Merge branch 'cameraControl' of https://github.com/dogmaphobic/qgroundcontrol into cameraControl

v2.0 @ 05c8fa04

-Subproject commit 6bbc8a51d8f37537732d3f5170093d49e64c6f4b
+Subproject commit 05c8fa042e67888f98ce63e2a76bb35f38dd218f

qgcresources.qrc

@@ -47,6 +47,9 @@
         <file alias="wifi.svg">src/AutoPilotPlugins/Common/Images/wifi.svg</file>
         <file alias="arrow-down.png">src/QmlControls/arrow-down.png</file>
 		<file alias="camera.svg">resources/camera.svg</file>
+        <file alias="camera_photo.svg">src/Camera/images/camera_photo.svg</file>
+        <file alias="camera_settings.svg">src/Camera/images/camera_settings.svg</file>
+        <file alias="camera_video.svg">src/Camera/images/camera_video.svg</file>
         <file alias="check.png">src/QmlControls/check.png</file>
         <file alias="FirmwareUpgradeIcon.png">src/VehicleSetup/FirmwareUpgradeIcon.png</file>
         <file alias="FlightModesComponentIcon.png">src/AutoPilotPlugins/PX4/Images/FlightModesComponentIcon.png</file>

qgroundcontrol.pro

@@ -333,6 +333,7 @@ INCLUDEPATH += \
     src \
     src/api \
     src/AnalyzeView \
+    src/Camera \
     src/AutoPilotPlugins \
     src/FlightDisplay \
     src/FlightMap \
@@ -485,6 +486,9 @@ HEADERS += \
     src/AnalyzeView/ExifParser.h \
     src/AnalyzeView/ULogParser.h \
     src/AnalyzeView/PX4LogParser.h \
+    src/Camera/QGCCameraControl.h \
+    src/Camera/QGCCameraIO.h \
+    src/Camera/QGCCameraManager.h \
     src/CmdLineOptParser.h \
     src/FirmwarePlugin/PX4/px4_custom_mode.h \
     src/FlightDisplay/VideoManager.h \
@@ -666,6 +670,9 @@ SOURCES += \
     src/AnalyzeView/ExifParser.cc \
     src/AnalyzeView/ULogParser.cc \
     src/AnalyzeView/PX4LogParser.cc \
+    src/Camera/QGCCameraControl.cc \
+    src/Camera/QGCCameraIO.cc \
+    src/Camera/QGCCameraManager.cc \
     src/CmdLineOptParser.cc \
     src/FlightDisplay/VideoManager.cc \
     src/FlightMap/Widgets/ValuesWidgetController.cc \

qgroundcontrol.qrc

@@ -21,6 +21,7 @@
         <file alias="BluetoothSettings.qml">src/ui/preferences/BluetoothSettings.qml</file>
         <file alias="CameraComponent.qml">src/AutoPilotPlugins/PX4/CameraComponent.qml</file>
         <file alias="CameraComponentSummary.qml">src/AutoPilotPlugins/PX4/CameraComponentSummary.qml</file>
+        <file alias="CameraControl.qml">src/Camera/CameraControl.qml</file>
         <file alias="CustomCommandWidget.qml">src/ViewWidgets/CustomCommandWidget.qml</file>
         <file alias="DebugWindow.qml">src/ui/preferences/DebugWindow.qml</file>
         <file alias="ESP8266Component.qml">src/AutoPilotPlugins/Common/ESP8266Component.qml</file>

src/Camera/QGCCameraControl.h

+/*!
+ * @file
+ *   @brief Camera Controller
+ *   @author Gus Grubba <mavlink@grubba.com>
+ *
+ */
+
+#pragma once
+
+#include "QGCApplication.h"
+#include <QLoggingCategory>
+
+class QDomNode;
+class QDomNodeList;
+class QGCCameraParamIO;
+
+Q_DECLARE_LOGGING_CATEGORY(CameraControlLog)
+Q_DECLARE_LOGGING_CATEGORY(CameraControlLogVerbose)
+
+//-----------------------------------------------------------------------------
+class QGCCameraOptionExclusion : public QObject
+{
+public:
+    QGCCameraOptionExclusion(QObject* parent, QString param_, QString value_, QStringList exclusions_)
+        : QObject(parent)
+        , param(param_)
+        , value(value_)
+        , exclusions(exclusions_)
+    {
+    }
+    QString param;
+    QString value;
+    QStringList exclusions;
+};
+
+//-----------------------------------------------------------------------------
+class QGCCameraOptionRange : public QObject
+{
+public:
+    QGCCameraOptionRange(QObject* parent, QString param_, QString value_, QString targetParam_, QString condition_, QStringList optNames_, QStringList optValues_)
+        : QObject(parent)
+        , param(param_)
+        , value(value_)
+        , targetParam(targetParam_)
+        , condition(condition_)
+        , optNames(optNames_)
+        , optValues(optValues_)
+    {
+    }
+    QString param;
+    QString value;
+    QString targetParam;
+    QString condition;
+    QStringList  optNames;
+    QStringList  optValues;
+    QVariantList optVariants;
+};
+
+//-----------------------------------------------------------------------------
+class QGCCameraControl : public FactGroup
+{
+    Q_OBJECT
+public:
+    QGCCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = NULL);
+    virtual ~QGCCameraControl();
+
+    //-- cam_mode
+    enum CameraMode {
+        CAMERA_MODE_UNDEFINED = -1,
+        CAMERA_MODE_PHOTO = 0,
+        CAMERA_MODE_VIDEO = 1,
+    };
+
+    //-- Video Capture Status
+    enum VideoStatus {
+        VIDEO_CAPTURE_STATUS_STOPPED = 0,
+        VIDEO_CAPTURE_STATUS_RUNNING,
+        VIDEO_CAPTURE_STATUS_UNDEFINED
+    };
+
+    Q_ENUMS(CameraMode)
+    Q_ENUMS(VideoStatus)
+
+    Q_PROPERTY(int          version             READ version            NOTIFY infoChanged)
+    Q_PROPERTY(QString      modelName           READ modelName          NOTIFY infoChanged)
+    Q_PROPERTY(QString      vendor              READ vendor             NOTIFY infoChanged)
+    Q_PROPERTY(QString      firmwareVersion     READ firmwareVersion    NOTIFY infoChanged)
+    Q_PROPERTY(qreal        focalLength         READ focalLength        NOTIFY infoChanged)
+    Q_PROPERTY(QSizeF       sensorSize          READ sensorSize         NOTIFY infoChanged)
+    Q_PROPERTY(QSize        resolution          READ resolution         NOTIFY infoChanged)
+    Q_PROPERTY(bool         capturesVideo       READ capturesVideo      NOTIFY infoChanged)
+    Q_PROPERTY(bool         capturesPhotos      READ capturesPhotos     NOTIFY infoChanged)
+    Q_PROPERTY(bool         hasModes            READ hasModes           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)
+    Q_PROPERTY(quint32      storageFree         READ storageFree        NOTIFY storageFreeChanged)
+    Q_PROPERTY(QString      storageFreeStr      READ storageFreeStr     NOTIFY storageFreeChanged)
+    Q_PROPERTY(quint32      storageTotal        READ storageTotal       NOTIFY storageTotalChanged)
+
+    Q_PROPERTY(QStringList  activeSettings      READ activeSettings                             NOTIFY activeSettingsChanged)
+    Q_PROPERTY(VideoStatus  videoStatus         READ videoStatus                                NOTIFY videoStatusChanged)
+    Q_PROPERTY(CameraMode   cameraMode          READ cameraMode         WRITE   setCameraMode   NOTIFY cameraModeChanged)
+
+    Q_INVOKABLE virtual void setVideoMode   ();
+    Q_INVOKABLE virtual void setPhotoMode   ();
+    Q_INVOKABLE virtual void toggleMode     ();
+    Q_INVOKABLE virtual bool takePhoto      ();
+    Q_INVOKABLE virtual bool startVideo     ();
+    Q_INVOKABLE virtual bool stopVideo      ();
+    Q_INVOKABLE virtual bool toggleVideo    ();
+    Q_INVOKABLE virtual void resetSettings  ();
+    Q_INVOKABLE virtual void formatCard     (int id = 1);
+
+    virtual int         version             () { return _version; }
+    virtual QString     modelName           () { return _modelName; }
+    virtual QString     vendor              () { return _vendor; }
+    virtual QString     firmwareVersion     ();
+    virtual qreal       focalLength         () { return (qreal)_info.focal_length; }
+    virtual QSizeF      sensorSize          () { return QSizeF(_info.sensor_size_h, _info.sensor_size_v); }
+    virtual QSize       resolution          () { return QSize(_info.resolution_h, _info.resolution_v); }
+    virtual bool        capturesVideo       () { return _info.flags & CAMERA_CAP_FLAGS_CAPTURE_VIDEO; }
+    virtual bool        capturesPhotos      () { return _info.flags & CAMERA_CAP_FLAGS_CAPTURE_IMAGE; }
+    virtual bool        hasModes            () { return _info.flags & CAMERA_CAP_FLAGS_HAS_MODES; }
+    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; }
+
+    virtual int         compID              () { return _compID; }
+    virtual bool        isBasic             () { return _settings.size() == 0; }
+    virtual VideoStatus videoStatus         ();
+    virtual CameraMode  cameraMode          () { return _cameraMode; }
+    virtual QStringList activeSettings      () { return _activeSettings; }
+    virtual quint32     storageFree         () { return _storageFree;  }
+    virtual QString     storageFreeStr      ();
+    virtual quint32     storageTotal        () { return _storageTotal; }
+
+    virtual void        setCameraMode       (CameraMode mode);
+
+    virtual void        handleSettings      (const mavlink_camera_settings_t& settings);
+    virtual void        handleCaptureStatus (const mavlink_camera_capture_status_t& capStatus);
+    virtual void        handleParamAck      (const mavlink_param_ext_ack_t& ack);
+    virtual void        handleParamValue    (const mavlink_param_ext_value_t& value);
+    virtual void        handleStorageInfo   (const mavlink_storage_information_t& st);
+    virtual void        factChanged         (Fact* pFact);
+
+signals:
+    void    infoChanged                     ();
+    void    videoStatusChanged              ();
+    void    cameraModeChanged               ();
+    void    activeSettingsChanged           ();
+    void    storageFreeChanged              ();
+    void    storageTotalChanged             ();
+    void    dataReady                       (QByteArray data);
+
+protected:
+    virtual void    _setVideoStatus         (VideoStatus status);
+    virtual void    _setCameraMode          (CameraMode mode);
+
+private slots:
+    void    _initWhenReady                  ();
+    void    _requestCameraSettings          ();
+    void    _requestAllParameters           ();
+    void    _requestCaptureStatus           ();
+    void    _requestStorageInfo             ();
+    void    _downloadFinished               ();
+    void    _mavCommandResult               (int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
+    void    _dataReady                      (QByteArray data);
+
+private:
+    bool    _handleLocalization             (QByteArray& bytes);
+    bool    _replaceLocaleStrings           (const QDomNode node, QByteArray& bytes);
+    bool    _loadCameraDefinitionFile       (QByteArray& bytes);
+    bool    _loadConstants                  (const QDomNodeList nodeList);
+    bool    _loadSettings                   (const QDomNodeList nodeList);
+    void    _processRanges                  ();
+    bool    _processCondition               (const QString condition);
+    bool    _processConditionTest           (const QString conditionTest);
+    bool    _loadNameValue                  (QDomNode option, const QString factName, FactMetaData* metaData, QString& optName, QString& optValue, QVariant& optVariant);
+    bool    _loadRanges                     (QDomNode option, const QString factName, QString paramValue);
+    void    _updateActiveList               ();
+    void    _updateRanges                   (Fact* pFact);
+    void    _httpRequest                    (const QString& url);
+
+    QStringList     _loadExclusions         (QDomNode option);
+    QString         _getParamName           (const char* param_id);
+
+protected:
+    Vehicle*                            _vehicle;
+    int                                 _compID;
+    mavlink_camera_information_t        _info;
+    int                                 _version;
+    uint32_t                            _storageFree;
+    uint32_t                            _storageTotal;
+    QNetworkAccessManager*              _netManager;
+    QString                             _modelName;
+    QString                             _vendor;
+    CameraMode                          _cameraMode;
+    VideoStatus                         _video_status;
+    QStringList                         _activeSettings;
+    QStringList                         _settings;
+    QTimer                              _captureStatusTimer;
+    QList<QGCCameraOptionExclusion*>    _valueExclusions;
+    QList<QGCCameraOptionRange*>        _optionRanges;
+    QMap<QString, QStringList>          _originalOptNames;
+    QMap<QString, QVariantList>         _originalOptValues;
+    QMap<QString, QGCCameraParamIO*>    _paramIO;
+};

