mavlink · d0vgan · Dec 1, 2025
diff --git a/src/FlightDisplay/FlightDisplayViewVideo.qml b/src/FlightDisplay/FlightDisplayViewVideo.qml
@@ -85,7 +85,7 @@ Item {
         visible:        QGroundControl.videoManager.decoding
         function getWidth() {
             if(_ar != 0.0){
-                if(_isMode_FIT_HEIGHT
+                if(_isMode_FIT_HEIGHT 
                         || (_isMode_FILL && (root.width/root.height < _ar))
                         || (_isMode_NO_CROP && (root.width/root.height > _ar))){
                     // This return value has different implications depending on the mode
@@ -100,8 +100,8 @@ Item {
         }
         function getHeight() {
             if(_ar != 0.0){
-                if(_isMode_FIT_WIDTH
-                        || (_isMode_FILL && (root.width/root.height > _ar))
+                if(_isMode_FIT_WIDTH 
+                        || (_isMode_FILL && (root.width/root.height > _ar)) 
                         || (_isMode_NO_CROP && (root.width/root.height < _ar))){
                     // This return value has different implications depending on the mode
                     // For FIT_WIDTH and FILL
@@ -173,42 +173,121 @@ Item {
             property bool videoDisabled: QGroundControl.settingsManager.videoSettings.videoSource.rawValue === QGroundControl.settingsManager.videoSettings.disabledVideoSource
         }
 
-        //-- Thermal Image
+        //-- Backup Image
         Item {
-            id:                 thermalItem
-            width:              height * QGroundControl.videoManager.thermalAspectRatio
-            height:             _camera ? (_camera.thermalMode === MavlinkCameraControl.THERMAL_FULL ? parent.height : (_camera.thermalMode === MavlinkCameraControl.THERMAL_PIP ? ScreenTools.defaultFontPixelHeight * 12 : parent.height * _thermalHeightFactor)) : 0
-            anchors.centerIn:   parent
-            visible:            QGroundControl.videoManager.hasThermal && _camera.thermalMode !== MavlinkCameraControl.THERMAL_OFF
-            function pipOrNot() {
-                if(_camera) {
-                    if(_camera.thermalMode === MavlinkCameraControl.THERMAL_PIP) {
-                        anchors.centerIn    = undefined
-                        anchors.top         = parent.top
-                        anchors.topMargin   = mainWindow.header.height + (ScreenTools.defaultFontPixelHeight * 0.5)
-                        anchors.left        = parent.left
-                        anchors.leftMargin  = ScreenTools.defaultFontPixelWidth * 12
-                    } else {
-                        anchors.top         = undefined
-                        anchors.topMargin   = undefined
-                        anchors.left        = undefined
-                        anchors.leftMargin  = undefined
-                        anchors.centerIn    = parent
-                    }
-                }
+            id:                 backupItem
+            width:              height * QGroundControl.videoManager.aspectRatio
+            height:             parent.height / 4
+            visible:            QGroundControl.settingsManager.videoSettings.rtspUrlBackup.rawValue !== "" && QGroundControl.videoManager.decoding
+            anchors.centerIn    : undefined
+            anchors.verticalCenter: parent.verticalCenter
+            anchors.left        : parent.left
+
+            function undefinePosition() {
+                anchors.centerIn    = undefined
+                anchors.horizontalCenter = undefined
+                anchors.top = undefined
+                anchors.bottom = undefined
+                anchors.verticalCenter = undefined
+                anchors.left        = undefined
+                anchors.right       = undefined
             }
-            Connections {
-                target:                 _camera
-                function onThermalModeChanged() { thermalItem.pipOrNot() }
+
+            function leftPosition() {
+                undefinePosition()
+
+                anchors.verticalCenter = parent.verticalCenter
+                anchors.left        = parent.left
             }
-            onVisibleChanged: {
-                thermalItem.pipOrNot()
+
+            function rightPosition() {
+                undefinePosition()
+                anchors.verticalCenter = parent.verticalCenter
+                anchors.right = parent.right
+            }
+
+            function topPosition() {
+                undefinePosition()
+                anchors.horizontalCenter = parent.horizontalCenter
+                anchors.top = parent.top
             }
+
+            function bottomPosition() {
+                undefinePosition()
+                anchors.horizontalCenter = parent.horizontalCenter
+                anchors.bottom = parent.bottom
+            }
+
             QGCVideoBackground {
-                id:             thermalVideo
-                objectName:     "thermalVideo"
+                id:             backupVideo
+                objectName:     "backupVideo"
                 anchors.fill:   parent
-                opacity:        _camera ? (_camera.thermalMode === MavlinkCameraControl.THERMAL_BLEND ? _camera.thermalOpacity / 100 : 1.0) : 0
+                opacity:        1.0
+            }
+
+            ToolTip {
+                delay: 1000
+                timeout: 3000
+                visible: parent.visible
+                anchors.centerIn: parent.centerIn
+                text: qsTr("Right-click to open control menu")
+            }
+
+            MouseArea {
+                anchors.fill: parent
+                acceptedButtons: Qt.RightButton
+                onClicked: backupItemPositionMenu.popup()
+            }
+
+            QGCMenu {
+                id: backupItemPositionMenu
+
+                property bool hasAuxStream: QGroundControl.videoManager.hasAuxStream
+                property bool usesPrimaryStream: QGroundControl.videoManager.isPrimaryStream
+
+                QGCMenuItem {
+                    text:           qsTr("Left")
+                    onTriggered:    backupItem.leftPosition()
+                }
+
+                QGCMenuItem {
+                    text:           qsTr("Right")
+                    onTriggered:    backupItem.rightPosition()
+                }
+
+                QGCMenuItem {
+                    text:           qsTr("Top")
+                    onTriggered:    backupItem.topPosition()
+                }
+
+                QGCMenuItem {
+                    text:           qsTr("Bottom")
+                    onTriggered:    backupItem.bottomPosition()
+                }
+
+                QGCMenuSeparator {
+                    visible:        true    // should be visible when backup stream is configured
+                }
+
+                QGCMenuItem {
+                    id:             switchStreamMenuItem
+                    text:           qsTr("Switch video streams")
+                    visible:        true
+                    enabled:        false
+                    onTriggered:    QGroundControl.videoManager.isPrimaryStream = !QGroundControl.videoManager.isPrimaryStream
+                }
+
+                onHasAuxStreamChanged: {
+                    switchStreamMenuItem.enabled = hasAuxStream
+                }
+
+                onUsesPrimaryStreamChanged: {
+                    if (usesPrimaryStream) {
+                        switchStreamMenuItem.text = qsTr("Switch to auxiliary video stream")
+                    } else {
+                        switchStreamMenuItem.text = qsTr("Switch to primary video stream")
+                    }
+                }   
             }
         }
         //-- Zoom

