CubePilot · julianoes · Apr 30, 2026
diff --git a/custom/herelink/VideoStreamControl.cc b/custom/herelink/VideoStreamControl.cc
@@ -26,9 +26,11 @@ VideoStreamControl::VideoStreamControl()
     _resolutionSwitchPending = false;
     _currentHdmiInput = 0;  // Default to HDMI 1
     _currentResolution = 1;  // Default to 1080p
+    _currentActiveSource = _videoSettings->herelinkActiveSource()->rawValue().toUInt();
 
     connect(_videoSettings->cameraId(), &Fact::rawValueChanged, this, &VideoStreamControl::_cameraIdChanged);
     connect(_videoSettings->resolution(), &Fact::rawValueChanged, this, &VideoStreamControl::_resolutionChanged);
+    connect(_videoSettings->herelinkActiveSource(), &Fact::rawValueChanged, this, &VideoStreamControl::_activeSourceChanged);
     //connect(&_infoRequestTimer, &QTimer::timeout, this, &VideoStreamControl::_requestVideoStreamInfo);
     //_infoRequestTimer.setInterval(1000);
 }
@@ -61,6 +63,36 @@ void VideoStreamControl::_cameraIdChanged()
     _setCameraIdLockUi(true);
 }
 
+void VideoStreamControl::_activeSourceChanged()
+{
+    uint32_t source = _videoSettings->herelinkActiveSource()->rawValue().toUInt();
+    qCDebug(VideoStreamControlLog) << "Active source changed to:" << source
+                                   << "(0=HDMI1, 1=HDMI2, 2=RTSP1, 3=RTSP2)";
+
+    if (source == _currentActiveSource) {
+        return;
+    }
+    _currentActiveSource = source;
+    emit currentActiveSourceChanged();
+
+    if (source < 2) {
+        // HDMI 1 or HDMI 2 — drive the existing cameraId path
+        uint32_t newCameraId = source;
+        if (newCameraId != _videoSettings->cameraId()->rawValue().toUInt()) {
+            // Cascades to _cameraIdChanged → _setCameraIdLockUi which sends VIDEO_START_STREAMING
+            _videoSettings->cameraId()->setRawValue(newCameraId);
+        } else {
+            // Coming back from RTSP with the same HDMI as before — cameraId hasn't changed
+            // so _cameraIdChanged won't fire. Re-send VIDEO_START_STREAMING in case the
+            // air unit's stream stopped while we were on RTSP.
+            _startVideoStreaming();
+        }
+    } else {
+        // RTSP 1 or RTSP 2 — VideoManager handles the URI swap based on herelinkActiveSource.
+        qCDebug(VideoStreamControlLog) << "RTSP source selected, no MAVLink HDMI command sent";
+    }
+}
+
 void VideoStreamControl::_requestVideoStreamInfo()
 {
     if (_linkInterface == NULL) {

diff --git a/custom/herelink/VideoStreamControl.h b/custom/herelink/VideoStreamControl.h
@@ -28,17 +28,22 @@ class VideoStreamControl : public QObject
     Q_PROPERTY(uint8_t currentResolution READ currentResolution NOTIFY currentResolutionChanged)
     uint8_t currentResolution() { return _currentResolution; }
 
+    Q_PROPERTY(uint8_t currentActiveSource READ currentActiveSource NOTIFY currentActiveSourceChanged)
+    uint8_t currentActiveSource() { return _currentActiveSource; }
+
 signals:
     void settingInProgressChanged();
     void videoNeedsReset();
     void decodingNeedsRestart();  // Lighter-weight reset: just restart decoder/sink, keep RTSP alive
     void currentHdmiInputChanged();
     void cameraInfoReceivedChanged();
     void currentResolutionChanged();
+    void currentActiveSourceChanged();
 
 private slots:
     void _mavlinkMessageReceived(LinkInterface *link, mavlink_message_t message);
     void _cameraIdChanged();
+    void _activeSourceChanged();
     void _resolutionChanged();
     void _requestVideoStreamInfo();
 
