Refactored a8 codes and added remote testing app a8_remote.

misc/camera/a8/a8.pro

@@ -18,8 +18,27 @@ linux-g++ {
     QMAKE_CC = clang
 }
 
-SOURCES += *.cpp
+SOURCES += \
-HEADERS += *.h
+        config.cpp \
+        localControl.cpp \
+        main.cpp \
+        remoteControl.cpp \
+        serialCommand.cpp \
+        serialPort.cpp \
+        serialResponse.cpp \
+        utilsCRC16.cpp \
+        utilsTargetLocation.cpp
+
+HEADERS += \
+        config.hpp \
+        defines.hpp \
+        localControl.h \
+        remoteControl.h \
+        serialCommand.hpp \
+        serialPort.hpp \
+        serialResponse.hpp \
+        utilsCRC16.hpp \
+        utilsTargetLocation.hpp
 
 # When using FFmpeg
 #INCLUDEPATH += /usr/include/x86_64-linux-gnu

misc/camera/a8/config.cpp

@@ -0,0 +1,134 @@
+#include "config.hpp"
+#include "defines.hpp"
+#include "serialResponse.hpp"
+
+SerialPort *Config::mSerial = nullptr;
+SerialCommand *Config::mCommand = nullptr;
+uint16_t Config::mResolutionX = 0;
+uint16_t Config::mResolutionY = 0;
+float Config::mMaxZoom = 0.0f;
+float Config::mCurrentYaw = 0.0f;
+float Config::mCurrentPitch = 0.0f;
+float Config::mCurrentRoll = 0.0f;
+float Config::mCurrentZoom = 0.0f;
+
+void Config::sanityCheck()
+{
+    if (mSerial == nullptr) {
+        qCritical().noquote().nospace() << "Serial connection not available.";
+    }
+
+    if (mCommand == nullptr) {
+        qCritical().noquote().nospace() << "Commands not available.";
+    }
+}
+
+void Config::setInitalValues(SerialPort *serial, SerialCommand *command)
+{
+    mSerial = serial;
+    mCommand = command;
+
+    sanityCheck();
+
+    // Setup some values that might be needed from camera
+    QByteArray tempCommand;
+    QByteArray tempResponse;
+    QHash<QString, QVariant> responseValues;
+
+    // Get resolution to reduce calls to camera
+    tempCommand = mCommand->getCommandForInternal(COMMAND_ID::ACQUIRE_CAMERA_CODEC_SPECS);
+    mSerial->sendCommand(tempCommand);
+    tempResponse = mSerial->readResponse();
+    responseValues = SerialResponse::getResponceValues(tempResponse);
+    mResolutionX = responseValues["width"].toInt();
+    mResolutionY = responseValues["height"].toInt();
+
+    // Get max zoom value to reduce calls to camera
+    tempCommand = mCommand->getCommandForInternal(COMMAND_ID::ACQUIRE_MAX_ZOOM_VALUE);
+    mSerial->sendCommand(tempCommand);
+    tempResponse = mSerial->readResponse();
+    responseValues = SerialResponse::getResponceValues(tempResponse);
+    mMaxZoom = responseValues["zoom"].toInt();
+
+    // Debug printing
+    qDebug().noquote().nospace() << "Camera resolution: " << mResolutionX << "*" << mResolutionY;
+    qDebug().noquote().nospace() << "Camera max zoom:   " << mMaxZoom;
+}
+
+void Config::updateState()
+{
+    sanityCheck();
+    QHash<QString, QVariant> responseValues;
+    QByteArray tempCommand;
+    QByteArray tempResponse;
+
+    // Get current angles
+    tempCommand = mCommand->getCommandForInternal(COMMAND_ID::ACQUIRE_ATTITUDE_DATA);
+    Config::getSerial()->sendCommand(tempCommand);
+    tempResponse = Config::getSerial()->readResponse();
+    responseValues = SerialResponse::getResponceValues(tempResponse);
+    mCurrentYaw = responseValues["yaw"].toFloat();
+    mCurrentPitch = responseValues["pitch"].toFloat();
+    mCurrentRoll = responseValues["roll"].toFloat();
+
+    // Get current zoom
+    tempCommand = mCommand->getCommandForInternal(COMMAND_ID::ACQUIRE_CURRENT_ZOOM);
+    Config::getSerial()->sendCommand(tempCommand);
+    tempResponse = Config::getSerial()->readResponse();
+    responseValues = SerialResponse::getResponceValues(tempResponse);
+    mCurrentZoom = responseValues["zoom"].toFloat();
+}
+
+SerialPort *Config::getSerial()
+{
+    sanityCheck();
+    return mSerial;
+}
+
+SerialCommand *Config::getCommand()
+{
+    sanityCheck();
+    return mCommand;
+}
+
+uint16_t Config::getResolutionWidth()
+{
+    sanityCheck();
+    return mResolutionX;
+}
+
+uint16_t Config::getResolutionHeight()
+{
+    sanityCheck();
+    return mResolutionY;
+}
+
+float Config::getMaxZoom()
+{
+    sanityCheck();
+    return mMaxZoom;
+}
+
+float Config::getCurrentYaw()
+{
+    sanityCheck();
+    return mCurrentYaw;
+}
+
+float Config::getCurrentPitch()
+{
+    sanityCheck();
+    return mCurrentPitch;
+}
+
+float Config::getCurrentRoll()
+{
+    sanityCheck();
+    return mCurrentRoll;
+}
+
+float Config::getCurrentZoom()
+{
+    sanityCheck();
+    return (mCurrentZoom == 0.0f ? 1.0f : mCurrentZoom);
+}

misc/camera/a8/config.hpp

@@ -0,0 +1,40 @@
+#pragma once
+
+#include "serialCommand.hpp"
+#include "serialPort.hpp"
+#include <cstdint>
+
+class Config
+{
+public:
+    static void setInitalValues(SerialPort *serial, SerialCommand *command);
+    static void updateState(void);
+
+    static SerialPort *getSerial();
+    static SerialCommand *getCommand(void);
+    static uint16_t getResolutionWidth(void);
+    static uint16_t getResolutionHeight(void);
+    static float getMaxZoom(void);
+
+    static float getCurrentYaw(void);
+    static float getCurrentPitch(void);
+    static float getCurrentRoll(void);
+    static float getCurrentZoom(void);
+
+private:
+    static void sanityCheck(void);
+
+    static SerialPort *mSerial;
+    static SerialCommand *mCommand;
+
+    // Get these only once
+    static uint16_t mResolutionX;
+    static uint16_t mResolutionY;
+    static float mMaxZoom;
+
+    // Update these before every command
+    static float mCurrentYaw;
+    static float mCurrentPitch;
+    static float mCurrentRoll;
+    static float mCurrentZoom;
+};

misc/camera/a8/defines.hpp

@@ -1,9 +1,13 @@
 #pragma once
 
+#include <QHash>
+#include <QString>
+
 enum MESSAGE_IDX { STX = 0, CTRL = 2, Data_len = 3, SEQ = 5, CMD_ID = 7, DATA = 8 };
 
 enum COMMAND_ID {
-    TURN_TO_X = 2, // Set first to 2, because 0 is reserved for EXIT_PROGRAM and 1 for running target location test
+    TURN_TO_DEGREES = 1,
+    TURN_TO_PIXEL,
     ZOOM_TO_X,
     ACQUIRE_CAMERA_CODEC_SPECS,
     ACQUIRE_CURRENT_ZOOM,
@@ -33,11 +37,22 @@ enum COMMAND_ID {
     ENABLE_CVBS,
     DISABLE_HDMI_CVBS,
     ACQUIRE_RANGE_DATA,
+    RUN_TARGET_LOCATION_TEST
 };
 
-#define CAMERA_FIELD_OF_VIEW_DIAGONAL 93.0
+#define CAMERA_ASPECT_RATIO 1.777777778f
-#define CAMERA_FIELD_OF_VIEW_HORIZONTAL 81.0
+#define CAMERA_FIELD_OF_VIEW_DIAGONAL 93.0f
-#define CAMERA_RESOLUTION_HEIGHT 1080
+#define CAMERA_FIELD_OF_VIEW_HORIZONTAL 81.0f
-#define CAMERA_RESOLUTION_WIDTH 1920
+#define CAMERA_FIELD_OF_VIEW_VERTICAL 62.0f
+#define CAMERA_FOCAL_LENGTH 21
+#define CAMERA_RESOLUTION_WIDTH 1280
+#define CAMERA_RESOLUTION_HEIGHT 720
+#define GIMBAL_YAW_MIN -135.0f
+#define GIMBAL_YAW_MAX 135.0f
+#define GIMBAL_PITCH_MIN -90.0f
+#define GIMBAL_PITCH_MAX 25.0f
 #define SERIAL_RESPONSE_WAIT_TIME 500
-#define RTSP_ADDRESS "rtsp://192.168.144.25:8554/main.264"
+#define SERIAL_PORT "/dev/ttyUSB0"
+#define FIFO_WHO_AM_I "CAM"
+#define FIFO_TO_GIMBAL "/tmp/fifo_to_a8_gimbal"
+#define FIFO_FROM_GIMBAL "/tmp/fifo_from_a8_gimbal"

