GoProManager.py

#
# This file handles GoPro commands and holds GoPro state
#
import os
import Queue
import sys
import threading
import time
import monotonic
import math
from pymavlink import mavutil

sys.path.append(os.path.realpath(''))
import app_packet
from GoProConstants import *
import settings
import shotLogger
import struct

logger = shotLogger.logger

# tuple of message types that we handle
GOPROMESSAGES = \
(
    app_packet.GOPRO_SET_ENABLED,
    app_packet.GOPRO_SET_REQUEST,
    app_packet.GOPRO_RECORD,
    app_packet.GOPRO_REQUEST_STATE,
    app_packet.GOPRO_SET_EXTENDED_REQUEST
)

# see https://docs.google.com/document/d/1CcYOCZRw9C4sIQu4xDXjPMkxZYROmTLB0EtpZamnq74/edit#heading=h.y6z65lvic5q5
VALID_GET_COMMANDS = \
(
    mavutil.mavlink.GOPRO_COMMAND_POWER,
    mavutil.mavlink.GOPRO_COMMAND_CAPTURE_MODE,
    mavutil.mavlink.GOPRO_COMMAND_BATTERY,
    mavutil.mavlink.GOPRO_COMMAND_MODEL,
    mavutil.mavlink.GOPRO_COMMAND_VIDEO_SETTINGS,
    mavutil.mavlink.GOPRO_COMMAND_LOW_LIGHT,
    mavutil.mavlink.GOPRO_COMMAND_PHOTO_RESOLUTION,
    mavutil.mavlink.GOPRO_COMMAND_PHOTO_BURST_RATE,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_WHITE_BALANCE,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_COLOUR,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_GAIN,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_SHARPNESS,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_EXPOSURE,
    mavutil.mavlink.GOPRO_COMMAND_TIME,
    mavutil.mavlink.GOPRO_COMMAND_CHARGING,
)

VALID_SET_COMMANDS = \
(
    mavutil.mavlink.GOPRO_COMMAND_POWER,
    mavutil.mavlink.GOPRO_COMMAND_CAPTURE_MODE,
    mavutil.mavlink.GOPRO_COMMAND_SHUTTER,
    mavutil.mavlink.GOPRO_COMMAND_VIDEO_SETTINGS,
    mavutil.mavlink.GOPRO_COMMAND_LOW_LIGHT,
    mavutil.mavlink.GOPRO_COMMAND_PHOTO_RESOLUTION,
    mavutil.mavlink.GOPRO_COMMAND_PHOTO_BURST_RATE,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_WHITE_BALANCE,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_COLOUR,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_GAIN,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_SHARPNESS,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_EXPOSURE,
    mavutil.mavlink.GOPRO_COMMAND_TIME,
    mavutil.mavlink.GOPRO_COMMAND_CHARGING,
)

REQUERY_COMMANDS = \
(
    mavutil.mavlink.GOPRO_COMMAND_VIDEO_SETTINGS,
    mavutil.mavlink.GOPRO_COMMAND_LOW_LIGHT,
    mavutil.mavlink.GOPRO_COMMAND_PHOTO_RESOLUTION,
    mavutil.mavlink.GOPRO_COMMAND_PHOTO_BURST_RATE,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_WHITE_BALANCE,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_COLOUR,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_GAIN,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_SHARPNESS,
    mavutil.mavlink.GOPRO_COMMAND_PROTUNE_EXPOSURE,
    mavutil.mavlink.GOPRO_COMMAND_TIME,
)

class GoProManager():
    def __init__(self, shotMgr):
        # GoPro heartbeat state
        self.status = mavutil.mavlink.GOPRO_HEARTBEAT_STATUS_DISCONNECTED
        self.captureMode = CAPTURE_MODE_VIDEO
        self.isRecording = False
        # Additional GoPro state
        self.battery = 0
        self.model = MODEL_NONE
        self.videoFormat = VIDEO_FORMAT_NTSC
        self.videoResolution = 0
        self.videoFrameRate = 0
        self.videoFieldOfView = 0
        self.videoLowLight = False
        self.photoResolution = 0
        self.photoBurstRate = 0
        self.videoProtune = False
        self.videoProtuneWhiteBalance = 0
        self.videoProtuneColor = 0
        self.videoProtuneGain = 0
        self.videoProtuneSharpness = 0
        self.videoProtuneExposure = 0

        self.shotMgr = shotMgr
        # This exists because we can't seem to send multiple messages in a stream to the gopro.
        # Instead, we'll queue up all our messages and wait for a response before sending the next message
        self.msgQueue = Queue.Queue()
        # is the GoPro currently handling a message?
        self.isGoproBusy = False
        # when the last message was sent
        self.lastRequestSent = 0.0
        # lock access to shot manager state
        self.lock = threading.Lock()