@@ -56,6 +61,7 @@ private slots:
     bool _resolutionSwitchPending;  // Suppress encoder resets during resolution change
     uint8_t _currentHdmiInput;
     uint8_t _currentResolution;
+    uint8_t _currentActiveSource;  // 0=HDMI1, 1=HDMI2, 2=RTSP1, 3=RTSP2
 
     void _handleHeartbeatInfo(LinkInterface* link, mavlink_message_t& message);
     void _handleVideoStreamInformation(mavlink_message_t& message);

diff --git a/src/FlightMap/Widgets/PhotoVideoControl.qml b/src/FlightMap/Widgets/PhotoVideoControl.qml
@@ -375,14 +375,14 @@ Rectangle {
                         }
 
                         QGCLabel {
-                            text:               qsTr("HDMI Input")
+                            text:               qsTr("Video Source")
                             visible:            QGroundControl.corePlugin.isHerelink
                             onVisibleChanged:   gridLayout.dynamicRows += visible ? 1 : -1
                         }
 
                         QGCLabel {
                             text:               qsTr("Resolution")
-                            visible:            QGroundControl.corePlugin.isHerelink
+                            visible:            QGroundControl.corePlugin.isHerelink && _videoStreamSettings.herelinkActiveSource.rawValue < 2
                             onVisibleChanged:   gridLayout.dynamicRows += visible ? 1 : -1
                         }
 
@@ -472,27 +472,48 @@ Rectangle {
                             spacing: ScreenTools.defaultFontPixelWidth / 2
                             visible: QGroundControl.corePlugin.isHerelink
 
+                            property var _streamControl: QGroundControl.videoManager.videoStreamControl
+
                             QGCButton {
                                 text: qsTr("HDMI 1")
-                                enabled: QGroundControl.videoManager.videoStreamControl.cameraInfoReceived && !QGroundControl.videoManager.videoStreamControl.settingInProgress && QGroundControl.videoManager.videoStreamControl.currentHdmiInput !== 0
+                                visible: _videoStreamSettings.herelinkHdmi1Enabled.rawValue
+                                enabled: parent._streamControl.cameraInfoReceived && !parent._streamControl.settingInProgress && parent._streamControl.currentActiveSource !== 0
                                 onClicked: {
-                                    console.log("HDMI 1 button clicked")
-                                    _videoStreamSettings.cameraId.rawValue = 0
+                                    _videoStreamSettings.herelinkActiveSource.rawValue = 0
                                 }
                             }
 
                             QGCButton {
                                 text: qsTr("HDMI 2")
-                                enabled: QGroundControl.videoManager.videoStreamControl.cameraInfoReceived && !QGroundControl.videoManager.videoStreamControl.settingInProgress && QGroundControl.videoManager.videoStreamControl.currentHdmiInput !== 1
+                                visible: _videoStreamSettings.herelinkHdmi2Enabled.rawValue
+                                enabled: parent._streamControl.cameraInfoReceived && !parent._streamControl.settingInProgress && parent._streamControl.currentActiveSource !== 1
+                                onClicked: {
+                                    _videoStreamSettings.herelinkActiveSource.rawValue = 1
+                                }
+                            }
+
+                            QGCButton {
+                                text: qsTr("RTSP 1")
+                                visible: _videoStreamSettings.herelinkRtsp1Url.rawValue.length > 0
+                                enabled: parent._streamControl.currentActiveSource !== 2
                                 onClicked: {
-                                    _videoStreamSettings.cameraId.rawValue = 1
+                                    _videoStreamSettings.herelinkActiveSource.rawValue = 2
+                                }
+                            }
+
+                            QGCButton {
+                                text: qsTr("RTSP 2")
+                                visible: _videoStreamSettings.herelinkRtsp2Url.rawValue.length > 0
+                                enabled: parent._streamControl.currentActiveSource !== 3
+                                onClicked: {
+                                    _videoStreamSettings.herelinkActiveSource.rawValue = 3
                                 }
                             }
                         }
 
                         Row {
                             spacing: ScreenTools.defaultFontPixelWidth / 2
-                            visible: QGroundControl.corePlugin.isHerelink
+                            visible: QGroundControl.corePlugin.isHerelink && _videoStreamSettings.herelinkActiveSource.rawValue < 2
 
