Merge pull request #248 from BluEye-Robotics/feature/add-60fps-framerate

Add 60 fps framerate and digital pan/tilt/zoom for X3 Ultra

Author: follesoe

protobuf_definitions/control.proto

@@ -231,3 +231,10 @@ message FormatRemovableStorageDeviceCtrl {
 message SetTurbidityFilterCtrl {
   FilterMessage turbidity_filter = 1; // Message with the turbidity filter settings to set.
 }
+
+// Issue a command to set the digital pan, tilt, and zoom of the main camera.
+//
+// Only supported on X3 Ultra.
+message CameraPanTiltZoomCtrl {
+  CameraPanTiltZoom camera_pan_tilt_zoom = 1; // The desired pan, tilt, and zoom state.
+}

protobuf_definitions/message_formats.proto

@@ -833,13 +833,18 @@ enum Resolution {
   RESOLUTION_HD_720P = 2; // 720p HD (1280x720).
   RESOLUTION_FULLHD_1080P = 1; // 1080p Full HD (1920x1080).
   RESOLUTION_UHD_4K = 3; // 4K Ultra HD (3840x2160, Only supported on X3 Ultra).
+  RESOLUTION_QHD_2K = 5; // 2K QHD (2560x1440, Only supported on X3 Ultra).
 }
 
 // Available camera frame rates.
+//
+// If the requested frame rate is higher than what is supported at the current resolution,
+// the frame rate will be reduced while the resolution is respected.
 enum Framerate {
   FRAMERATE_UNSPECIFIED = 0; // Framerate not specified.
   FRAMERATE_FPS_30 = 1; // 30 frames per second.
   FRAMERATE_FPS_25 = 2; // 25 frames per second. (Only supported on Pioneer/Pro/X1/X3)
+  FRAMERATE_FPS_60 = 3; // 60 frames per second. (Only supported on X3 Ultra at QHD, 1080p and 720p)
 }
 
 // Which camera to control.
@@ -1320,3 +1325,12 @@ message FilterMessage {
   bool enabled = 1; // If the filter is enabled.
   float intensity = 2; // Intensity of the filter (0..1).
 }
+
+// Digital pan, tilt, and zoom state for the main camera.
+//
+// Only supported on X3 Ultra. Controls digital (not mechanical) zoom.
+message CameraPanTiltZoom {
+  float pan = 1; // Horizontal pan (-1.0..1.0), where 0.0 is center.
+  float tilt = 2; // Vertical tilt (-1.0..1.0), where 0.0 is center.
+  float zoom = 3; // Zoom level (0.0..1.0), where 0.0 is no zoom and 1.0 is maximum zoom.
+}

protobuf_definitions/telemetry.proto

@@ -320,3 +320,11 @@ message LogEntryTel {
 message TurbidityFilterTel {
   FilterMessage turbidity_filter = 1; // Turbidity filter settings.
 }
+
+// Digital pan, tilt, and zoom telemetry from the main camera.
+//
+// Reports the actual pan, tilt, and zoom state of the camera.
+// Only supported on X3 Ultra.
+message CameraPanTiltZoomTel {
+  CameraPanTiltZoom camera_pan_tilt_zoom = 1; // Current pan, tilt, and zoom state.
+}