        # check if we should enable GoPro messages at all
        try:
            enabled = int(settings.readSetting("GoProEnabled"))
            logger.log("[gopro]: read enabled value from settings of %d."%(enabled))
            self.enabled = enabled > 0
            self.setGimbalEnabledParam()
        except Exception as ex:
            logger.log("[gopro]: Error reading config file.")
            logger.log(str(ex))
            self.enabled = True

        logger.log("[gopro]: Inited GoProManager")

    def state_callback(self, vehicle, name, message):
        self.lock.acquire()
        try:
            self.internal_state_callback(message)
        except Exception as e:
            logger.log("[gopro]: state_callback error: %s" % e)
        finally:
            self.lock.release()

    def internal_state_callback(self, state):
        status = state.status
        captureMode = state.capture_mode
        isRecording = (state.flags & mavutil.mavlink.GOPRO_FLAG_RECORDING) != 0
        sendState = False

        if self.status != status:
            self.status = status
            logger.log("[gopro]: Gopro status changed to %d"%(self.status))
            sendState = True

            # right now, query status when we initially connect
            if self.status == mavutil.mavlink.GOPRO_HEARTBEAT_STATUS_CONNECTED:
                self.isGoproBusy = False
                self.msgQueue = Queue.Queue()
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_CAPTURE_MODE)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_BATTERY)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_MODEL)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_VIDEO_SETTINGS)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_LOW_LIGHT)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_PHOTO_RESOLUTION)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_PHOTO_BURST_RATE)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_PROTUNE)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_PROTUNE_WHITE_BALANCE)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_PROTUNE_COLOUR)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_PROTUNE_GAIN)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_PROTUNE_SHARPNESS)
                self.sendGoProRequest(mavutil.mavlink.GOPRO_COMMAND_PROTUNE_EXPOSURE)

        if self.captureMode != captureMode:
            self.captureMode = captureMode
            logger.log("[gopro]: Gopro capture mode changed to %d"%(self.captureMode))
            sendState = True

        if self.isRecording != isRecording:
            self.isRecording = isRecording
            logger.log("[gopro]: Gopro recording status changed to %d"%(self.isRecording))
            sendState = True

        if sendState:
            self.sendState()

    def get_response_callback(self, vehicle, name, message):
        self.lock.acquire()
        try:
            self.internal_get_response_callback(message)
        except Exception as e:
            logger.log("[gopro]: get_response_callback error: %s" % e)
        finally:
            self.lock.release()

    def internal_get_response_callback(self, response):
        command = response[0]
        status = response[1]
        value = response[2]
        sendState = False

        if status != mavutil.mavlink.GOPRO_REQUEST_SUCCESS:
            logger.log("[gopro]: Gopro get request for command %d failed with status %d"%(command, status))
            self.processMsgQueue()
            return

