CAMERA COMMAND LIST

1. Connect Payload

• System id: 1

• Component id: 191 (MAV_COMP_ID_ONBOARD_COMPUTER)

2. Command List

2.1 MAVLINK_MSG_ID_PARAM_EXT_REQUEST_LIST (321)

Request all parameters of this Payload. All parameters should be emitted in response as PARAM_EXT_VALUE

Field Name	Type	Values	Description
target_system	uint8_t	1	System ID
target_component	uint8_t	101 (MAV_COMP_ID_CAMERA2)	Component ID

2.2 MAVLINK_MSG_ID_PARAM_EXT_SET (323)

Set a parameter value to Payload

Field Name	Type	Values	Description
target_system	uint8_t	1	System ID
target_component	uint8_t	101 (MAV_COMP_ID_CAMERA2)	Component ID
param_id	char[16]		Param ID
param_value	char[128]		Param value
param_type	uint8_t		Param type

---

Command long

Field Name	Type	Values	Description
target_system	uint8_t	1	System ID
target_component	uint8_t	101 (MAV_COMP_ID_CAMERA2)	Component ID
command	uint16_t		Command ID (of command to send)
confirmation	uint8_t	1
param1	float	For the specific command	Parameter 1
param2	float	For the specific command	Parameter 2
param3	float	For the specific command	Parameter 3
param4	float	For the specific command	Parameter 4
param5	float	For the specific command	Parameter 5
param6	float	For the specific command	Parameter 6
param7	float	For the specific command	Parameter 7

Command ID:

2.3 MAV_CMD_REQUEST_CAMERA_INFORMATION (521)

Request camera information (CAMERA_INFORMATION).

Param	Description	Payload use Values
1: Capabilities	not use	Payload not use this param

2.4 MAV_CMD_REQUEST_CAMERA_SETTINGS (522)

Request camera settings (CAMERA_SETTINGS).

Param	Description	Payload use Values
1: Settings	not use	Payload not use this param

2.5 MAV_CMD_REQUEST_STORAGE_INFORMATION (525)

Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

Param	Description	Payload use Values
1: Storage ID	not use	Payload not use this param
2: Information	not use	Payload not use this param

2.6 MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527)

Request camera capture status (CAMERA_CAPTURE_STATUS)

Param	Description	Payload use Values
1: Capture Status	not use	Payload not use this param

2.7 MAV_CMD_SET_CAMERA_MODE (530)

Set camera running mode

Param	Description	Payload use Values
1	Reserved
2: Camera Mode	Camera mode	0: CAMERA_MODE_IMAGE, 1: CAMERA_MODE_VIDEO

2.8 MAV_CMD_SET_CAMERA_ZOOM (531)

Set camera zoom. Current only support ZOOM_TYPE_CONTINUOUS

Param	Description	Payload use Values
1: Zoom Type	Payload only support ZOOM_TYPE_CONTINUOUS	1: ZOOM_TYPE_CONTINUOUS (only support)
2: Zoom Value	Zoom value	-1 for wide, 1 for tele, 0 to stop zooming

2.9 MAV_CMD_SET_CAMERA_FOCUS (532)

Set camera focus. Current support FOCUS_TYPE_CONTINUOUS

Param	Description	Payload use Values
1: Focus Type	Payload support FOCUS_TYPE_CONTINUOUS and FOCUS_TYPE_AUTO	1: FOCUS_TYPE_CONTINUOUS 4: FOCUS_TYPE_AUTO
2: Focus Value	Focus value	With focus_type = 1: -1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing

2.10 MAV_CMD_IMAGE_START_CAPTURE (2000)

Start image capture

Param	Description	Payload use Values
1: ID	not use	Payload not use this param
2: Interval	Desired elapsed time between two consecutive pictures (in seconds)	0: Single shoot, 1-?: second interval
3: Total Images	not use	Payload not use this param
4: Sequence Number	not use	Payload not use this param

2.11 MAV_CMD_IMAGE_STOP_CAPTURE (2001)

Stop image capture. Use when capture interval

Param	Description	Payload use Values
1: ID	not use	Payload not use this param

2.12 MAV_CMD_VIDEO_START_CAPTURE (2500)

Starts video capture (recording)

Param	Description	Payload use Values
1: Stream ID	not use	Payload not use this param
2: Status Frequency	not use	Payload not use this param

2.13 MAV_CMD_VIDEO_STOP_CAPTURE (2501)

Stop the current video capture (recording)

Param	Description	Payload use Values
1: Stream ID	not use	Payload not use this param

2.14 MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504)

Request video stream information (VIDEO_STREAM_INFORMATION)

Param	Description	Payload use Values
1: Stream ID	not use	Payload not use this param