diff --git a/src/Settings/Video.SettingsGroup.json b/src/Settings/Video.SettingsGroup.json
@@ -24,6 +24,34 @@
     "type":             "string",
     "default":     ""
 },
+{
+    "name": "rtspUrlBackup",
+    "shortDesc": "Backup Video RTSP Url",
+    "longDesc": "Backup RTSP url address and port to bind to for video stream. Example: rtsp://192.168.42.1:554/live",
+    "type": "string",
+    "default": ""
+},
+{
+    "name":             "rtspUseAux",
+    "shortDesc": "Enable auxiliary video streams",
+    "longDesc":  "Enable auxiliary RTSP video streams and add possibility to switch between primary and aux ones",
+    "type":             "bool",
+    "default":     false
+},
+{
+    "name":             "rtspUrlAux",
+    "shortDesc": "Video RTSP Url Aux",
+    "longDesc":  "Additional RTSP url address and port to bind to for video stream. Example: rtsp://192.168.42.1:554/live",
+    "type":             "string",
+    "default":     ""
+},
+{
+    "name":             "rtspUrlBackupAux",
+    "shortDesc": "Backup Video RTSP Url Aux",
+    "longDesc":  "Additional backup RTSP url address and port to bind to for video stream. Example: rtsp://192.168.42.1:554/live",
+    "type":             "string",
+    "default":     ""
+},
 {
     "name":             "tcpUrl",
     "shortDesc": "Video TCP Url",

diff --git a/src/Settings/VideoSettings.cc b/src/Settings/VideoSettings.cc
@@ -175,6 +175,38 @@ DECLARE_SETTINGSFACT_NO_FUNC(VideoSettings, rtspUrl)
     return _rtspUrlFact;
 }
 
