From fdf64a2572235b76715a185c3e8656dfaee93e24 Mon Sep 17 00:00:00 2001
From: Ryan VanSickle <ryan.vansickle@trilliumeng.com>
Date: Tue, 12 Dec 2023 16:52:00 -0800
Subject: [PATCH] Updates for sw release 23.2

---
 .gitignore                                   | 17 ++++
 Communications/OrionPublicProtocol.xml       | 85 ++++++++++++++++++--
 Examples/VideoPlayer/StreamDecoder.c         |  2 +
 GenerateOrionPublicPacket.sh                 | 13 ++-
 Protogen/Linux/aarch64/fix_protogen_links.sh |  6 ++
 Utils/GeolocateTelemetry.h                   |  2 +-
 6 files changed, 118 insertions(+), 7 deletions(-)
 create mode 100755 .gitignore
 create mode 100755 Protogen/Linux/aarch64/fix_protogen_links.sh

diff --git a/.gitignore b/.gitignore
new file mode 100755
index 0000000..b5e5103
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,17 @@
+#Ignore the following files that may be created during the build process
+.qmake.stash
+*.o
+*.mk
+*.so.*
+*/x86/*
+*.html
+*.markdown
+Communications/OrionPublicPacket.*
+Communications/OrionPublicProtocol.h
+Communications/compare/
+Communications/fielddecode.*
+Communications/fieldencode.*
+Communications/floatspecial.*
+Communications/release/
+Communications/scaleddecode.*
+Communications/scaledencode.*
\ No newline at end of file
diff --git a/Communications/OrionPublicProtocol.xml b/Communications/OrionPublicProtocol.xml
index c5e9e50..09b2f3b 100644
--- a/Communications/OrionPublicProtocol.xml
+++ b/Communications/OrionPublicProtocol.xml
@@ -113,7 +113,7 @@ See TrilliumPacket.c (in the Orion SDK) for details.
         <Value name="ORION_PKT_SONY_SETTINGS" comment="Sony-specific camera settings"/>
         <Value name="ORION_PKT_KTNC_SETTINGS" comment="KTnC-specific camera settings"/>
         <Value name="ORION_PKT_ATTOLLO_SETTINGS" comment="Attollo-specific camera settings"/>
-        <Value name="ORION_PKT_PRIVATE_70" value="0x70" comment="Reserved packet identifier" hidden="true"/>
+        <Value name="ORION_PKT_VIDEO_OPTIONS" value="0x70" comment="Settings for changing video processing and display"/>
         <Value name="ORION_PKT_PRIVATE_71" comment="Reserved packet identifier" hidden="true"/>
         <Value name="ORION_PKT_AUTOPILOT_DATA" value="0x80" comment="Autopilot state data, if available"/>
         <Value name="ORION_PKT_PRIVATE_90" value="0x90" comment="Reserved packet identifier" hidden="true"/>
@@ -129,7 +129,7 @@ See TrilliumPacket.c (in the Orion SDK) for details.
         <Value name="ORION_PKT_SNPY_AB" comment="Reserved Snoopy Board packet identifier" hidden="true"/>
         <Value name="ORION_PKT_SNPY_AC" comment="Reserved Snoopy Board packet identifier" hidden="true"/>
         <Value name="ORION_PKT_SNPY_AD" comment="Reserved Snoopy Board packet identifier" hidden="true"/>
-        <Value name="ORION_PKT_PRIVATE_B0" value="0xB0" comment="Reserved packet identifier" hidden="true"/>
+        <Value name="ORION_PKT_CROWN_MODE" value="0xB0" comment="settings telemetry reporting modes"/>
         <Value name="ORION_PKT_DEBUG_STRING" comment="A human readable text string which is typically used for debugging purposes"/>
         <Value name="ORION_PKT_USER_DATA" comment="Packet for sending user data to a serial port in the gimbal" />
         <Value name="ORION_PKT_KLV_USER_DATA" comment="KLV user-specified field settings"/>
@@ -140,7 +140,7 @@ See TrilliumPacket.c (in the Orion SDK) for details.
         <Value name="ORION_PKT_PRIVATE_C3" comment="Reserved packet identifier" hidden="true"/>
         <Value name="ORION_PKT_PRIVATE_CE" value="0xCE" comment="Reserved packet identifier" hidden="true"/>
         <Value name="ORION_PKT_PRIVATE_CF" comment="Reserved packet identifier" hidden="true"/>
-        <Value name="ORION_PKT_PRIVATE_D0" comment="Reserved packet identifier" hidden="true"/>
+        <Value name="ORION_PKT_SENSOR_DATA" value="0xD0" comment="Raw sensor data from the Orion Crown board."/>
         <Value name="ORION_PKT_GPS_DATA" comment="Raw GPS data input or output"/>
         <Value name="ORION_PKT_EXT_HEADING_DATA" comment="Externally supplied heading information"/>
         <Value name="ORION_PKT_INS_QUALITY" comment="Quality of the inertial navigation system"/>
@@ -225,7 +225,8 @@ See TrilliumPacket.c (in the Orion SDK) for details.
         <Value name="ORION_MODE_SCENE" value="0x30" comment="Commands give the angular rate of the image produced by the camera"/>
         <Value name="ORION_MODE_TRACK" value="0x31" comment="Commands give the angular position of the track box in the camera image as fraction from center, bound these numbers -0.5 to 0.5"/>
         <Value name="ORION_MODE_NUDGE_TRACK" value="0x32" comment="Nudge the track box by a percentage of FOV"/>
-        <Value name="ORION_MODE_CALIBRATION" value="0x40" comment="Drives the pan and tilt axes to calibrate the stabilizer gyros"/>
+        <Value name="ORION_MODE_CALIBRATION" value="0x40" comment="Drives the pan and tilt axes to calibrate the stabilization gyros"/>
+        <Value name="ORION_MODE_NULL_GYROS" value="0x41" comment="Drives the pan and tilt axes to null the stabilization gyros"/>
         <Value name="ORION_MODE_POSITION" value="0x50" comment="Commands give the position of the pan and tilt axes with respect to the gimbal mount"/>
         <Value name="ORION_MODE_POSITION_NO_LIMITS" value="0x51" comment="Commands give the position of the pan and tilt axes with respect to the gimbal mount. NOTE: This mode ignores the pan/tilt limits and can result in serious damage to the gimbal if used incorrectly"/>
         <Value name="ORION_MODE_GEOPOINT" value="0x60" comment="Gimbal is pointing toward a fixed spatial location"/>
@@ -354,6 +355,7 @@ See TrilliumPacket.c (in the Orion SDK) for details.
         <Data name="Current3v3Var" inMemoryType="float32" encodedType="unsigned16" scaler="100000" comment="Current variance in Amps of the 3.3-volt rail"/>
         <Data name="PayloadTemp" inMemoryType="float32" encodedType="signed8" scaler="1.0" default="-127" />
         <Data name="PayloadHumidity" inMemoryType="float32" encodedType="unsigned8" max="100" default="0" />
+        <Data name="CurrentLaser" inMemoryType="float32" encodedType="unsigned16" scaler="1.0" default="-1.0" comment="Current in Amps of the Lsr rail"/>
     </Packet>
 