misc/camera/a8/localControl.cpp

@@ -0,0 +1,61 @@
+#include "localControl.h"
+#include <QCoreApplication>
+#include <QDebug>
+#include <QObject>
+#include <QThread>
+#include "config.hpp"
+#include "serialResponse.hpp"
+#include "utilsTargetLocation.hpp"
+#include <iostream>
+
+LocalControl::LocalControl()
+    : QObject(nullptr)
+{}
+
+void LocalControl::run()
+{
+    while (true) {
+        Config::getCommand()->printCommands();
+
+        // Get user input
+        qInfo().noquote().nospace() << "Enter a command (0 to exit): ";
+        int16_t number;
+        std::cin >> number;
+
+        // Check if the input is within the valid range for uint8_t
+        if (number < 0 || number > Config::getCommand()->getCommandCount()) {
+            qWarning().noquote().nospace() << "Number (" << qPrintable(QString::number(number)) << ") out of range 0 -" << qPrintable(QString::number(Config::getCommand()->getCommandCount() - 1));
+            continue;
+        }
+
+        // Exit loop if user enters 0
+        if (number == 0) {
+            exit(EXIT_SUCCESS);
+        } else {
+            Config::updateState();
+            COMMAND_ID commandId = (COMMAND_ID) number;
+
+            if (commandId == COMMAND_ID::RUN_TARGET_LOCATION_TEST) {
+                qInfo().noquote().nospace() << "Running target location test";
+                GPSData gpsData = UtilsTargetLocation::getLocation(200.0f, 63.16122286887124f, 23.822053704379698f, 180.0f, 0.0f, 0.0f, 5.0f, 20);
+                qInfo().noquote().nospace() << "Altitude:  " << gpsData.altitude;
+                qInfo().noquote().nospace() << "Latitude:  " << gpsData.latitude;
+                qInfo().noquote().nospace() << "Longitude: " << gpsData.longitude;
+
+                QCoreApplication::processEvents();
+                continue;
+            }
+
+            // Example command to send (replace with actual Siyi A8 mini camera
+            // commands)
+            QByteArray command = Config::getCommand()->getCommandForUI(commandId);
+            Config::getSerial()->sendCommand(command);
+
+            // Read response from the camera
+            QByteArray response = Config::getSerial()->readResponse();
+            SerialResponse::printResponse(response);
+        }
+
+        QCoreApplication::processEvents();
+    }
+}

misc/camera/a8/localControl.h

@@ -0,0 +1,12 @@
+#include <QObject>
+
+#pragma once
+
+class LocalControl : public QObject
+{
+    Q_OBJECT
+
+public:
+    LocalControl();
+    void run();
+};

misc/camera/a8/main.cpp

@@ -1,69 +1,34 @@
 #include <QCoreApplication>
 #include <QThread>
-#include "serialCommand.h"
+#include "config.hpp"
-#include "serialPort.h"
+#include "localControl.h"
-#include "serialResponse.h"
+#include "remoteControl.h"
-#include "utilsTargetLocation.h"
+#include "serialCommand.hpp"
-#include <iostream>
+#include "serialPort.hpp"
 
 int main(int argc, char *argv[])
 {
     QCoreApplication app(argc, argv);
+    SerialCommand serialCommand;
+    SerialPort serialPort;
+    Config::setInitalValues(&serialPort, &serialCommand);
 
-    // Replace with your actual port name
+    bool useRemoteMode = true;
-    const QString portName = "/dev/ttyUSB0";
+    for (int i = 1; i < argc; ++i) {
-
+        if (QString(argv[i]) == "-l") {
-    // Create SerialPort object
+            useRemoteMode = false;
-    SerialPort serial(portName);
-
-    // Open the serial port
-    if (!serial.openPort()) {
-        qDebug() << "Failed to open serial port";
-        return 1;
-    }
-
-    SerialCommand commands;
-
-    while (true) {
-        commands.printCommands();
-
-        // Get user input
-        qInfo() << "Enter a command (0 to exit, 1 to run test): ";
-        int16_t number;
-        std::cin >> number;
-
-        // Check if the input is within the valid range for uint8_t
-        if (number < 0 || number > commands.getCommandCount() - 1) {
-            qWarning() << "Number (" << qPrintable(QString::number(number)) << ") out of range 0 -" << qPrintable(QString::number(commands.getCommandCount() - 1));
-            continue;
-        }
-
-        // Exit loop if user enters 0
-        if (number == 0) {
             break;
-        } else if (number == 1) {
-            qInfo() << "Running target location test";
-
-            UtilsTargetLocation locateTarget(&serial, &commands);
-            GPSData gpsData = locateTarget.getLocation(200.0, 63.16122286887124, 23.822053704379698, 180.0, 0.0, 0.0, 5.0, 20);
-            qInfo() << "Altitude:  " << gpsData.altitude;
-            qInfo() << "Latitude:  " << gpsData.latitude;
-            qInfo() << "Longitude: " << gpsData.longitude;
-        } else {
-            COMMAND_ID commandId = (COMMAND_ID) number;
-
-            // Example command to send (replace with actual Siyi A8 mini camera commands)
-            QByteArray command = commands.getCommandByID(commandId);
-            serial.sendCommand(command);
-
-            // Read response from the camera
-            QByteArray response = serial.readResponse();
-            SerialResponse::printResponse(response);
         }
     }
 
-    // Close the serial port
+    // Remote mode will read commands from pipe
-    serial.closePort();
+    if (useRemoteMode == true) {
+        RemoteControl remoteControl;
+        remoteControl.run();
+    } else {
+        LocalControl localControl;
+        localControl.run();
+    }
 
