MAVlink V2
Information
These systems implement the MAVlink Camera Protocol V2 and the MAVLink GImbal Protocol V2
Messages
Camera Operation
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
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
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
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
MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION
Supported
MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS
Supported
Supported Configurations
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
Last updated