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QOpenHD

QOpenHD is the default Qt companion application for OpenHD ground stations. It shows the live video stream, draws the OSD, displays telemetry, and lets the operator change OpenHD settings from a ground computer or device connected to the OpenHD ground unit.

QOpenHD is not the OpenHD radio/link service itself. It is the user interface that talks to a running OpenHD system over MAVLink and receives the video stream.

Source: OpenHD/QOpenHD 2.7-evo

Install on Linux

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 git clone --recurse-submodules https://github.com/OpenHD/QOpenHD.git
 cd QOpenHD/
 mkdir build
 cd build/
 qmake ..
 cd ..
 sudo bash install_build_dep.sh 
 ./build_qmake.sh 
 # Run
 ./build/release/QOpenHD

Stream Test video

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gst-launch-1.0 -v videotestsrc is-live=true pattern=smpte   \
    ! video/x-raw,width=640,height=480,framerate=30/1   \
    ! videoconvert   \
    ! videoscale   ! video/x-raw,format=I420,width=640,height=480,framerate=30/1   \
    ! x264enc bitrate=1500 \
        tune=zerolatency \
        speed-preset=ultrafast \
        key-int-max=30 \
        bframes=0 \
        byte-stream=true \
        aud=true \
        intra-refresh=false \
        sliced-threads=false \
        threads=1   \
    ! video/x-h264,stream-format=byte-stream,alignment=au,profile=constrained-baseline  \
    ! h264parse config-interval=1 \
    ! rtph264pay pt=96 mtu=800 config-interval=1 aggregate-mode=zero-latency \
    ! udpsink host=127.0.0.1 port=5600 sync=false async=false

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gst-launch-1.0 videotestsrc is-live=true pattern=smpte \
    ! video/x-raw,format=I420,width=640,height=480,framerate=30/1 \
    ! x264enc bitrate=1500 \
        speed-preset=ultrafast \
        tune=zerolatency \
        key-int-max=10 \
        intra-refresh=false \
        sliced-threads=false \
        threads=1 \
    ! h264parse config-interval=-1 \
    ! rtph264pay pt=96 mtu=1024 config-interval=1 \
    ! udpsink host=127.0.0.1 port=5600 sync=false async=false
Mavlink code 
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#!/usr/bin/env python3
import time, math
from pymavlink import mavutil

mav = mavutil.mavlink_connection(
    "udpout:127.0.0.1:14550",
    source_system=1,
    source_component=mavutil.mavlink.MAV_COMP_ID_AUTOPILOT1,
)

lat = int(32.0853 * 1e7)
lon = int(34.7818 * 1e7)
home_sent = False
t0 = time.time()

while True:
    t = time.time() - t0
    boot_ms = int(t * 1000)

    mav.mav.heartbeat_send(
        mavutil.mavlink.MAV_TYPE_QUADROTOR,
        mavutil.mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA,
        mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
        0,
        mavutil.mavlink.MAV_STATE_ACTIVE,
    )

    mav.mav.sys_status_send(
        0, 0, 0, 500,
        16000,      # battery mV
        1200,       # current cA = 12A
        82,         # battery %
        0, 0, 0, 0, 0, 0,
    )

    mav.mav.gps_raw_int_send(
        int(time.time() * 1e6),
        3,          # 3D fix
        lat,
        lon,
        120000,     # altitude mm
        80, 120,    # hdop/vdop * 100
        500,        # velocity cm/s
        9000,       # course deg * 100
        14,         # satellites
    )

    mav.mav.global_position_int_send(
        boot_ms,
        lat + int(math.sin(t / 20) * 1000),
        lon + int(math.cos(t / 20) * 1000),
        120000,     # MSL alt mm
        50000,      # relative alt mm
        500, 0, 0,  # vx/vy/vz cm/s
        9000,       # heading deg * 100
    )

    mav.mav.attitude_send(
        boot_ms,
        math.radians(10 * math.sin(t)),
        math.radians(5 * math.cos(t)),
        math.radians(90),
        0, 0, 0,
    )

    mav.mav.vfr_hud_send(
        12.0,       # airspeed
        10.0,       # groundspeed
        90,         # heading
        45,         # throttle
        120.0,      # alt
        0.4,        # climb
    )

    if not home_sent:
        mav.mav.home_position_send(
            lat, lon, 120000,
            0, 0, 0,
            [1, 0, 0, 0],
            0, 0, 0,
        )
        home_sent = True

    time.sleep(0.1)