src/Camera/QGCCameraIO.cc

+/*!
+ * @file
+ *   @brief Camera Controller
+ *   @author Gus Grubba <mavlink@grubba.com>
+ *
+ */
+
+#include "QGCCameraControl.h"
+#include "QGCCameraIO.h"
+
+QGC_LOGGING_CATEGORY(CameraIOLog, "CameraIOLog")
+QGC_LOGGING_CATEGORY(CameraIOLogVerbose, "CameraIOLogVerbose")
+
+//-----------------------------------------------------------------------------
+QGCCameraParamIO::QGCCameraParamIO(QGCCameraControl *control, Fact* fact, Vehicle *vehicle)
+    : QObject(control)
+    , _control(control)
+    , _fact(fact)
+    , _vehicle(vehicle)
+    , _sentRetries(0)
+    , _requestRetries(0)
+{
+    _paramWriteTimer.setSingleShot(true);
+    _paramWriteTimer.setInterval(3000);
+    _paramRequestTimer.setSingleShot(true);
+    _paramRequestTimer.setInterval(3000);
+    connect(&_paramWriteTimer,   &QTimer::timeout, this, &QGCCameraParamIO::_paramWriteTimeout);
+    connect(&_paramRequestTimer, &QTimer::timeout, this, &QGCCameraParamIO::_paramRequestTimeout);
+    connect(_fact, &Fact::rawValueChanged, this, &QGCCameraParamIO::_factChanged);
+    connect(_fact, &Fact::_containerRawValueChanged, this, &QGCCameraParamIO::_containerRawValueChanged);
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraParamIO::setParamRequest()
+{
+    _paramRequestReceived = false;
+    _requestRetries = 0;
+    _paramRequestTimer.start();
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraParamIO::_factChanged(QVariant value)
+{
+    Q_UNUSED(value);
+    qCDebug(CameraIOLog) << "UI Fact" << _fact->name() << "changed";
+    //-- TODO: Do we really want to update the UI now or only when we receive the ACK?
+    _control->factChanged(_fact);
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraParamIO::_containerRawValueChanged(const QVariant value)
+{
+    Q_UNUSED(value);
+    qCDebug(CameraIOLog) << "Send Fact" << _fact->name() << "changed";
+    _sendParameter();
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraParamIO::_sendParameter()
+{
+    //-- TODO: We should use something other than mavlink_param_union_t for PARAM_EXT_SET
+    mavlink_param_ext_set_t     p;
+    mavlink_param_union_t       union_value;
+    memset(&p, 0, sizeof(p));
+    FactMetaData::ValueType_t factType = _fact->type();
+    p.param_type = _factTypeToMavType(factType);
+    switch (factType) {
+        case FactMetaData::valueTypeUint8:
+            union_value.param_uint8 = (uint8_t)_fact->rawValue().toUInt();
+            break;
+        case FactMetaData::valueTypeInt8:
+            union_value.param_int8 = (int8_t)_fact->rawValue().toInt();
+            break;
+        case FactMetaData::valueTypeUint16:
+            union_value.param_uint16 = (uint16_t)_fact->rawValue().toUInt();
+            break;
+        case FactMetaData::valueTypeInt16:
+            union_value.param_int16 = (int16_t)_fact->rawValue().toInt();
+            break;
+        case FactMetaData::valueTypeUint32:
+            union_value.param_uint32 = (uint32_t)_fact->rawValue().toUInt();
+            break;
+        case FactMetaData::valueTypeFloat:
+            union_value.param_float = _fact->rawValue().toFloat();
+            break;
+        default:
+            qCritical() << "Unsupported fact type" << factType;
+            // fall through
+        case FactMetaData::valueTypeInt32:
+            union_value.param_int32 = (int32_t)_fact->rawValue().toInt();
+            break;
+    }
+    memcpy(&p.param_value, &union_value.param_float, sizeof(float));
+    p.target_system = (uint8_t)_vehicle->id();
+    p.target_component = (uint8_t)_control->compID();
+    strncpy(p.param_id, _fact->name().toStdString().c_str(), sizeof(p.param_id));
+    MAVLinkProtocol* pMavlink = qgcApp()->toolbox()->mavlinkProtocol();
+    mavlink_msg_param_ext_set_encode_chan(pMavlink->getSystemId(),
+                                      pMavlink->getComponentId(),
+                                      _vehicle->priorityLink()->mavlinkChannel(),
+                                      &_msg,
+                                      &p);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), _msg);
+    _paramWriteTimer.start();
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraParamIO::_paramWriteTimeout()
+{
+    if(++_sentRetries > 3) {
+        qCWarning(CameraIOLog) << "No response for param set:" << _fact->name();
+    } else {
+        //-- Send it again
+        qCDebug(CameraIOLog) << "Param set retry:" << _fact->name();
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), _msg);
+        _paramWriteTimer.start();
+    }
+}
+
+//-----------------------------------------------------------------------------
+MAV_PARAM_TYPE
+QGCCameraParamIO::_factTypeToMavType(FactMetaData::ValueType_t factType)
+{
+    //-- TODO: Even though we don't use anything larger than 32-bit, this should
+    //   probably be updated.
+    switch (factType) {
+        case FactMetaData::valueTypeUint8:
+            return MAV_PARAM_TYPE_UINT8;
+        case FactMetaData::valueTypeInt8:
+            return MAV_PARAM_TYPE_INT8;
+        case FactMetaData::valueTypeUint16:
+            return MAV_PARAM_TYPE_UINT16;
+        case FactMetaData::valueTypeInt16:
+            return MAV_PARAM_TYPE_INT16;
+        case FactMetaData::valueTypeUint32:
+            return MAV_PARAM_TYPE_UINT32;
+        case FactMetaData::valueTypeFloat:
+            return MAV_PARAM_TYPE_REAL32;
+        default:
+            qWarning() << "Unsupported fact type" << factType;
+            // fall through
+        case FactMetaData::valueTypeInt32:
+            return MAV_PARAM_TYPE_INT32;
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraParamIO::handleParamAck(const mavlink_param_ext_ack_t& ack)
+{
+    _paramWriteTimer.stop();
+    if(ack.param_result == PARAM_ACK_ACCEPTED) {
+        _fact->_containerSetRawValue(_valueFromMessage(ack.param_value, ack.param_type));
+    }
+    if(ack.param_result == PARAM_ACK_IN_PROGRESS) {
+        //-- Wait a bit longer for this one
+        qCDebug(CameraIOLogVerbose) << "Param set in progress:" << _fact->name();
+        _paramWriteTimer.start();
+    } else {
+        if(ack.param_result == PARAM_ACK_FAILED) {
+            qCWarning(CameraIOLog) << "Param set failed:" << _fact->name();
+        } else if(ack.param_result == PARAM_ACK_VALUE_UNSUPPORTED) {
+            qCWarning(CameraIOLog) << "Param set unsuported:" << _fact->name();
+        }
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraParamIO::handleParamValue(const mavlink_param_ext_value_t& value)
+{
+    _paramRequestTimer.stop();
+    _fact->_containerSetRawValue(_valueFromMessage(value.param_value, value.param_type));
+    _paramRequestReceived = true;
+    qCDebug(CameraIOLog) << QString("handleParamValue() %1 %2").arg(_fact->name()).arg(_fact->rawValueString());
+}
+
+//-----------------------------------------------------------------------------
+QVariant
+QGCCameraParamIO::_valueFromMessage(const char* value, uint8_t param_type)
+{
+    //-- TODO: Even though we don't use anything larger than 32-bit, this should
+    //   probably be updated.
+    QVariant var;
+    mavlink_param_union_t u;
+    memcpy(&u.param_float, value, sizeof(float));
+    switch (param_type) {
+        case MAV_PARAM_TYPE_REAL32:
+            var = QVariant(u.param_float);
+            break;
+        case MAV_PARAM_TYPE_UINT8:
+            var = QVariant(u.param_uint8);
+            break;
+        case MAV_PARAM_TYPE_INT8:
+            var = QVariant(u.param_int8);
+            break;
+        case MAV_PARAM_TYPE_UINT16:
+            var = QVariant(u.param_uint16);
+            break;
+        case MAV_PARAM_TYPE_INT16:
+            var = QVariant(u.param_int16);
+            break;
+        case MAV_PARAM_TYPE_UINT32:
+            var = QVariant(u.param_uint32);
+            break;
+        case MAV_PARAM_TYPE_INT32:
+            var = QVariant(u.param_int32);
+            break;
+        default:
+            var = QVariant(0);
+            qCritical() << "Invalid param_type used for camera setting:" << param_type;
+    }
+    return var;
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraParamIO::_paramRequestTimeout()
+{
+    if(++_requestRetries > 3) {
+        qCWarning(CameraIOLog) << "No response for param request:" << _fact->name();
+    } else {
+        //-- Request it again
+        qCDebug(CameraIOLog) << "Param request retry:" << _fact->name();
+        MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
+        mavlink_message_t msg;
+        mavlink_msg_param_ext_request_read_pack_chan(
+            mavlink->getSystemId(),
+            mavlink->getComponentId(),
+            _vehicle->priorityLink()->mavlinkChannel(),
+            &msg,
+            _vehicle->id(),
+            _control->compID(),
+            _fact->name().toStdString().c_str(),
+            -1);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
+        _paramRequestTimer.start();
+    }
+}