-    return 0;
+    return app.exec();
 }

misc/camera/a8/remoteControl.cpp

@@ -0,0 +1,264 @@
+#include "remoteControl.h"
+#include <QCoreApplication>
+#include <QDebug>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QThread>
+#include <QTimer>
+#include "config.hpp"
+#include "defines.hpp"
+#include "utilsTargetLocation.hpp"
+#include <fcntl.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+RemoteControl::RemoteControl()
+    : QObject(nullptr)
+{
+    openNamedPipe();
+}
+
+RemoteControl::~RemoteControl()
+{
+    if (mFifoFdIn != -1) {
+        close(mFifoFdIn);
+    }
+    if (mFifoFdOut != -1) {
+        close(mFifoFdOut);
+    }
+}
+
+void RemoteControl::openNamedPipe()
+{
+    struct stat statBuf;
+
+    // Open incoming pipe (READ ONLY)
+    if (stat(FIFO_TO_GIMBAL, &statBuf) == 0) {
+        if (S_ISFIFO(statBuf.st_mode)) {
+            qInfo().noquote().nospace() << "Named pipe already exists: " << FIFO_TO_GIMBAL;
+        } else {
+            qCritical().noquote().nospace() << FIFO_TO_GIMBAL << " exists but is not a FIFO";
+        }
+    } else {
+        if (mkfifo(FIFO_TO_GIMBAL, 0666) == -1) {
+            perror("mkfifo");
+            qCritical().noquote().nospace() << "Failed to create named pipe: " << FIFO_TO_GIMBAL;
+        } else {
+            qInfo().noquote().nospace() << "Created named pipe: " << FIFO_TO_GIMBAL;
+        }
+    }
+
+    mFifoFdIn = open(FIFO_TO_GIMBAL, O_RDONLY | O_NONBLOCK);
+    if (mFifoFdIn == -1) {
+        qCritical().noquote().nospace() << "Error opening pipe for reading: " << FIFO_TO_GIMBAL;
+    } else {
+        qInfo().noquote().nospace() << "Opened pipe: " << FIFO_TO_GIMBAL;
+    }
+
+    // Open outgoing pipe (WRITE ONLY)
+    if (stat(FIFO_FROM_GIMBAL, &statBuf) == 0) {
+        if (S_ISFIFO(statBuf.st_mode)) {
+            qInfo().noquote().nospace() << "Named pipe already exists: " << FIFO_FROM_GIMBAL;
+        } else {
+            qCritical().noquote().nospace() << FIFO_FROM_GIMBAL << " exists but is not a FIFO";
+        }
+    } else {
+        if (mkfifo(FIFO_FROM_GIMBAL, 0666) == -1) {
+            perror("mkfifo");
+            qCritical().noquote().nospace() << "Failed to create named pipe: " << FIFO_FROM_GIMBAL;
+        } else {
+            qInfo().noquote().nospace() << "Created named pipe: " << FIFO_FROM_GIMBAL;
+        }
+    }
+
+    mFifoFdOut = open(FIFO_FROM_GIMBAL, O_WRONLY);
+    if (mFifoFdOut == -1) {
+        qCritical().noquote().nospace() << "Error opening pipe for writing: " << FIFO_FROM_GIMBAL;
+    } else {
+        qInfo().noquote().nospace() << "Opened pipe: " << FIFO_FROM_GIMBAL;
+    }
+}
+
+void RemoteControl::whenDone(void)
+{
+    // All is done, no it's time to rest
+}
+
+void RemoteControl::restoreOrientation(void)
+{
+    QByteArray serialCommandAngle = Config::getCommand()->getCommandForInternal(COMMAND_ID::TURN_TO_DEGREES);
+
+    int16_t degreesVal = Config::getCurrentYaw() * 10;
+    serialCommandAngle[8] = degreesVal & 0xFF;
+    serialCommandAngle[9] = degreesVal >> 8;
+    degreesVal = Config::getCurrentPitch() * 10;
+    serialCommandAngle[10] = degreesVal & 0xFF;
+    serialCommandAngle[11] = degreesVal >> 8;
+
+    qDebug().noquote().nospace() << serialCommandAngle;
+    Config::getSerial()->sendCommand(serialCommandAngle);
+}
+
+void RemoteControl::restoreZoom(void)
+{
+    QByteArray serialCommandZoom = Config::getCommand()->getCommandForInternal(COMMAND_ID::ZOOM_TO_X);
+
+    uint8_t integerPart = static_cast<uint8_t>(Config::getCurrentZoom());
+    float fractionalPart = Config::getCurrentZoom() - integerPart;
+    uint8_t scaledFractional = uint8_t(fractionalPart * 10);
+
+    serialCommandZoom[8] = integerPart;
+    serialCommandZoom[9] = scaledFractional;
+
+    qDebug().noquote().nospace() << serialCommandZoom.toStdString();
+    Config::getSerial()->sendCommand(serialCommandZoom);
+}
+
+QJsonObject RemoteControl::calculateTargetPosition(QJsonObject &commandObject, QJsonObject &responseObject)
+{
+    qDebug().noquote().nospace() << "Calculating?";
+
+    float latitude = commandObject["latitude"].toDouble();
+    float longitude = commandObject["longitude"].toDouble();
+    float altitude = commandObject["altitude"].toDouble();
+    float yaw = commandObject["yaw"].toDouble();
+    float pitch = commandObject["pitch"].toDouble();
+    float targetPixelWidth = commandObject["target_pixel_width"].toInt();
+    //float targetPixelHeight = commandObject["target_pixel_height"].toInt();
+    float targetRealWidth = commandObject["target_real_width"].toDouble();
+    //float targetRealHeight = commandObject["target_real_height"].toDouble();
+
+    GPSData gpsData = UtilsTargetLocation::getLocation(altitude, latitude, longitude, yaw, pitch, 0.0f, targetRealWidth, targetPixelWidth);
+    responseObject["altitude"] = gpsData.altitude;
+    responseObject["latitude"] = gpsData.latitude;
+    responseObject["longitude"] = gpsData.longitude;
+
+    return responseObject;
+}
+
+void RemoteControl::turnToTarget(QJsonObject &commandObject)
+{
+    qDebug().noquote().nospace() << "Turning?";
+
+    uint16_t targetX = commandObject["target_x"].toInt();
+    uint16_t targetY = commandObject["target_y"].toInt();
+
+    float resultYaw = 0.0f;
+    float resultPitch = 0.0f;
+    UtilsTargetLocation::getAnglesToOnScreenTarget(targetX, targetY, resultYaw, resultPitch);
+
+    QByteArray serialCommandTurn = Config::getCommand()->getCommandForInternal(COMMAND_ID::TURN_TO_PIXEL);
+
+    int16_t degreesVal = resultYaw * 10;
+    serialCommandTurn[8] = degreesVal & 0xFF;
+    serialCommandTurn[9] = degreesVal >> 8;
+
+    degreesVal = resultPitch * 10;
+    serialCommandTurn[10] = degreesVal & 0xFF;
+    serialCommandTurn[11] = degreesVal >> 8;
+
+    Config::getSerial()->sendCommand(serialCommandTurn);
+}
+
+void RemoteControl::zoomToTarget(QJsonObject &commandObject)
+{
+    qDebug().noquote().nospace() << "Zooming?";
+
+    float fillRatio = 0.5;
+    float targetPixelWidth = commandObject["target_pixel_width"].toInt();
+    float targetPixelHeight = commandObject["target_pixel_height"].toInt();
+    float adjustedObjectWidth = targetPixelWidth / fillRatio;
+    float adjustedObjectHeight = targetPixelHeight / fillRatio;
+    float zoomWidth = static_cast<double>(Config::getResolutionWidth()) / adjustedObjectWidth;
+    float zoomHeight = static_cast<double>(Config::getResolutionHeight()) / adjustedObjectHeight;
+    float zoom = std::min(zoomWidth, zoomHeight);
+    if (zoom < 1.0f) {
+        zoom = 1.0f;
+    }
+
+    QByteArray serialCommandNewZoom = Config::getCommand()->getCommandForInternal(COMMAND_ID::ZOOM_TO_X);
+
+    uint8_t integerPart = static_cast<uint8_t>(zoom);
+    float fractionalPart = zoom - integerPart;
+    uint8_t scaledFractional = uint8_t(fractionalPart * 10);
+
+    serialCommandNewZoom[8] = integerPart;
+    serialCommandNewZoom[9] = scaledFractional;
+
+    Config::getSerial()->sendCommand(serialCommandNewZoom);
+}
+
+void RemoteControl::run()
+{
+    while (true) {
+        char buffer[1024];
+        ssize_t bytesRead = read(mFifoFdIn, buffer, sizeof(buffer) - 1);
+
+        if (bytesRead > 0) {
+            buffer[bytesRead] = '\0';
+
+            QJsonDocument commandDoc = QJsonDocument::fromJson(buffer);
+
+            // Ignore non json messages
+            if (commandDoc.isNull() == false) {
+                QJsonObject commandObject = commandDoc.object();
+
+                // Ignore own messages and messages that don't have sender
+                if (commandObject.contains("sender") == false || commandObject["sender"] == FIFO_WHO_AM_I) {
+                    continue;
+                }
+
+                QString message = QString::fromUtf8(buffer);
+                qDebug().noquote().nospace() << "Received: " << message;
+
+                // Exit with exit message
+                if (commandObject.contains("EXIT") == true) {
+                    return;
+                }
+
+                // Prepare responce object
+                QJsonObject responseObject;
+                responseObject["sender"] = FIFO_WHO_AM_I;
+                responseObject["status"] = "OK";
+
+                // Get current orientation and zoom
+                Config::updateState();
+
+                // Turn to target
+                if (commandObject.contains("target_x") == true && commandObject.contains("target_y") == true) {
+                    QTimer::singleShot(100, this, [this, commandObject]() mutable { turnToTarget(commandObject); });
+                    QTimer::singleShot(1000, this, &RemoteControl::whenDone);
+                }
+
+                // Calculate target location
+                if (commandObject.contains("latitude") == true && commandObject.contains("longitude") == true && commandObject.contains("altitude") == true && commandObject.contains("yaw") == true && commandObject.contains("pitch") == true && commandObject.contains("target_pixel_width") == true && commandObject.contains("target_pixel_height") == true && commandObject.contains("target_real_width") == true && commandObject.contains("target_real_height") == true) {
+                    responseObject = calculateTargetPosition(commandObject, responseObject);
+                    QTimer::singleShot(1000, this, &RemoteControl::whenDone);
+                }
+
+                // Zoom to target
+                if (commandObject.contains("target_pixel_width") == true && commandObject.contains("target_pixel_height") == true) {
+                    QTimer::singleShot(100, this, [this, commandObject]() mutable { zoomToTarget(commandObject); });
+                    QTimer::singleShot(1000, this, &RemoteControl::whenDone);
+                }
+
+                // Restore previous zoom and orientation
+                QTimer::singleShot(100, this, &RemoteControl::restoreZoom);
+                QTimer::singleShot(1000, this, &RemoteControl::whenDone);
+
+                QTimer::singleShot(100, this, &RemoteControl::restoreOrientation);
+                QTimer::singleShot(1000, this, &RemoteControl::whenDone);
+
+                // Respond after doing camera things
+                QJsonDocument responseDocument(responseObject);
+                std::string response = responseDocument.toJson(QJsonDocument::Compact).toStdString();
+                write(mFifoFdOut, response.c_str(), response.size());
+                qDebug().noquote().nospace() << "Sent: " << response;
+                QCoreApplication::processEvents();
+            }
+        }
+
+        // Sleep for a while
+        QCoreApplication::processEvents();
+    }
+}

misc/camera/a8/remoteControl.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <QJsonObject>
+#include <QObject>
+#include <QString>
+
+class RemoteControl : public QObject
+{
+    Q_OBJECT
+
+public:
+    RemoteControl();
+    ~RemoteControl();
+    void openNamedPipe(void);
+    void run();
+
+private slots:
+    QJsonObject calculateTargetPosition(QJsonObject &commandObject, QJsonObject &responseObject);
+    void turnToTarget(QJsonObject &commandObject);
+    void zoomToTarget(QJsonObject &commandObject);
+    void restoreOrientation(void);
+    void restoreZoom(void);
+    void whenDone(void);
+
+private:
+    int mFifoFdIn;
+    int mFifoFdOut;
+};

misc/camera/a8/serialCommand.cpp

@@ -1,33 +1,35 @@
-#include "serialCommand.h"
+#include "serialCommand.hpp"
 #include <QDebug>
-#include "utilsCRC16.h"
+#include "config.hpp"
+#include "utilsTargetLocation.hpp"
 #include <iostream>
 
 SerialCommand::SerialCommand()
 {
     /*
-Field    Index   Bytes       Description
+    Field    Index   Bytes       Description
-STX      0       2           0x6655: starting mark. Low byte in the front
+    STX      0       2           0x6655: starting mark. Low byte in the front
-CTRL     2       1           0: need_ack (if the current data pack need “ack”)
+    CTRL     2       1           0: need_ack (if the current data pack need “ack”)
-1: ack_pack (if the current data pack is an “ack” package) 2-7: reserved
+    1: ack_pack (if the current data pack is an “ack” package) 2-7: reserved
-Data_len 3       2           Data field byte length. Low byte in the front
+    Data_len 3       2           Data field byte length. Low byte in the front
-SEQ      5       2           Frame sequence (0 ~ 65535). Low byte in the front
+    SEQ      5       2           Frame sequence (0 ~ 65535). Low byte in the front
-CMD_ID   7       1           Command ID
+    CMD_ID   7       1           Command ID
-DATA     8       Data_len    Data
+    DATA     8       Data_len    Data
-CRC16            2           CRC16 check to the complete data package. Low
+    CRC16            2           CRC16 check to the complete data package. Low
-byte in the front
+    byte in the front
-*/
+    */
 
