                    });
+                }
+            }
+        }
+        onPositionChanged: {
+            //on move, update the width of rectangle
+            if (trackingROI !== null) {
+                if (mouse.x < trackingROI.x) {
+                    trackingROI.x = mouse.x
+                    trackingROI.width = Math.abs(mouse.x - _track_rec_x)
+                } else {
+                    trackingROI.width = Math.abs(mouse.x - trackingROI.x)
+                }
+                if (mouse.y < trackingROI.y) {
+                    trackingROI.y = mouse.y
+                    trackingROI.height = Math.abs(mouse.y - _track_rec_y)
+                } else {
+                    trackingROI.height = Math.abs(mouse.y - trackingROI.y)
+                }
+            }
+        }
+        onReleased: {
+            //if there is already a selection, delete it
+            if (trackingROI !== null) {
+                trackingROI.destroy();
+            }
+
+            if(videoStreaming._camera) {
+                if (videoStreaming._camera.trackingEnabled) {
+                    // order coordinates --> top/left and bottom/right
+                    x0 = Math.min(_track_rec_x, mouse.x)
+                    x1 = Math.max(_track_rec_x, mouse.x)
+                    y0 = Math.min(_track_rec_y, mouse.y)
+                    y1 = Math.max(_track_rec_y, mouse.y)
+
+                    //calculate offset between video stream rect and background (black stripes)
+                    offset_x = (parent.width - videoStreaming.getWidth()) / 2
+                    offset_y = (parent.height - videoStreaming.getHeight()) / 2
+
+                    //convert absolute coords in background to absolute video stream coords
+                    x0 = x0 - offset_x
+                    x1 = x1 - offset_x
+                    y0 = y0 - offset_y
+                    y1 = y1 - offset_y
+
+                    //convert absolute to relative coordinates and limit range to 0...1
+                    x0 = Math.max(Math.min(x0 / videoStreaming.getWidth(), 1.0), 0.0)
+                    x1 = Math.max(Math.min(x1 / videoStreaming.getWidth(), 1.0), 0.0)
+                    y0 = Math.max(Math.min(y0 / videoStreaming.getHeight(), 1.0), 0.0)
+                    y1 = Math.max(Math.min(y1 / videoStreaming.getHeight(), 1.0), 0.0)
+
+                    //use point message if rectangle is very small
+                    if (Math.abs(_track_rec_x - mouse.x) < 10 && Math.abs(_track_rec_y - mouse.y) < 10) {
+                        var pt  = Qt.point(x0, y0)
+                        videoStreaming._camera.startTracking(pt, radius / videoStreaming.getWidth())
+                    } else {
+                        var rec = Qt.rect(x0, y0, x1 - x0, y1 - y0)
+                        videoStreaming._camera.startTracking(rec)
+                    }
+                    _track_rec_x = 0
+                    _track_rec_y = 0
+                }
+            }
+        }
+
+        Component {
+            id: trackingROIComponent
+
+            Rectangle {
+                color:              Qt.rgba(0.1,0.85,0.1,0.25)
+                border.color:       "green"
+                border.width:       1
+            }
+        }
+
+        Component {
+            id: trackingStatusComponent
+
+            Rectangle {
+                color:              "transparent"
+                border.color:       "red"
+                border.width:       5
+                radius:             5
+            }
+        }
+
+        Timer {
+            id: trackingStatusTimer
+            interval:               50
+            repeat:                 true
+            running:                true
+            onTriggered: {
+                if (videoStreaming._camera) {
+                    if (videoStreaming._camera.trackingEnabled && videoStreaming._camera.trackingImageStatus) {
+                        var margin_hor = (parent.parent.width - videoStreaming.getWidth()) / 2
+                        var margin_ver = (parent.parent.height - videoStreaming.getHeight()) / 2
+                        var left = margin_hor + videoStreaming.getWidth() * videoStreaming._camera.trackingImageRect.left
+                        var top = margin_ver + videoStreaming.getHeight() * videoStreaming._camera.trackingImageRect.top
+                        var right = margin_hor + videoStreaming.getWidth() * videoStreaming._camera.trackingImageRect.right
+                        var bottom = margin_ver + !isNaN(videoStreaming._camera.trackingImageRect.bottom) ? videoStreaming.getHeight() * videoStreaming._camera.trackingImageRect.bottom : top + (right - left)
+                        var width = right - left
+                        var height = bottom - top
+
+                        flyViewVideoMouseArea.trackingStatus.x = left
+                        flyViewVideoMouseArea.trackingStatus.y = top
+                        flyViewVideoMouseArea.trackingStatus.width = width
+                        flyViewVideoMouseArea.trackingStatus.height = height
+                    } else {
+                        flyViewVideoMouseArea.trackingStatus.x = 0
+                        flyViewVideoMouseArea.trackingStatus.y = 0
+                        flyViewVideoMouseArea.trackingStatus.width = 0
+                        flyViewVideoMouseArea.trackingStatus.height = 0
+                    }
+                }
+            }
+        }
     }
 
