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Better camera/gimbal message rate handling #3679

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125ef35
Add MessageRateManager for lease-based rates
robertlong13 Feb 27, 2026
1817fe9
CameraProtocol: use lease-based message rates
robertlong13 Mar 6, 2026
3ef26da
GimbalManager: message-interval-based discovery
robertlong13 Mar 11, 2026
3bc01e8
GimbalManager: fix yaw frame detection
robertlong13 Mar 11, 2026
53a5b2a
GimbalManager: tighten XML doc comments
robertlong13 Mar 11, 2026
506ab98
GimbalVideoControl: remove console writes
robertlong13 Mar 11, 2026
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39 changes: 22 additions & 17 deletions Controls/GimbalVideoControl.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,12 @@ public partial class GimbalVideoControl : UserControl, IMessageFilter
// logger
private static readonly ILog log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);

// Uncomment the Console.WriteLine line to enable debug output.
private static void DebugConsoleWrite(string format, params object[] args)
{
// Console.WriteLine(format, args);
}

private GimbalControlSettings preferences = new GimbalControlSettings();

private readonly GStreamer _stream = new GStreamer();
Expand Down Expand Up @@ -433,7 +439,7 @@ private void HandleHeldKeys()
previousPitchRate = pitch;
previousYawRate = yaw;
selectedGimbalManager?.SetRatesCommandAsync(pitch, yaw, yaw_lock, selectedGimbalID);
Console.WriteLine($"Pitch: {pitch}, Yaw: {yaw}");
DebugConsoleWrite("Pitch: {0}, Yaw: {1}", pitch, yaw);
}

float zoom = 0;
Expand All @@ -452,7 +458,7 @@ private void HandleHeldKeys()
{
previousZoomRate = zoom;
selectedCamera?.SetZoomAsync(zoom, CAMERA_ZOOM_TYPE.ZOOM_TYPE_CONTINUOUS);
Console.WriteLine($"Zoom: {zoom}");
DebugConsoleWrite("Zoom: {0}", zoom);
}
}

Expand Down Expand Up @@ -506,7 +512,7 @@ private void HandleKeyPress(Keys key)

private void TakePicture()
{
Console.WriteLine("Take picture");
DebugConsoleWrite("Take picture");
selectedCamera?.TakeSinglePictureAsync();
}

Expand All @@ -515,46 +521,46 @@ private void SetRecording(bool start)
isRecording = start;
if(start)
{
Console.WriteLine("Start recording");
DebugConsoleWrite("Start recording");
selectedCamera?.StartRecordingAsync();
}
else
{
Console.WriteLine("Stop recording");
DebugConsoleWrite("Stop recording");
selectedCamera?.StopRecordingAsync();
}
}

private void SetYawLock(bool locked)
{
string message = locked ? "lock" : "follow";
Console.WriteLine($"Set yaw {message}");
DebugConsoleWrite("Set yaw {0}", message);
yaw_lock = locked;
yawLockToolStripMenuItem.Checked = locked;
selectedGimbalManager?.SetRatesCommandAsync(previousPitchRate, previousYawRate, yaw_lock, selectedGimbalID);
}

private void Retract()
{
Console.WriteLine("Retract");
DebugConsoleWrite("Retract");
selectedGimbalManager?.RetractAsync();
}

private void Neutral()
{
Console.WriteLine("Neutral");
DebugConsoleWrite("Neutral");
selectedGimbalManager?.NeutralAsync();
}

private void PointDown()
{
Console.WriteLine("Point down");
DebugConsoleWrite("Point down");
selectedGimbalManager?.SetAnglesCommandAsync(-90, 0, false, selectedGimbalID);
}

private void Home()
{
Console.WriteLine("Home");
DebugConsoleWrite("Home");
var loc = MainV2.comPort?.MAV?.cs.HomeLocation;
selectedGimbalManager?.SetROILocationAsync(loc.Lat, loc.Lng, loc.Alt, frame: MAV_FRAME.GLOBAL);
}
Expand Down Expand Up @@ -632,8 +638,8 @@ private void VideoBox_Click(object sender, EventArgs e)
return;
}
q = attitude * q;
Console.WriteLine("Attitude: {0:0.0} {1:0.0} {2:0.0}", attitude.get_euler_yaw() * MathHelper.rad2deg, attitude.get_euler_pitch() * MathHelper.rad2deg, attitude.get_euler_roll() * MathHelper.rad2deg);
Console.WriteLine("New: {0:0.0} {1:0.0} {2:0.0}", q.get_euler_yaw() * MathHelper.rad2deg, q.get_euler_pitch() * MathHelper.rad2deg, q.get_euler_roll() * MathHelper.rad2deg);
DebugConsoleWrite("Attitude: {0:0.0} {1:0.0} {2:0.0}", attitude.get_euler_yaw() * MathHelper.rad2deg, attitude.get_euler_pitch() * MathHelper.rad2deg, attitude.get_euler_roll() * MathHelper.rad2deg);
DebugConsoleWrite("New: {0:0.0} {1:0.0} {2:0.0}", q.get_euler_yaw() * MathHelper.rad2deg, q.get_euler_pitch() * MathHelper.rad2deg, q.get_euler_roll() * MathHelper.rad2deg);

selectedGimbalManager?.SetAttitudeAsync(q, yaw_lock, selectedGimbalID);

Expand All @@ -649,7 +655,7 @@ private void VideoBox_Click(object sender, EventArgs e)
}
else if ((Control.ModifierKeys, me.Button) == preferences.TrackObjectUnderMouse)
{
selectedCamera?.RequestTrackingMessageInterval(5);
selectedCamera?.SubscribeTracking(5);
var x = (float)point.Value.x;
var y = (float)point.Value.y;
if (dragStartPoint.HasValue)
Expand Down Expand Up @@ -766,10 +772,9 @@ private void AutoConnectTimerCallback(object sender, System.Timers.ElapsedEventA
{
if (CameraProtocol.VideoStreams.Count < 1)
{
Console.Write("Requesting camera information...");
// We must not have any reported video streams. Try to request them
selectedCamera?.RequestCameraInformationAsync().Wait();
Console.WriteLine(" done.");
// We must not have any reported video streams. Try to request them.
selectedCamera?.RequestVideoStreamInformation();
DebugConsoleWrite("Requested video stream information");
// Come back later and see if any streams have been reported
AutoConnectTimer.Start();
return;
Expand Down
3 changes: 1 addition & 2 deletions ExtLibs/ArduPilot/CurrentState.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -4526,8 +4526,7 @@ public void UpdateCurrentSettings(Action<CurrentState> bs, bool updatenow,
mavinterface.requestDatastream(MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MAV.cs.raterc,
MAV.sysid,
MAV.compid); // request rc info
MAV.Camera?.RequestMessageIntervals(MAV.cs.ratestatus); // use ratestatus until we create a new setting for this
MAV.GimbalManager?.Discover();
MAV.Camera?.UpdateRateIfChanged(MAV.cs.ratestatus); // use ratestatus until we create a new setting for this
}
catch
{
Expand Down
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