-    mSerialCommands.push_back({COMMAND_ID::TURN_TO_X, createByteArray({0x55, 0x66, 0x01, 0x04, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x00, 0x00, 0x00}), "Turn to X"});
+    mSerialCommands.push_back({COMMAND_ID::TURN_TO_DEGREES, createByteArray({0x55, 0x66, 0x01, 0x04, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x00, 0x00, 0x00}), "Turn to degrees"});
+    mSerialCommands.push_back({COMMAND_ID::TURN_TO_PIXEL, createByteArray({0x55, 0x66, 0x01, 0x04, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x00, 0x00, 0x00}), "Turn to pixel"});
     mSerialCommands.push_back({COMMAND_ID::ZOOM_TO_X, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x01, 0x00, 0x0F, 0x00, 0x00}), "Zoom to X"});
-    mSerialCommands.push_back({COMMAND_ID::ACQUIRE_CAMERA_CODEC_SPECS, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x20, 0x00}), "Acquire Camera Codec Specs"});
-    mSerialCommands.push_back({COMMAND_ID::ACQUIRE_CURRENT_ZOOM, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x18}), "Acquire current zoom"});
-    mSerialCommands.push_back({COMMAND_ID::ACQUIRE_ATTITUDE_DATA, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0d}), "Acquire Attitude Data"});
     mSerialCommands.push_back({COMMAND_ID::AUTO_CENTER, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x08, 0x01}), "Auto Centering"});
+    mSerialCommands.push_back({COMMAND_ID::ACQUIRE_ATTITUDE_DATA, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0D}), "Acquire Attitude Data"});
+    mSerialCommands.push_back({COMMAND_ID::ACQUIRE_CURRENT_ZOOM, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x18}), "Acquire current zoom"});
+    mSerialCommands.push_back({COMMAND_ID::ACQUIRE_CAMERA_CODEC_SPECS, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x20, 0x00}), "Acquire Camera Codec Specs"});
     mSerialCommands.push_back({COMMAND_ID::ZOOM_MOST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0x01}), "Zoom +1"});
     mSerialCommands.push_back({COMMAND_ID::ZOOM_LEAST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0xFF}), "Zoom -1"});
     mSerialCommands.push_back({COMMAND_ID::FOCUS_MOST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x06, 0x01}), "Manual Focus +1"});
-    mSerialCommands.push_back({COMMAND_ID::FOCUS_LEAST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x06, 0xff}), "Manual Focus -1"});
+    mSerialCommands.push_back({COMMAND_ID::FOCUS_LEAST, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x06, 0xFF}), "Manual Focus -1"});
     mSerialCommands.push_back({COMMAND_ID::FOCUS_AUTO, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x04, 0x01}), "Auto Focus"});
     mSerialCommands.push_back({COMMAND_ID::ROTATE_UP, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x2D}), "Rotate Up"});
     mSerialCommands.push_back({COMMAND_ID::ROTATE_DOWN, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, -0x2D}), "Rotate Down"});
@@ -35,33 +37,41 @@ byte in the front
     mSerialCommands.push_back({COMMAND_ID::ROTATE_LEFT, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, -0x2D, 0x00}), "Rotate Left"});
     mSerialCommands.push_back({COMMAND_ID::ROTATE_STOP, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00}), "Stop rotation"});
     mSerialCommands.push_back({COMMAND_ID::ACQUIRE_MAX_ZOOM_VALUE, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x16}), "Acquire the Max Zoom Value"});
-    mSerialCommands.push_back({COMMAND_ID::TAKE_PICTURES, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x00}), "Take Pictures"});
+    mSerialCommands.push_back({COMMAND_ID::TAKE_PICTURES, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x00}), "Take Pictures"});
-    mSerialCommands.push_back({COMMAND_ID::TAKE_VIDEO, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x02}), "Record Video"});
+    mSerialCommands.push_back({COMMAND_ID::TAKE_VIDEO, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x02}), "Record Video"});
     mSerialCommands.push_back({COMMAND_ID::ROTATE_100_100, createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, 0x00, 0x07, 0x64, 0x64}), "Rotate 100 100"});
-    mSerialCommands.push_back({COMMAND_ID::ACQUIRE_GIMBAL_STATUS, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0a}), "Gimbal Status Information"});
+    mSerialCommands.push_back({COMMAND_ID::ACQUIRE_GIMBAL_STATUS, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0A}), "Gimbal Status Information"});
     mSerialCommands.push_back({COMMAND_ID::ACQUIRE_HW_INFO, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x02}), "Acquire Hardware ID"});
     mSerialCommands.push_back({COMMAND_ID::ACQUIRE_FIRMWARE_VERSION, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01}), "Acquire Firmware Version"});
-    mSerialCommands.push_back({COMMAND_ID::MODE_LOCK, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x03}), "Lock Mode"});
+    mSerialCommands.push_back({COMMAND_ID::MODE_LOCK, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x03}), "Lock Mode"});
-    mSerialCommands.push_back({COMMAND_ID::MODE_FOLLOW, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x04}), "Follow Mode"});
+    mSerialCommands.push_back({COMMAND_ID::MODE_FOLLOW, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x04}), "Follow Mode"});
-    mSerialCommands.push_back({COMMAND_ID::MODE_FPV, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x05}), "FPV Mode"});
+    mSerialCommands.push_back({COMMAND_ID::MODE_FPV, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x05}), "FPV Mode"});
-    mSerialCommands.push_back({COMMAND_ID::ENABLE_HDMI, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x06}), "Set Video Output as HDMI (Only available on A8 mini, restart to take effect)"});
+    mSerialCommands.push_back({COMMAND_ID::ENABLE_HDMI,
-    mSerialCommands.push_back({COMMAND_ID::ENABLE_CVBS, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x07}), "Set Video Output as CVBS (Only available on A8 mini, restart to take effect)"});
+                               createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x06}),
-    mSerialCommands.push_back({COMMAND_ID::DISABLE_HDMI_CVBS, createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x08}), "Turn Off both CVBS and HDMI Output (Only available on A8 mini, restart to take effect)"});
+                               "Set Video Output as HDMI (Only available on A8 mini, restart to take "
-    mSerialCommands.push_back({COMMAND_ID::ACQUIRE_RANGE_DATA, createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x15}), "Read Range from Laser Rangefinder(Low byte in the front, high byte in the back, available on ZT30)"});
+                               "effect)"});
+    mSerialCommands.push_back({COMMAND_ID::ENABLE_CVBS,
+                               createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x07}),
+                               "Set Video Output as CVBS (Only available on A8 mini, restart to take "
+                               "effect)"});
+    mSerialCommands.push_back({COMMAND_ID::DISABLE_HDMI_CVBS,
+                               createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0C, 0x08}),
+                               "Turn Off both CVBS and HDMI Output (Only available on A8 mini, restart "
+                               "to take effect)"});
+    mSerialCommands.push_back({COMMAND_ID::ACQUIRE_RANGE_DATA,
+                               createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x15}),
+                               "Read Range from Laser Rangefinder(Low byte in the front, high byte in "
+                               "the back, available on ZT30)"});
+    mSerialCommands.push_back({COMMAND_ID::RUN_TARGET_LOCATION_TEST, createByteArray({0x00, 0x00}), "TEST target location calculations"});
 
     // Sort vector by COMMAND_ID
-    std::sort(mSerialCommands.begin(), mSerialCommands.end(), [](const Command& a, const Command& b) { return a.id < b.id; });
+    std::sort(mSerialCommands.begin(), mSerialCommands.end(), [](const Command &a, const Command &b) { return a.id < b.id; });
 }
 
-SerialCommand::~SerialCommand()
+QByteArray SerialCommand::createByteArray(const std::initializer_list<int> &bytes)
-{
-    // Do something?
-}
-
-QByteArray SerialCommand::createByteArray(const std::initializer_list<int>& bytes)
 {
     QByteArray byteArray;
-    for (int byte : bytes) {
+    for (int8_t byte : bytes) {
         byteArray.append(static_cast<char>(byte));
     }
     return byteArray;
@@ -69,8 +79,10 @@ QByteArray SerialCommand::createByteArray(const std::initializer_list<int>& byte
 
 void SerialCommand::printCommands()
 {
+    qInfo().noquote().nospace() << " ";
+
     for (uint8_t i = 0; i < mSerialCommands.size(); i++) {
-        qInfo().noquote() << QString::number(mSerialCommands.at(i).id) + ": " + mSerialCommands.at(i).description;
+        qInfo().noquote().nospace() << QString::number(mSerialCommands.at(i).id) + ": " + mSerialCommands.at(i).description;
     }
 }
 
@@ -79,14 +91,14 @@ void SerialCommand::setExtraValues(COMMAND_ID commandId)
     uint16_t commandIndex = getCommandIndex(commandId);
     QByteArray command = mSerialCommands.at(commandIndex).command;
 
-    if (commandId == COMMAND_ID::TURN_TO_X) {
+    if (commandId == COMMAND_ID::TURN_TO_DEGREES) {
         float degrees;
 
