Refacted UDP Socket config and created UAS addon

addons/uav/functions/fnc_handleMavlinkCallback.sqf

@@ -0,0 +1,63 @@
+#include "..\script_component.hpp"
+
+params ["_function", ["_data", "", [""]]];
+
+if (!hasInterface) exitWith {};
+
+private _payload = [_data] call FUNC(parseMavlinkCallbackData);
+private _uav = getConnectedUAV player;
+if (isNull _uav) exitWith {
+	"armatak" callExtension ["log", [["warn", format ["Ignoring MAVLINK UDP callback %1 because no UAV is connected: %2", _function, _data]]]];
+};
+
+private _command = parseNumber (_payload getOrDefault ["command", "-1"]);
+private _commandName = _payload getOrDefault ["command_name", "UNKNOWN"];
+
+switch (_function) do {
+	case "COMMAND_LONG": {
+		switch (_command) do {
+			case 400: {
+				private _armValue = parseNumber (_payload getOrDefault ["param1", "0"]);
+				private _doArm = _armValue >= 1;
+				_uav engineOn _doArm;
+				if (_doArm) then {
+					_uav setFuel ((fuel _uav) max 0.1);
+				};
+				systemChat format ["ATAK %1 %2", ["DISARM", "ARM"] select _doArm, [_uav] call armatak_fnc_extract_marker_callsign];
+				"armatak" callExtension ["log", [["info", format ["Applied MAVLINK COMMAND_LONG %1 (%2) to UAV %3", _command, _commandName, _uav]]]];
+			};
+			case 22: {
+				_uav engineOn true;
+				_uav setFuel ((fuel _uav) max 0.1);
+				_uav flyInHeight 75;
+
+				if (_uav isKindOf "Helicopter" || {_uav isKindOf "VTOL_Base_F"} || {_uav isKindOf "Quadbike_01_F"}) then {
+					private _velocity = velocityModelSpace _uav;
+					_uav setVelocityModelSpace [
+						_velocity select 0,
+						(_velocity select 1) max 15,
+						((_velocity select 2) max 0) + 8
+					];
+				};
+
+				systemChat format ["ATAK TAKEOFF %1", [_uav] call armatak_fnc_extract_marker_callsign];
+				"armatak" callExtension ["log", [["info", format ["Applied MAVLINK TAKEOFF to UAV %1", _uav]]]];
+			};
+			default {
+				"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK COMMAND_LONG %1 (%2): %3", _command, _commandName, _data]]]];
+			};
+		};
+	};
+	case "COMMAND_INT": {
+		"armatak" callExtension ["log", [["info", format ["Received MAVLINK COMMAND_INT %1 (%2): %3", _command, _commandName, _data]]]];
+	};
+	case "COMMAND_ACK": {
+		"armatak" callExtension ["log", [["info", format ["Received MAVLINK COMMAND_ACK %1 (%2): %3", _command, _commandName, _data]]]];
+	};
+	case "MANUAL_CONTROL": {
+		"armatak" callExtension ["log", [["info", format ["Received MAVLINK MANUAL_CONTROL: %1", _data]]]];
+	};
+	default {
+		"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK UDP callback %1: %2", _function, _data]]]];
+	};
+};

addons/uav/functions/fnc_parseMavlinkCallbackData.sqf

@@ -0,0 +1,17 @@
+#include "..\script_component.hpp"
+
+params [["_raw", "", [""]]];
+
+private _pairs = createHashMap;
+
+{
+	private _entry = _x;
+	private _separatorIndex = _entry find "=";
+	if (_separatorIndex > 0) then {
+		private _key = _entry select [0, _separatorIndex];
+		private _value = _entry select [_separatorIndex + 1];
+		_pairs set [_key, _value];
+	};
+} forEach (_raw splitString ";");
+
+_pairs

addons/uav/functions/fnc_resolveVideoUri.sqf

@@ -0,0 +1,37 @@
+#include "..\script_component.hpp"
+
+params [["_uav", objNull, [objNull]]];
+
+private _defaultVideoUri = "rtsp://irontak.com:554/fpv";
+private _activelyControlledUav = if (!isNull player) then {getConnectedUAV player} else {objNull};
+
+private _normalize = {
+	params ["_rawUrl"];
+
+	private _url = trim _rawUrl;
+	if (_url isEqualTo "") exitWith {""};
+
+	if (_url find "://" >= 0) exitWith {_url};
+
+	if (_url find "/" >= 0) exitWith {
+		format ["rtsp://%1", _url]
+	};
+
+	format ["rtp://%1", _url]
+};
+
+if (!isNull _uav && {_activelyControlledUav isEqualTo _uav}) then {
+	private _objectVideoUrl = [_uav] call armatak_fnc_extract_marker_video_url;
+	private _normalizedObjectVideoUrl = [_objectVideoUrl] call _normalize;
+	if (_normalizedObjectVideoUrl isNotEqualTo "") exitWith {
+		_normalizedObjectVideoUrl
+	};
+};
+
+private _sessionVideoUrl = player getVariable [QEGVAR(client,video_feed_url), ""];
+private _normalizedSessionVideoUrl = [_sessionVideoUrl] call _normalize;
+if (_normalizedSessionVideoUrl isNotEqualTo "") exitWith {
+	_normalizedSessionVideoUrl
+};
+
+_defaultVideoUri