+DECLARE_SETTINGSFACT_NO_FUNC(VideoSettings, rtspUrlBackup) {
+    if (!_rtspUrlBackupFact) {
+        _rtspUrlBackupFact = _createSettingsFact(rtspUrlBackupName);
+        connect(_rtspUrlBackupFact, &Fact::valueChanged, this, &VideoSettings::_configChanged);
+    }
+    return _rtspUrlBackupFact;
+}
+
+DECLARE_SETTINGSFACT_NO_FUNC(VideoSettings, rtspUseAux) {
+    if (!_rtspUseAuxFact) {
+        _rtspUseAuxFact = _createSettingsFact(rtspUseAuxName);
+        connect(_rtspUseAuxFact, &Fact::valueChanged, this, &VideoSettings::_auxConfigChanged);
+    }
+    return _rtspUseAuxFact;
+}
+
+DECLARE_SETTINGSFACT_NO_FUNC(VideoSettings, rtspUrlAux) {
+    if (!_rtspUrlAuxFact) {
+        _rtspUrlAuxFact = _createSettingsFact(rtspUrlAuxName);
+        connect(_rtspUrlAuxFact, &Fact::valueChanged, this, &VideoSettings::_auxConfigChanged);
+    }
+    return _rtspUrlAuxFact;
+}
+
+DECLARE_SETTINGSFACT_NO_FUNC(VideoSettings, rtspUrlBackupAux) {
+    if (!_rtspUrlBackupAuxFact) {
+        _rtspUrlBackupAuxFact = _createSettingsFact(rtspUrlBackupAuxName);
+        connect(_rtspUrlBackupAuxFact, &Fact::valueChanged, this, &VideoSettings::_auxConfigChanged);
+    }
+    return _rtspUrlBackupAuxFact;
+}
+
 DECLARE_SETTINGSFACT_NO_FUNC(VideoSettings, tcpUrl)
 {
     if (!_tcpUrlFact) {
@@ -199,22 +231,22 @@ bool VideoSettings::streamConfigured(void)
     //-- If UDP, check for URL
     if(vSource == videoSourceUDPH264 || vSource == videoSourceUDPH265) {
         qCDebug(VideoManagerLog) << "Testing configuration for UDP Stream:" << udpUrl()->rawValue().toString();
-        return !udpUrl()->rawValue().toString().isEmpty();
+        return _isConfigured(udpUrl());
     }
     //-- If RTSP, check for URL
     if(vSource == videoSourceRTSP) {
         qCDebug(VideoManagerLog) << "Testing configuration for RTSP Stream:" << rtspUrl()->rawValue().toString();
-        return !rtspUrl()->rawValue().toString().isEmpty();
+        return _isConfigured(rtspUrl());
     }
     //-- If TCP, check for URL
     if(vSource == videoSourceTCP) {
         qCDebug(VideoManagerLog) << "Testing configuration for TCP Stream:" << tcpUrl()->rawValue().toString();
-        return !tcpUrl()->rawValue().toString().isEmpty();
+        return _isConfigured(tcpUrl());
     }
     //-- If MPEG-TS, check for URL
     if(vSource == videoSourceMPEGTS) {
         qCDebug(VideoManagerLog) << "Testing configuration for MPEG-TS Stream:" << udpUrl()->rawValue().toString();
-        return !udpUrl()->rawValue().toString().isEmpty();
+        return _isConfigured(udpUrl());
     }
     //-- If Herelink Air unit, good to go
     if(vSource == videoSourceHerelinkAirUnit) {
@@ -235,11 +267,32 @@ bool VideoSettings::streamConfigured(void)
     return false;
 }
 
+bool VideoSettings::auxStreamConfigured()
+{
+    QString vSource = videoSource()->rawValue().toString();
+    if(vSource != videoSourceRTSP || !rtspUseAux()->rawValue().toBool()) {
+        return false;
+    }
+
+    const bool primaryConfigured = _isConfigured(rtspUrl());
+    const bool backupConfigured = _isConfigured(rtspUrlBackup());
+
+    const bool auxConfigured = primaryConfigured ? _isConfigured(rtspUrlAux()) : false;
+    const bool auxBackupConfigured = backupConfigured ? _isConfigured(rtspUrlBackupAux()) : false;
+
+    return auxConfigured || auxBackupConfigured;
+}
+
 void VideoSettings::_configChanged(QVariant)
 {
     emit streamConfiguredChanged(streamConfigured());
 }
 
