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Gremsy · Jan 6, 2023 · 7074a72 · 7074a72
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Showing 9 changed files with 40 additions and 32 deletions.
diff --git a/src/examples/1._Connect_to_Payload/connect.cpp b/src/examples/1._Connect_to_Payload/connect.cpp
@@ -22,7 +22,7 @@ int main(int argc, char *argv[]){
 		mavlink_message_t msg;
 		uint8_t msg_cnt = my_payload->getNewMewssage(msg);
 
-		if(msg_cnt && msg.sysid == 1 && msg.compid == MAV_COMP_ID_CAMERA6){
+		if(msg_cnt && msg.sysid == PAYLOAD_SYSTEM_ID && msg.compid == PAYLOAD_COMPONENT_ID){
 			printf("Payload connected! \n");
 			break;
 		}

diff --git a/src/examples/2._Load_Payload_Settings/load_payload_settings.cpp b/src/examples/2._Load_Payload_Settings/load_payload_settings.cpp
@@ -31,7 +31,7 @@ int main(int argc, char *argv[]){
 		mavlink_message_t msg;
 		uint8_t msg_cnt = my_payload->getNewMewssage(msg);
 
-		if(msg_cnt && msg.sysid == 1 && msg.compid == MAV_COMP_ID_CAMERA6){
+		if(msg_cnt && msg.sysid == PAYLOAD_SYSTEM_ID && msg.compid == PAYLOAD_COMPONENT_ID){
 			printf("Payload connected! \n");
 			break;
 		}

diff --git a/src/examples/3._Set_Payload_Settings/set_payload_settings.cpp b/src/examples/3._Set_Payload_Settings/set_payload_settings.cpp
@@ -31,7 +31,7 @@ int main(int argc, char *argv[]){
 		mavlink_message_t msg;
 		uint8_t msg_cnt = my_payload->getNewMewssage(msg);
 
-		if(msg_cnt && msg.sysid == 1 && msg.compid == MAV_COMP_ID_CAMERA6){
+		if(msg_cnt && msg.sysid == PAYLOAD_SYSTEM_ID && msg.compid == PAYLOAD_COMPONENT_ID){
 			printf("Payload connected! \n");
 			break;
 		}

diff --git a/src/examples/4._Capture_Image/capture_image.cpp b/src/examples/4._Capture_Image/capture_image.cpp
@@ -48,7 +48,7 @@ int main(int argc, char *argv[]){
 		mavlink_message_t msg;
 		uint8_t msg_cnt = my_payload->getNewMewssage(msg);
 
-		if(msg_cnt && msg.sysid == 1 && msg.compid == MAV_COMP_ID_CAMERA6){
+		if(msg_cnt && msg.sysid == PAYLOAD_SYSTEM_ID && msg.compid == PAYLOAD_COMPONENT_ID){
 			printf("Payload connected! \n");
 			break;
 		}

diff --git a/src/examples/5._Record_Video/record_video.cpp b/src/examples/5._Record_Video/record_video.cpp
@@ -50,7 +50,7 @@ int main(int argc, char *argv[]){
 		mavlink_message_t msg;
 		uint8_t msg_cnt = my_payload->getNewMewssage(msg);
 
-		if(msg_cnt && msg.sysid == 1 && msg.compid == MAV_COMP_ID_CAMERA6){
+		if(msg_cnt && msg.sysid == PAYLOAD_SYSTEM_ID && msg.compid == PAYLOAD_COMPONENT_ID){
 			printf("Payload connected! \n");
 			break;
 		}

diff --git a/src/examples/6._Get_Video_Streaming/get_video_streaming.cpp b/src/examples/6._Get_Video_Streaming/get_video_streaming.cpp
@@ -63,7 +63,7 @@ int main(int argc, char *argv[]){
 		mavlink_message_t msg;
 		uint8_t msg_cnt = my_payload->getNewMewssage(msg);
 
-		if(msg_cnt && msg.sysid == 1 && msg.compid == MAV_COMP_ID_CAMERA6){
+		if(msg_cnt && msg.sysid == PAYLOAD_SYSTEM_ID && msg.compid == PAYLOAD_COMPONENT_ID){
 			printf("Payload connected! \n");
 			break;
 		}
@@ -75,7 +75,7 @@ int main(int argc, char *argv[]){
 
 	// change setting of VIDEO_OUT to BOTH_HDMI_UDP
 	printf("Change VideoOutput to both HDMI and Ethernet \n");
-	my_payload->setPayloadCameraParam(PAYLOAD_CAMERA_VIDEO_OUTPUT, PAYLOAD_CAMERA_VIDEO_OUTPUT_UDP, PARAM_TYPE_UINT32);
+	my_payload->setPayloadCameraParam(PAYLOAD_CAMERA_VIDEO_OUTPUT, PAYLOAD_CAMERA_VIDEO_OUTPUT_BOTH, PARAM_TYPE_UINT32);
 	usleep(500000);
 
 	my_job = check_camera_info;
@@ -208,6 +208,9 @@ void _handle_msg_camera_information(mavlink_message_t* msg){
 		my_job = check_streaming_uri;
 	}else{
 		printf("   ---> Payload has no streaming video \n");
+		printf("It looks like your payload was setting to output video only to HDMI \n");
+		printf("I changed this payload settings: both HDMI and Ethernet.\n");
+		printf("Please reboot your payload to apply this setting. Then try again.\n");
 		my_job = idle;
 	}
 }

diff --git a/src/payloadSdkInterface.cpp b/src/payloadSdkInterface.cpp
@@ -1,7 +1,7 @@
 #include "payloadSdkInterface.h"
 