src/Camera/QGCCameraIO.h

+/*!
+ * @file
+ *   @brief Camera Controller
+ *   @author Gus Grubba <mavlink@grubba.com>
+ *
+ */
+
+#pragma once
+
+#include "QGCApplication.h"
+#include <QLoggingCategory>
+
+class QGCCameraControl;
+
+Q_DECLARE_LOGGING_CATEGORY(CameraIOLog)
+Q_DECLARE_LOGGING_CATEGORY(CameraIOLogVerbose)
+
+//-----------------------------------------------------------------------------
+class QGCCameraParamIO : public QObject
+{
+public:
+    QGCCameraParamIO(QGCCameraControl* control, Fact* fact, Vehicle* vehicle);
+
+    void        handleParamAck          (const mavlink_param_ext_ack_t& ack);
+    void        handleParamValue        (const mavlink_param_ext_value_t& value);
+    void        setParamRequest         ();
+
+private slots:
+    void                _factChanged        (QVariant value);
+    void                _containerRawValueChanged(const QVariant value);
+    void                _paramWriteTimeout  ();
+    void                _paramRequestTimeout();
+
+private:
+    void                _sendParameter      ();
+    QVariant            _valueFromMessage   (const char* value, uint8_t param_type);
+    MAV_PARAM_TYPE      _factTypeToMavType  (FactMetaData::ValueType_t factType);
+
+private:
+    QGCCameraControl*   _control;
+    Fact*               _fact;
+    Vehicle*            _vehicle;
+    int                 _sentRetries;
+    int                 _requestRetries;
+    bool                _paramRequestReceived;
+    mavlink_message_t   _msg;
+    QTimer              _paramWriteTimer;
+    QTimer              _paramRequestTimer;
+};
+

src/Camera/QGCCameraManager.cc

+/*!
+ * @file
+ *   @brief Camera Controller
+ *   @author Gus Grubba <mavlink@grubba.com>
+ *
+ */
+
+#include "QGCApplication.h"
+#include "QGCCameraManager.h"
+
+QGC_LOGGING_CATEGORY(CameraManagerLog, "CameraManagerLog")
+
+//-----------------------------------------------------------------------------
+QGCCameraManager::QGCCameraManager(Vehicle *vehicle)
+    : _vehicle(vehicle)
+    , _vehicleReadyState(false)
+    , _cameraCount(0)
+    , _currentTask(0)
+{
+    qCDebug(CameraManagerLog) << "QGCCameraManager Created";
+    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &QGCCameraManager::_vehicleReady);
+    connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &QGCCameraManager::_mavlinkMessageReceived);
+}
+
+//-----------------------------------------------------------------------------
+QGCCameraManager::~QGCCameraManager()
+{
+}
+
+//-----------------------------------------------------------------------------
+QString
+QGCCameraManager::controllerSource()
+{
+    return QStringLiteral("/qml/CameraControl.qml");
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_vehicleReady(bool ready)
+{
+    qCDebug(CameraManagerLog) << "_vehicleReady(" << ready << ")";
+    if(ready) {
+        if(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle() == _vehicle) {
+            _vehicleReadyState = true;
+        }
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_mavlinkMessageReceived(const mavlink_message_t& message)
+{
+    if(message.sysid == _vehicle->id()) {
+        switch (message.msgid) {
+            case MAVLINK_MSG_ID_CAMERA_CAPTURE_STATUS:
+                _handleCaptureStatus(message);
+                break;
+            case MAVLINK_MSG_ID_STORAGE_INFORMATION:
+                _handleStorageInfo(message);
+                break;
+            case MAVLINK_MSG_ID_HEARTBEAT:
+                _handleHeartbeat(message);
+                break;
+            case MAVLINK_MSG_ID_CAMERA_INFORMATION:
+                _handleCameraInfo(message);
+                break;
+            case MAVLINK_MSG_ID_CAMERA_SETTINGS:
+                _handleCameraSettings(message);
+                break;
+            case MAVLINK_MSG_ID_PARAM_EXT_ACK:
+                _handleParamAck(message);
+                break;
+            case MAVLINK_MSG_ID_PARAM_EXT_VALUE:
+                _handleParamValue(message);
+                break;
+        }
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
+{
+    mavlink_heartbeat_t heartbeat;
+    mavlink_msg_heartbeat_decode(&message, &heartbeat);
+    //-- If this heartbeat is from a different node within the vehicle
+    if(_vehicleReadyState && _vehicle->id() == message.sysid && _vehicle->defaultComponentId() != message.compid) {
+        if(!_cameraInfoRequested[message.compid]) {
+            _cameraInfoRequested[message.compid] = true;
+            //-- Request camera info
+            _requestCameraInfo(message.compid);
+        }
+    }
+}
+
+//-----------------------------------------------------------------------------
+QGCCameraControl*
+QGCCameraManager::_findCamera(int id)
+{
+    for(int i = 0; i < _cameras.count(); i++) {
+        if(_cameras[i]) {
+            QGCCameraControl* pCamera = qobject_cast<QGCCameraControl*>(_cameras[i]);
+            if(pCamera) {
+                if(pCamera->compID() == id) {
+                    return pCamera;
+                }
+            } else {
+                qCritical() << "Null QGCCameraControl instance";
+            }
+        }
+    }
+    qWarning() << "Camera id not found:" << id;
+    return NULL;
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
+{
+    mavlink_camera_information_t info;
+    mavlink_msg_camera_information_decode(&message, &info);
+    qCDebug(CameraManagerLog) << "_handleCameraInfo:" << (const char*)(void*)&info.model_name[0] << (const char*)(void*)&info.vendor_name[0];
+    _cameraCount = info.camera_count;
+    QGCCameraControl* pCamera = _vehicle->firmwarePlugin()->createCameraControl(&info, _vehicle, message.compid, this);
+    if(pCamera) {
+        _cameras.append(pCamera);
+        emit camerasChanged();
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleCaptureStatus(const mavlink_message_t &message)
+{
+    QGCCameraControl* pCamera = _findCamera(message.compid);
+    if(pCamera) {
+        mavlink_camera_capture_status_t cap;
+        mavlink_msg_camera_capture_status_decode(&message, &cap);
+        pCamera->handleCaptureStatus(cap);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleStorageInfo(const mavlink_message_t& message)
+{
+    QGCCameraControl* pCamera = _findCamera(message.compid);
+    if(pCamera) {
+        mavlink_storage_information_t st;
+        mavlink_msg_storage_information_decode(&message, &st);
+        pCamera->handleStorageInfo(st);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleCameraSettings(const mavlink_message_t& message)
+{
+    QGCCameraControl* pCamera = _findCamera(message.compid);
+    if(pCamera) {
+        mavlink_camera_settings_t settings;
+        mavlink_msg_camera_settings_decode(&message, &settings);
+        pCamera->handleSettings(settings);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleParamAck(const mavlink_message_t& message)
+{
+    QGCCameraControl* pCamera = _findCamera(message.compid);
+    if(pCamera) {
+        mavlink_param_ext_ack_t ack;
+        mavlink_msg_param_ext_ack_decode(&message, &ack);
+        pCamera->handleParamAck(ack);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_handleParamValue(const mavlink_message_t& message)
+{
+    QGCCameraControl* pCamera = _findCamera(message.compid);
+    if(pCamera) {
+        mavlink_param_ext_value_t value;
+        mavlink_msg_param_ext_value_decode(&message, &value);
+        pCamera->handleParamValue(value);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+QGCCameraManager::_requestCameraInfo(int compID)
+{
+    qCDebug(CameraManagerLog) << "_requestCameraInfo(" << compID << ")";
+    if(_vehicle) {
+        _vehicle->sendMavCommand(
+            compID,                                 // target component
+            MAV_CMD_REQUEST_CAMERA_INFORMATION,     // command id
+            false,                                  // showError
+            0,                                      // Camera ID (0 for all, 1 for first, 2 for second, etc.)
+            1);                                     // Do Request
+    }
+}

