Port to master remaining items from 4.4

qgcresources.qrc

@@ -108,4 +108,7 @@
     <qresource prefix="/opengl">
         <file>resources/opengl/buglist.json</file>
     </qresource>
+    <qresource prefix="/gimbal">
+        <file alias="payload.svg">resources/gimbal/payload.svg</file>
+    </qresource>
 </RCC>

qgroundcontrol.qrc

@@ -13,6 +13,7 @@
         <file alias="TelemetryRSSIIndicator.qml">src/UI/toolbar/TelemetryRSSIIndicator.qml</file>
         <file alias="VTOLModeIndicator.qml">src/UI/toolbar/VTOLModeIndicator.qml</file>
         <file alias="APMSupportForwardingIndicator.qml">src/UI/toolbar/APMSupportForwardingIndicator.qml</file>
+        <file alias="GimbalIndicator.qml">src/UI/toolbar/GimbalIndicator.qml</file>
     </qresource>
     <qresource prefix="/checklists">
         <file alias="DefaultChecklist.qml">src/FlightDisplay/DefaultChecklist.qml</file>
@@ -232,6 +233,7 @@
         <file alias="QGroundControl/FlightDisplay/FlyViewToolStripActionList.qml">src/FlightDisplay/FlyViewToolStripActionList.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlyViewTopRightColumnLayout.qml">src/FlightDisplay/FlyViewTopRightColumnLayout.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlyViewVideo.qml">src/FlightDisplay/FlyViewVideo.qml</file>
+        <file alias="QGroundControl/FlightDisplay/OnScreenGimbalController.qml">src/FlightDisplay/OnScreenGimbalController.qml</file>
         <file alias="QGroundControl/FlightDisplay/FlyViewWidgetLayer.qml">src/FlightDisplay/FlyViewWidgetLayer.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedActionActionList.qml">src/FlightDisplay/GuidedActionActionList.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedActionConfirm.qml">src/FlightDisplay/GuidedActionConfirm.qml</file>
@@ -410,9 +412,11 @@
         <file alias="Vehicle/HygrometerFact.json">src/Vehicle/FactGroups/HygrometerFact.json</file>
         <file alias="Vehicle/GeneratorFact.json">src/Vehicle/FactGroups/GeneratorFact.json</file>
         <file alias="Vehicle/EFIFact.json">src/Vehicle/FactGroups/EFIFact.json</file>
+        <file alias="Vehicle/GimbalFact.json">src/Gimbal/GimbalFact.json</file>
         <file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
         <file alias="VTOLLandingPattern.FactMetaData.json">src/MissionManager/VTOLLandingPattern.FactMetaData.json</file>
         <file alias="Viewer3D.SettingsGroup.json">src/Settings/Viewer3D.SettingsGroup.json</file>
+        <file alias="GimbalController.SettingsGroup.json">src/Settings/GimbalController.SettingsGroup.json</file>
     </qresource>
     <qresource prefix="/MockLink">
         <file alias="APMArduSubMockLink.params">src/Comms/MockLink/APMArduSubMockLink.params</file>

resources/InstrumentValueIcons/InstrumentValueIcons.qrc

@@ -298,5 +298,7 @@
 		<file alias="buoy.svg">buoy.svg</file>
 		<file alias="cheveron-down.svg">cheveron-down.svg</file>
 		<file alias="view-tile.svg">view-tile.svg</file>
+		<file alias="gimbal-1.svg">gimbal-1.svg</file>
+		<file alias="gimbal-2.svg">gimbal-2.svg</file>
 	</qresource>
 </RCC>

src/CMakeLists.txt

@@ -33,6 +33,7 @@ add_subdirectory(FirmwarePlugin)
 # add_subdirectory(FlightMap)
 add_subdirectory(FollowMe)
 add_subdirectory(Geo)
+add_subdirectory(Gimbal)
 add_subdirectory(GPS)
 add_subdirectory(Joystick)
 add_subdirectory(MAVLink)
@@ -76,6 +77,7 @@ target_link_libraries(QGC
         # FlightMap
         # FlightDisplay
         FollowMe
+        Gimbal
         GPS
         Joystick
         MAVLink

