Merge pull request #5345 from dogmaphobic/updateMavlink

Updating MAVLink camera/video commands.

v2.0 @ 6bbc8a51

-Subproject commit 2faa6d49834aa203e2a3eeeeed588728fb14c431
+Subproject commit 6bbc8a51d8f37537732d3f5170093d49e64c6f4b

src/MissionManager/MavCmdInfoCommon.json

@@ -998,24 +998,19 @@
             "description":  "Start taking one or more photos.",
             "category":     "Camera",
             "param1": {
-                "label":            "Interval",
+                "label":            "Camera id",
                 "default":          0,
-                "units":            "secs",
                 "decimalPlaces":    0
             },
             "param2": {
-                "label":            "Photo count",
-                "default":          1,
+                "label":            "Interval",
+                "default":          0,
+                "units":            "secs",
                 "decimalPlaces":    0
             },
             "param3": {
-                "label":            "Resolution",
-                "default":          -1,
-                "decimalPlaces":    0
-            },
-            "param6": {
-                "label":            "Camera id",
-                "default":          0,
+                "label":            "Photo count",
+                "default":          1,
                 "decimalPlaces":    0
             }
         },
@@ -1042,16 +1037,6 @@
                 "label":            "Camera id",
                 "default":          0,
                 "decimalPlaces":    0
-            },
-            "param2": {
-                "label":            "FPS",
-                "default":          -1,
-                "decimalPlaces":    0
-            },
-            "param3": {
-                "label":            "Resolution",
-                "default":          -1,
-                "decimalPlaces":    0
             }
         },
         {

src/MissionManager/MissionManager.cc

@@ -1053,9 +1053,9 @@ void MissionManager::generateResumeMission(int resumeIndex)
         case MAV_CMD_IMAGE_START_CAPTURE:
         {
             // FIXME: Handle single image capture
-            int cameraId = resumeItem->param6();
+            int cameraId = resumeItem->param1();
 
-            if (resumeItem->param1() == 0) {
+            if (resumeItem->param3() == 1) {
                 // This is an individual image capture command, remove it
                 resumeMission.removeAt(resumeIndex);
                 break;
@@ -1084,7 +1084,7 @@ void MissionManager::generateResumeMission(int resumeIndex)
         case MAV_CMD_VIDEO_START_CAPTURE:
         {
             int cameraId = resumeItem->param1();
-            // If we already found an video stop, then all video start/stop commands are useless
+            // If we've already found a video stop, then all video start/stop commands are useless
             // De-dup repeated video start commands
             // Otherwise keep only the last video start
             if (videoStopCameraIds.contains(cameraId) || videoStopCameraIds.contains(cameraId)) {

src/MissionManager/SurveyMissionItem.cc

@@ -1146,9 +1146,7 @@ int SurveyMissionItem::_appendWaypointToMission(QList<MissionItem*>& items, int
                                0,                           // Camera ID, all cameras
                                0,                           // Interval (none)
                                1,                           // Take 1 photo
-                               -1,                          // Max horizontal resolution
-                               -1,                          // Max vertical resolution
-                               0, 0,                        // param 6-7 not used
+                               NAN, NAN, NAN, NAN,          // param 4-7 reserved
                                true,                        // autoContinue
                                false,                       // isCurrentItem
                                missionItemParent);

src/QmlControls/MavlinkQmlSingleton.h

@@ -90,11 +90,11 @@ public:
         MAV_CMD_GET_MESSAGE_INTERVAL=510, /* Request the interval between messages for a particular MAVLink message ID |The MAVLink message ID|  */
         MAV_CMD_SET_MESSAGE_INTERVAL=511, /* Request the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM |The MAVLink message ID| The interval between two messages, in microseconds. Set to -1 to disable and 0 to request default rate.|  */
         MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES=520, /* Request autopilot capabilities |1: Request autopilot version| Reserved (all remaining params)|  */
-        MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence |Duration between two consecutive pictures (in seconds)| Number of images to capture total - 0 for unlimited capture| Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc)|  */
-        MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence |Reserved| Reserved|  */
+        MAV_CMD_IMAGE_START_CAPTURE=2000, /* Start image capture sequence  */
+        MAV_CMD_IMAGE_STOP_CAPTURE=2001, /* Stop image capture sequence */
         MAV_CMD_DO_TRIGGER_CONTROL=2003, /* Enable or disable on-board camera triggering system. |Trigger enable/disable (0 for disable, 1 for start)| Shutter integration time (in ms)| Reserved|  */
-        MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture |Camera ID (0 for all cameras), 1 for first, 2 for second, etc.| Frames per second| Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc)|  */
-        MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture |Reserved| Reserved|  */
+        MAV_CMD_VIDEO_START_CAPTURE=2500, /* Starts video capture */
+        MAV_CMD_VIDEO_STOP_CAPTURE=2501, /* Stop the current video capture */
         MAV_CMD_PANORAMA_CREATE=2800, /* Create a panorama at the current position |Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle)| Viewing angle vertical of panorama (in degrees)| Speed of the horizontal rotation (in degrees per second)| Speed of the vertical rotation (in degrees per second)|  */
         MAV_CMD_DO_VTOL_TRANSITION=3000, /* Request VTOL transition |The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.|  */
         MAV_CMD_PAYLOAD_PREPARE_DEPLOY=30001, /* Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. |Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.| Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will.| Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.| Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.| Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT| Altitude, in meters AMSL|  */

src/comm/MockLink.cc

@@ -924,7 +924,8 @@ void MockLink::_sendHomePosition(void)
                                         (int32_t)(_vehicleAltitude * 1000),
                                         0.0f, 0.0f, 0.0f,
                                         &bogus[0],
-            0.0f, 0.0f, 0.0f);
+                                        0.0f, 0.0f, 0.0f,
+                                        0);
     respondWithMavlinkMessage(msg);
 }