src/Camera/QGCCameraManager.h

+/*!
+ * @file
+ *   @brief Camera Controller
+ *   @author Gus Grubba <mavlink@grubba.com>
+ *
+ */
+
+#pragma once
+
+#include "QGCApplication.h"
+#include <QLoggingCategory>
+#include "QmlObjectListModel.h"
+#include "QGCCameraControl.h"
+
+#include <QObject>
+#include <QTimer>
+
+Q_DECLARE_LOGGING_CATEGORY(CameraManagerLog)
+
+//-----------------------------------------------------------------------------
+class QGCCameraManager : public QObject
+{
+    Q_OBJECT
+public:
+    QGCCameraManager(Vehicle* vehicle);
+    virtual ~QGCCameraManager();
+
+    Q_PROPERTY(QmlObjectListModel*  cameras             READ cameras            NOTIFY camerasChanged)
+    Q_PROPERTY(QString              controllerSource    READ controllerSource   NOTIFY controllerSourceChanged)
+
+    //-- Return a list of cameras provided by this vehicle
+    virtual QmlObjectListModel* cameras             () { return &_cameras; }
+    //-- Camera controller source (QML)
+    virtual QString             controllerSource    ();
+
+signals:
+    void    camerasChanged          ();
+    void    controllerSourceChanged ();
+
+protected slots:
+    void    _vehicleReady           (bool ready);
+    void    _mavlinkMessageReceived (const mavlink_message_t& message);
+
+protected:
+    QGCCameraControl* _findCamera   (int id);
+    void    _requestCameraInfo      (int compID);
+    void    _handleHeartbeat        (const mavlink_message_t& message);
+    void    _handleCameraInfo       (const mavlink_message_t& message);
+    void    _handleStorageInfo      (const mavlink_message_t& message);
+    void    _handleCameraSettings   (const mavlink_message_t& message);
+    void    _handleParamAck         (const mavlink_message_t& message);
+    void    _handleParamValue       (const mavlink_message_t& message);
+    void    _handleCaptureStatus    (const mavlink_message_t& message);
+
+protected:
+    Vehicle*            _vehicle;
+    bool                _vehicleReadyState;
+    int                 _cameraCount;
+    int                 _currentTask;
+    QmlObjectListModel  _cameras;
+    QMap<int, bool>     _cameraInfoRequested;
+};

src/Camera/images/camera_photo.svg

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+		c0,3.4,0,6.8,0,10.3c0,0.2,0.1,0.3,0.2,0.4c4.2,2.5,8.5,5.1,12.7,7.6c0.4,0.2,0.8,0.4,1.3,0.4c0.7,0,1.3,0,2,0c0-9,0-18,0-27
+		C68.3,22.5,68.2,22.5,68.1,22.5z"/>
+</g>
+</svg>

src/FactSystem/Fact.cc

@@ -17,6 +17,8 @@
 #include <QtQml>
 #include <QQmlEngine>
 
+static const char* kMissingMetadata = "Meta data pointer missing";
+
 Fact::Fact(QObject* parent)
     : QObject(parent)
     , _componentId(-1)
@@ -86,7 +88,7 @@ void Fact::forceSetRawValue(const QVariant& value)
             emit rawValueChanged(_rawValue);
         }
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
     }
 }
 
@@ -105,7 +107,7 @@ void Fact::setRawValue(const QVariant& value)
             }
         }
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
     }
 }
 
@@ -114,7 +116,7 @@ void Fact::setCookedValue(const QVariant& value)
     if (_metaData) {
         setRawValue(_metaData->cookedTranslator()(value));
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
     }
 }
 
@@ -126,7 +128,7 @@ void Fact::setEnumStringValue(const QString& value)
             setCookedValue(_metaData->enumValues()[index]);
         }
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
     }
 }
 
@@ -135,7 +137,7 @@ void Fact::setEnumIndex(int index)
     if (_metaData) {
         setCookedValue(_metaData->enumValues()[index]);
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
     }
 }
 
@@ -162,7 +164,7 @@ QVariant Fact::cookedValue(void) const
     if (_metaData) {
         return _metaData->rawTranslator()(_rawValue);
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return _rawValue;
     }
 }
@@ -175,7 +177,7 @@ QString Fact::enumStringValue(void)
             return _metaData->enumStrings()[enumIndex];
         }
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
     }
 
     return QString();
@@ -183,23 +185,29 @@ QString Fact::enumStringValue(void)
 
 int Fact::enumIndex(void)
 {
+    static const double accuracy = 1.0 / 1000000.0;
     if (_metaData) {
         int index = 0;
-
         foreach (QVariant enumValue, _metaData->enumValues()) {
             if (enumValue == rawValue()) {
                 return index;
             }
+            //-- Float comparissons don't always work
+            if(type() == FactMetaData::valueTypeFloat || type() == FactMetaData::valueTypeDouble) {
+                double diff = fabs(enumValue.toDouble() - rawValue().toDouble());
+                if(diff < accuracy) {
+                    return index;
+                }
+            }
             index ++;
         }
-
         // Current value is not in list, add it manually
         _metaData->addEnumInfo(QString("Unknown: %1").arg(rawValue().toString()), rawValue());
         emit enumStringsChanged();
         emit enumValuesChanged();
         return index;
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
     }
 
     return -1;
@@ -210,7 +218,7 @@ QStringList Fact::enumStrings(void) const
     if (_metaData) {
         return _metaData->enumStrings();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QStringList();
     }
 }
@@ -220,17 +228,26 @@ QVariantList Fact::enumValues(void) const
     if (_metaData) {
         return _metaData->enumValues();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QVariantList();
     }
 }
 
+void Fact::setEnumInfo(const QStringList& strings, const QVariantList& values)
+{
+    if (_metaData) {
+        return _metaData->setEnumInfo(strings, values);
+    } else {
+        qWarning() << kMissingMetadata;
+    }
+}
+
 QStringList Fact::bitmaskStrings(void) const
 {
     if (_metaData) {
         return _metaData->bitmaskStrings();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QStringList();
     }
 }
@@ -240,7 +257,7 @@ QVariantList Fact::bitmaskValues(void) const
     if (_metaData) {
         return _metaData->bitmaskValues();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QVariantList();
     }
 }
@@ -314,7 +331,7 @@ QVariant Fact::rawDefaultValue(void) const
         }
         return _metaData->rawDefaultValue();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QVariant(0);
     }
 }
@@ -327,7 +344,7 @@ QVariant Fact::cookedDefaultValue(void) const
         }
         return _metaData->cookedDefaultValue();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QVariant(0);
     }
 }
@@ -347,7 +364,7 @@ QString Fact::shortDescription(void) const
     if (_metaData) {
         return _metaData->shortDescription();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QString();
     }
 }
@@ -357,7 +374,7 @@ QString Fact::longDescription(void) const
     if (_metaData) {
         return _metaData->longDescription();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QString();
     }
 }
@@ -367,7 +384,7 @@ QString Fact::rawUnits(void) const
     if (_metaData) {
         return _metaData->rawUnits();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QString();
     }
 }
@@ -377,7 +394,7 @@ QString Fact::cookedUnits(void) const
     if (_metaData) {
         return _metaData->cookedUnits();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QString();
     }
 }
@@ -387,7 +404,7 @@ QVariant Fact::rawMin(void) const
     if (_metaData) {
         return _metaData->rawMin();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QVariant(0);
     }
 }
@@ -397,7 +414,7 @@ QVariant Fact::cookedMin(void) const
     if (_metaData) {
         return _metaData->cookedMin();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QVariant(0);
     }
 }
@@ -412,7 +429,7 @@ QVariant Fact::rawMax(void) const
     if (_metaData) {
         return _metaData->rawMax();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QVariant(0);
     }
 }
@@ -422,7 +439,7 @@ QVariant Fact::cookedMax(void) const
     if (_metaData) {
         return _metaData->cookedMax();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QVariant(0);
     }
 }
@@ -437,7 +454,7 @@ bool Fact::minIsDefaultForType(void) const
     if (_metaData) {
         return _metaData->minIsDefaultForType();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return false;
     }
 }
@@ -447,7 +464,7 @@ bool Fact::maxIsDefaultForType(void) const
     if (_metaData) {
         return _metaData->maxIsDefaultForType();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return false;
     }
 }
@@ -457,7 +474,7 @@ int Fact::decimalPlaces(void) const
     if (_metaData) {
         return _metaData->decimalPlaces();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return FactMetaData::defaultDecimalPlaces;
     }
 }
@@ -467,7 +484,7 @@ QString Fact::group(void) const
     if (_metaData) {
         return _metaData->group();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QString();
     }
 }
@@ -487,7 +504,7 @@ bool Fact::valueEqualsDefault(void) const
             return false;
         }
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return false;
     }
 }
@@ -497,7 +514,7 @@ bool Fact::defaultValueAvailable(void) const
     if (_metaData) {
         return _metaData->defaultValueAvailable();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return false;
     }
 }
@@ -512,7 +529,7 @@ QString Fact::validate(const QString& cookedValue, bool convertOnly)
         
         return errorString;
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return QString("Internal error: Meta data pointer missing");
     }
 }
@@ -522,7 +539,7 @@ bool Fact::rebootRequired(void) const
     if (_metaData) {
         return _metaData->rebootRequired();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
         return false;
     }
 }
@@ -562,7 +579,7 @@ QString Fact::enumOrValueString(void)
             return cookedValueString();
         }
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
     }
     return QString();
 }
@@ -572,7 +589,17 @@ double Fact::increment(void) const
     if (_metaData) {
         return _metaData->increment();
     } else {
-        qWarning() << "Meta data pointer missing";
+        qWarning() << kMissingMetadata;
     }
     return std::numeric_limits<double>::quiet_NaN();
 }
+
+bool Fact::hasControl(void) const
+{
+    if (_metaData) {
+        return _metaData->hasControl();
+    } else {
+        qWarning() << kMissingMetadata;
+        return false;
+    }
+}

src/FactSystem/Fact.h

@@ -64,6 +64,7 @@ public:
     Q_PROPERTY(double       increment               READ increment                                          CONSTANT)
     Q_PROPERTY(bool         typeIsString            READ typeIsString                                       CONSTANT)
     Q_PROPERTY(bool         typeIsBool              READ typeIsBool                                         CONSTANT)
+    Q_PROPERTY(bool         hasControl              READ hasControl                                         CONSTANT)
 
