Addition of new "Point Camera" action on the Map for APM

src/uas/ArduPilotMegaMAV.cc

@@ -27,7 +27,6 @@ This file is part of the QGROUNDCONTROL project
  */
 
 #include "ArduPilotMegaMAV.h"
-
 ArduPilotMegaMAV::ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id) :
     UAS(mavlink, id)//,
     // place other initializers here
@@ -63,3 +62,23 @@ void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t mes
         }
     }
 }
+void ArduPilotMegaMAV::setMountConfigure(unsigned char mode, bool stabilize_roll,bool stabilize_pitch,bool stabilize_yaw)
+{
+    //Only supported by APM
+    mavlink_message_t msg;
+    mavlink_msg_mount_configure_pack(255,1,&msg,this->uasId,1,mode,stabilize_roll,stabilize_pitch,stabilize_yaw);
+    sendMessage(msg);
+}
+void ArduPilotMegaMAV::setMountControl(double pa,double pb,double pc,bool islatlong)
+{
+    mavlink_message_t msg;
+    if (islatlong)
+    {
+        mavlink_msg_mount_control_pack(255,1,&msg,this->uasId,1,pa*10000000.0,pb*10000000.0,pc*10000000.0,0);
+    }
+    else
+    {
+        mavlink_msg_mount_control_pack(255,1,&msg,this->uasId,1,pa,pb,pc,0);
+    }
+    sendMessage(msg);
+}

src/uas/ArduPilotMegaMAV.h

@@ -25,12 +25,18 @@ This file is part of the QGROUNDCONTROL project
 #define ARDUPILOTMEGAMAV_H
 
 #include "UAS.h"
-
+#include "ardupilotmega/mavlink_msg_mount_configure.h"
+#include "ardupilotmega/mavlink_msg_mount_control.h"
+#include "ardupilotmega/mavlink_msg_mount_status.h"
 class ArduPilotMegaMAV : public UAS
 {
     Q_OBJECT
 public:
     ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id = 0);
+    /** @brief Set camera mount stabilization modes */
+    void setMountConfigure(unsigned char mode, bool stabilize_roll,bool stabilize_pitch,bool stabilize_yaw);
+    /** @brief Set camera mount control */
+    void setMountControl(double pa,double pb,double pc,bool islatlong);
 public slots:
     /** @brief Receive a MAVLink message from this MAV */
     void receiveMessage(LinkInterface* link, mavlink_message_t message);

src/ui/map/QGCMapWidget.cc

@@ -5,6 +5,7 @@
 #include "MAV2DIcon.h"
 #include "Waypoint2DIcon.h"
 #include "UASWaypointManager.h"
+#include "ArduPilotMegaMAV.h"
 
 QGCMapWidget::QGCMapWidget(QWidget *parent) :
     mapcontrol::OPMapWidget(parent),
@@ -59,6 +60,16 @@ bool QGCMapWidget::guidedAltActionTriggered()
     guidedActionTriggered();
     return true;
 }
+void QGCMapWidget::cameraActionTriggered()
+{
+    ArduPilotMegaMAV *newmav = qobject_cast<ArduPilotMegaMAV*>(this->uas);
+    if (newmav)
+    {
+        newmav->setMountConfigure(4,true,true,true);
+        internals::PointLatLng pos = map->FromLocalToLatLng(mousePressPos.x(), mousePressPos.y());
+        newmav->setMountControl(pos.Lat(),pos.Lng(),100,true);
+    }
+}
 
 void QGCMapWidget::mousePressEvent(QMouseEvent *event)
 {
@@ -237,6 +248,7 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
 {
     // Only execute if proper UAS is set
     if (!uas) return;
+    this->uas = uas;
 
     // Disconnect old MAV manager
     if (currWPManager)
@@ -251,6 +263,12 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
     if (uas)
     {
         currWPManager = uas->getWaypointManager();
+        QList<QAction*> actionList = this->actions();
+        for (int i=0;i<actionList.size();i++)
+        {
+            this->removeAction(actionList[i]);
+            actionList[i]->deleteLater();
+        }
         if (currWPManager->guidedModeSupported())
         {
             QAction *guidedaction = new QAction(this);
@@ -261,6 +279,14 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
             guidedaction->setText("Go To Here Alt (Guided Mode)");
             connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedAltActionTriggered()));
             this->addAction(guidedaction);
+
+            if (uas->getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
+            {
+                QAction *cameraaction = new QAction(this);
+                cameraaction->setText("Point Camera Here");
+                connect(cameraaction,SIGNAL(triggered()),this,SLOT(cameraActionTriggered()));
+                this->addAction(cameraaction);
+            }
         }
 
         // Connect the waypoint manager / data storage to the UI

src/ui/map/QGCMapWidget.h

@@ -40,6 +40,8 @@ signals:
     void waypointChanged(Waypoint* wp);
 
 public slots:
+    /** @brief Action triggered with point-camera action is selected from the context menu */
+    void cameraActionTriggered();
     /** @brief Action triggered when guided action is selected from the context menu */
     void guidedActionTriggered();
     /** @brief Action triggered when guided action is selected from the context menu, allows for altitude selection */
@@ -158,6 +160,7 @@ protected:
     float homeAltitude;                 ///< Home altitude
     QPoint mousePressPos;               ///< Mouse position when the button is released.
     int defaultGuidedAlt;               ///< Default altitude for guided mode
+    UASInterface *uas;                  ///< Currently selected UAS.
 
 };