# PAYLOADSDK ## Table of contents * Table of contents * Version history * MAVLINK Messages **Set Camera Commands** 1. [Set camera running mode](#set-camera-running-mode) 2. [Set camera record source](#set-camera-record-source) 3. [Set camera view source](#set-camera-view-source) 4. [Set EO camera zoom mode](#set-eo-camera-zoom-mode) 5. [Set EO camera zoom - Super Resolution](#set-eo-camera-zoom-super-resolution) 6. [Set EO camera index zoom - Combine](#set-eo-camera-index-zoom-combine) 7. [Set camera zoom type](#set-camera-zoom-type) 8. [Set camera focus type](#set-camera-focus-type) 9. [Set camera IR palette](#set-camera-ir-palette) 10. [Set payload camera start capture image](#set-payload-camera-start-capture-image) 11. [Set payload camera stop capture image](#set-payload-camera-stop-capture-image) 12. [Set payload camera start record video](#set-payload-camera-start-record-video) 13. [Set payload camera stop record video](#set-payload-camera-stop-record-video) 14. [Set camera video flip](#set-camera-video-flip) 15. [Set camera video defog](#set-camera-video-defog) 16. [Set camera video defog level](#set-camera-video-defog-level) 17. [Set camera video auto exposure](#set-camera-video-auto-exposure) 18. [Set camera video shutter speed](#set-camera-video-shutter-speed) 19. [Set camera video aperture value](#set-camera-video-aperture-value) 20. [Set camera video bright value](#set-camera-video-bright-value) 21. [Set camera video white balance](#set-camera-video-white-balance) **Set Gimbal Commands** 1. [Set gimbal mode](#set-gimbal-mode) 2. [Set gimbal RC mode](#set-gimbal-rc-mode) 3. [Set gimbal move to angle](#set-gimbal-move-to-angle) 4. [Set gimbal move by speed](#set-gimbal-move-by-speed) **Get Payload Information** 1. [Get payload camera information](#get-payload-camera-information) 2. [Get payload camera streaming information](#get-payload-camera-streaming-information) 3. [Get payload storage](#get-payload-storage) 4. [Get payload capture status](#get-payload-capture-status) 5. [Get payload camera mode](#get-payload-camera-mode) ## Version history | Version | Publish date | Description | | ------- | ------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | 1.0.0 | 06 Jan 2023 |

Add example to do Connect payload
Add example to do Load payload settings
Add example to do Set payload settings
Add example to do Image capture with the payload
Add example to do Video record with the payload
Add example to do Get video streaming from payload

| | 1.0.1 | 25 May 2023 |

Included Gremsy gSDK to communicate and control gimbal
Add examples to move gimbal in Angle mode and Angular rate mode using Mavlink Gimbal Protocol v2

| | v1.1.0 | 30 July 2024 |

Add some examples
Get LRF status for VIO
Payload define

| | v2.0.0 | 16 Aug 2024 |

Replace gSDK by MAVLINK interface
Provide MAVLINK command list
Publish resource

| ## MAVLINK Messages | Encode a command\_long struct | Values | Description | | ----------------------------- | ------ | -------------------------------- | | target\_system | 1 | | | target\_component | 191 | MAV\_COMP\_ID\_ONBOARD\_COMPUTER | | chan | 0 | MAVLink channel | ### **Set camera running mode** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | --------------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD\_SET\_CAMERA\_MODE (530) | MAV\_CMD | | confirmation | uint8\_t | 1 | | | param2 | float |

0
1

|

Photo mode
Video mode

| ### **Set camera record source** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ------------------------------- | ---------------------------------------------------------- | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_V\_REC" | | | param\_value | char\[128] |

"0"
"1"
"2"
"5"

|

Record both
Record EO
Record IR
Record OSD

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set camera view source** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | -------------------------------------- | --------------------------------------------------- | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_SOURCE" | | | param\_value | char\[128] |

"0"
"1"
"2"
"3"
"4"

|

EO/IR
Only EO
Only IR
IR/EO
Sync

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set EO camera zoom mode** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ---------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_V\_ZM\_MODE" | | | param\_value | char\[128] |

"0"
"2"

|

Combine
Super Resolution

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set EO camera zoom - Super Resolution** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------- | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_V\_ZM\_SR\_LV" | | | param\_value | char\[128] |