+void VideoSettings::_auxConfigChanged(QVariant)
+{
+    emit auxStreamConfiguredChanged(auxStreamConfigured());
+}
+
 void VideoSettings::_setForceVideoDecodeList()
 {
 #ifdef QGC_GST_STREAMING
@@ -272,3 +325,11 @@ void VideoSettings::_setForceVideoDecodeList()
     }
 #endif
 }
+
+bool VideoSettings::_isConfigured(const Fact* parameter)
+{
+    if (!parameter)
+        return false;
+
+    return !parameter->rawValue().toString().isEmpty();
+}
diff --git a/src/Settings/VideoSettings.h b/src/Settings/VideoSettings.h
@@ -26,6 +26,10 @@ class VideoSettings : public SettingsGroup
     DEFINE_SETTINGFACT(udpUrl)
     DEFINE_SETTINGFACT(tcpUrl)
     DEFINE_SETTINGFACT(rtspUrl)
+    DEFINE_SETTINGFACT(rtspUrlBackup)
+    DEFINE_SETTINGFACT(rtspUseAux)
+    DEFINE_SETTINGFACT(rtspUrlAux)
+    DEFINE_SETTINGFACT(rtspUrlBackupAux)
     DEFINE_SETTINGFACT(aspectRatio)
     DEFINE_SETTINGFACT(videoFit)
     DEFINE_SETTINGFACT(gridLines)
@@ -48,6 +52,7 @@ class VideoSettings : public SettingsGroup
     Q_PROPERTY(QString  disabledVideoSource     READ disabledVideoSource    CONSTANT)
 
     bool     streamConfigured       ();
+    bool     auxStreamConfigured    ();
     QString  rtspVideoSource        () { return videoSourceRTSP; }
     QString  udp264VideoSource      () { return videoSourceUDPH264; }
     QString  udp265VideoSource      () { return videoSourceUDPH265; }
@@ -69,14 +74,17 @@ class VideoSettings : public SettingsGroup
     static constexpr const char* videoSourceHerelinkHotspot   = QT_TRANSLATE_NOOP("VideoSettings", "Herelink Hotspot");
 
 signals:
-    void streamConfiguredChanged    (bool configured);
+    void streamConfiguredChanged(bool configured);
+    void auxStreamConfiguredChanged(bool configured);
 
 private slots:
-    void _configChanged             (QVariant value);
+    void _configChanged(QVariant value);
+    void _auxConfigChanged(QVariant value);
 
 private:
     void _setDefaults               ();
     void _setForceVideoDecodeList();
+    static bool _isConfigured(const Fact* parameter);
 
 private:
     bool _noVideo = false;

diff --git a/src/UI/AppSettings/VideoSettings.qml b/src/UI/AppSettings/VideoSettings.qml
@@ -63,6 +63,38 @@ SettingsPage {
             visible:                    _isRTSP && _videoSettings.rtspUrl.visible
         }
 
+        LabelledFactTextField {
+            Layout.fillWidth:           true
+            textFieldPreferredWidth:    _urlFieldWidth
+            label:                      qsTr("RTSP URL Backup")
+            fact:                       _videoSettings.rtspUrlBackup
+            visible:                    _isRTSP && _videoSettings.rtspUrlBackup.visible
+        }
+
+        FactCheckBoxSlider {
+            id:         auxStreamCheckBox
+            Layout.fillWidth: true
+            text:       fact.shortDescription
+            fact:       _videoSettings.rtspUseAux
+            visible:    fact.visible
+        }
+
+        LabelledFactTextField {
+            Layout.fillWidth:           true
+            textFieldPreferredWidth:    _urlFieldWidth
+            label:                      qsTr("Aux RTSP URL")
+            fact:                       _videoSettings.rtspUrlAux
+            visible:                    _isRTSP && _videoSettings.rtspUrlAux.visible && auxStreamCheckBox.checked
+        }
+
+        LabelledFactTextField {
+            Layout.fillWidth:           true
+            textFieldPreferredWidth:    _urlFieldWidth
+            label:                      qsTr("Aux RTSP URL Backup")
+            fact:                       _videoSettings.rtspUrlBackupAux
+            visible:                    _isRTSP && _videoSettings.rtspUrlBackupAux.visible && auxStreamCheckBox.checked
+        }
+
         LabelledFactTextField {
             Layout.fillWidth:           true
             label:                      qsTr("TCP URL")