src/Camera/QGCCameraManager.cc

@@ -78,7 +78,8 @@ void QGCCameraManager::_vehicleReady(bool ready)
 void QGCCameraManager::_mavlinkMessageReceived(const mavlink_message_t& message)
 {
     //-- Only pay attention to camera components, as identified by their compId
-    if(message.sysid == _vehicle->id() && (message.compid >= MAV_COMP_ID_CAMERA && message.compid <= MAV_COMP_ID_CAMERA6)) {
+    if(message.sysid == _vehicle->id() && (message.compid == MAV_COMP_ID_AUTOPILOT1 ||
+        (message.compid >= MAV_COMP_ID_CAMERA && message.compid <= MAV_COMP_ID_CAMERA6))) {
         switch (message.msgid) {
             case MAVLINK_MSG_ID_CAMERA_CAPTURE_STATUS:
                 _handleCaptureStatus(message);
@@ -127,7 +128,7 @@ void QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
         pInfo->lastHeartbeat.start();
         _cameraInfoRequest[sCompID] = pInfo;
         //-- Request camera info
-        _requestCameraInfo(message.compid);
+        _requestCameraInfo(message.compid, pInfo->tryCount);
     } else {
         if(_cameraInfoRequest[sCompID]) {
             CameraStruct* pInfo = _cameraInfoRequest[sCompID];
@@ -141,12 +142,12 @@ void QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
                     if(pInfo->tryCount > 10) {
                         if(!pInfo->gaveUp) {
                             pInfo->gaveUp = true;
-                            qWarning() << "Giving up requesting camera info from" << _vehicle->id() << message.compid;
+                            qCDebug(CameraManagerLog) << "Giving up requesting camera info from" << _vehicle->id() << message.compid;
                         }
                     } else {
                         pInfo->tryCount++;
                         //-- Request camera info again.
-                        _requestCameraInfo(message.compid);
+                        _requestCameraInfo(message.compid, pInfo->tryCount);
                     }
                 }
             }
@@ -398,15 +399,25 @@ QGCCameraManager::_handleTrackingImageStatus(const mavlink_message_t& message)
 
 //-----------------------------------------------------------------------------
 void
-QGCCameraManager::_requestCameraInfo(int compID)
+QGCCameraManager::_requestCameraInfo(int compID, int tryCount)
 {
     qCDebug(CameraManagerLog) << "_requestCameraInfo(" << compID << ")";
     if(_vehicle) {
-        _vehicle->sendMavCommand(
-            compID,                                 // target component
-            MAV_CMD_REQUEST_CAMERA_INFORMATION,     // command id
-            false,                                  // showError
-            1);                                     // Do Request
+        // The MAV_CMD_REQUEST_CAMERA_INFORMATION command is deprecated, so we
+        // only fall back to it on the second and every other try.
+        if (tryCount % 2 == 0) {
+            _vehicle->sendMavCommand(
+                compID,                                 // target component
+                MAV_CMD_REQUEST_MESSAGE,                // command id
+                false,                                  // showError
+                MAVLINK_MSG_ID_CAMERA_INFORMATION);     // msgid
+        } else {
+            _vehicle->sendMavCommand(
+                compID,                                 // target component
+                MAV_CMD_REQUEST_CAMERA_INFORMATION,     // command id
+                false,                                  // showError
+                1);                                     // Do Request
+        }
     }
 }
 

src/Camera/QGCCameraManager.h

@@ -68,7 +68,7 @@ protected slots:
 
 protected:
     virtual MavlinkCameraControl* _findCamera(int id);
-    virtual void    _requestCameraInfo      (int compID);
+    virtual void    _requestCameraInfo      (int compID, int tryCount);
     virtual void    _handleHeartbeat        (const mavlink_message_t& message);
     virtual void    _handleCameraInfo       (const mavlink_message_t& message);
     virtual void    _handleStorageInfo      (const mavlink_message_t& message);