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Andrew Tridgell
689868534b
Add MAVn_OPTIONS bit 4 for exact learned-route forwarding without broadcast traffic or default telemetry streams. Retain heartbeats and explicit message requests, and suppress unsolicited global broadcasts such as home and origin updates on those links. Process broadcasts arriving on private and unicast links locally without forwarding them, so the associated camera backend can relay targetless PARAM_EXT_VALUE/ACK replies to normal links while other isolated destinations stay protected. Dispatch camera capture status, video stream information, camera telemetry and heartbeats to AP_Camera so that backend can relay selected broadcasts while unrelated devices remain isolated. Route DO_SET_ROI_LOCATION and DO_SET_ROI_NONE with a nonzero gimbal selector to the selected mount only; selector zero or NaN keeps the vehicle behaviour. Legacy DO_SET_ROI keeps param1 as the ROI mode. Report the FC-owned camera slot in COMMAND_ACK result_param2 for accepted commands, and reject fractional or out-of-range CAMERA_TRACK_RECTANGLE selectors before the COMMAND_LONG conversion truncates them to an integer.