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MAVlink V2

Information

These systems implement the MAVlink Camera Protocol V2 and the MAVLink GImbal Protocol V2

Messages

Camera Operation

Message
Description

MAVLINK_MSG_ID_HEARTBEAT

A heartbeat from the autopilot is required to know which system ID to use for publishing of camera data (currently just a heartbeat) and also which system to request telemetry data from (see below).

MAVLINK_MSG_ID_SYSTEM_TIME

Telemetry data the camera uses for operation and imagery stamping (i.e., EXIF/XMP).

MAVLINK_MSG_ID_GPS_RAW_INT

Telemetry data the camera uses for operation and imagery stamping (i.e., EXIF/XMP).

MAVLINK_MSG_ID_ATTITUDE

Telemetry data the camera uses for operation and imagery stamping (i.e., EXIF/XMP).

MAVLINK_MSG_ID_GLOBAL_POSITION_INT

Telemetry data the camera uses for operation and imagery stamping (i.e., EXIF/XMP).

MAVLINK_MSG_ID_COMMAND_LONG (MAV_CMD_DO_DIGICAM_CONTROL)

Command to request an image capture.

MAVLINK_MSG_ID_COMMAND_ACK

During startup, the camera requests (MAVLINK_MSG_ID_COMMAND_LONG - MAV_CMD_SET_MESSAGE_INTERVAL) messages from the autopilot. Requested messages include the above telemetry data messages, and also MAVLINK_MSG_ID_CAMERA_TRIGGER (required on PX4 systems to get camera captures sent).

System Synchronization

Message
Description

MAVLINK_MSG_ID_TIMESYNC

The camera implements "Time Synchronization Protocol v2" (https://mavlink.io/en/services/timesync.html) to perform synchronization with the autopilot - so that precise timestamping of telemetry data can be achieved.

Gimbal Operation

Message
Description

MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE

Command to control gimbal movement.

MAVLINK_MSG_ID_COMMAND_LONG (MAV_CMD_REQUEST_MESSAGE - MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION)

Commands to request gimbal information and control the output message rate of the gimbal.

MAVLINK_MSG_ID_COMMAND_LONG (MAV_CMD_SET_MESSAGE_INTERVAL - MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS)

Commands to request gimbal information and control the output message rate of the gimbal.


Supported Camera Protocol V2 Messages

Message
Status

MAVLINK_MSG_ID_CAMERA_INFORMATION

Supported

MAVLINK_MSG_ID_CAMERA_SETTINGS

Supported

MAVLINK_MSG_ID_CAMERA_CAPTURE_STATUS

Supported

MAVLINK_MSG_ID_STORAGE_INFORMATION

Supported

MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED

Supported

MAVLINK_MSG_ID_VIDEO_STREAM_INFORMATION

Unsupported

MAVLINK_MSG_ID_VIDEO_STREAM_STATUS

Unsupported

MAV_CMD_RESET_CAMERA_SETTINGS

Unsupported

MAV_CMD_SET_CAMERA_MODE

Unsupported

MAV_CMD_STORAGE_FORMAT

Unsupported

MAV_CMD_IMAGE_START_CAPTURE

Supported

MAV_CMD_IMAGE_STOP_CAPTURE

Supported

MAV_CMD_VIDEO_START_CAPTURE

Unsupported

MAV_CMD_VIDEO_STOP_CAPTURE

Unsupported

MAV_CMD_VIDEO_START_STREAMING

Unsupported

MAV_CMD_VIDEO_STOP_STREAMING

Unsupported


Supported Gimbal Protocol V2 Messages

Message
Status

MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION

Supported

MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS

Supported


Supported Configurations

Configuration Name
Platform

Inspired Flight Gimbal - IF800

IF800

Inspired Flight Gimbal - IF800 - Sentera GNSS

IF800

Inspired Flight Gimbal - IF1200A

IF1200A

Inspired Flight Gimbal - IF1200A - Sentera GNSS

IF1200A

Freefly Astro Gimbal

Astro

Gremsy Hyper Quick - MAVlink-v2

Generic

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