> For the complete documentation index, see [llms.txt](https://support.senterasensors.com/home/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://support.senterasensors.com/home/6x-series-sensors-user-guide/integration-information/communication-protocol/mavlink/mavlink-v2.md).

# MAVlink V2

## Information

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

{% embed url="<https://mavlink.io/en/services/camera.html>" %}

{% embed url="<https://mavlink.io/en/services/gimbal_v2.html>" %}

## 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. 6X does not have a video stream. |
| MAVLINK\_MSG\_ID\_VIDEO\_STREAM\_STATUS      | Unsupported. 6X does not have a video stream. |
| 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              |
| Astro                                           | Freefly Astro        |
| Alta X Gen 2                                    | Freefly Alta X Gen 2 |
| Gremsy Hyper Quick - MAVlink-v2                 | Generic              |


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