-        qInfo() << "Enter yaw degrees (-135.0 -> 135.0): ";
+        qInfo().noquote().nospace() << "Enter yaw degrees (" << GIMBAL_YAW_MIN << " -> " << GIMBAL_YAW_MAX << "): ";
         std::cin >> degrees;
 
-        if (std::cin.fail() || degrees < -135.0f || degrees > 135.0f) {
+        if (std::cin.fail() || degrees < GIMBAL_YAW_MIN || degrees > GIMBAL_YAW_MAX) {
-            qWarning() << "Invalid value, using 0.0";
+            qWarning().noquote().nospace() << "Invalid value, using 0.0";
             degrees = 0.0f;
         }
 
@@ -94,31 +106,61 @@ void SerialCommand::setExtraValues(COMMAND_ID commandId)
         command[8] = degreesVal & 0xFF;
         command[9] = degreesVal >> 8;
 
-        qInfo() << "Enter pitch degrees (-90.0 -> 25.0): ";
+        qInfo().noquote().nospace() << "Enter pitch degrees (" << GIMBAL_PITCH_MIN << " -> " << GIMBAL_PITCH_MAX << "): ";
         std::cin >> degrees;
 
-        if (std::cin.fail() || degrees < -90.0f || degrees > 25.0f) {
+        if (std::cin.fail() || degrees < GIMBAL_PITCH_MIN || degrees > GIMBAL_PITCH_MAX) {
-            qWarning() << "Invalid value, using 0.0";
+            qWarning().noquote().nospace() << "Invalid value, using 0.0";
             degrees = 0.0f;
         }
 
         degreesVal = degrees * 10;
         command[10] = degreesVal & 0xFF;
         command[11] = degreesVal >> 8;
+    } else if (commandId == COMMAND_ID::TURN_TO_PIXEL) {
+        float targetX, targetY;
+
+        qInfo().noquote().nospace() << "Enter left_to_right (1 - " << Config::getResolutionWidth() << "): ";
+        std::cin >> targetX;
+
+        if (std::cin.fail() || targetX < 1 || targetX > Config::getResolutionWidth()) {
+            qWarning().noquote().nospace() << "Invalid value, using " << Config::getResolutionWidth() / 2;
+            targetX = Config::getResolutionWidth() / 2;
+        }
+
+        qInfo().noquote().nospace() << "Enter top_to_bottom (1 -> " << Config::getResolutionHeight() << "): ";
+        std::cin >> targetY;
+
+        if (std::cin.fail() || targetY < 1 || targetY > Config::getResolutionHeight()) {
+            qWarning().noquote().nospace() << "Invalid value, using " << Config::getResolutionHeight() / 2;
+            targetY = Config::getResolutionHeight() / 2;
+        }
+
+        float resultYaw = 0.0f;
+        float resultPitch = 0.0f;
+        UtilsTargetLocation::getAnglesToOnScreenTarget(targetX, targetY, resultYaw, resultPitch);
+
+        int16_t degreesVal = resultYaw * 10;
+        command[8] = degreesVal & 0xFF;
+        command[9] = degreesVal >> 8;
+
+        degreesVal = resultPitch * 10;
+        command[10] = degreesVal & 0xFF;
+        command[11] = degreesVal >> 8;
     } else if (commandId == COMMAND_ID::ZOOM_TO_X) {
         float zoom;
 
-        qInfo() << "Enter zoom (1.0 -> 6.0): ";
+        qInfo().noquote().nospace() << "Enter zoom (1.0 -> " << Config::getMaxZoom() << "): ";
         std::cin >> zoom;
 
-        if (std::cin.fail() || zoom < 1.0 || zoom > 6.0) {
+        if (std::cin.fail() || zoom < 1.0f || zoom > Config::getMaxZoom()) {
-            qWarning() << "Invalid value, using 1.0";
+            qWarning().noquote().nospace() << "Invalid value, using 1.0";
             zoom = 1.0f;
         }
 
         uint8_t integerPart = static_cast<uint8_t>(zoom);
         float fractionalPart = zoom - integerPart;
-        uint8_t scaledFractional = int(fractionalPart * 10);
+        uint8_t scaledFractional = uint8_t(fractionalPart * 10);
         command[8] = integerPart;
         command[9] = scaledFractional;
     }
@@ -142,25 +184,35 @@ int16_t SerialCommand::getCommandIndex(COMMAND_ID commandId)
     return -1;
 }
 
-QByteArray SerialCommand::getCommandByID(COMMAND_ID commandId)
+QByteArray SerialCommand::getCommandForUI(COMMAND_ID commandId)
 {
     setExtraValues(commandId);
 
-    uint16_t commandIndex = getCommandIndex(commandId);
+    int16_t commandIndex = getCommandIndex(commandId);
+    if (commandIndex == -1) {
+        qCritical().noquote().nospace() << "Command not found for command: " << commandId;
+    }
+
     QByteArray command = mSerialCommands.at(commandIndex).command;
 
-    int8_t crcBytes[2];
-    UtilsCRC16::getCRCBytes(command, crcBytes);
-
-    command.resize(command.size() + 2);        // Increase array size to accommodate CRC bytes
-    command[command.size() - 2] = crcBytes[0]; // Set LSB
-    command[command.size() - 1] = crcBytes[1]; // Set MSB
-
     QString commandStr;
     for (int i = 0; i < command.size(); i++) {
-        commandStr += QString("%1").arg(command.at(i), 2, 16, QChar('0')).toUpper();
+        if (i > 0) {
+            commandStr += ",";
+        }
+        commandStr += QString("0x%1").arg(command.at(i), 2, 16, QChar('0')).toUpper();
+        commandStr.replace("0X", "0x");
     }
-    qDebug() << "Command: " << commandStr;
+    qDebug().noquote().nospace() << "Command: " << commandStr;
 
     return command;
 }
+
+QByteArray SerialCommand::getCommandForInternal(COMMAND_ID commandId)
+{
+    int16_t commandIndex = getCommandIndex(commandId);
+    if (commandIndex == -1) {
+        qCritical().noquote().nospace() << "Command not found for command: " << commandId;
+    }
+    return mSerialCommands.at(commandIndex).command;
+}

misc/camera/a8/serialCommand.hpp

@@ -3,9 +3,10 @@
 #include <QByteArray>
 #include <QList>
 #include <QString>
-#include "defines.h"
+#include "defines.hpp"
 
-struct Command {
+struct Command
+{
     COMMAND_ID id;
     QByteArray command;
     QString description;
@@ -14,9 +15,9 @@ struct Command {
 class SerialCommand {
 public:
     SerialCommand();
-    ~SerialCommand();
     void printCommands(void);
-    QByteArray getCommandByID(COMMAND_ID commandId);
+    QByteArray getCommandForUI(COMMAND_ID commandId);
+    QByteArray getCommandForInternal(COMMAND_ID commandId);
     uint8_t getCommandCount();
 
 private:

misc/camera/a8/serialPort.cpp

@@ -1,60 +1,87 @@
-#include "serialPort.h"
+#include "serialPort.hpp"
+#include <QCoreApplication>
 #include <QDebug>
-#include "defines.h"
+#include "defines.hpp"
+#include "utilsCRC16.hpp"
 
-SerialPort::SerialPort(const QString &portName)
+SerialPort::SerialPort()
-    : mSerialPort(portName)
+    : QObject(nullptr)
 {
-    mSerialPort.setPortName(portName);
+    mSerialPort = new QSerialPort();
-    mSerialPort.setBaudRate(QSerialPort::Baud115200);
+    mSerialPort->setPortName(SERIAL_PORT);
-    mSerialPort.setDataBits(QSerialPort::Data8);
+    mSerialPort->setBaudRate(QSerialPort::Baud115200);
-    mSerialPort.setStopBits(QSerialPort::OneStop);
+    mSerialPort->setDataBits(QSerialPort::Data8);
-    mSerialPort.setFlowControl(QSerialPort::NoFlowControl);
+    mSerialPort->setStopBits(QSerialPort::OneStop);
+    mSerialPort->setFlowControl(QSerialPort::NoFlowControl);
+
+    // Open the serial port
+    if (openPort() == false) {
+        qCritical() << "SerialPort(): Unable to open port";
+        return;
+    }
 }
 
 SerialPort::~SerialPort()
 {
-    closePort(); // Close port if open on destruction
+    closePort();
+    delete mSerialPort;
 }
 
 bool SerialPort::openPort()
 {
-    if (mSerialPort.isOpen()) {
+    if (mSerialPort->isOpen()) {
-        qDebug() << "Port already open";
+        qDebug().noquote().nospace() << "Port already open";
         return true;
     }
 