        if command == mavutil.mavlink.GOPRO_COMMAND_CAPTURE_MODE:
            captureMode = value[0]
            if self.captureMode != captureMode:
                self.captureMode = captureMode
                sendState = True
                logger.log("[gopro]: Gopro capture mode changed to %d"%(self.captureMode))
        elif command == mavutil.mavlink.GOPRO_COMMAND_MODEL:
            model = value[0]
            if self.model != model:
                self.model = model
                sendState = True
                logger.log("[gopro]: Gopro model changed to %d"%(self.model))
        elif command == mavutil.mavlink.GOPRO_COMMAND_BATTERY:
            battery = value[0]
            if self.battery != battery:
                self.battery = battery
                sendState = True
                logger.log("[gopro]: Gopro battery changed to %d"%(self.battery))
        elif command == mavutil.mavlink.GOPRO_COMMAND_VIDEO_SETTINGS:
            videoResolution = value[0]
            videoFrameRate = value[1]
            videoFieldOfView = value[2]
            videoFormat = VIDEO_FORMAT_NTSC if (value[3] & mavutil.mavlink.GOPRO_VIDEO_SETTINGS_TV_MODE) == 0 else VIDEO_FORMAT_PAL
            if self.videoResolution != videoResolution:
                self.videoResolution = videoResolution
                sendState = True
                logger.log("[gopro]: Gopro video resolution changed to %d"%(self.videoResolution))
            if self.videoFrameRate != videoFrameRate:
                self.videoFrameRate = videoFrameRate
                sendState = True
                logger.log("[gopro]: Gopro video frame rate changed to %d"%(self.videoFrameRate))
            if self.videoFieldOfView != videoFieldOfView:
                self.videoFieldOfView = videoFieldOfView
                sendState = True
                logger.log("[gopro]: Gopro video field of view changed to %d"%(self.videoFieldOfView))
            if self.videoFormat != videoFormat:
                self.videoFormat = videoFormat
                sendState = True
                logger.log("[gopro]: Gopro video format changed to %d"%(self.videoFormat))
        elif command == mavutil.mavlink.GOPRO_COMMAND_LOW_LIGHT:
            videoLowLight = value[0] != 0
            if self.videoLowLight != videoLowLight:
                self.videoLowLight = videoLowLight
                sendState = True
                logger.log("[gopro]: Gopro low light changed to %d"%(self.videoLowLight))
        elif command == mavutil.mavlink.GOPRO_COMMAND_PHOTO_RESOLUTION:
            photoResolution = value[0]
            if self.photoResolution != photoResolution:
                self.photoResolution = photoResolution
                sendState = True
                logger.log("[gopro]: Gopro photo resolution changed to %d"%(self.photoResolution))
        elif command == mavutil.mavlink.GOPRO_COMMAND_PHOTO_BURST_RATE:
            photoBurstRate = value[0]
            if self.photoBurstRate != photoBurstRate:
                self.photoBurstRate = photoBurstRate
                sendState = True
                logger.log("[gopro]: Gopro photo burst rate changed to %d"%(self.photoBurstRate))
        elif command == mavutil.mavlink.GOPRO_COMMAND_PROTUNE:
            videoProtune = value[0] != 0
            if self.videoProtune != videoProtune:
                self.videoProtune = videoProtune
                sendState = True
                logger.log("[gopro]: Gopro video protune changed to %d"%(self.videoProtune))
        elif command == mavutil.mavlink.GOPRO_COMMAND_PROTUNE_WHITE_BALANCE:
            videoProtuneWhiteBalance = value[0]
            if self.videoProtuneWhiteBalance != videoProtuneWhiteBalance:
                self.videoProtuneWhiteBalance = videoProtuneWhiteBalance
                sendState = True
                logger.log("[gopro]: Gopro video protune white balance changed to %d"%(self.videoProtuneWhiteBalance))
        elif command == mavutil.mavlink.GOPRO_COMMAND_PROTUNE_COLOUR:
            videoProtuneColor = value[0]
            if self.videoProtuneColor != videoProtuneColor:
                self.videoProtuneColor = videoProtuneColor
                sendState = True
                logger.log("[gopro]: Gopro video protune color changed to %d"%(self.videoProtuneColor))
        elif command == mavutil.mavlink.GOPRO_COMMAND_PROTUNE_GAIN:
            videoProtuneGain = value[0]
            if self.videoProtuneGain != videoProtuneGain:
                self.videoProtuneGain = videoProtuneGain
                sendState = True
                logger.log("[gopro]: Gopro video protune gain changed to %d"%(self.videoProtuneGain))
        elif command == mavutil.mavlink.GOPRO_COMMAND_PROTUNE_SHARPNESS:
            videoProtuneSharpness = value[0]
            if self.videoProtuneSharpness != videoProtuneSharpness:
                self.videoProtuneSharpness = videoProtuneSharpness
                sendState = True
                logger.log("[gopro]: Gopro video protune sharpness changed to %d"%(self.videoProtuneSharpness))
        elif command == mavutil.mavlink.GOPRO_COMMAND_PROTUNE_EXPOSURE:
            videoProtuneExposure = value[0]
            if self.videoProtuneExposure != videoProtuneExposure:
                self.videoProtuneExposure = videoProtuneExposure
                sendState = True
                logger.log("[gopro]: Gopro video protune exposure changed to %d"%(self.videoProtuneExposure))
        else:
            logger.log("[gopro]: Got unexpected Gopro callback for command %d"%(command))

