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Added handler for turreted drones to share multiple camera components to UAS Tool

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Valmo Trindade
2026-05-09 11:58:44 -03:00
parent 3c37185c1a
commit dcc9e1d469
12 changed files with 1200 additions and 139 deletions
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43
addons/uav/functions/fnc_updateMavlinkBroadcast.sqf
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@@ -59,34 +59,22 @@ 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 _cameraData = [_uav, "turret"] call armatak_fnc_extract_uas_camera_data;
private _uavControl = UAVControl _uav;
private _controlledTurretPath = _uavControl param [1, []];
private _hasTurretCamera = ((_controlledTurretPath isEqualType []) && {_controlledTurretPath isNotEqualTo []}) || {(allTurrets _uav) isNotEqualTo []};
private _laser = laserTarget _uav;
if (!isNull _laser) then {
private _originASL = getPosASL _uav;
private _targetWorld = getPosWorld _laser;
private _targetAslZ = (getPosASL _laser) select 2;
private _spiASL = [_targetWorld select 0, _targetWorld select 1, _targetAslZ];
if (_cameraData isEqualType [] && {(count _cameraData) >= 6}) then {
_gimbalYaw = _cameraData param [0, _yaw];
_gimbalPitch = _cameraData param [1, _pitch];
_hfov = _cameraData param [2, _hfov];
_vfov = _uav getVariable ["armatak_uas_vfov", (_hfov * 0.5625)];
private _los = _spiASL vectorDiff _originASL;
private _losMag = vectorMagnitude _los;
if (_losMag > 0) then {
_los = _los vectorMultiply (1 / _losMag);
private _dirX = _los select 0;
private _dirY = _los select 1;
private _dirZ = _los select 2;
private _horizontalMag = sqrt ((_dirX * _dirX) + (_dirY * _dirY));
private _camYaw = ((_dirX atan2 _dirY) + 360) mod 360;
private _camPitch = _dirZ atan2 (_horizontalMag max 0.001);
_gimbalPitch = _camPitch;
_gimbalYaw = _camYaw;
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 _spiGeo = _cameraData param [5, []];
if (_spiGeo isEqualType [] && {(count _spiGeo) >= 3}) then {
_imageLat = _spiGeo select 0;
_imageLon = _spiGeo select 1;
_imageAlt = _spiGeo select 2;
};
};
@@ -113,7 +101,8 @@ private _systemPayload = [
_vfov,
_imageLat,
_imageLon,
_imageAlt
_imageAlt,
parseNumber _hasTurretCamera
];
"armatak" callExtension ["uas:send_uas_system", [_systemPayload]];