-    return mSerialPort.open(QIODevice::ReadWrite);
+    return mSerialPort->open(QIODevice::ReadWrite);
 }
 
 void SerialPort::closePort()
 {
-    if (mSerialPort.isOpen()) {
+    if (mSerialPort->isOpen()) {
-        mSerialPort.close();
+        mSerialPort->close();
     }
 }
 
 void SerialPort::sendCommand(const QByteArray &command)
 {
-    if (!mSerialPort.isOpen()) {
+    QByteArray toSend = command;
-        qDebug() << "Error: Port not open";
+    int8_t crcBytes[2];
+    UtilsCRC16::getCRCBytes(toSend, crcBytes);
+    toSend.resize(toSend.size() + 2);        // Increase array size to accommodate CRC bytes
+    toSend[toSend.size() - 2] = crcBytes[0]; // Set LSB
+    toSend[toSend.size() - 1] = crcBytes[1]; // Set MSB
+
+    QString commandStr;
+    for (int i = 0; i < toSend.size(); i++) {
+        if (i > 0) {
+            commandStr += ",";
+        }
+        commandStr += QString("0x%1").arg(toSend.at(i), 2, 16, QChar('0')).toUpper();
+        commandStr.replace("0X", "0x");
+    }
+    qDebug().noquote().nospace() << "Command: " << commandStr;
+
+    if (!mSerialPort->isOpen()) {
+        qCritical().noquote().nospace() << "Error: Port not open (sendCommand)";
         return;
     }
 
-    mSerialPort.write(command);
+    mSerialPort->write(toSend);
 }
 
 QByteArray SerialPort::readResponse()
 {
-    if (!mSerialPort.isOpen()) {
+    if (!mSerialPort->isOpen()) {
-        qDebug() << "Error: Port not open";
+        qDebug().noquote().nospace() << "Error: Port not open (readResponse)";
         return QByteArray();
     }
 
     // Read data from serial port until timeout or specific criteria met
     QByteArray response;
-    while (mSerialPort.waitForReadyRead(SERIAL_RESPONSE_WAIT_TIME)) { // Adjust timeout as needed
+    while (mSerialPort->waitForReadyRead(SERIAL_RESPONSE_WAIT_TIME)) { // Adjust timeout as needed
-        response.append(mSerialPort.readAll());
+        response.append(mSerialPort->readAll());
     }
 
     return response;

misc/camera/a8/serialPort.h

@@ -1,18 +0,0 @@
-#pragma once
-
-#include <QByteArray>
-#include <QSerialPort>
-
-class SerialPort {
-public:
-    SerialPort(const QString& portName);
-    ~SerialPort();
-
-    bool openPort();
-    void closePort();
-    void sendCommand(const QByteArray& command);
-    QByteArray readResponse();
-
-private:
-    QSerialPort mSerialPort;
-};

misc/camera/a8/serialPort.hpp

@@ -0,0 +1,24 @@
+#pragma once
+
+#include <QByteArray>
+#include <QObject>
+#include <QSerialPort>
+
+class SerialPort : public QObject
+{
+    Q_OBJECT
+
+public:
+    SerialPort();
+    ~SerialPort();
+
+    bool openPort();
+    void closePort();
+
+public slots:
+    void sendCommand(const QByteArray &command);
+    QByteArray readResponse();
+
+private:
+    QSerialPort *mSerialPort;
+};

misc/camera/a8/serialResponse.cpp

@@ -1,15 +1,10 @@
-#include "serialResponse.h"
+#include "serialResponse.hpp"
 #include <QDebug>
-#include "defines.h"
+#include "defines.hpp"
-#include "utilsCRC16.h"
+#include "utilsCRC16.hpp"
 
 void SerialResponse::printResponse(QByteArray response)
 {
-    if (response.size() == 0) {
-        qWarning().noquote() << "Response is empty";
-        return;
-    }
-
     QHash<QString, QVariant> results = getResponceValues(response);
 
     QList<QString> keys = results.keys();
@@ -37,6 +32,12 @@ void SerialResponse::printResponse(QByteArray response)
 
 QHash<QString, QVariant> SerialResponse::getResponceValues(QByteArray response)
 {
+    QHash<QString, QVariant> results;
+
+    if (response.size() == 0) {
+        qCritical().noquote().nospace() << "Response is empty, exiting...";
+    }
+
     // Check response data validity
     int8_t crcCheck[2];
     uint8_t desiredLength = response.size() - 2;
@@ -49,61 +50,57 @@ QHash<QString, QVariant> SerialResponse::getResponceValues(QByteArray response)
 
     // Data not OK
     if (crcCheck[0] != crcOriginal[0] || crcCheck[1] != crcOriginal[1]) {
-        qWarning() << "Response data INVALID";
+        qWarning().noquote().nospace() << "Response data INVALID";
         QString responseCRC = QString("0x%1,0x%2").arg(crcOriginal[0], 2, 16, QLatin1Char('0')).arg(crcOriginal[1], 2, 16, QLatin1Char('0')).toUpper();
         QString recalcCRC = QString("0x%1,0x%2").arg(crcCheck[0], 2, 16, QLatin1Char('0')).arg(crcCheck[1], 2, 16, QLatin1Char('0')).toUpper();
-        qWarning().noquote() << responseCRC << "!=" << recalcCRC;
+        qWarning().noquote().nospace() << responseCRC << "!=" << recalcCRC;
     }
 
-    QHash<QString, QVariant> results;
     uint8_t command = response.at(MESSAGE_IDX::CMD_ID);
 
     if (command == 0x0E) {
         int16_t yaw = ((uint8_t) response.at(9) << 8) | (uint8_t) response.at(8);
-        results.insert("yaw", (float) (yaw / 10));
-
         int16_t pitch = ((uint8_t) response.at(11) << 8) | (uint8_t) response.at(10);
-        results.insert("pitch", (float) (pitch / 10));
-
         int16_t roll = ((uint8_t) response.at(13) << 8) | (uint8_t) response.at(12);
+        results.insert("yaw", (float) (yaw / 10));
+        results.insert("pitch", (float) (pitch / 10));
         results.insert("roll", (float) (roll / 10));
     } else if (command == 0x0D) {
         int16_t yaw = ((uint8_t) response.at(9) << 8) | (uint8_t) response.at(8);
-        results.insert("yaw", (float) (yaw / 10));
-
         int16_t pitch = ((uint8_t) response.at(11) << 8) | (uint8_t) response.at(10);
-        results.insert("pitch", (float) (pitch / 10));
-
         int16_t roll = ((uint8_t) response.at(13) << 8) | (uint8_t) response.at(12);
+        int16_t yawSpeed = ((uint8_t) response.at(15) << 8) | (uint8_t) response.at(14);
+        int16_t pitchSpeed = ((uint8_t) response.at(17) << 8) | (uint8_t) response.at(16);
+        int16_t rollSpeed = ((uint8_t) response.at(19) << 8) | (uint8_t) response.at(18);
+        results.insert("yaw", (float) (yaw / 10));
+        results.insert("pitch", (float) (pitch / 10));
         results.insert("roll", (float) (roll / 10));
-
+        results.insert("yaw_speed", (float) (yawSpeed / 10));
-        int16_t yaw_speed = ((uint8_t) response.at(15) << 8) | (uint8_t) response.at(14);
+        results.insert("pitch_speed", (float) (pitchSpeed / 10));
-        results.insert("yaw_speed", (float) (yaw_speed / 10));
+        results.insert("roll_speed", (float) (rollSpeed / 10));
-
-        int16_t pitch_speed = ((uint8_t) response.at(17) << 8) | (uint8_t) response.at(16);
-        results.insert("pitch_speed", (float) (pitch_speed / 10));
-
-        int16_t roll_speed = ((uint8_t) response.at(19) << 8) | (uint8_t) response.at(18);
-        results.insert("roll_speed", (float) (roll_speed / 10));
     } else if (command == 0x0F) {
         int8_t zoom = (int8_t) response.at(8);
         results.insert("zoom", zoom);
-    } else if (command == 0x18) {
+    } else if (command == 0x16 || command == 0x18) {
         float zoomInt = (float) response.at(8);
         float zoomFloat = (float) ((float) response.at(9) / 10);
         results.insert("zoom", zoomInt + zoomFloat);
     } else if (command == 0x20) {
         uint16_t width = ((uint8_t) response.at(11) << 8) | (uint8_t) response.at(10);
-        results.insert("width", width);
-
         uint16_t height = ((uint8_t) response.at(13) << 8) | (uint8_t) response.at(12);
+        results.insert("width", width);
         results.insert("height", height);
     } else {
+        qWarning().noquote().nospace() << "Getting responce values not implemented yet for command " << QString("0x%1").arg(command, 2, 16, QLatin1Char('0'));
         QString responseStr;
         for (int i = 0; i < response.size(); i++) {
-            responseStr += QString("%1").arg(response.at(i), 2, 16, QChar('0')).toUpper();
+            if (i > 0) {
+                responseStr += ",";
+            }
+            responseStr += QString("0x%1").arg(response.at(i), 2, 16, QChar('0')).toUpper();
+            responseStr.replace("0X", "0x");
         }
-        results.insert("Response", responseStr);
+        qWarning().noquote().nospace() << "Responce byte array: " << responseStr;
     }
 
     return results;

misc/camera/a8/utilsCRC16.cpp

@@ -1,4 +1,4 @@
-#include "utilsCRC16.h"
+#include "utilsCRC16.hpp"
 
 static const uint16_t crc16Table[256] = {0x0,    0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x210,  0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x420,  0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 0x1611, 0x630,
                                          0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x840,  0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0xa50,  0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0xc60,  0x1c41,

misc/camera/a8/utilsTargetLocation.cpp

@@ -1,48 +1,12 @@
-#include "utilsTargetLocation.h"
+#include "utilsTargetLocation.hpp"
 #include <QDebug>
 #include <QImage>
-#include "serialCommand.h"
+#include "config.hpp"
-#include "serialResponse.h"
+#include "defines.hpp"
-
-#define USE_OPENCV
-//#define USE_FFMPEG
-
-#ifdef USE_OPENCV
 #include <opencv2/opencv.hpp>
-#endif
-
-#ifdef USE_FFMPEG
-extern "C" {
-#include <libavcodec/avcodec.h>
-#include <libavformat/avformat.h>
-#include <libavutil/imgutils.h>
-#include <libswscale/swscale.h>
-}
-#endif
-
-UtilsTargetLocation::UtilsTargetLocation(SerialPort *serial, SerialCommand *command)
-    : mSerial(serial)
-    , mCommand(command)
-{
-    // ... Optional: Additional initialization logic here
-}
 