        if sendState:
            self.sendState()

        self.processMsgQueue()

    def set_response_callback(self, vehicle, name, message):
        self.lock.acquire()
        try:
            self.internal_set_response_callback(message)
        except Exception as e:
            logger.log("[gopro]: set_response_callback error: %s" % e)
        finally:
            self.lock.release()

    def internal_set_response_callback(self, response):
        command = response[0]
        status = response[1]

        logger.log("[gopro]: Got Gopro set response for command %d with status %d"%(command, status))
        if status != mavutil.mavlink.GOPRO_REQUEST_SUCCESS:
            # if a set request failed, return current state to resynchronize client
            self.sendState()

        self.processMsgQueue()

    # wrapper to create a gopro_get_request mavlink message with the given command
    def sendGoProRequest(self, command):
        if command not in VALID_GET_COMMANDS:
            logger.log("[gopro]: Got invalid Gopro get command %d"%(command))
            return

        msg = self.shotMgr.vehicle.message_factory.gopro_get_request_encode(
                                    0, mavutil.mavlink.MAV_COMP_ID_GIMBAL,    # target system, target component
                                    command
                                    )

        self.queueMsg(msg)

    # wrapper to create a gopro_set_request mavlink message with the given command and value
    def sendGoProCommand(self, command, value):
        if command not in VALID_SET_COMMANDS:
            logger.log("[gopro]: Got invalid Gopro set command %d"%(command))
            return
        if not self.isValidCommandValue(value):
            logger.log("[gopro]: Invalid value for Gopro set command %d"%(command))
            return

        msg = self.shotMgr.vehicle.message_factory.gopro_set_request_encode(
                                    0, mavutil.mavlink.MAV_COMP_ID_GIMBAL,    # target system, target component
                                    command, value
                                    )

        self.queueMsg(msg)

        if self.captureMode == CAPTURE_MODE_PHOTO:
            if command == mavutil.mavlink.GOPRO_COMMAND_SHUTTER:
                if value[0] == 1:
                    self.sendPhotoEvent()

        # Follow up with a get request if notification of change is required
        if command in REQUERY_COMMANDS:
            self.sendGoProRequest(command)

    # Updates the gopro time.
    def update_gopro_time(self, timeInSecs):
        logger.log("[gopro]: Updating gopro time to " + str(timeInSecs))
        tm = int(timeInSecs)
        tm_list = [tm & 0xff, (tm >> 8) & 0xff, (tm >> 16) & 0xff, (tm >> 24) & 0xff]

        self.sendGoProCommand(mavutil.mavlink.GOPRO_COMMAND_TIME, tm_list)

    def isValidCommandValue(self, value):
        if value[0] < 0 or value[0] > 255:
            return False
        if value[1] < 0 or value[1] > 255:
            return False
        if value[2] < 0 or value[2] > 255:
            return  False
        if value[3] < 0 or value[3] > 255:
            return False
        return True

    # handle a call to start/stop/toggle recording on the given mode
    def handleRecordCommand(self, mode, command):
        if self.status == mavutil.mavlink.GOPRO_HEARTBEAT_STATUS_DISCONNECTED or self.status == mavutil.mavlink.GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE:
            logger.log("[gopro]: handleRecordCommand called but GoPro is not connected")
            return

        logger.log("[gopro]: handleRecordCommand called with mode %d, command %d"%(mode, command))

        if mode == CAPTURE_MODE_VIDEO:
            # do we want to start or stop recording?
            if command == RECORD_COMMAND_STOP:
                startstop = 0
            elif command == RECORD_COMMAND_START:
                startstop = 1
            elif command == RECORD_COMMAND_TOGGLE:
                startstop = 0 if self.isRecording else 1
            else:
                return

            # don't start recording if we're already recording
            if self.isRecording and startstop == 1:
                return

            logger.log("[gopro]: Sending command for video recording: %d"%(startstop))