                             QGCComboBox {
                                 model:              [ qsTr("720p"), qsTr("1080p") ]

diff --git a/src/Settings/Video.SettingsGroup.json b/src/Settings/Video.SettingsGroup.json
@@ -151,6 +151,43 @@
     "enumStrings":      "720p,1080p",
     "enumValues":       "0,1",
     "default":          1
+},
+{
+    "name":             "herelinkHdmi1Enabled",
+    "shortDesc":        "Enable HDMI 1 source",
+    "longDesc":         "When enabled, the HDMI 1 button is available in the camera config dialog.",
+    "type":             "bool",
+    "default":          true
+},
+{
+    "name":             "herelinkHdmi2Enabled",
+    "shortDesc":        "Enable HDMI 2 source",
+    "longDesc":         "When enabled, the HDMI 2 button is available in the camera config dialog.",
+    "type":             "bool",
+    "default":          true
+},
+{
+    "name":             "herelinkRtsp1Url",
+    "shortDesc":        "RTSP 1 URL",
+    "longDesc":         "RTSP URL for the RTSP 1 source. Leave empty to hide the RTSP 1 button. Example: rtsp://10.0.0.5:554/stream",
+    "type":             "string",
+    "default":          ""
+},
+{
+    "name":             "herelinkRtsp2Url",
+    "shortDesc":        "RTSP 2 URL",
+    "longDesc":         "RTSP URL for the RTSP 2 source. Leave empty to hide the RTSP 2 button. Example: rtsp://10.0.0.6:554/stream",
+    "type":             "string",
+    "default":          ""
+},
+{
+    "name":             "herelinkActiveSource",
+    "shortDesc":        "Active video source",
+    "longDesc":         "Currently selected video source: 0=HDMI 1, 1=HDMI 2, 2=RTSP 1, 3=RTSP 2.",
+    "type":             "uint32",
+    "enumStrings":      "HDMI 1,HDMI 2,RTSP 1,RTSP 2",
+    "enumValues":       "0,1,2,3",
+    "default":          0
 }
 ]
 }
diff --git a/src/Settings/VideoSettings.cc b/src/Settings/VideoSettings.cc
@@ -96,6 +96,12 @@ DECLARE_SETTINGSFACT(VideoSettings, disableWhenDisarmed)
 DECLARE_SETTINGSFACT(VideoSettings, cameraId)
 // Herelink resolution switching
 DECLARE_SETTINGSFACT(VideoSettings, resolution)
+// Herelink multi-source (HDMI 1/2 + RTSP 1/2) switching
+DECLARE_SETTINGSFACT(VideoSettings, herelinkHdmi1Enabled)
+DECLARE_SETTINGSFACT(VideoSettings, herelinkHdmi2Enabled)
+DECLARE_SETTINGSFACT(VideoSettings, herelinkRtsp1Url)
+DECLARE_SETTINGSFACT(VideoSettings, herelinkRtsp2Url)
+DECLARE_SETTINGSFACT(VideoSettings, herelinkActiveSource)
 
 DECLARE_SETTINGSFACT_NO_FUNC(VideoSettings, videoSource)
 {

diff --git a/src/Settings/VideoSettings.h b/src/Settings/VideoSettings.h
@@ -39,6 +39,12 @@ class VideoSettings : public SettingsGroup
     DEFINE_SETTINGFACT(cameraId)
     // Herelink resolution switching
     DEFINE_SETTINGFACT(resolution)
+    // Herelink multi-source (HDMI 1/2 + RTSP 1/2) switching
+    DEFINE_SETTINGFACT(herelinkHdmi1Enabled)
+    DEFINE_SETTINGFACT(herelinkHdmi2Enabled)
+    DEFINE_SETTINGFACT(herelinkRtsp1Url)
+    DEFINE_SETTINGFACT(herelinkRtsp2Url)
+    DEFINE_SETTINGFACT(herelinkActiveSource)
 
     Q_PROPERTY(bool     streamConfigured        READ streamConfigured       NOTIFY streamConfiguredChanged)
     Q_PROPERTY(QString  rtspVideoSource         READ rtspVideoSource        CONSTANT)

diff --git a/src/UI/AppSettings/VideoSettings.qml b/src/UI/AppSettings/VideoSettings.qml
@@ -80,6 +80,38 @@ SettingsPage {
         }
     }
 