 GPSData UtilsTargetLocation::getLocation(float altitude, float latitude, float lognitude, float yaw, float pitch, float roll, float targetTrueSize, uint16_t targetPixelSize)
 {
-    if (mSerial == nullptr) {
-        qWarning() << "Cannot get geo location: Serial connection not available.";
-    }
-
-    if (mCommand == nullptr) {
-        qWarning() << "Cannot get geo location: Commands not available.";
-    }
-
-    // Capture image from rtsp stream
-    captureImageFromStream();
-
-    // TODO?
-    // Send image to AI for target identification and/or target choosing
-
     // From the drone and camera
     CameraData cameraData = getCameraData();
     GPSData gpsData = {latitude, lognitude, altitude};
@@ -60,33 +24,12 @@ GPSData UtilsTargetLocation::getLocation(float altitude, float latitude, float l
 
 CameraData UtilsTargetLocation::getCameraData()
 {
-    uint16_t height = CAMERA_RESOLUTION_HEIGHT;
+    uint16_t height = Config::getResolutionHeight();
-    uint16_t width = CAMERA_RESOLUTION_WIDTH;
+    uint16_t width = Config::getResolutionWidth();
-    float pitch = 0;
+    float yaw = Config::getCurrentYaw();
-    float yaw = 0;
+    float pitch = Config::getCurrentPitch();
-    float fov = CAMERA_FIELD_OF_VIEW_HORIZONTAL;
+    float zoom = Config::getCurrentZoom();
-
+    float fov = CAMERA_FIELD_OF_VIEW_HORIZONTAL / zoom;
-    QByteArray response;
-    QHash<QString, QVariant> responseValues;
-    mSerial->sendCommand(mCommand->getCommandByID(COMMAND_ID::ACQUIRE_CURRENT_ZOOM)); // Field of view in degrees
-    response = mSerial->readResponse();
-    responseValues = SerialResponse::getResponceValues(response);
-    SerialResponse::printResponse(response);
-    fov = CAMERA_FIELD_OF_VIEW_HORIZONTAL / (responseValues["zoom"].toFloat() == 0.0 ? 1.0 : responseValues["zoom"].toFloat());
-
-    mSerial->sendCommand(mCommand->getCommandByID(COMMAND_ID::ACQUIRE_ATTITUDE_DATA)); // Yaw and pitch in degrees
-    response = mSerial->readResponse();
-    responseValues = SerialResponse::getResponceValues(response);
-    SerialResponse::printResponse(response);
-    yaw = responseValues["yaw"].toFloat();
-    pitch = responseValues["pitch"].toFloat();
-
-    mSerial->sendCommand(mCommand->getCommandByID(COMMAND_ID::ACQUIRE_CAMERA_CODEC_SPECS)); // Camera resolution in pixels
-    response = mSerial->readResponse();
-    responseValues = SerialResponse::getResponceValues(response);
-    SerialResponse::printResponse(response);
-    height = responseValues["height"].toUInt();
-    width = responseValues["width"].toUInt();
 
     return {height, width, pitch, yaw, fov};
 }
@@ -107,7 +50,7 @@ float UtilsTargetLocation::degreesToRadians(float degrees)
 // Function to calculate the new GPS location
 GPSData UtilsTargetLocation::calculateTargetLocation(DroneData drone, CameraData camera, float distance, float bearing)
 {
-    constexpr float R = 6371000.0; // Earth radius in meters
+    constexpr float R = 6371000.0f; // Earth radius in meters
 
     float bearingRad = degreesToRadians(bearing);
     float latRad = degreesToRadians(drone.gps.latitude);
@@ -116,7 +59,7 @@ GPSData UtilsTargetLocation::calculateTargetLocation(DroneData drone, CameraData
     float newLatRad = asin(sin(latRad) * cos(distance / R) + cos(latRad) * sin(distance / R) * cos(bearingRad));
     float newLonRad = lonRad + atan2(sin(bearingRad) * sin(distance / R) * cos(latRad), cos(distance / R) - sin(latRad) * sin(newLatRad));
 
-    float angleRad = camera.pitch * M_PI / 180.0;
+    float angleRad = camera.pitch * M_PI / 180.0f;
     float horizontalDistance = distance * cos(angleRad);
     float newAltitude = drone.gps.altitude + (horizontalDistance * tan(angleRad));
 
@@ -128,157 +71,27 @@ GPSData UtilsTargetLocation::calculateTargetLocation(DroneData drone, CameraData
     return newLocation;
 }
 
-void UtilsTargetLocation::captureImageFromStream()
+void UtilsTargetLocation::getAnglesToOnScreenTarget(uint16_t targetX, uint16_t targetY, float &resultYaw, float &resultPitch)
 {
-#ifdef USE_OPENCV
+    resultYaw = Config::getCurrentYaw();
-    cv::VideoCapture cap;
+    resultPitch = Config::getCurrentPitch();
-    cap.open(RTSP_ADDRESS);
 
-    if (!cap.isOpened()) {
+    // Normalize target pixel location to [-0.5, 0.5] range
-        qWarning() << "Error: Could not open RTSP stream";
+    double normPixelX = (targetX - Config::getResolutionWidth() / 2.0f) / (Config::getResolutionWidth() / 2.0f);
-        return;
+    double normPixelY = (targetY - Config::getResolutionHeight() / 2.0f) / (Config::getResolutionHeight() / 2.0f);
-    }
 
-    // Hack to capture proper image
+    // Adjust horizontal field of view for zoom
-    // For some reason first frames get corrupted
+    double horizontalFov = CAMERA_FIELD_OF_VIEW_HORIZONTAL * (1.0f + (Config::getCurrentZoom() - 1.0f) / 5.0f);
-    uint8_t frameCount = 0;
 
-    while (true) {
+    // Calculate image plane dimensions based on focal length and aspect ratio
-        cv::Mat frame;
+    double imagePlaneWidth = 2.0f * CAMERA_FOCAL_LENGTH * tan(horizontalFov / 2.0f * M_PI / 180.0f);
+    double imagePlaneHeight = imagePlaneWidth / CAMERA_ASPECT_RATIO;
 
-        if (cap.grab() && cap.retrieve(frame)) {
+    // Calculate angle offsets based on normalized pixel location and image plane
-            if (frame.empty() || frame.total() == 0) {
+    // dimensions
-                qInfo() << "Warning: Invalid frame captured, retrying...";
+    float turnX = atan2(normPixelX * imagePlaneWidth / 2.0f, CAMERA_FOCAL_LENGTH) * 180.0f / M_PI;
-            } else {
+    float turnY = atan2(normPixelY * imagePlaneHeight / 2.0f, CAMERA_FOCAL_LENGTH) * 180.0f / M_PI;
-                // Convert the frame to BGR if needed
-                if (frame.channels() == 1) {
-                    qInfo() << "Captured frame is grayscale, converting to BGR";
-                    cv::cvtColor(frame, frame, cv::COLOR_GRAY2BGR);
-                } else if (frame.channels() == 4) {
-                    qInfo() << "Captured frame is RGBA, converting to BGR";
-                    cv::cvtColor(frame, frame, cv::COLOR_RGBA2BGR);
-                }
 