            # we're not in video mode, switch to it!
            if self.captureMode != CAPTURE_MODE_VIDEO:
                self.sendGoProCommand(mavutil.mavlink.GOPRO_COMMAND_CAPTURE_MODE, (CAPTURE_MODE_VIDEO, 0 ,0 , 0))

            self.sendGoProCommand(mavutil.mavlink.GOPRO_COMMAND_SHUTTER, (startstop, 0, 0, 0))
        elif mode == CAPTURE_MODE_PHOTO or mode == CAPTURE_MODE_BURST or mode == CAPTURE_MODE_MULTISHOT:
            # don't handle nonsensical commands
            if command == RECORD_COMMAND_STOP:
                return

            # for now, let's try switching out of video mode, taking a picture, and then switching back
            if self.captureMode == CAPTURE_MODE_VIDEO:
                self.sendGoProCommand(mavutil.mavlink.GOPRO_COMMAND_CAPTURE_MODE, (CAPTURE_MODE_PHOTO, 0, 0, 0))
                self.sendGoProCommand(mavutil.mavlink.GOPRO_COMMAND_SHUTTER, (1, 0, 0, 0))
                self.sendGoProCommand(mavutil.mavlink.GOPRO_COMMAND_CAPTURE_MODE, (CAPTURE_MODE_VIDEO, 0, 0, 0))
                logger.log("[gopro]: Sending command to take go to photo mode, take a still, and return")
            else:
                self.sendGoProCommand(mavutil.mavlink.GOPRO_COMMAND_SHUTTER, (1, 0, 0, 0))
                logger.log("[gopro]: Sending command to take a still/burst/multishot")

    # since the gopro can't handle multiple messages at once, we wait for a response before sending
    # each subsequent message.  This is how we queue up messages
    def queueMsg(self, msg):
        if self.isGoproBusy and monotonic.monotonic() > self.lastRequestSent + 2.0:
            self.isGoproBusy = False
            self.msgQueue = Queue.Queue()
            # return current state to resynchronize client
            self.sendState()

        if self.isGoproBusy:
            self.msgQueue.put(msg)
        else:
            self.isGoproBusy = True
            self.lastRequestSent = monotonic.monotonic()
            # Need to send False for fix_targeting so our message gets routed to the gimbal
            self.shotMgr.vehicle.send_mavlink(msg)

    # called whenever the message queue is ready to send another message.
    def processMsgQueue(self):
        if self.msgQueue.empty():
            self.isGoproBusy = False
        else:
            msg = self.msgQueue.get_nowait()
            self.lastRequestSent = monotonic.monotonic()
            # Need to send False for fix_targeting so our message gets routed to the gimbal
            self.shotMgr.vehicle.send_mavlink(msg)
            logger.log("[gopro]: sending message from the queue.  Size is now %d"%(self.msgQueue.qsize()))

    # shotManager receives this gopro control packet and passes it here
    def handlePacket(self, type, data):
        self.lock.acquire()
        try:
            self.internalHandlePacket(type, data)
        finally:
            self.lock.release()

    def internalHandlePacket(self, type, data):
        if type == app_packet.GOPRO_SET_ENABLED:
            (enabled, ) = struct.unpack('<I', data)
            self.setGoProEnabled(enabled > 0)
        elif type == app_packet.GOPRO_SET_REQUEST:
            (command, value) = struct.unpack('<HH', data)
            self.sendGoProCommand(command, (value, 0, 0, 0))
        elif type == app_packet.GOPRO_RECORD:
            (startstop, ) = struct.unpack('<I', data)
            self.handleRecordCommand(self.captureMode, startstop)
        elif type == app_packet.GOPRO_REQUEST_STATE:
            self.sendState()
        elif type == app_packet.GOPRO_SET_EXTENDED_REQUEST:
            (command, value1, value2, value3, value4, ) = struct.unpack("<HBBBB", data)
            self.sendGoProCommand(command, (value1, value2, value3, value4))

