@peterbarker,

I think it's important that the CAM message include all the data that someone needs to figure out the location and attitude of the camera at the moment the picture was taken. People are very sensitive to timing so I think it needs to be logged at exactly the same time. I also think that users will struggle with the external tools if that requires pulling data from multiple messages.

BTW, this CAM message is output only when pictures are taken so it's not going to take up any space in the overall scheme of things.

One question I have is whether we should also log the mount's yaw in earth-frame. I think the new mount_yaw field is body-frame meaning that users will need to add it to the vehicle's yaw. If that's too annoying we could perhaps have both MYawBF and MYawEF fields.

FYI @CraigElder

I retract my objections here - camera messages are low-bandwidth and having the mount data directly against it makes some sense.

Does need to pass CI, 'though :-)

Thanks for this, in general it looks pretty good.

I really like that you've tried to add both the target angle and the actual angles but I see this is making the change quite a bit more difficult because the target angle may not be readily available from all backends. If this is the case you could reduce the complexity and just log the current actual angles.

Pardon me for stylistic mistakes in this one, Actually i wanna know if the approach is right. It stores the target angles in mnt_target for all the possible mount modes. However it costs a lot more flash space.

I think it is logging at 50hz but really 10hz is sufficient.

There seems to be an error in the DesYawE calculation. I pointed a drone south and clicked on the MP map and selected, "Point Camera Here" to a Location that was South-East of the vehicle. The Desired Yaw E should have been about 140-ish. The YawE seems correct.