Mavlink Command List

Table of contents

  • Table of contents

  • Version history

  • MAVLINK Messages

Set Camera Commands

  1. Set camera running mode

  2. Set camera record source

  3. Set camera view source

  4. Set EO camera zoom mode

  5. Set EO camera zoom - Super Resolution

  6. Set EO camera index zoom - Combine

  7. Set camera zoom type

  8. Set camera focus type

  9. Set camera IR palette

  10. Set payload camera start capture image

  11. Set payload camera stop capture image

  12. Set payload camera start record video

  13. Set payload camera stop record video

  14. Set camera video flip

  15. Set camera video defog

  16. Set camera video defog level

  17. Set camera video auto exposure

  18. Set camera video shutter speed

  19. Set camera video aperture value

  20. Set camera video bright value

  21. Set camera video white balance

Set Gimbal Commands

  1. Set gimbal mode

  2. Set gimbal RC mode

  3. Set gimbal move to angle

  4. Set gimbal move by speed

Get Payload Information

  1. Get payload camera information

  2. Get payload camera streaming information

  3. Get payload storage

  4. Get payload capture status

  5. 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

PreviousGREMSY PAYLOAD SDKNextZIO

Last updated