+    SettingsGroupLayout {
+        Layout.fillWidth:   true
+        heading:            qsTr("Herelink Sources")
+        visible:            QGroundControl.corePlugin.isHerelink
+
+        FactCheckBoxSlider {
+            Layout.fillWidth:   true
+            text:               qsTr("HDMI 1")
+            fact:               _videoSettings.herelinkHdmi1Enabled
+        }
+
+        FactCheckBoxSlider {
+            Layout.fillWidth:   true
+            text:               qsTr("HDMI 2")
+            fact:               _videoSettings.herelinkHdmi2Enabled
+        }
+
+        LabelledFactTextField {
+            Layout.fillWidth:           true
+            textFieldPreferredWidth:    _urlFieldWidth
+            label:                      qsTr("RTSP 1 URL")
+            fact:                       _videoSettings.herelinkRtsp1Url
+        }
+
+        LabelledFactTextField {
+            Layout.fillWidth:           true
+            textFieldPreferredWidth:    _urlFieldWidth
+            label:                      qsTr("RTSP 2 URL")
+            fact:                       _videoSettings.herelinkRtsp2Url
+        }
+    }
+
     SettingsGroupLayout {
         Layout.fillWidth:   true
         heading:            qsTr("Settings")

diff --git a/src/VideoManager/VideoManager.cc b/src/VideoManager/VideoManager.cc
@@ -108,6 +108,9 @@ void VideoManager::init(QQuickWindow *window)
     (void) connect(_videoSettings->udpUrl(), &Fact::rawValueChanged, this, &VideoManager::_videoSourceChanged);
     (void) connect(_videoSettings->rtspUrl(), &Fact::rawValueChanged, this, &VideoManager::_videoSourceChanged);
     (void) connect(_videoSettings->tcpUrl(), &Fact::rawValueChanged, this, &VideoManager::_videoSourceChanged);
+    (void) connect(_videoSettings->herelinkActiveSource(), &Fact::rawValueChanged, this, &VideoManager::_videoSourceChanged);
+    (void) connect(_videoSettings->herelinkRtsp1Url(), &Fact::rawValueChanged, this, &VideoManager::_videoSourceChanged);
+    (void) connect(_videoSettings->herelinkRtsp2Url(), &Fact::rawValueChanged, this, &VideoManager::_videoSourceChanged);
     (void) connect(_videoSettings->aspectRatio(), &Fact::rawValueChanged, this, &VideoManager::aspectRatioChanged);
     (void) connect(_videoSettings->lowLatencyMode(), &Fact::rawValueChanged, this, [this](const QVariant &value) { Q_UNUSED(value); _restartAllVideos(); });
     (void) connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &VideoManager::_setActiveVehicle);
@@ -552,7 +555,25 @@ bool VideoManager::_updateSettings(VideoReceiver *receiver)
     } else if (source == VideoSettings::videoSourceYuneecMantisG) {
         settingsChanged |= _updateVideoUri(receiver, QStringLiteral("rtsp://192.168.42.1:554/live"));
     } else if (source == VideoSettings::videoSourceHerelinkAirUnit) {
-        settingsChanged |= _updateVideoUri(receiver, QStringLiteral("rtsp://192.168.0.10:8554/H264Video"));
+        QString uri;
+        const uint32_t activeSource = _videoSettings->herelinkActiveSource()->rawValue().toUInt();
+        switch (activeSource) {
+        case 0:
+        case 1:
+            // HDMI 1 / HDMI 2 — Air Unit multiplexes the chosen HDMI into this fixed RTSP URL
+            uri = QStringLiteral("rtsp://192.168.0.10:8554/H264Video");
+            break;
+        case 2:
+            uri = _videoSettings->herelinkRtsp1Url()->rawValue().toString();
+            break;
+        case 3:
+            uri = _videoSettings->herelinkRtsp2Url()->rawValue().toString();
+            break;
+        default:
+            uri = QStringLiteral("rtsp://192.168.0.10:8554/H264Video");
+            break;
+        }
+        settingsChanged |= _updateVideoUri(receiver, uri);
     } else if (source == VideoSettings::videoSourceHerelinkHotspot) {
         settingsChanged |= _updateVideoUri(receiver, QStringLiteral("rtsp://192.168.43.1:8554/fpv_stream"));
     } else if ((source == VideoSettings::videoDisabled) || (source == VideoSettings::videoSourceNoVideo)) {