     <Packet name="OrionFault" ID="ORION_PKT_FAULTS" comment="Let someone know when a fault occurs">
@@ -487,6 +489,23 @@ See TrilliumPacket.c (in the Orion SDK) for details.
         <Data name="Address" inMemoryType="unsigned32" comment="Program counter prior to the reset (not yet used)"/>
         <Data name="sourceBoard" enum="OrionBoardEnumeration_t" default="BOARD_CLEVIS" encodedType="unsigned8" comment="Enumeration defining which board in the gimbal generated this message"/>
     </Packet>
+ 
+    <Packet name="CrownMode" ID="ORION_PKT_CROWN_MODE" parameterInterface="true"
+            comment="This packet commands a special mode of operation for the crown board. Any mode that is not 'crownModeNormal'
+                     is used for development or production purposes. When this packet is sent from the crown board it reports the
+                     current mode of operation. Request the current mode of operation by sending this packet with zero length.">
+
+	    <Enum name="crownModes" comment="Modes of operation for the orion crown board software.">
+	        <Value name="crownModeNormal" comment="The normal operation of the crown board"/>
+	        <Value name="crownModeLogINS" comment="Normal mode of operation except INS raw data are sent to users"/>
+	        <Value name="crownModePrintIMU" comment="Normal mode of operation except the IMU sensors are printed out using debug packets"/>
+	        <Value name="crownModePrintINS" comment="Normal mode of operation except the INS states are printed out using debug packets"/>
+	        <Value name="crownModeTempCal" comment="Special mode of operation used for temperature calibration of the sensors"/>
+	        <Value name="crownModeIMUCal" comment="Special mode of operation used for gain, bias, and alignment calibration of the IMU"/>
+	    </Enum>
+
+        <Data name="mode" enum="crownModes" encodedType="unsigned8" comment="Crown board mode of operation"/>
+   </Packet>
 