     /// Convert and validate value
     ///     @param convertOnly true: validate type conversion only, false: validate against meta data as well
@@ -106,6 +107,7 @@ public:
     double          increment               (void) const;
     bool            typeIsString            (void) const { return type() == FactMetaData::valueTypeString; }
     bool            typeIsBool              (void) const { return type() == FactMetaData::valueTypeBool; }
+    bool            hasControl              (void) const;
 
     /// Returns the values as a string with full 18 digit precision if float/double.
     QString rawValueStringFullPrecision(void) const;
@@ -132,12 +134,17 @@ public:
     /// Sets the meta data associated with the Fact.
     void setMetaData(FactMetaData* metaData);
     
+    FactMetaData* metaData() { return _metaData; }
+
+    //-- Value coming from Vehicle. This does NOT send a _containerRawValueChanged signal.
     void _containerSetRawValue(const QVariant& value);
     
     /// Generally you should not change the name of a fact. But if you know what you are doing, you can.
     void _setName(const QString& name) { _name = name; }
 
-    
+    /// Generally this is done during parsing. But if you know what you are doing, you can.
+    void setEnumInfo(const QStringList& strings, const QVariantList& values);
+
 signals:
     void bitmaskStringsChanged(void);
     void bitmaskValuesChanged(void);
@@ -156,7 +163,7 @@ signals:
     
     /// Signalled when property has been changed by a call to the property write accessor
     ///
-    /// This signal is meant for use by Fact container implementations.
+    /// This signal is meant for use by Fact container implementations. Used to send changed values to vehicle.
     void _containerRawValueChanged(const QVariant& value);
     
 protected:

src/FactSystem/FactGroup.cc

@@ -23,14 +23,30 @@ QGC_LOGGING_CATEGORY(FactGroupLog, "FactGroupLog")
 FactGroup::FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent)
     : QObject(parent)
     , _updateRateMSecs(updateRateMsecs)
+{
+    _setupTimer();
+    _nameToFactMetaDataMap = FactMetaData::createMapFromJsonFile(metaDataFile, this);
+}
+
+FactGroup::FactGroup(int updateRateMsecs, QObject* parent)
+    : QObject(parent)
+    , _updateRateMSecs(updateRateMsecs)
+{
+    _setupTimer();
+}
+
+void FactGroup::_loadFromJsonArray(const QJsonArray jsonArray)
+{
+    _nameToFactMetaDataMap = FactMetaData::createMapFromJsonArray(jsonArray, this);
+}
+
+void FactGroup::_setupTimer()
 {
     if (_updateRateMSecs > 0) {
         connect(&_updateTimer, &QTimer::timeout, this, &FactGroup::_updateAllValues);
         _updateTimer.setSingleShot(false);
         _updateTimer.start(_updateRateMSecs);
     }
-
-    _loadMetaData(metaDataFile);
 }
 
 Fact* FactGroup::getFact(const QString& name)
@@ -107,8 +123,3 @@ void FactGroup::_updateAllValues(void)
         fact->sendDeferredValueChangedSignal();
     }
 }
-
-void FactGroup::_loadMetaData(const QString& jsonFilename)
-{
-    _nameToFactMetaDataMap = FactMetaData::createMapFromJsonFile(jsonFilename, this);
-}

src/FactSystem/FactGroup.h

@@ -27,6 +27,7 @@ class FactGroup : public QObject
     
 public:
     FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent = NULL);
+    FactGroup(int updateRateMsecs, QObject* parent = NULL);
 
     Q_PROPERTY(QStringList factNames        READ factNames      CONSTANT)
     Q_PROPERTY(QStringList factGroupNames   READ factGroupNames CONSTANT)
@@ -39,10 +40,11 @@ public:
 
     QStringList factNames(void) const { return _nameToFactMap.keys(); }
     QStringList factGroupNames(void) const { return _nameToFactGroupMap.keys(); }
-    
+
 protected:
     void _addFact(Fact* fact, const QString& name);
     void _addFactGroup(FactGroup* factGroup, const QString& name);
+    void _loadFromJsonArray(const QJsonArray jsonArray);
 
     int _updateRateMSecs;   ///< Update rate for Fact::valueChanged signals, 0: immediate update
 
@@ -50,13 +52,14 @@ private slots:
     void _updateAllValues(void);
 
 private:
-    void _loadMetaData(const QString& filename);
+    void _setupTimer();
+    QTimer _updateTimer;
 
+protected:
     QMap<QString, Fact*>            _nameToFactMap;
     QMap<QString, FactGroup*>       _nameToFactGroupMap;
     QMap<QString, FactMetaData*>    _nameToFactMetaDataMap;
 
-    QTimer _updateTimer;
 };
 
 #endif

src/FactSystem/FactMetaData.cc

@@ -70,6 +70,7 @@ const char* FactMetaData::_unitsJsonKey =               "units";
 const char* FactMetaData::_defaultValueJsonKey =        "defaultValue";
 const char* FactMetaData::_minJsonKey =                 "min";
 const char* FactMetaData::_maxJsonKey =                 "max";
+const char* FactMetaData::_hasControlJsonKey =          "control";
 
 FactMetaData::FactMetaData(QObject* parent)
     : QObject(parent)
@@ -86,6 +87,7 @@ FactMetaData::FactMetaData(QObject* parent)
     , _cookedTranslator(_defaultTranslator)
     , _rebootRequired(false)
     , _increment(std::numeric_limits<double>::quiet_NaN())
+    , _hasControl(true)
 {
 
 }
@@ -105,6 +107,7 @@ FactMetaData::FactMetaData(ValueType_t type, QObject* parent)
     , _cookedTranslator(_defaultTranslator)
     , _rebootRequired(false)
     , _increment(std::numeric_limits<double>::quiet_NaN())
+    , _hasControl(true)
 {
 
 }
@@ -115,6 +118,27 @@ FactMetaData::FactMetaData(const FactMetaData& other, QObject* parent)
     *this = other;
 }
 
+FactMetaData::FactMetaData(ValueType_t type, const QString name, QObject* parent)
+    : QObject(parent)
+    , _type(type)
+    , _decimalPlaces(unknownDecimalPlaces)
+    , _rawDefaultValue(0)
+    , _defaultValueAvailable(false)
+    , _group("*Default Group")
+    , _rawMax(_maxForType())
+    , _maxIsDefaultForType(true)
+    , _rawMin(_minForType())
+    , _minIsDefaultForType(true)
+    , _name(name)
+    , _rawTranslator(_defaultTranslator)
+    , _cookedTranslator(_defaultTranslator)
+    , _rebootRequired(false)
+    , _increment(std::numeric_limits<double>::quiet_NaN())
+    , _hasControl(true)
+{
+
+}
+
 const FactMetaData& FactMetaData::operator=(const FactMetaData& other)
 {
     _decimalPlaces          = other._decimalPlaces;
@@ -139,6 +163,7 @@ const FactMetaData& FactMetaData::operator=(const FactMetaData& other)
     _cookedTranslator       = other._cookedTranslator;
     _rebootRequired         = other._rebootRequired;
     _increment              = other._increment;
+    _hasControl             = other._hasControl;
 
     return *this;
 }
@@ -817,8 +842,8 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObjec
     // Validate key types
     QStringList             keys;
     QList<QJsonValue::Type> types;
-    keys << _nameJsonKey << _decimalPlacesJsonKey << _typeJsonKey << _shortDescriptionJsonKey << _longDescriptionJsonKey << _unitsJsonKey << _minJsonKey << _maxJsonKey;
-    types << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::Double << QJsonValue::Double;
+    keys << _nameJsonKey << _decimalPlacesJsonKey << _typeJsonKey << _shortDescriptionJsonKey << _longDescriptionJsonKey << _unitsJsonKey << _minJsonKey << _maxJsonKey << _hasControlJsonKey;
+    types << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::Double << QJsonValue::Double << QJsonValue::Bool;
     if (!JsonHelper::validateKeyTypes(json, keys, types, errorString)) {
         qWarning() << errorString;
         return new FactMetaData(valueTypeUint32, metaDataParent);
@@ -836,7 +861,7 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObjec
     metaData->_name = json[_nameJsonKey].toString();
 
     QStringList enumValues, enumStrings;
-    if (JsonHelper::parseEnum(json, enumStrings, enumValues, errorString)) {
+    if (JsonHelper::parseEnum(json, enumStrings, enumValues, errorString, metaData->name())) {
         for (int i=0; i<enumValues.count(); i++) {
             QVariant    enumVariant;
             QString     errorString;
@@ -876,6 +901,11 @@ FactMetaData* FactMetaData::createFromJsonObject(const QJsonObject& json, QObjec
         metaData->convertAndValidateRaw(json[_maxJsonKey].toVariant(), true /* convertOnly */, typedValue, errorString);
         metaData->setRawMax(typedValue);
     }
+    if (json.contains(_hasControlJsonKey)) {
+        metaData->setHasControl(json[_hasControlJsonKey].toBool());
+    } else {
+        metaData->setHasControl(true);
+    }
 
     return metaData;
 }
@@ -905,23 +935,27 @@ QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonFile(const QString&
     }
 
     QJsonArray jsonArray = doc.array();
-    for (int i=0; i<jsonArray.count(); i++) {
-        QJsonValueRef jsonValue = jsonArray[i];
+    return createMapFromJsonArray(jsonArray, metaDataParent);
+}
 
+QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonArray(const QJsonArray jsonArray, QObject* metaDataParent)
+{
+    QMap<QString, FactMetaData*> metaDataMap;
+    for (int i=0; i<jsonArray.count(); i++) {
+        QJsonValue jsonValue = jsonArray.at(i);
         if (!jsonValue.isObject()) {
             qWarning() << QStringLiteral("JsonValue at index %1 not an object").arg(i);
             continue;
         }
         QJsonObject jsonObject = jsonValue.toObject();
         FactMetaData* metaData = createFromJsonObject(jsonObject, metaDataParent);
-
         if (metaDataMap.contains(metaData->name())) {
             qWarning() << QStringLiteral("Duplicate fact name:") << metaData->name();
+            delete metaData;
         } else {
             metaDataMap[metaData->name()] = metaData;
         }
     }
-
     return metaDataMap;
 }
 

src/FactSystem/FactMetaData.h

@@ -47,9 +47,11 @@ public:
     