"0"
"1"
"2"
"3"
"4"
"5"
"6"
"7"
"8"
"9"
"10"
"11"
"12"
"13"
"14"
"15"

|

1X
2X
4X
6X
8X
10X
12X
14X
16X
18X
20X
22X
24X
26X
28X
30X

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set EO camera index zoom - Combine** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ---------------------------------------------------- | ----------------------------------------------------- | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | | "C\_V\_ZM\_CB\_LV" | | param\_value | char\[128] |

"0"
"1"
"2"
"3"
"4"
"5"
"6"

|

1X
10X
20X
40X
80X
120X
240X

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set camera zoom type** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | ------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD\_SET\_CAMERA\_ZOOM (531) | MAV\_CMD | | confirmation | uint8\_t | 1 | | | param1 | float |

0
1
2

|

ZOOM\_TYPE\_STEP
ZOOM\_TYPE\_CONTINUOUS
ZOOM\_TYPE\_RANGE

| | param2 | float |

-1 for wide, 1 for tele
-1 for wide, 1 for tele, 0 to stop zooming
A percentage value between 0.0 and 100.0

|

Zoom one step increment
Continuous zoom up/down until stopped
Zoom value as proportion of full camera range

| ### **Set camera focus type** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | ----------------------------------------- | --------------------------------------------------- | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD\_SET\_CAMERA\_FOCUS (532) | MAV\_CMD | | confirmation | uint8\_t | 1 | | | param1 | float |

1
4

|

FOCUS\_TYPE\_CONTINUOUS
FOCUS\_TYPE\_AUTO

| | param2 | float | -1: focusing in, 1: focusing out, 0: stop | Continuous focus up/down until stopped | ### **Set camera IR palette** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_T\_PALETTE" | | | param\_value | char\[128] |

"0"
"1"
"2"
"3"
"4"
"5"
"6"
"7"
"8"
"9"

|

F1: WhiteHot ; G1: WhiteHot
F1: BlackHot ; G1: Fulgurite
F1: Rainbow ; G1: IronRed
F1: RainbowHC ; G1: HotIron
F1: Ironbow ; G1: Medical
F1: Lava ; G1: Arctic
F1: Arctic ; G1: Rainbow1
F1: Globow ; G1: Rainbow2
F1: Gradedfire ; G1: Tint
F1: Hottest ; G1: BlackHot

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set payload camera start capture image** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | -------------------------------------- | ------------------------------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD\_IMAGE\_START\_CAPTURE (2000) | MAV\_CMD | | confirmation | uint8\_t | 1 | | | param2 | int | Default, min: 0 | Desired elapsed time between two consecutive pictures (in seconds) | ### **Set payload camera stop capture image** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | ------------------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD\_IMAGE\_STOP\_CAPTURE (2001) | MAV\_CMD | | confirmation | uint8\_t | 1 | | ### **Set payload camera start record video** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | -------------------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD\_VIDEO\_START\_CAPTURE (2500) | MAV\_CMD | | confirmation | uint8\_t | 1 | | ### **Set payload camera stop record video** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | ---------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD | MAV\_CMD\_VIDEO\_STOP\_CAPTURE (2501) | | confirmation | uint8\_t | 1 | | ### **Set camera video flip** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ---------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_V\_FLIP" | | | param\_value | char\[128] |

"2"
"3"

|

On
Off

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set camera video defog** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ---------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_V\_DEFOG" | | | param\_value | char\[128] |

"0"
"1"

|

Off
On

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set camera video defog level** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ------------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_V\_DEFOG\_LV" | | | param\_value | char\[128] |

"0"
"1"
"2"
"3"

|

Lowest
Low
Mid
High

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set camera video auto exposure** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ----------------------------------------- | -------------------------------------------------- | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_V\_AE" | | | param\_value | char\[128] |

"0"
"3"
"10"
"11"
"13"

|

Auto
Manual
Shutter
Iris
Bright

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set camera video shutter speed** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ----------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------- | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_V\_SP" | | | param\_value | char\[128] |