     <Packet name="DebugString" ID="ORION_PKT_DEBUG_STRING" comment="This packet sends a human readable text string which is typically used for debugging purposes.">
 
@@ -513,6 +532,20 @@ See TrilliumPacket.c (in the Orion SDK) for details.
         <Data name="Value" inMemoryType="unsigned8" array="127" variableArray="Length" comment="Variable-length value string"/>
     </Packet>
 
+    <Packet name="OrionSensorData" ID="ORION_PKT_SENSOR_DATA" comment="Raw sensor data from the Orion Crown board.">
+        <Data name="Gyros" inMemoryType="float32" array="3" encodedType="signed16" max="300*(pi/180)" comment="Measured angular rate in body axes in radians per second"/>
+        <Data name="Accels" inMemoryType="float32" array="3" encodedType="signed16" max="98.1" comment="Measured specific force in body axes in meters per second per second"/>
+        <Data name="Baro" inMemoryType="float32" encodedType="unsigned16" max="110000" comment="Measured barometric pressure in Pascals"/>
+        <Data name="OAT" inMemoryType="float32" encodedType="unsigned16" scaler="100" comment="Measured outside air temperature in degrees Kelvin"/>
+        <Data name="time" inMemoryType="unsigned32" comment="system time stamp in milliseconds of this IMU data"/>
+        <Data name="gyroTemp" inMemoryType="float32" encodedType="unsigned16" scaler="100" comment="Gyro die temperature in degrees Kelvin"/>
+        <Data name="gyroDt" inMemoryType="float32" default="0.005" encodedType="unsigned16" scaler="1000000" comment="Elapsed gyro time in seconds. Use this time to compute delta angle from the gyro rate"/>
+        <Data name="accelDt" inMemoryType="float32" default="0.005" encodedType="unsigned16" scaler="1000000" comment="Elapsed accelerometer time in seconds. Use this time to compute delta velocity from the specific force"/>
+        <Data name="ppsAge" inMemoryType="signed16" default="-1" comment="PPS pulse age in milliseconds before the system time reported in this packet"/>
+        <Data name="counter" inMemoryType="unsigned8" default="0" comment="IMU packet counter, rolls over every 256"/>
+    </Packet>
+
+
     <Packet name="GpsData" ID="ORION_PKT_GPS_DATA" comment=
         "Raw GPS data. This packet is normally sent by the gimbal once per second, unless the
         gimbal is in INS debug mode, in which case this packet is sent for every GPS report.
@@ -772,7 +805,7 @@ See TrilliumPacket.c (in the Orion SDK) for details.
         </Enum>
 
         <Data name="DisableSffc" inMemoryType="bitfield1" />
-        <Data name="Palette" inMemoryType="bitfield3" />
+        <Data name="Palette" inMemoryType="bitfield3" comment="Image Colorization - 2 for Rainbow, 3 for RainbowHC, 4 for Ironbow, 5 for Lava, 6 for Arctic, 7 for Glowbow, 8 for GradedFire, 9 for Hottest"/>
         <Data name="NucType" enum="FlirNucType_t" encodedType="bitfield3" comment="NUC type setting" />
         <Data name="BlackHot" inMemoryType="bitfield1" comment="Image polarity setting - set to 0 for white hot or 1 for black hot. This field is ignored if Palette is non-zero, (default=0, effective min=0, effective max=1)"/>
         <Data name="MaxAgcGain" inMemoryType="unsigned8" comment="Maximum AGC output gain, (effective min=1, effective max=50)"/>
@@ -788,6 +821,7 @@ See TrilliumPacket.c (in the Orion SDK) for details.
 