addons/uav/functions/fnc_updateMavlinkBroadcast.sqf

@@ -37,6 +37,9 @@ private _mavlinkAddress = player getVariable [QEGVAR(client,mavlink_address), ""
 if (_mavlinkAddress isEqualTo "") exitWith {};
 
 private _pos = [_uav] call EFUNC(client,extractClientPosition);
+private _uuid = [_uav] call armatak_fnc_extract_uuid;
+private _callsign = [_uav] call armatak_fnc_extract_marker_callsign;
+private _videoUri = [_uav] call FUNC(resolveVideoUri);
 private _dir = vectorDir _uav;
 private _up = vectorUp _uav;
 private _yaw = getDir _uav;
@@ -45,24 +48,14 @@ private _roll = asin (((_up select 0) max -1) min 1);
 private _relAlt = ((getPosATL _uav) select 2) max 0;
 private _uavType = if (_uav isKindOf "Plane") then {1} else {[2, 3] select (_uav isKindOf "Helicopter")};
 
-private _bodyPayload = [
-	_mavlinkAddress,
-	1,
-	1,
-	_uavType,
-	_pos select 1,
-	_pos select 2,
-	_pos select 3,
-	_relAlt,
-	_pos select 5,
-	_pos select 6,
-	_roll,
-	_pitch,
-	_yaw,
-	parseNumber isEngineOn _uav
-];
-
-"armatak" callExtension ["mavlink_mock:send_uas_telemetry", [_bodyPayload]];
+private _gimbalRoll = 0;
+private _gimbalPitch = _pitch;
+private _gimbalYaw = _yaw;
+private _hfov = _uav getVariable ["armatak_uas_fov", 60];
+private _vfov = _uav getVariable ["armatak_uas_vfov", (_hfov * 0.5625)];
+private _imageLat = _pos select 1;
+private _imageLon = _pos select 2;
+private _imageAlt = _pos select 3;
 
 private _laser = laserTarget _uav;
 if (!isNull _laser) then {
@@ -84,27 +77,40 @@ if (!isNull _laser) then {
 
 		private _camYaw = ((_dirX atan2 _dirY) + 360) mod 360;
 		private _camPitch = _dirZ atan2 (_horizontalMag max 0.001);
+		_gimbalPitch = _camPitch;
+		_gimbalYaw = _camYaw;
 
-		private _spiAgl = ASLToAGL _spiASL;
-		private _camRelAlt = (_spiAgl select 2) max 0;
-
-		private _camPayload = [
-			_mavlinkAddress,
-			2,
-			1,
-			_uavType,
-			_pos select 1,
-			_pos select 2,
-			_pos select 3,
-			_camRelAlt,
-			_camYaw,
-			0,
-			0,
-			_camPitch,
-			_camYaw,
-			1
-		];
-
-		"armatak" callExtension ["mavlink_mock:send_uas_telemetry", [_camPayload]];
+		private _imageGeo = [_targetWorld select 0, _targetWorld select 1, _targetAslZ] call EFUNC(client,convertClientLocation);
+		_imageLat = _imageGeo select 0;
+		_imageLon = _imageGeo select 1;
+		_imageAlt = _imageGeo select 2;
 	};
 };
+
+private _systemPayload = [
+	_mavlinkAddress,
+	_uuid,
+	_callsign,
+	_uavType,
+	_pos select 1,
+	_pos select 2,
+	_pos select 3,
+	_relAlt,
+	_pos select 5,
+	_pos select 6,
+	_roll,
+	_pitch,
+	_yaw,
+	parseNumber isEngineOn _uav,
+	_gimbalRoll,
+	_gimbalPitch,
+	_gimbalYaw,
+	_videoUri,
+	_hfov,
+	_vfov,
+	_imageLat,
+	_imageLon,
+	_imageAlt
+];
+
+"armatak" callExtension ["uas:send_uas_system", [_systemPayload]];