"13"
"14"
"17"
"20"
"21"
"25"
"26"
"27"
"28"
"30"

|

1/10
1/20
1/50
1/100
1/125
1/500
1/725
1/1000
1/1500
1/2000

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set camera video aperture value** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ---------------------------- | ---------------------------------------------- | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_V\_IrP" | | | param\_value | char\[128] | 0 | Aperture value can be set from 0 to 25, step 1 | | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set camera video bright value** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ---------------------------- | -------------------------------------------- | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_V\_BrP" | | | param\_value | char\[128] | 0 | Bright value can be set from 0 to 41, step 1 | | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set camera video white balance** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | --------------------------------------------- | ------------------------------------------------------------- | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "C\_V\_WB" | | | param\_value | char\[128] |

"0"
"1"
"2"
"3"
"4"
"5"

|

Auto
Indoor
Outdoor
One push
ATW
Manual

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set gimbal mode** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | -------------------------------------- | ------------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "GB\_MODE" | | | param\_value | char\[128] |

"0"
"1"
"2"
"3"
"4"

|

OFF
LOCK
FOLLOW
MAPPING
RESET

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set gimbal RC mode** * Message: PARAM\_EXT\_SET (323) | Field Name | Type | Values | Description | | ----------------- | ---------- | ---------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | param\_id | char\[16] | "RC\_MODE" | | | param\_value | char\[128] |

"0"
"1"

|

Gremsy
Standard

| | param\_type | uint8\_t | UINT32 | MAV\_PARAM\_EXT\_TYPE | ### **Set gimbal move to angle** * Message: GIMBAL\_DEVICE\_SET\_ATTITUDE (284) | Field Name | Type | | Values | Description | | -------------------- | --------- | ----- | --------------------------------------------------- | ------------------------------------------ | | target\_system | uint8\_t | | 1 | System ID | | target\_component | uint8\_t | | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | q | float\[4] | rad/s | mavlink\_euler\_to\_quaternion(roll, pitch, yaw, q) | Quaternion components, w, x, y, z | | angular\_velocity\_x | float | rad/s | NaN | X component of angular velocity (Roll) | | angular\_velocity\_y | float | rad/s | NaN | Y component of angular velocity (Pitch) | | angular\_velocity\_z | float | rad/s | NaN | Z component of angular velocity (Yaw) | ### **Set gimbal move by speed** * Message: GIMBAL\_DEVICE\_SET\_ATTITUDE (284) | Field Name | Type | | Values | Description | | -------------------- | --------- | ----- | ---------------------------- | ------------------------------------------ | | target\_system | uint8\_t | | 1 | System ID | | target\_component | uint8\_t | | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | q | float\[4] | rad/s | NaN | Quaternion components, w, x, y, z | | angular\_velocity\_x | float | rad/s | Speed roll | X component of angular velocity (Roll) | | angular\_velocity\_y | float | rad/s | Speed pitch | Y component of angular velocity (Pitch) | | angular\_velocity\_z | float | rad/s | Speed yaw | Z component of angular velocity (Yaw) | ### **Get payload camera information** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | -------------------------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD\_REQUEST\_CAMERA\_INFORMATION (521) | MAV\_CMD | | confirmation | uint8\_t | 1 | | ### **Get payload camera streaming information** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | ---------------------------------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD\_REQUEST\_VIDEO\_STREAM\_INFORMATION (2504) | MAV\_CMD | | confirmation | uint8\_t | 1 | | ### **Get payload storage** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | --------------------------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD\_REQUEST\_STORAGE\_INFORMATION (525) | MAV\_CMD | | confirmation | uint8\_t | 1 | | ### **Get payload capture status** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | ------------------------------------------------ | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD\_REQUEST\_CAMERA\_CAPTURE\_STATUS (527) | MAV\_CMD | | confirmation | uint8\_t | 1 | | ### **Get payload camera mode** * Message: COMMAND\_LONG (76) | Field Name | Type | Values | Description | | ----------------- | --------- | ----------------------------------------- | ------------------------------------------ | | target\_system | uint8\_t | 1 | System ID | | target\_component | uint8\_t | 101 (MAV\_COMP\_ID\_CAMERA2) | MAVLINK Camera Component ID on Web setting | | command | uint16\_t | MAV\_CMD\_REQUEST\_CAMERA\_SETTINGS (522) | MAV\_CMD | | confirmation | uint8\_t | 1 | |