 PayloadSdkInterface::PayloadSdkInterface(){
-
+	printf("Starting Gremsy PayloadSdk %s\n", SDK_VERSION);
 }
 
 PayloadSdkInterface::~PayloadSdkInterface(){
@@ -64,7 +64,7 @@ moveGimbal(float pitch_spd, float yaw_spd){
 	msg.param2 = 0;
 	msg.param3 = yaw_spd;
 	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 	msg.confirmation = 0;
 
 	// --------------------------------------------------------------------------
@@ -95,8 +95,8 @@ setPayloadCameraParam(char param_id[], uint32_t param_value, uint8_t param_type)
 	strcpy(msg.param_value, str.c_str());
 
 	msg.param_type = param_type;
-	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_system = PAYLOAD_SYSTEM_ID;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 
 	// --------------------------------------------------------------------------
 	//   ENCODE
@@ -118,8 +118,8 @@ PayloadSdkInterface::
 getPayloadCameraSettingList(){
 	mavlink_param_ext_request_list_t msg= {0};
 
-	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_system = PAYLOAD_SYSTEM_ID;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 	msg.trimmed = 0;
 
 	// --------------------------------------------------------------------------
@@ -142,8 +142,8 @@ PayloadSdkInterface::
 getPayloadStorage(){
 	mavlink_command_long_t msg = {0};
 
-	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_system = PAYLOAD_SYSTEM_ID;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 	msg.command = MAV_CMD_REQUEST_STORAGE_INFORMATION;
 	msg.confirmation = 1;
 
@@ -167,8 +167,8 @@ PayloadSdkInterface::
 getPayloadCaptureStatus(){
 	mavlink_command_long_t msg = {0};
 
-	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_system = PAYLOAD_SYSTEM_ID;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 	msg.command = MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS;
 	msg.confirmation = 1;
 
@@ -192,8 +192,8 @@ PayloadSdkInterface::
 getPayloadCameraMode(){
 	mavlink_command_long_t msg = {0};
 
-	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_system = PAYLOAD_SYSTEM_ID;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 	msg.command = MAV_CMD_REQUEST_CAMERA_SETTINGS;
 	msg.confirmation = 1;
 
@@ -217,8 +217,8 @@ PayloadSdkInterface::
 getPayloadCameraInformation(){
 	mavlink_command_long_t msg = {0};
 
-	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_system = PAYLOAD_SYSTEM_ID;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 	msg.command = MAV_CMD_REQUEST_CAMERA_INFORMATION;
 	msg.confirmation = 1;
 
@@ -245,8 +245,8 @@ PayloadSdkInterface::
 getPayloadCameraStreamingInformation(){
 	mavlink_command_long_t msg = {0};
 
-	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_system = PAYLOAD_SYSTEM_ID;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 	msg.command = MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION;
 	msg.confirmation = 1;
 
@@ -270,8 +270,8 @@ PayloadSdkInterface::
 setPayloadCameraMode(CAMERA_MODE mode){
 	mavlink_command_long_t msg = {0};
 
-	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_system = PAYLOAD_SYSTEM_ID;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 	msg.command = MAV_CMD_SET_CAMERA_MODE;
 	msg.param2 = (uint32_t)mode;
 	msg.confirmation = 1;
@@ -296,8 +296,8 @@ PayloadSdkInterface::
 setPayloadCameraCaptureImage(){
 	mavlink_command_long_t msg = {0};
 
-	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_system = PAYLOAD_SYSTEM_ID;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 	msg.command = MAV_CMD_IMAGE_START_CAPTURE;
 	msg.confirmation = 1;
 
@@ -321,8 +321,8 @@ PayloadSdkInterface::
 setPayloadCameraRecordVideoStart(){
 	mavlink_command_long_t msg = {0};
 
-	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_system = PAYLOAD_SYSTEM_ID;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 	msg.command = MAV_CMD_VIDEO_START_CAPTURE;
 	msg.confirmation = 1;
 
@@ -346,8 +346,8 @@ PayloadSdkInterface::
 setPayloadCameraRecordVideoStop(){
 	mavlink_command_long_t msg = {0};
 
-	msg.target_system = 1;
-	msg.target_component = MAV_COMP_ID_CAMERA6;
+	msg.target_system = PAYLOAD_SYSTEM_ID;
+	msg.target_component = PAYLOAD_COMPONENT_ID;
 	msg.command = MAV_CMD_VIDEO_STOP_CAPTURE;
 	msg.confirmation = 1;
 

diff --git a/src/payloadSdkInterface.h b/src/payloadSdkInterface.h
@@ -4,6 +4,8 @@
 #include <iostream>
 #include "payloadsdk.h"
 
+#define SDK_VERSION "1.0.0_build.06Jan2023"
+
 class PayloadSdkInterface
 {
 

diff --git a/src/payloadsdk.h b/src/payloadsdk.h
@@ -8,9 +8,12 @@
 #include "serial_port.h"
 #include "udp_port.h"
 
+#define PAYLOAD_SYSTEM_ID 1
+#define PAYLOAD_COMPONENT_ID MAV_COMP_ID_CAMERA5
+
 #define CONTROL_UART    0
 #define CONTROL_UDP    1
-#define CONTROL_METHOD  CONTROL_UDP
+#define CONTROL_METHOD  CONTROL_UART
 
 #define CAM_PARAM_ID_LEN 16
 #define CAM_PARAM_VALUE_LEN 128