gremsy_camera

Gremsy gimbal/camera control over MAVLink for Dart and Flutter.

Features

• UDP MAVLink transport
• Gimbal control (angle + speed)
• Camera control (capture, record)
• EO/IR switching and zoom modes
• Object tracking helpers

Platform support

• Tested on Android with Gremsy payloads
• Uses dart:io sockets, so web is not supported

Setup

• You need a MAVLink route from your app to the Gremsy payload (direct Wi-Fi/ethernet or through your vehicle).
• Use the payload IP/port that accepts MAVLink. If unsure, confirm in your payload configuration.
• This package uses dart:io sockets (no web support).

Quick start

import 'package:gremsy_camera/gremsy_camera.dart';

final gremsy = GremsyClient(
  host: '192.168.144.119',
  port: 14566,
  localPort: 14566,
);

await gremsy.connect();
await gremsy.switchStreamMode(StreamMode.eo);
await gremsy.setGimbalAngle(yaw: 0, pitch: -10);
await gremsy.zoomIn();

Common operations

await gremsy.recordStart();
await Future.delayed(const Duration(seconds: 2));
await gremsy.recordStop();

await gremsy.captureImage();

await gremsy.setGimbalSpeed(yawRate: 10, pitchRate: -5);
await gremsy.centerGimbal();

Gremsy D-pad movement

gremsy.increaseGremsyGimbalSpeed(); // 5 deg/s steps, clamped to 5-60.

await gremsy.pressGimbalDirection(GremsyGimbalDirection.right);
gremsy.keepGimbalSpeedAlive(); // Call every 120ms while the pointer is down.
await gremsy.releaseGimbalDirection(GremsyGimbalDirection.right);

Manual speed movement sends repeated speed commands while active. Release and reset use a zero-speed stop burst so the gimbal halts reliably after long holds.

Tracking helpers

await gremsy.prepareTracking(TrackingType.trained);
await gremsy.sendTrackAt(
  tapX: 200,
  tapY: 120,
  viewW: 640,
  viewH: 360,
);
// later...
await gremsy.stopTracking();

Cleanup

await gremsy.disconnect(); // Allows reconnecting later.
await gremsy.dispose(); // Final cleanup; closes state streams.

State updates

gremsy.stateStream.listen((state) {
  // Read zoom, tracking, recording, and gimbal status info.
});

Troubleshooting

• Call await gremsy.connect() before sending commands. Commands throw a StateError when no UDP transport is open.
• On Android, make sure the app has network permission and the device is on the same network as the Gremsy payload.
• Confirm the payload IP, target port, and local port in the Gremsy or vehicle network configuration. Some payloads expect MAVLink on a fixed local UDP port.
• If commands are routed through a flight controller or companion computer, verify that MAVLink forwarding includes the camera, gimbal, and payload component ids.
• If tracking telemetry does not update, confirm that the MAVLink route allows PARAM/PARAM_EXT traffic from the payload back to the app.

Notes

• This package is not affiliated with Gremsy.
• Ensure your payload is configured to accept MAVLink commands.