     FactMetaData(QObject* parent = NULL);
     FactMetaData(ValueType_t type, QObject* parent = NULL);
+    FactMetaData(ValueType_t type, const QString name, QObject* parent = NULL);
     FactMetaData(const FactMetaData& other, QObject* parent = NULL);
 
     static QMap<QString, FactMetaData*> createMapFromJsonFile(const QString& jsonFilename, QObject* metaDataParent);
+    static QMap<QString, FactMetaData*> createMapFromJsonArray(const QJsonArray jsonArray, QObject* metaDataParent);
 
     static FactMetaData* createFromJsonObject(const QJsonObject& json, QObject* metaDataParent);
 
@@ -95,6 +97,7 @@ public:
     QString         rawUnits                (void) const { return _rawUnits; }
     QString         cookedUnits             (void) const { return _cookedUnits; }
     bool            rebootRequired          (void) const { return _rebootRequired; }
+    bool            hasControl              (void) const { return _hasControl; }
 
     /// Amount to increment value when used in controls such as spin button or slider with detents.
     /// NaN for no increment available.
@@ -122,6 +125,7 @@ public:
     void setRawUnits        (const QString& rawUnits);
     void setRebootRequired  (bool rebootRequired)               { _rebootRequired = rebootRequired; }
     void setIncrement       (double increment)                  { _increment = increment; }
+    void setHasControl      (bool bValue)                        { _hasControl = bValue; }
 
     void setTranslators(Translator rawTranslator, Translator cookedTranslator);
 
@@ -216,6 +220,7 @@ private:
     Translator      _cookedTranslator;
     bool            _rebootRequired;
     double          _increment;
+    bool            _hasControl;
 
     // Exact conversion constants
     static const struct UnitConsts_s {
@@ -247,6 +252,7 @@ private:
     static const char*  _defaultValueJsonKey;
     static const char*  _minJsonKey;
     static const char*  _maxJsonKey;
+    static const char* _hasControlJsonKey;
 };
 
 #endif

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -524,3 +524,20 @@ bool FirmwarePlugin::hasGimbal(Vehicle* vehicle, bool& rollSupported, bool& pitc
     yawSupported = false;
     return false;
 }
+
+QGCCameraManager* FirmwarePlugin::cameraManager(Vehicle* vehicle)
+{
+    Q_UNUSED(vehicle);
+    return NULL;
+}
+
+QGCCameraControl* FirmwarePlugin::createCameraControl(const mavlink_camera_information_t *info, Vehicle *vehicle, int compID, QObject* parent)
+{
+    Q_UNUSED(info);
+    Q_UNUSED(vehicle);
+    Q_UNUSED(compID);
+    Q_UNUSED(parent);
+    return NULL;
+}
+
+

src/FirmwarePlugin/FirmwarePlugin.h

@@ -25,6 +25,8 @@
 #include <QVariantList>
 
 class Vehicle;
+class QGCCameraControl;
+class QGCCameraManager;
 
 /// This is the base class for Firmware specific plugins
 ///
@@ -267,8 +269,15 @@ public:
     virtual const QVariantList& toolBarIndicators(const Vehicle* vehicle);
 
     /// Returns a list of CameraMetaData objects for available cameras on the vehicle.
+    /// TODO: This should go into QGCCameraManager
     virtual const QVariantList& cameraList(const Vehicle* vehicle);
 
+    /// Vehicle camera manager. Returns NULL if not supported.
+    virtual QGCCameraManager* cameraManager(Vehicle *vehicle);
+
+    /// Camera control. Returns NULL if not supported.
+    virtual QGCCameraControl* createCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = NULL);
+
     /// Returns a pointer to a dictionary of firmware-specific FactGroups
     virtual QMap<QString, FactGroup*>* factGroups(void);
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -21,6 +21,7 @@
 #include "SensorsComponentController.h"
 #include "PowerComponentController.h"
 #include "RadioComponentController.h"
+#include "QGCCameraManager.h"
 
 #include <QDebug>
 
@@ -34,7 +35,8 @@ PX4FirmwarePluginInstanceData::PX4FirmwarePluginInstanceData(QObject* parent)
 }
 
 PX4FirmwarePlugin::PX4FirmwarePlugin(void)
-    : _manualFlightMode(tr("Manual"))
+    : _cameraManager(NULL)
+    , _manualFlightMode(tr("Manual"))
     , _acroFlightMode(tr("Acro"))
     , _stabilizedFlightMode(tr("Stabilized"))
     , _rattitudeFlightMode(tr("Rattitude"))
@@ -125,6 +127,12 @@ PX4FirmwarePlugin::PX4FirmwarePlugin(void)
     }
 }
 
+PX4FirmwarePlugin::~PX4FirmwarePlugin()
+{
+    if(_cameraManager)
+        delete _cameraManager;
+}
+
 AutoPilotPlugin* PX4FirmwarePlugin::autopilotPlugin(Vehicle* vehicle)
 {
     return new PX4AutoPilotPlugin(vehicle, vehicle);
@@ -549,3 +557,18 @@ bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicl
     }
     return true;
 }
+
+QGCCameraManager* PX4FirmwarePlugin::cameraManager(Vehicle* vehicle)
+{
+    if(!_cameraManager) {
+        _cameraManager = new QGCCameraManager(vehicle);
+    }
+    return _cameraManager;
+}
+
+QGCCameraControl* PX4FirmwarePlugin::createCameraControl(const mavlink_camera_information_t* info, Vehicle *vehicle, int compID, QObject* parent)
+{
+    return new QGCCameraControl(info, vehicle, compID, parent);
+}
+
+

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -25,6 +25,7 @@ class PX4FirmwarePlugin : public FirmwarePlugin
 
 public:
     PX4FirmwarePlugin(void);
+    ~PX4FirmwarePlugin();
 
     // Overrides from FirmwarePlugin
 
@@ -68,6 +69,8 @@ public:
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
     bool                vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const override;
     QString             autoDisarmParameter             (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); }
+    QGCCameraManager*   cameraManager                   (Vehicle* vehicle) override;
+    QGCCameraControl*   createCameraControl             (const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = NULL) override;
 
 protected:
     typedef struct {
@@ -80,6 +83,7 @@ protected:
     } FlightModeInfo_t;
 
     QList<FlightModeInfo_t> _flightModeInfoList;
+    QGCCameraManager*       _cameraManager;
 
     // Use these constants to set flight modes using setFlightMode method. Don't use hardcoded string names since the
     // names may change.

src/FlightDisplay/FlightDisplayView.qml

@@ -52,6 +52,8 @@ QGCView {
     property alias  _altitudeSlider:        altitudeSlider
 
 
+    readonly property var       _dynamicCameras:        _activeVehicle ? _activeVehicle.dynamicCameras : null
+    readonly property bool      _isCamera:              _dynamicCameras ? _dynamicCameras.cameras.count > 0 : false
     readonly property bool      isBackgroundDark:       _mainIsMap ? (_flightMap ? _flightMap.isSatelliteMap : true) : true
     readonly property real      _defaultRoll:           0
     readonly property real      _defaultPitch:          0
@@ -370,7 +372,7 @@ QGCView {
             anchors.right:      _flightVideo.right
             height:             ScreenTools.defaultFontPixelHeight * 2
             width:              height
-            visible:            QGroundControl.videoManager.videoReceiver.videoRunning && QGroundControl.settingsManager.videoSettings.showRecControl.rawValue
+            visible:            QGroundControl.videoManager.videoReceiver.videoRunning && QGroundControl.settingsManager.videoSettings.showRecControl.rawValue && !_isCamera
             opacity:            0.75
 
             Rectangle {

src/FlightDisplay/FlightDisplayViewVideo.qml

@@ -8,23 +8,25 @@
  ****************************************************************************/
 
 
-import QtQuick                      2.3
-import QtQuick.Controls             1.2
-
-import QGroundControl               1.0
-import QGroundControl.FlightDisplay 1.0
-import QGroundControl.FlightMap     1.0
-import QGroundControl.ScreenTools   1.0
-import QGroundControl.Controls      1.0
-import QGroundControl.Palette       1.0
-import QGroundControl.Vehicle       1.0
-import QGroundControl.Controllers   1.0
+import QtQuick                          2.3
+import QtQuick.Controls                 1.2
 
+import QGroundControl                   1.0
+import QGroundControl.FlightDisplay     1.0
+import QGroundControl.FlightMap         1.0
+import QGroundControl.ScreenTools       1.0
+import QGroundControl.Controls          1.0
+import QGroundControl.Palette           1.0
+import QGroundControl.Vehicle           1.0
+import QGroundControl.Controllers       1.0
 
 Item {
     id: root
-    property double _ar:            QGroundControl.settingsManager.videoSettings.aspectRatio.rawValue
-    property bool   _showGrid:      QGroundControl.settingsManager.videoSettings.gridLines.rawValue > 0
+    property var    _activeVehicle:     QGroundControl.multiVehicleManager.activeVehicle
+    property double _ar:                QGroundControl.settingsManager.videoSettings.aspectRatio.rawValue
+    property bool   _showGrid:          QGroundControl.settingsManager.videoSettings.gridLines.rawValue > 0
+    property var    _dynamicCameras:    _activeVehicle ? _activeVehicle.dynamicCameras : null
+    property bool   _connected:         _activeVehicle ? !_activeVehicle.connectionLost : false
     Rectangle {
         id:             noVideo
         anchors.fill:   parent
@@ -90,4 +92,13 @@ Item {
             }
         }
     }
+    //-- Camera Controller
+    Loader {
+        source:                 _dynamicCameras ? _dynamicCameras.controllerSource : ""
+        visible:                !_mainIsMap && _dynamicCameras && _dynamicCameras.cameras.count && _connected
+        anchors.right:          parent.right
+        anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
+        anchors.bottom:         parent.bottom
+        anchors.bottomMargin:   ScreenTools.defaultFontPixelHeight * 2
+    }
 }

src/FlightDisplay/GuidedActionsController.qml

@@ -123,7 +123,7 @@ Item {
     property bool __flightMode: _flightMode
 
     function _outputState() {
-        console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleInRTLMode(%5) pauseVehicleSupported(%6) _vehiclePaused(%7) _flightMode(%8)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode))
+        //console.log(qsTr("_activeVehicle(%1) _vehicleArmed(%2) guidedModeSupported(%3) _vehicleFlying(%4) _vehicleInRTLMode(%5) pauseVehicleSupported(%6) _vehiclePaused(%7) _flightMode(%8)").arg(_activeVehicle ? 1 : 0).arg(_vehicleArmed ? 1 : 0).arg(__guidedModeSupported ? 1 : 0).arg(_vehicleFlying ? 1 : 0).arg(_vehicleInRTLMode ? 1 : 0).arg(__pauseVehicleSupported ? 1 : 0).arg(_vehiclePaused ? 1 : 0).arg(_flightMode))
     }
 
