New Gimbal Interface #3386
New Gimbal Interface #3386
Conversation
|
This is really great to see! Thanks for also finding the issue with FOV_STATUS. We added support ages ago but no GCS has used it yet so I guess we missed the bug. |
|
Very neat! :) |
|
How did you manage to get the simulation with a video feed up and running, is that gazebo? |
I use RealFlight. I'm sure the same thing could be done in Gazebo, but I don't know my way around it nearly as well. You need this model and this lua script. You also need to be running on AP master (until the FOV message bug fix gets backported to 4.5) I use a gstreamer pipeline to grab a cropped area of a monitor. I toyed with using OBS to stream as RTSP, but that introduced more than a second of latency.
Adjust the If you configure your autopilot to provide The airport in this video was Pendleton Airport (KPDT), but I don't know if I can share my RealFlight model of that airport publicly. Instead, I'll share Base INFOCA, which has the side benefit of being within the real terrain model RealFlight pulled from Spain, so all the terrain actually lines up: Base INFOCA_AP.zip. The downside is that I went WAY overboard manually adding one metric crapload of trees to it. Disable trees with View > Scenery > Trees to disable them if your computer is choking on them. Launch SITL with |
robertlong13
force-pushed
the
pr/gimbal_interface
branch
3 times, most recently
from
9fb28b3
to
56a2a6b
Compare
robertlong13
force-pushed
the
pr/gimbal_interface
branch
2 times, most recently
from
786315f
to
eb3d908
Compare
- Added cameras to detected autopilot components, not just cameras - Added XML documentation to all public members - Removed video stream RTSP handling from the class, it will later be re-added as a separate class. - Encapsulated camera commands in methods of CameraProtocol. More methods will be added later. - Added properties for capabilities (including mode-dependency) - Appropriate camera messages, based on camera capability, are requested from the camera at the same rate as the EXTENDED_STATUS stream. We may eventually add a separate rate option for camera messages.
- Removed unused code - Renamed some public methods with capital letter - Suppressed some naming warnings - Removed all commented-out code - Removed all scratch-pad comments - Removed unused usings - Fixed various other minor suggestions from Visual Studio
Also draw camera bounds on FlightData map
Add video stream selector
Do everything through keyboard and context menu
Use this to store the lowest found gimbal instead of using it to store capabilities flags of all gimbals.
Previously, this function did nothing. It was also trying to do the opposite of what it claimed to do.
This library was originally copy-pasted from ArduPilot and ported to C#, but many mistakes were made in the process. For example, many of the methods in the C++ implementation take a reference variable as input, and the C# code was taking a regular input and outputting nothing. This commit overhauls the whole library, making it more C#-like and documents all methods.
robertlong13
force-pushed
the
pr/gimbal_interface
branch
from
eb3d908
to
15628d5
Compare
|
This PR is getting close to ready. All buttons and (almost) all keybindings are implemented, and I have a nice settings page where you can customize every keybinding. Still needed:
|
|
need to tweak for android/apple - currently failing. system.drawing cant be used easerly.... |
| @@ -7,6 +7,8 @@ namespace MissionPlanner.Controls | |||
| { | |||
| public partial class Video : Form | |||
| { | |||
| private readonly GStreamer stream = new GStreamer(); | |||
There was a problem hiding this comment.
need to confirm if this can be instance based. i have a feeling it cant. as it will lead to native crashs
There was a problem hiding this comment.
I can open multiple GStreamer sources (multiple gimbal windows and a separate stream on the HUD) with no apparent issues if that's what you mean.
Still a bit to do, but I have some stuff working. It's going to be a massive PR, so I want to get some of this out there to start review early.
I have a test setup using RealFlight that I will need to document so anyone can play around with this.
I have a lua script I need to publish that sends VIDEO_STREAM_INFORMATION messages so Planner can detect the URIs for the video.
ArduPilot's
CAMERA_FOV_STATUSmessage has a bug that causes the wrong units to be used for alt. Needs fixing.Most of the buttons and right-click options do not work yet
Need a settings page so people can adjust the stuff like keybindings
Things you can do
CAMERA_FOV_STATUSto send the correct units)(Terrible gif quality, had to really squeeze it down to fit in a github post, so there are a ton of artifacts; these obviously aren't in the real thing)