     ProximityRadarVideoView{

src/FlightMap/Widgets/PhotoVideoControl.qml

@@ -284,6 +284,42 @@ Rectangle {
             }
         }
 
+        // Tracking button
+        Rectangle {
+            Layout.alignment:   Qt.AlignHCenter
+            color:              _mavlinkCamera && _mavlinkCamera.trackingEnabled ? qgcPal.colorRed : qgcPal.windowShadeLight
+            width:              ScreenTools.defaultFontPixelWidth * 6
+            height:             width
+            radius:             width * 0.5
+            border.color:       qgcPal.buttonText
+            border.width:       3
+            visible:            _mavlinkCamera && _mavlinkCamera.hasTracking
+            QGCColoredImage {
+                height:             parent.height * 0.5
+                width:              height
+                anchors.centerIn:   parent
+                source:             "/qmlimages/TrackingIcon.svg"
+                fillMode:           Image.PreserveAspectFit
+                sourceSize.height:  height
+                color:              qgcPal.text
+                MouseArea {
+                    anchors.fill:   parent
+                    onClicked: {
+                        _mavlinkCamera.trackingEnabled = !_mavlinkCamera.trackingEnabled;
+                        if(!_mavlinkCamera.trackingEnabled) {
+                            !_mavlinkCamera.stopTracking()
+                        }
+                    }
+                }
+            }
+        }
+        QGCLabel {
+            Layout.alignment:   Qt.AlignHCenter
+            text:               qsTr("Camera Tracking")
+            font.pointSize:     ScreenTools.defaultFontPointSize
+            visible:            _mavlinkCamera && _mavlinkCamera.hasTracking
+        }
+
         //-- Status Information
         ColumnLayout {
             Layout.alignment:   Qt.AlignHCenter

src/ui/toolbar/Images/TrackingIcon.svg

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 23.1.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+     viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#FFFFFF;}
+</style>
+<path class="st0" d="M188.3,144c0,24.5-19.8,44.3-44.3,44.3S99.7,168.5,99.7,144s19.8-44.3,44.3-44.3S188.3,119.5,188.3,144z M288,144
+	c0,6.1-5,11.1-11.1,11.1h-28.3c-5.2,49.2-44.4,88.4-93.6,93.6v28.3c0,6.1-5,11.1-11.1,11.1s-11.1-5-11.1-11.1v-28.3
+	c-49.2-5.2-88.4-44.4-93.6-93.6H11.1C5,155.1,0,150.1,0,144s5-11.1,11.1-11.1h28.3c5.2-49.2,44.4-88.4,93.6-93.6V11.1
+	C132.9,5,137.9,0,144,0s11.1,5,11.1,11.1v28.3c49.2,5.2,88.4,44.4,93.6,93.6h28.3C283,132.9,288,137.9,288,144z M227.1,144
+	c0-45.8-37.3-83.1-83.1-83.1S60.9,98.2,60.9,144s37.3,83.1,83.1,83.1S227.1,189.8,227.1,144z"/>
+</svg>