     Component.onCompleted: _outputState()

src/JsonHelper.cc

@@ -111,13 +111,36 @@ bool JsonHelper::validateKeyTypes(const QJsonObject& jsonObject, const QStringLi
     return true;
 }
 
-bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString)
+bool JsonHelper::parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName)
 {
-    enumStrings = jsonObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
-    enumValues = jsonObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
+    if(jsonObject.value(_enumStringsJsonKey).isArray()) {
+        // "enumStrings": ["Auto" , "Manual", "Shutter Priority", "Aperture Priority"],
+        QJsonArray jArray = jsonObject.value(_enumStringsJsonKey).toArray();
+        for(int i = 0; i < jArray.count(); ++i) {
+            enumStrings << jArray.at(i).toString();
+        }
+    } else {
+        // "enumStrings": "Auto,Manual,Shutter Priority,Aperture Priority",
+        enumStrings = jsonObject.value(_enumStringsJsonKey).toString().split(",", QString::SkipEmptyParts);
+    }
+
+    if(jsonObject.value(_enumValuesJsonKey).isArray()) {
+        // "enumValues": [0, 1, 2, 3, 4, 5],
+        QJsonArray jArray = jsonObject.value(_enumValuesJsonKey).toArray();
+        // This should probably be a variant list and not a string list.
+        for(int i = 0; i < jArray.count(); ++i) {
+            if(jArray.at(i).isString())
+                enumValues << jArray.at(i).toString();
+            else
+                enumValues << QString::number(jArray.at(i).toDouble());
+        }
+    } else {
+        // "enumValues": "0,1,2,3,4,5",
+        enumValues = jsonObject.value(_enumValuesJsonKey).toString().split(",", QString::SkipEmptyParts);
+    }
 
     if (enumStrings.count() != enumValues.count()) {
-        errorString = QObject::tr("enum strings/values count mismatch strings:values %1:%2").arg(enumStrings.count()).arg(enumValues.count());
+        errorString = QObject::tr("enum strings/values count mismatch in %3 strings:values %1:%2").arg(enumStrings.count()).arg(enumValues.count()).arg(valueName);
         return false;
     }
 

src/JsonHelper.h

@@ -104,7 +104,7 @@ public:
     static void savePolygon(QmlObjectListModel& list,           ///< List which contains vertices
                             QJsonArray&         polygonArray);  ///< Array to save into
 
-    static bool parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString);
+    static bool parseEnum(const QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString, QString valueName = QString());
 
     /// Returns NaN if the value is null, or it not the double value
     static double possibleNaNJsonValue(const QJsonValue& value);

src/MissionManager/CameraSection.cc

@@ -121,8 +121,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
                                             MAV_FRAME_MISSION,
                                             0,                                      // camera id, all cameras
                                             _cameraModeFact.rawValue().toDouble(),
-                                            NAN,                                    // Audio off/on
-                                            NAN, NAN, NAN, NAN,                     // param 4-7 reserved
+                                            NAN, NAN, NAN, NAN, NAN,                // param 3-7 reserved
                                             true,                                   // autoContinue
                                             false,                                  // isCurrentItem
                                             missionItemParent);

src/MissionManager/CameraSectionTest.cc

@@ -84,8 +84,7 @@ void CameraSectionTest::init(void)
                                                                   MAV_FRAME_MISSION,
                                                                   0,                               // camera id = 0, all cameras
                                                                   CameraSection::CameraModePhoto,
-                                                                  NAN,                             // Audio off/on
-                                                                  NAN, NAN, NAN, NAN,              // param 4-7 reserved
+                                                                  NAN, NAN, NAN, NAN, NAN,         // param 3-7 reserved
                                                                   true,                            // autocontinue
                                                                   false),                          // isCurrentItem
                                                       this);
@@ -95,8 +94,7 @@ void CameraSectionTest::init(void)
                                                                   MAV_FRAME_MISSION,
                                                                   0,                               // camera id = 0, all cameras
                                                                   CameraSection::CameraModeVideo,
-                                                                  NAN,                             // Audio off/on
-                                                                  NAN, NAN, NAN, NAN,              // param 4-7 reserved
+                                                                  NAN, NAN, NAN, NAN, NAN,         // param 3-7 reserved
                                                                   true,                            // autocontinue
                                                                   false),                          // isCurrentItem
                                                       this);
@@ -677,13 +675,12 @@ void CameraSectionTest::_testScanForCameraModeSection(void)
     MAV_CMD_SET_CAMERA_MODE
     Mission Param #1	Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)
     Mission Param #2	Camera mode (0: photo mode, 1: video mode)
-    Mission Param #3	Audio recording enabled (0: off 1: on)
-    Mission Param #4	Reserved (all remaining params)
+    Mission Param #3	Reserved (all remaining params)
     */
 
     // Mode command but incorrect settings
     SimpleMissionItem invalidSimpleItem(_offlineVehicle, _validCameraPhotoModeItem->missionItem());
-    invalidSimpleItem.missionItem().setParam3(1);   // Audio should be NaN
+    invalidSimpleItem.missionItem().setParam3(1);   // Param3 should be NaN
     visualItems.append(&invalidSimpleItem);
     QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
     QCOMPARE(visualItems.count(), 1);

src/MissionManager/MavCmdInfoCommon.json

@@ -983,12 +983,6 @@
                 "enumStrings":      "Take photos,Record video",
                 "enumValues":       "0,1",
                 "default":          0
-            },
-            "param3": {
-                "label":            "Audio",
-                "enumStrings":      "Recording disabled,Recording enabled",
-                "enumValues":       "0,1",
-                "default":          0
             }
         },
         {

src/PlanView/SurveyItemEditor.qml

@@ -30,15 +30,15 @@ Rectangle {
     property real   _fieldWidth:        ScreenTools.defaultFontPixelWidth * 10.5
     property var    _cameraList:        [ qsTr("Manual Grid (no camera specs)"), qsTr("Custom Camera Grid") ]
     property var    _vehicle:           QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
-    property var    _vehicleCameraList: _vehicle.cameraList
+    property var    _vehicleCameraList: _vehicle.staticCcameraList
 
     readonly property int _gridTypeManual:          0
     readonly property int _gridTypeCustomCamera:    1
     readonly property int _gridTypeCamera:          2
 
     Component.onCompleted: {
-        for (var i=0; i<_vehicle.cameraList.length; i++) {
-            _cameraList.push(_vehicle.cameraList[i].name)
+        for (var i=0; i<_vehicle.staticCcameraList.length; i++) {
+            _cameraList.push(_vehicle.staticCcameraList[i].name)
         }
         gridTypeCombo.model = _cameraList
         if (missionItem.manualGrid.value) {

src/QGCApplication.cc

@@ -80,6 +80,7 @@
 #include "ParameterManager.h"
 #include "SettingsManager.h"
 #include "QGCCorePlugin.h"
+#include "QGCCameraManager.h"
 
 #ifndef NO_SERIAL_LINK
 #include "SerialLink.h"
@@ -344,9 +345,9 @@ void QGCApplication::_initCommon(void)
     qmlRegisterType<QGCPalette>     ("QGroundControl.Palette", 1, 0, "QGCPalette");
     qmlRegisterType<QGCMapPalette>  ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
 
-    qmlRegisterUncreatableType<CoordinateVector>    ("QGroundControl",                  1, 0, "CoordinateVector",       "Reference only");
-    qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                  1, 0, "QmlObjectListModel",     "Reference only");
-    qmlRegisterUncreatableType<MissionCommandTree>  ("QGroundControl",                  1, 0, "MissionCommandTree",     "Reference only");
+    qmlRegisterUncreatableType<CoordinateVector>    ("QGroundControl",                      1, 0, "CoordinateVector",       "Reference only");
+    qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                      1, 0, "QmlObjectListModel",     "Reference only");
+    qmlRegisterUncreatableType<MissionCommandTree>  ("QGroundControl",                      1, 0, "MissionCommandTree",     "Reference only");
 
     qmlRegisterUncreatableType<AutoPilotPlugin>     ("QGroundControl.AutoPilotPlugin",      1, 0, "AutoPilotPlugin",        "Reference only");
     qmlRegisterUncreatableType<VehicleComponent>    ("QGroundControl.AutoPilotPlugin",      1, 0, "VehicleComponent",       "Reference only");
@@ -354,13 +355,15 @@ void QGCApplication::_initCommon(void)
     qmlRegisterUncreatableType<MissionItem>         ("QGroundControl.Vehicle",              1, 0, "MissionItem",            "Reference only");
     qmlRegisterUncreatableType<MissionManager>      ("QGroundControl.Vehicle",              1, 0, "MissionManager",         "Reference only");
     qmlRegisterUncreatableType<ParameterManager>    ("QGroundControl.Vehicle",              1, 0, "ParameterManager",       "Reference only");
+    qmlRegisterUncreatableType<QGCCameraManager>    ("QGroundControl.Vehicle",              1, 0, "QGCCameraManager",       "Reference only");
+    qmlRegisterUncreatableType<QGCCameraControl>    ("QGroundControl.Vehicle",              1, 0, "QGCCameraControl",       "Reference only");
     qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",      1, 0, "JoystickManager",        "Reference only");
     qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",      1, 0, "Joystick",               "Reference only");
     qmlRegisterUncreatableType<QGCPositionManager>  ("QGroundControl.QGCPositionManager",   1, 0, "QGCPositionManager",     "Reference only");
     qmlRegisterUncreatableType<QGCMapPolygon>       ("QGroundControl.FlightMap",            1, 0, "QGCMapPolygon",          "Reference only");
     qmlRegisterUncreatableType<MissionController>   ("QGroundControl.Controllers",          1, 0, "MissionController",      "Reference only");
     qmlRegisterUncreatableType<GeoFenceController>  ("QGroundControl.Controllers",          1, 0, "GeoFenceController",     "Reference only");
-    qmlRegisterUncreatableType<RallyPointController>("QGroundControl.Controllers",          1, 0, "RallyPointController",    "Reference only");
+    qmlRegisterUncreatableType<RallyPointController>("QGroundControl.Controllers",          1, 0, "RallyPointController",   "Reference only");
 
     qmlRegisterType<ParameterEditorController>      ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
     qmlRegisterType<ESP8266ComponentController>     ("QGroundControl.Controllers", 1, 0, "ESP8266ComponentController");

src/QmlControls/ScreenTools.qml

@@ -114,7 +114,7 @@ Item {
             minTouchPixels      = defaultFontPixelHeight * 3
         }
 
