ArduPilot/ardupilot

DO_SET_ROI_LOCATION and DO_SET_ROI_NONE "gimbal device id" fields should be supported

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#29,566 opened on Mar 19, 2025

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good first issue

Description

AP supports the DO_SET_ROI_LOCATION and DO_SET_ROI_NONE as "immediate" and mission commands but we do not correctly consume "param1" ("Gimbal device ID"). Instead it is always the first camera gimbal that is controlled. We should consume this field and control the gimbal device specified

PR https://github.com/ArduPilot/ardupilot/pull/29567 added mission support for these commands

Contributor guide

Tech stack
cpp
Domain
api
Issue type
feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
mostly clear
Prerequisites
Basic C++MAVLink protocolArduPilot build system
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
35
Research direction
Examine the handling of DO SET ROI commands (likely in GCS Mavlink.cpp or similar). Identify where param1 is currently ignored. Implement logic to read gimbal device ID from param1 and control the specified gimbal. Use PR #29567 as a reference for mission support implementation. Consult MAVLink documentation for param1 usage.