    # Send a photo event with current time and location.
    def sendPhotoEvent(self): 
        now = monotonic.monotonic()
        logger.log("[gopro]: send photo event.  now is %d"%now)

        if self.shotMgr.vehicle.location.global_relative_frame is not None:
            pkt = struct.pack("<IIddfI", app_packet.GOPRO_PHOTO, 24, 
                self.shotMgr.vehicle.location.global_relative_frame.lat, 
                self.shotMgr.vehicle.location.global_relative_frame.lon, 
                self.shotMgr.vehicle.location.global_relative_frame.alt, 
                monotonic.monotonic())

            self.addPhotoLog(
                self.shotMgr.vehicle.location.global_relative_frame.lat, 
                self.shotMgr.vehicle.location.global_relative_frame.lon, 
                self.shotMgr.vehicle.location.global_relative_frame.alt, 
                monotonic.monotonic())
        else:
            pkt = struct.pack("<IIddfI", app_packet.GOPRO_PHOTO, 24, 0, 0, 0, monotonic.monotonic())

        self.shotMgr.appMgr.sendPacket(pkt)

    # Add an entry to /log/photo.log
    def addPhotoLog(self, lat, lon, alt, time):
        f = open("/log/photo.log", "a")
        f.write("%.6f,%.6f,%.3f,%d\n" % (lat, lon, alt, time))
        f.close();


    # packages up our entire current state and sends it to the app
    def sendState(self):
        logger.log("[gopro]: sending Gopro state to app")

        # Because of a bug in version 1.2 and below of the iOS app, the
        # version 1 packet must be filled with zeros to avoid a memory
        # corruption crash.
        # 2 unsigned shorts for a header, 26 unsigned bytes, then 5 unsigned shorts
        pkt = struct.pack('<IIBBBBBBBBBBBBBBBBBBBBBBBBBBHHHHH', app_packet.GOPRO_V1_STATE, 36, \
            GOPRO_V1_SPEC_VERSION,
            self.model,
            self.status,
            self.isRecording,
            self.captureMode,
            # for now, all the rest is yet to be defined
            0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
            0, 0, 0, 0, 0
            )
        self.shotMgr.appMgr.sendPacket(pkt)

        # Now also send a version 2 packet to include the additional GoPro settings
        # 2 unsigned shorts for a header, 26 unsigned bytes, then 5 unsigned shorts
        pkt = struct.pack('<IIBBBBBBBBBBBBBBBBBBBBBBBBBBHHHHH', app_packet.GOPRO_V2_STATE, 36, \
            GOPRO_V2_SPEC_VERSION,
            self.model,
            self.status,
            self.isRecording,
            self.captureMode,
            self.videoFormat,
            self.videoResolution,
            self.videoFrameRate,
            self.videoFieldOfView,
            self.videoLowLight,
            self.photoResolution,
            self.photoBurstRate,
            self.videoProtune,
            self.videoProtuneWhiteBalance,
            self.videoProtuneColor,
            self.videoProtuneGain,
            self.videoProtuneSharpness,
            self.videoProtuneExposure,
            self.enabled,
            # for now, all the rest is yet to be defined
            0, 0, 0, 0, 0, 0, 0,
            0, 0, 0, 0, 0
            )
        self.shotMgr.appMgr.sendPacket(pkt)

    # Tell the gimbal to turn Gopro comms on/off depending on if our internal
    # flag is set to on/off
    def setGimbalEnabledParam(self):
        value = 1.0 if self.enabled else 0.0

        logger.log("[gopro]: sending gimbal enabled param (GMB_GP_CTRL) to %f"%(value))

        msg = self.shotMgr.vehicle.message_factory.param_set_encode(
            0, mavutil.mavlink.MAV_COMP_ID_GIMBAL,    # target system, target component
            "GMB_GP_CTRL", value, mavutil.mavlink.MAV_PARAM_TYPE_REAL32
        )

        self.shotMgr.vehicle.send_mavlink(msg)

    # When the app tells us to enable/disable Gopro controls, we do:
    # 1.  set our internal flag
    # 2.  Tell settings to write out this value
    # 3.  Set the gimbal's parameter
    def setGoProEnabled(self, enabled):
        self.enabled = enabled
        value = 1 if enabled else 0
        settings.writeSetting("GoProEnabled", str(value))
        self.setGimbalEnabledParam()
        logger.log("[gopro]: We have set GoProEnabled to %d"%(value))