-                frameCount++;
+    resultYaw -= turnX;
-                if (frameCount > 10) {
+    resultPitch -= turnY;
-                    // Save the captured frame as an image
-                    std::string filename = "output_opencv.jpg";
-                    if (cv::imwrite(filename, frame)) {
-                        qInfo() << "Image captured and saved as" << QString::fromStdString(filename);
-                        break;
-                    } else {
-                        qInfo() << "Error: Failed to save the captured image";
-                    }
-                } else if (frameCount > 100) {
-                    qInfo() << "Error: Tried 100 times and still fails, giving up";
-                    break;
-                }
-            }
-        } else {
-            qInfo() << "Warning: Could not grab or retrieve frame, retrying...";
-        }
-    }
-
-    // Release the video capture object
-    cap.release();
-#endif
-
-#ifdef USE_FFMPEG
-    // Initialize FFmpeg
-    avformat_network_init();
-
-    // Open RTSP stream
-    AVFormatContext *formatContext = avformat_alloc_context();
-    if (avformat_open_input(&formatContext, RTSP_ADDRESS, NULL, NULL) != 0) {
-        qDebug() << "Error: Couldn't open RTSP stream";
-        return;
-    }
-
-    // Find stream info
-    if (avformat_find_stream_info(formatContext, NULL) < 0) {
-        qDebug() << "Error: Couldn't find stream info";
-        return;
-    }
-
-    // Find video stream
-    int videoStreamIndex = -1;
-    for (uint i = 0; i < formatContext->nb_streams; i++) {
-        if (formatContext->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) {
-            videoStreamIndex = i;
-            break;
-        }
-    }
-    if (videoStreamIndex == -1) {
-        qDebug() << "Error: Couldn't find video stream";
-        return;
-    }
-
-    // Initialize video decoder
-    AVCodecParameters *codecParameters = formatContext->streams[videoStreamIndex]->codecpar;
-    AVCodec *codec = avcodec_find_decoder(codecParameters->codec_id);
-    AVCodecContext *codecContext = avcodec_alloc_context3(codec);
-    avcodec_parameters_to_context(codecContext, codecParameters);
-    avcodec_open2(codecContext, codec, NULL);
-
-    // Allocate frame
-    AVFrame *frame = av_frame_alloc();
-
-    bool shouldBreak = false;
-
-    // Read frames
-    AVPacket packet;
-
-    while (shouldBreak == false && av_read_frame(formatContext, &packet) >= 0) {
-        if (packet.stream_index == videoStreamIndex) {
-            if (avcodec_send_packet(codecContext, &packet) >= 0) {
-                while (avcodec_receive_frame(codecContext, frame) >= 0) {
-                    // Convert frame to RGB if necessary
-                    if (codecParameters->format != AV_PIX_FMT_RGB24) {
-                        AVFrame *rgbFrame = av_frame_alloc();
-                        int numBytes = av_image_get_buffer_size(AV_PIX_FMT_RGB24, codecParameters->width, codecParameters->height, 1);
-                        uint8_t *buffer = (uint8_t *) av_malloc(numBytes * sizeof(uint8_t));
-                        if (av_image_fill_arrays(rgbFrame->data, rgbFrame->linesize, buffer, AV_PIX_FMT_RGB24, codecParameters->width, codecParameters->height, 1) > 0) {
-                            // Convert format to enum AVPixelFormat
-                            const AVPixFmtDescriptor *pixDesc = av_pix_fmt_desc_get((AVPixelFormat) codecParameters->format);
-                            if (!pixDesc) {
-                                qDebug() << "Error: Unsupported pixel format";
-                                return;
-                            }
-
-                            // Get the AVPixelFormat enum value directly from the
-                            descriptor AVPixelFormat pixelFormat = (AVPixelFormat) codecParameters->format;
-
-                            // Create the sws context
-                            struct SwsContext *swsContext = sws_getContext(codecParameters->width, codecParameters->height, pixelFormat, codecParameters->width, codecParameters->height, AV_PIX_FMT_RGB24, SWS_BILINEAR, NULL, NULL, NULL);
-                            sws_scale(swsContext, frame->data, frame->linesize, 0, codecParameters->height, rgbFrame->data, rgbFrame->linesize);
-                            sws_freeContext(swsContext);
-
-                            // Save frame as JPEG
-                            QImage image(rgbFrame->data[0], codecParameters->width, codecParameters->height, QImage::Format_RGB888);
-                            image.save("output_ffmpeg.jpg");
-
-                            av_free(buffer);
-                            av_frame_free(&rgbFrame);
-                            shouldBreak = true;
-                            break;
-                        }
-                    } else {
-                        // Save frame as JPEG
-                        QImage image(frame->data[0], codecParameters->width, codecParameters->height, QImage::Format_RGB888);
-                        image.save("output_ffmpeg.jpg");
-                        shouldBreak = true;
-                        break;
-                    }
-                }
-            }
-        }
-
-        av_packet_unref(&packet);
-    }
-
-    // Clean up
-    avformat_close_input(&formatContext);
-    avcodec_free_context(&codecContext);
-    av_frame_free(&frame);
-#endif
 }

misc/camera/a8/utilsTargetLocation.h

@@ -1,47 +0,0 @@
-#pragma once
-
-#include "serialCommand.h"
-#include "serialPort.h"
-
-#include <cstdint>
-
-struct GPSData
-{
-    float latitude;  // Decimal degrees
-    float longitude; // Decimal degrees
-    float altitude;  // Meters
-};
-
-struct CameraData
-{
-    uint16_t height; // Pixels
-    uint16_t width;  // Pixels
-    float pitch;     // Degrees
-    float yaw;       // Degrees
-    float fow;       // Degrees
-};
-
-struct DroneData
-{
-    GPSData gps;
-    float yaw;   // Degrees
-    float pitch; // Degrees
-    float roll;  // Degrees
-};
-
-class UtilsTargetLocation
-{
-public:
-    UtilsTargetLocation(SerialPort *serial, SerialCommand *command);
-    GPSData getLocation(float altitude, float latitude, float lognitude, float yaw, float pitch, float roll, float targetTrueSize, uint16_t targetPixelSize);
-
-private:
-    CameraData getCameraData();
-    float calculateTargetDistance(float targetSize, uint16_t targetPixelSize, uint16_t imageWidth, float fov);
-    float degreesToRadians(float degrees);
-    GPSData calculateTargetLocation(DroneData drone, CameraData camera, float distance, float bearing);
-    void captureImageFromStream();
-
-    SerialPort *mSerial;
-    SerialCommand *mCommand;
-};

misc/camera/a8/utilsTargetLocation.hpp

@@ -0,0 +1,40 @@
+#pragma once
+
+#include <cstdint>
+
+struct GPSData
+{
+    float latitude;  // Decimal degrees
+    float longitude; // Decimal degrees
+    float altitude;  // Meters
+};
+
+struct CameraData
+{
+    uint16_t height; // Pixels
+    uint16_t width;  // Pixels
+    float pitch;     // Degrees
+    float yaw;       // Degrees
+    float fow;       // Degrees
+};
+
+struct DroneData
+{
+    GPSData gps;
+    float yaw;   // Degrees
+    float pitch; // Degrees
+    float roll;  // Degrees
+};
+
+class UtilsTargetLocation
+{
+public:
+    static GPSData getLocation(float altitude, float latitude, float lognitude, float yaw, float pitch, float roll, float targetTrueSize, uint16_t targetPixelSize);
+    static void getAnglesToOnScreenTarget(uint16_t targetX, uint16_t targetY, float &resultYaw, float &resultPitch);
+
+private:
+    static CameraData getCameraData();
+    static float calculateTargetDistance(float targetSize, uint16_t targetPixelSize, uint16_t imageWidth, float fov);
+    static float degreesToRadians(float degrees);
+    static GPSData calculateTargetLocation(DroneData drone, CameraData camera, float distance, float bearing);
+};

misc/camera/a8_remote/.gitignore

@@ -0,0 +1,74 @@
+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+CMakeLists.txt.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+

misc/camera/a8_remote/a8_remote.pro

@@ -0,0 +1,27 @@
+QT += core
+QT -= gui
+
+CONFIG += c++17 console
+
+TARGET = a8_remote
+
+QMAKE_CXXFLAGS = -O0 -g -ggdb -fsanitize=undefined,bounds,float-divide-by-zero,integer-divide-by-zero,null,return,signed-integer-overflow,unreachable,shift,alignment,nonnull-attribute,returns-nonnull-attribute,enum
+QMAKE_LFLAGS = -O0 -g -ggdb -fsanitize=undefined,bounds,float-divide-by-zero,integer-divide-by-zero,null,return,signed-integer-overflow,unreachable,shift,alignment,nonnull-attribute,returns-nonnull-attribute,enum
+
+QMAKE_CXX = clang++
+QMAKE_CC = clang
+
+# Not nice, but for some reason QtCreator doesn't use /usr/lib/ccache/g++ from the PATH
+linux-g++ {
+    QMAKE_CXX = clang++
+    QMAKE_CC = clang
+}
+
+SOURCES += \
+        main.cpp \
+        remoteControl.cpp
+
+HEADERS += \
+    defines.hpp \
+    remoteControl.hpp
+

misc/camera/a8_remote/build/Debug/.qmake.stash

@@ -0,0 +1,33 @@
+QMAKE_CXX.QT_COMPILER_STDCXX = 201402L
+QMAKE_CXX.QMAKE_CLANG_MAJOR_VERSION = 14
+QMAKE_CXX.QMAKE_CLANG_MINOR_VERSION = 0
+QMAKE_CXX.QMAKE_CLANG_PATCH_VERSION = 0
+QMAKE_CXX.QMAKE_GCC_MAJOR_VERSION = 4
+QMAKE_CXX.QMAKE_GCC_MINOR_VERSION = 2
+QMAKE_CXX.QMAKE_GCC_PATCH_VERSION = 1
+QMAKE_CXX.COMPILER_MACROS = \
+    QT_COMPILER_STDCXX \
+    QMAKE_CLANG_MAJOR_VERSION \
+    QMAKE_CLANG_MINOR_VERSION \
+    QMAKE_CLANG_PATCH_VERSION \
+    QMAKE_GCC_MAJOR_VERSION \
+    QMAKE_GCC_MINOR_VERSION \
+    QMAKE_GCC_PATCH_VERSION
+QMAKE_CXX.INCDIRS = \
+    /usr/include/c++/11 \
+    /usr/include/x86_64-linux-gnu/c++/11 \
+    /usr/include/c++/11/backward \
+    /usr/lib/llvm-14/lib/clang/14.0.0/include \
+    /usr/local/include \
+    /usr/include/x86_64-linux-gnu \
+    /usr/include
+QMAKE_CXX.LIBDIRS = \
+    /usr/lib/llvm-14/lib/clang/14.0.0 \
+    /usr/lib/gcc/x86_64-linux-gnu/11 \
+    /usr/lib64 \
+    /lib/x86_64-linux-gnu \
+    /lib64 \
+    /usr/lib/x86_64-linux-gnu \
+    /usr/lib/llvm-14/lib \
+    /lib \
+    /usr/lib