         <Data name="AgcType" enum="FlirAgcType_t" encodedType="unsigned8" default="AGC_TYPE_DEFAULT"/>
         <Data name="AgcGamma" inMemoryType="float32" encodedType="unsigned8" default="1.0" min="0.5" max="4.0" comment="Agc Gamma (default = 1.0, effective min = 0.5, effective max = 4.0)"/>
+        <Data name="AgcLinearPercent" inMemoryType="float32" encodedType="unsigned8" default="50.0" min="0.0" max="100.0" comment="Agc Linear Percent (default = 50.0, effective min = 0.0, effective max = 100.0)" />
     </Packet>
 
     <Packet name="OrionAptinaSettings" ID="ORION_PKT_APTINA_SETTINGS" comparefile="compare/compareOrionPublic" printfile="compare/printOrionPublic" comment="Aptina-specific camera settings.">
@@ -868,6 +902,47 @@ See TrilliumPacket.c (in the Orion SDK) for details.
         <Data name="BlackPoint" inMemoryType="unsigned8" encodedType="unsigned8" default="0" comment="Sets Minimum Offset Range(x1000)" />
     </Packet>
 
+
+    <Packet name="VideoOptions" ID="ORION_PKT_VIDEO_OPTIONS" comparefile="compare/compareOrionPublic" printfile="compare/printOrionPublic" comment="Video output options">
+        <Data name="Stabilized" inMemoryType="unsigned32" encodedType="bitfield1" comment="Set to 1 to enable digital video stabilization, or 0 to disable" />
+        <Data name="ShowTrackBox" inMemoryType="unsigned32" encodedType="bitfield1" comment="Set to 1 to render the track box on the video, or 0 to only send KLV track box position" />
+        <Data name="ShowReticle" inMemoryType="unsigned32" encodedType="bitfield1" comment="Set to 1 to render the center reticle on the video" />
+        <Data name="RotateVideo" inMemoryType="unsigned32" encodedType="bitfield1" comment="Set to 1 to automatically rotate the video to compensate for camera roll angles." />
+        <Data name="DisableFovMatch" inMemoryType="unsigned32" encodedType="bitfield1" comment="Set to 1 to disable FOV matching" />
+        <Data name="ShowTelemetry" inMemoryType="unsigned32" encodedType="bitfield1" comment="Set to 1 to render telemetry overlays on the video" />
+        <Data name="HasTelemetryOptions" inMemoryType="unsigned32" encodedType="bitfield1" comment="Set to 1 if TelemetryOptions are included" />
+        <Data name="ShowDetections" inMemoryType="unsigned32" encodedType="bitfield1" comment="Set to 1 to render MTI detections, if applicable" />
+        <Data name="DisableNtsc" inMemoryType="unsigned32" encodedType="bitfield1" comment="Set to 1 to disable NTSC analog video, or 0 to enable" />
+        <Data name="EnablePip" inMemoryType="unsigned32" encodedType="bitfield1" comment="Set to 1 to enable picture-in-picture overlays, or 0 to disable" />
+        <Data name="ZoomTrackBox" inMemoryType="unsigned32" encodedType="bitfield1" comment="Set to 1 to enable 1.5x trackbox zooming, or 0 to disable" />
+        <!-- !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! -->
+        <!-- DON'T FORGET TO UPDATE THE RESERVED BITFIELD WIDTH IF YOU ADD NEW FIELDS -->
+        <!-- !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! -->
+        <Data name="Reserved" inMemoryType="null" encodedType="bitfield21" constant="0" comment="Reserved, set to zero" />
+        <Data name="MaxShift" inMemoryType="float32" encodedType="unsigned8" max="1" default="0.1" comment="Maximum stabilization shift as a percentage of frame size, or 0 for no change" />
+        <Structure name="TelemetryOptions" dependsOn="HasTelemetryOptions">
+            <Data name="CameraPos" inMemoryType="unsigned32" encodedType="bitfield1" />
+            <Data name="TargetPos" inMemoryType="unsigned32" encodedType="bitfield1" />
+            <Data name="Fov" inMemoryType="unsigned32" encodedType="bitfield1" />
+            <Data name="Range" inMemoryType="unsigned32" encodedType="bitfield1" />
+            <Data name="MetricAlt" inMemoryType="unsigned32" encodedType="bitfield1" />
+            <Data name="MetricDist" inMemoryType="unsigned32" encodedType="bitfield1" />
+            <Enum name="CoordFormat_t">
+                <Value name="COORD_FMT_DEG_DECIMAL" comment="Decimal degrees" />
+                <Value name="COORD_FMT_DEG_MIN" comment="Degrees + decimal minutes" />
+                <Value name="COORD_FMT_DEG_MIN_SEC" comment="Degrees + minutes + seconds" />
+                <Value name="COORD_FMT_MGRS" comment="MGRS" />
+                <Value name="COORD_FMT_UTM" comment="UTM" />
+            </Enum>
+            <Data name="CoordFormat" enum="CoordFormat_t" encodedType="bitfield3" />
+            <Data name="Date" inMemoryType="unsigned32" encodedType="bitfield1" />
+            <Data name="Time" inMemoryType="unsigned32" encodedType="bitfield1" />
+            <Data name="NorthIndicator" inMemoryType="unsigned32" encodedType="bitfield1" />
+            <Data name="Reserved" inMemoryType="null" encodedType="bitfield20" />
+            <Data name="UserString" inMemoryType="string" array="40" />
+        </Structure>
+    </Packet>
+
     <Enum name="OrionRetractCmd_t" comment="The retraction mechanism commands.">
         <Value name="RETRACT_CMD_DISABLE" comment="Disable the retract motor"/>
         <Value name="RETRACT_CMD_DEPLOY" comment="Move the gimbal to a deployed position"/>
diff --git a/Examples/VideoPlayer/StreamDecoder.c b/Examples/VideoPlayer/StreamDecoder.c
index 1beafd9..9f7edea 100644
--- a/Examples/VideoPlayer/StreamDecoder.c
+++ b/Examples/VideoPlayer/StreamDecoder.c
@@ -88,6 +88,8 @@ int StreamOpen(const char *pUrl, const char *pRecordPath)
             // Add a stream header if the output format calls for it
             if (pOutputContext->oformat->flags & AVFMT_GLOBALHEADER)
                 pStream->codec->flags |= CODEC_FLAG_GLOBAL_HEADER;
+                // if running more recent version of ffmpeg, uncomment line below, and comment line above
+                //pStream->codec->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;
         }
 
