SIYI: display click mode in window titles

Author: tridge

Diff for: MAVProxy/modules/mavproxy_SIYI/__init__.py

@@ -364,6 +364,7 @@ def __init__(self, mpstate):
         self.last_armed = False
         self.getconfig_pending = False
         self.last_getconfig = time.time()
+        self.click_mode = "Flag"
 
         if mp_util.has_wxpython:
             menu = MPMenuSubMenu('SIYI',
@@ -1002,12 +1003,13 @@ def parse_packet(self, pkt):
             self.send_named_float('TMAX', self.tmax)
             self.last_temp_t = time.time()
             frame_counter = -1 if self.thermal_view is None else self.thermal_view.frame_counter
-            self.logf.write('SITR', 'QffHHHHi', 'TimeUS,TMin,TMax,TMinX,TMinY,TMaxX,TMaxY,FC',
+            self.logf.write('SITR', 'QffHHHHiI', 'TimeUS,TMin,TMax,TMinX,TMinY,TMaxX,TMaxY,FC,TCAP',
                             self.micros64(),
                             self.tmin, self.tmax,
                             self.tmin_x, self.tmin_y,
                             self.tmax_x, self.tmax_y,
-                            frame_counter)
+                            frame_counter,
+                            self.thermal_capture_count)
             if self.thermal_view is not None:
                 threshold = self.siyi_settings.threshold_temp
                 threshold_value = int(255*(threshold - self.tmin)/max(1,(self.tmax-self.tmin)))
@@ -1254,8 +1256,15 @@ def get_view_vector(self, x, y, FOV, aspect_ratio):
         (roll,pitch,yaw) = (math.radians(fov_att[0]),math.radians(fov_att[1]),math.radians(fov_att[2]))
         yaw += att.yaw
         FOV_half = math.radians(0.5*FOV)
-        yaw += FOV_half*x
+
+        pitch = math.radians(-90)
+        aspect_ratio = 1.0
+
         pitch -= y*FOV_half/aspect_ratio
+        if pitch < math.radians(-90):
+            yaw -= FOV_half*x
+        else:
+            yaw += FOV_half*x
         m.from_euler(roll, pitch, yaw)
         v = m * v
         return v
@@ -1448,8 +1457,7 @@ def mavlink_packet(self, m):
         self.armed_checks()
 
         if mtype == 'GPS_RAW_INT':
-            # ?!? why off by 18 hours
-            gwk, gms = mp_util.get_gps_time(time.time()+18*3600)
+            gwk, gms = mp_util.get_gps_time(time.time())
             self.logf.write('GPS', "QBIHLLff", "TimeUS,Status,GMS,GWk,Lat,Lng,Alt,Spd",
                             self.micros64(), m.fix_type, gms, gwk, m.lat, m.lon, m.alt*0.001, m.vel*0.01)
         if mtype == 'ATTITUDE':

Diff for: MAVProxy/modules/mavproxy_SIYI/camera_view.py

@@ -26,7 +26,6 @@ def __init__(self, siyi, rtsp_url, filename, res, thermal=False, fps=10, video_i
         self.res = res
         self.rtsp_url = rtsp_url
         self.filename = filename
-        self.mode = "Flag"
         self.last_frame_t = time.time()
         self.fps = fps
         self.frame_counter = -1
@@ -140,6 +139,7 @@ def set_title(self, title):
         """set image title"""
         if self.im is None:
             return
+        title += " (mode %s)" % self.siyi.click_mode
         self.im.set_title(title)
 
     def get_pixel_temp(self, event):
@@ -213,8 +213,8 @@ def check_events(self):
                     self.im.set_colormap(event.returnkey[9:])
                     self.siyi.cmd_palette(["WhiteHot"])
                 elif event.returnkey.startswith("Mode:"):
-                    self.mode = event.returnkey[5:]
-                    print("ViewMode: %s" % self.mode)
+                    self.siyi.click_mode = event.returnkey[5:]
+                    print("ViewMode: %s" % self.siyi.click_mode)
                 elif event.returnkey.startswith("Marker:"):
                     self.siyi.handle_marker(event.returnkey[7:])
                 elif event.returnkey.startswith("Lens:") and self.siyi is not None:
@@ -261,7 +261,7 @@ def check_events(self):
                 elif event.controlDown:
                     self.siyi.end_tracking()
                 else:
-                    self.siyi.camera_click(self.mode, latlonalt)
+                    self.siyi.camera_click(self.siyi.click_mode, latlonalt)
 
 if __name__ == '__main__':
     from optparse import OptionParser

Diff for: MAVProxy/modules/mavproxy_SIYI/raw_thermal.py

@@ -32,7 +32,6 @@ def __init__(self, siyi, res):
         self.cap = None
         self.res = res
         self.FOV = 24.2
-        self.mode = "Flag"
         self.last_frame_t = time.time()
         self.logdir = 'thermal'
         self.should_exit = False
@@ -81,6 +80,8 @@ def __init__(self, siyi, res):
     def fetch_loop(self):
         '''main thread'''
         while True:
+            if self.im is None:
+                break
             time.sleep(0.25)
             ret = self.fetch_latest()
             if ret is None:
@@ -159,8 +160,7 @@ def display_image(self, fname, data):
         self.tmin = minv - C_TO_KELVIN
         self.tmax = maxv - C_TO_KELVIN
         if maxv <= minv:
-            print("Bad range")
-            return
+            maxv = minv + 1
 
         self.last_data = a
 
@@ -174,6 +174,8 @@ def display_image(self, fname, data):
         a = a.reshape(512, 640)
 
         a = cv2.cvtColor(a, cv2.COLOR_GRAY2RGB)
+        if self.im is None:
+            return
         self.im.set_image(a)
         self.image_count += 1
         self.update_title()
@@ -277,7 +279,8 @@ def end_tracking(self):
 
     def update_title(self):
         """update thermal view title"""
-        self.set_title("RawThermal(%u): (%.1fC to %.1fC) %.1fC" % (self.image_count, self.tmin, self.tmax, self.mouse_temp))
+        self.set_title("RawThermal(%u): (%.1fC to %.1fC) %.1fC (mode %s)" % (self.image_count, self.tmin, self.tmax,
+                                                                                 self.mouse_temp, self.siyi.click_mode))
 
     def xy_to_latlon(self, x, y):
         '''convert x,y pixel coordinates to a latlon tuple'''
@@ -302,8 +305,8 @@ def check_events(self):
         for event in self.im.events():
             if isinstance(event, MPMenuItem):
                 if event.returnkey.startswith("Mode:"):
-                    self.mode = event.returnkey[5:]
-                    print("ViewMode: %s" % self.mode)
+                    self.siyi.click_mode = event.returnkey[5:]
+                    print("ViewMode: %s" % self.siyi.click_mode)
                 elif event.returnkey.startswith("Marker:"):
                     self.siyi.handle_marker(event.returnkey[7:])
                 elif event.returnkey == "fitWindow":
@@ -343,7 +346,7 @@ def check_events(self):
                 elif event.controlDown:
                     self.siyi.end_tracking()
                 else:
-                    self.siyi.camera_click(self.mode, latlonalt)
+                    self.siyi.camera_click(self.siyi.click_mode, latlonalt)
 
 if __name__ == '__main__':
     from optparse import OptionParser