-        console.log(minTouchPixels / Screen.height)
+        //console.log(minTouchPixels / Screen.height)
         toolbarHeight           = isMobile ? minTouchPixels : defaultFontPixelHeight * 3
     }
 

src/QmlControls/SliderSwitch.qml

@@ -71,7 +71,7 @@ Rectangle {
         property bool dragActive:   drag.active
         property real _dragOffset:  1
 
-        Component.onCompleted: console.log(height, ScreenTools.minTouchPixels)
+        //Component.onCompleted: console.log(height, ScreenTools.minTouchPixels)
 
         onPressed: {
             mouse.x

src/Vehicle/Vehicle.cc

@@ -30,6 +30,7 @@
 #include "QGroundControlQmlGlobal.h"
 #include "SettingsManager.h"
 #include "QGCQGeoCoordinate.h"
+#include "QGCCameraManager.h"
 
 QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 
@@ -113,6 +114,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _telemetryRNoise(0)
     , _vehicleCapabilitiesKnown(false)
     , _supportsMissionItemInt(false)
+    , _cameras(NULL)
     , _connectionLost(false)
     , _connectionLostEnabled(true)
     , _initialPlanRequestComplete(false)
@@ -225,6 +227,10 @@ Vehicle::Vehicle(LinkInterface*             link,
 
     _mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
     connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);
+
+    // Create camera manager instance
+    _cameras = _firmwarePlugin->cameraManager(this);
+    emit dynamicCamerasChanged();
 }
 
 // Disconnected Vehicle for offline editing
@@ -271,6 +277,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
     , _vehicleCapabilitiesKnown(true)
     , _supportsMissionItemInt(false)
+    , _cameras(NULL)
     , _connectionLost(false)
     , _connectionLostEnabled(true)
     , _initialPlanRequestComplete(false)
@@ -2577,7 +2584,7 @@ const QVariantList& Vehicle::toolBarIndicators()
     return emptyList;
 }
 
-const QVariantList& Vehicle::cameraList(void) const
+const QVariantList& Vehicle::staticCcameraList(void) const
 {
     if (_firmwarePlugin) {
         return _firmwarePlugin->cameraList(this);

src/Vehicle/Vehicle.h

@@ -38,6 +38,7 @@ class ParameterManager;
 class JoystickManager;
 class UASMessage;
 class SettingsManager;
+class QGCCameraManager;
 
 Q_DECLARE_LOGGING_CATEGORY(VehicleLog)
 
@@ -310,7 +311,8 @@ public:
     Q_PROPERTY(int                  telemetryLNoise         READ telemetryLNoise                                        NOTIFY telemetryLNoiseChanged)
     Q_PROPERTY(int                  telemetryRNoise         READ telemetryRNoise                                        NOTIFY telemetryRNoiseChanged)
     Q_PROPERTY(QVariantList         toolBarIndicators       READ toolBarIndicators                                      CONSTANT)
-    Q_PROPERTY(QVariantList         cameraList              READ cameraList                                             CONSTANT)
+    Q_PROPERTY(QVariantList         staticCcameraList       READ staticCcameraList                                      CONSTANT)
+    Q_PROPERTY(QGCCameraManager*    dynamicCameras          READ dynamicCameras                                         NOTIFY dynamicCamerasChanged)
 
     /// true: Vehicle is flying, false: Vehicle is on ground
     Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged)
@@ -670,8 +672,10 @@ public:
     QString vehicleImageOutline () const;
     QString vehicleImageCompass () const;
 
-    const QVariantList& toolBarIndicators   ();
-    const QVariantList& cameraList          (void) const;
+    const QVariantList&         toolBarIndicators   ();
+    const QVariantList&         staticCcameraList   (void) const;
+
+    QGCCameraManager*           dynamicCameras      () { return _cameras; }
 
     bool capabilitiesKnown(void) const { return _vehicleCapabilitiesKnown; }
     bool supportsMissionItemInt(void) const { return _supportsMissionItemInt; }
@@ -715,6 +719,7 @@ signals:
     void defaultHoverSpeedChanged(double hoverSpeed);
     void firmwareTypeChanged(void);
     void vehicleTypeChanged(void);
+    void dynamicCamerasChanged();
     void capabilitiesKnownChanged(bool capabilitiesKnown);
 
     void messagesReceivedChanged    ();
@@ -911,6 +916,8 @@ private:
     bool            _vehicleCapabilitiesKnown;
     bool            _supportsMissionItemInt;
 
+    QGCCameraManager* _cameras;
+
     typedef struct {
         int     component;
         MAV_CMD command;

src/api/QGCCorePlugin.h

@@ -36,16 +36,16 @@ public:
     QGCCorePlugin(QGCApplication* app, QGCToolbox* toolbox);
     ~QGCCorePlugin();
 
-    Q_PROPERTY(QVariantList settingsPages       READ settingsPages      NOTIFY settingsPagesChanged)
-    Q_PROPERTY(int          defaultSettings     READ defaultSettings    CONSTANT)
-    Q_PROPERTY(QGCOptions*  options             READ options            CONSTANT)
+    Q_PROPERTY(QVariantList     settingsPages           READ settingsPages          NOTIFY settingsPagesChanged)
+    Q_PROPERTY(int              defaultSettings         READ defaultSettings        CONSTANT)
+    Q_PROPERTY(QGCOptions*      options                 READ options                CONSTANT)
 
-    Q_PROPERTY(bool         showTouchAreas      READ showTouchAreas     WRITE setShowTouchAreas    NOTIFY showTouchAreasChanged)
-    Q_PROPERTY(bool         showAdvancedUI      READ showAdvancedUI     WRITE setShowAdvancedUI    NOTIFY showAdvancedUIChanged)
-    Q_PROPERTY(QString                  showAdvancedUIMessage           READ showAdvancedUIMessage          CONSTANT)
+    Q_PROPERTY(bool             showTouchAreas          READ showTouchAreas         WRITE setShowTouchAreas    NOTIFY showTouchAreasChanged)
+    Q_PROPERTY(bool             showAdvancedUI          READ showAdvancedUI         WRITE setShowAdvancedUI    NOTIFY showAdvancedUIChanged)
+    Q_PROPERTY(QString          showAdvancedUIMessage   READ showAdvancedUIMessage  CONSTANT)
 
-    Q_PROPERTY(QString      brandImageIndoor    READ brandImageIndoor   CONSTANT)
-    Q_PROPERTY(QString      brandImageOutdoor   READ brandImageOutdoor  CONSTANT)
+    Q_PROPERTY(QString          brandImageIndoor        READ brandImageIndoor       CONSTANT)
+    Q_PROPERTY(QString          brandImageOutdoor       READ brandImageOutdoor      CONSTANT)
 
     /// The list of settings under the Settings Menu
     /// @return A list of QGCSettings

src/ui/MainWindowInner.qml

@@ -246,8 +246,8 @@ Item {
             currentPopUp.close()
         }
         if(oldIndicator !== dropItem) {
-            console.log(oldIndicator)
-            console.log(dropItem)
+            //console.log(oldIndicator)
+            //console.log(dropItem)
             indicatorDropdown.centerX = centerX
             indicatorDropdown.sourceComponent = dropItem
             indicatorDropdown.visible = true

src/ui/preferences/MavlinkSettings.qml

@@ -333,13 +333,13 @@ Rectangle {
                             onActivated: {
                                 saveItems();
                                 QGroundControl.mavlinkLogManager.windSpeed = windItems.get(index).value
-                                console.log('Set Wind: ' + windItems.get(index).value)
+                                //console.log('Set Wind: ' + windItems.get(index).value)
                             }
                             Component.onCompleted: {
                                 for(var i = 0; i < windItems.count; i++) {
                                     if(windItems.get(i).value === QGroundControl.mavlinkLogManager.windSpeed) {
                                         windCombo.currentIndex = i;
-                                        console.log('Wind: ' + windItems.get(i).value)
+                                        //console.log('Wind: ' + windItems.get(i).value)
                                         break;
                                     }
                                 }
@@ -370,13 +370,13 @@ Rectangle {
                             onActivated: {
                                 saveItems();
                                 QGroundControl.mavlinkLogManager.rating = ratingItems.get(index).value
-                                console.log('Set Rating: ' + ratingItems.get(index).value)
+                                //console.log('Set Rating: ' + ratingItems.get(index).value)
                             }
                             Component.onCompleted: {
                                 for(var i = 0; i < ratingItems.count; i++) {
                                     if(ratingItems.get(i).value === QGroundControl.mavlinkLogManager.rating) {
                                         ratingCombo.currentIndex = i;
-                                        console.log('Rating: ' + ratingItems.get(i).value)
+                                        //console.log('Rating: ' + ratingItems.get(i).value)
                                         break;
                                     }
                                 }