         // Open the record file and write the header out
diff --git a/GenerateOrionPublicPacket.sh b/GenerateOrionPublicPacket.sh
index efea4e1..17ddf36 100755
--- a/GenerateOrionPublicPacket.sh
+++ b/GenerateOrionPublicPacket.sh
@@ -1,4 +1,15 @@
-#!/bin/sh
+#!/bin/bash
+
+# Do a quick system version check and spit a warning if we are greater than the last verified buildable version
+# Ensure this is updated once verified for OS version
+Var=$(lsb_release -r)
+NumOnly=$(cut -f2 <<< "$Var")
+VersionMajor=$(($(cut -d'.' -f1 <<< "$NumOnly")))
+VersionMinor=$(($(cut -d'.' -f2 <<< "$NumOnly")))
+if [ $VersionMajor -gt 18 ]
+then
+    echo "orionSDK hasn't been verified to build on $Var"
+fi
 
 ROOT_DIR=`dirname $0`
 
diff --git a/Protogen/Linux/aarch64/fix_protogen_links.sh b/Protogen/Linux/aarch64/fix_protogen_links.sh
new file mode 100755
index 0000000..6e9186a
--- /dev/null
+++ b/Protogen/Linux/aarch64/fix_protogen_links.sh
@@ -0,0 +1,6 @@
+# create links to the necessary libraries if the build fails
+
+ln -s libicudata.so libicudata.so.60
+ln -s libicui18n.so libicui18n.so.60
+ln -s libicuuc.so libicuuc.so.60
+ln -s /usr/lib/aarch64-linux-gnu/libdouble-conversion.so.3 libdouble-conversion.so.1
\ No newline at end of file
diff --git a/Utils/GeolocateTelemetry.h b/Utils/GeolocateTelemetry.h
index 5f588b1..ee157c0 100644
--- a/Utils/GeolocateTelemetry.h
+++ b/Utils/GeolocateTelemetry.h
@@ -79,7 +79,7 @@ typedef struct
 	//! Slant range to target in meters
 	float slantRange;
 
-    //! Image position in ECEF and LLA coordinates
+    //! Image position in ECEF and LLA coordinates (HAE Alt)
     double imagePosECEF[NECEF];
     double imagePosLLA[NLLA];