And these are the messages:
CAMERA_INFORMATION ( #259 )
WIP: Information about a camera
Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
camera_count uint8_t Number of cameras
vendor_name uint8_t[32] Name of the camera vendor
model_name uint8_t[32] Name of the camera model
firmware_version uint32_t Version of the camera firmware
focal_length float Focal length in mm
sensor_size_h float Image sensor size horizontal in mm
sensor_size_v float Image sensor size vertical in mm
resolution_h uint16_t Image resolution in pixels horizontal
resolution_v uint16_t Image resolution in pixels vertical
lens_id uint8_t Reserved for a lens ID
CAMERA_SETTINGS ( #260 )
WIP: Settings of a camera, can be requested using MAV_CMD_REQUEST_CAMERA_SETTINGS and written using MAV_CMD_SET_CAMERA_SETTINGS
Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
exposure_mode uint8_t 0: full auto 1: full manual 2: aperture priority 3: shutter priority
aperture float Aperture is 1/value
shutter_speed float Shutter speed in seconds
iso_sensitivity float ISO sensitivity
ev float Exposure Value
white_balance float Color temperature in degrees Kelvin. (0: Auto WB)
mode_id uint8_t Reserved for a camera mode ID. (0: Photo 1: Video)
audio_recording uint8_t Audio recording enabled (0: off 1: on)
color_mode_id uint8_t Reserved for a color mode ID (Neutral, Vivid, etc.)
image_format_id uint8_t Reserved for image format ID (Jpeg/Raw/Jpeg+Raw)
image_quality_id uint8_t Reserved for image quality ID (Compression)
metering_mode_id uint8_t Reserved for metering mode ID (Average, Center, Spot, etc.)
flicker_mode_id uint8_t Reserved for flicker mode ID (Auto, 60Hz, 50Hz, etc.)
STORAGE_INFORMATION ( #261 )
WIP: Information about a storage medium
Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
storage_id uint8_t Storage ID (1 for first, 2 for second, etc.)
storage_count uint8_t Number of storage devices
status uint8_t Status of storage (0 not available, 1 unformatted, 2 formatted)
total_capacity float Total capacity in MiB
used_capacity float Used capacity in MiB
available_capacity float Available capacity in MiB
read_speed float Read speed in MiB/s
write_speed float Write speed in MiB/s
CAMERA_CAPTURE_STATUS ( #262 )
WIP: Information about the status of a capture
Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
image_status uint8_t Current status of image capturing (0: not running, 1: interval capture in progress)
video_status uint8_t Current status of video capturing (0: not running, 1: capture in progress)
image_interval float Image capture interval in seconds
video_framerate float Video frame rate in Hz
image_resolution_h uint16_t Image resolution in pixels horizontal
image_resolution_v uint16_t Image resolution in pixels vertical
video_resolution_h uint16_t Video resolution in pixels horizontal
video_resolution_v uint16_t Video resolution in pixels vertical
recording_time_ms uint32_t Time in milliseconds since recording started
available_capacity float Available storage capacity in MiB
CAMERA_IMAGE_CAPTURED ( #263 )
WIP: Information about a captured image
Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
time_utc uint64_t Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown.
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
lat int32_t Latitude, expressed as degrees * 1E7 where image was taken
lon int32_t Longitude, expressed as degrees * 1E7 where capture was taken
alt int32_t Altitude in meters, expressed as * 1E3 (AMSL, not WGS84) where image was taken
relative_alt int32_t Altitude above ground in meters, expressed as * 1E3 where image was taken
q float[4] Quaternion of camera orientation (w, x, y, z order, zero-rotation is 0, 0, 0, 0)
image_index int32_t Zero based index of this image (image count since armed -1)
capture_result int8_t Boolean indicating success (1) or failure (0) while capturing this image.
file_url char[205] URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.
VIDEO_STREAM_INFORMATION ( #269 )
WIP: Information about video stream
Field Name Type Description
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
status uint8_t Current status of video streaming (0: not running, 1: in progress)
framerate float Frames per second
resolution_h uint16_t Resolution horizontal in pixels
resolution_v uint16_t Resolution vertical in pixels
bitrate uint32_t Bit rate in bits per second
rotation uint16_t Video image rotation clockwise
uri char[230] Video stream URI
SET_VIDEO_STREAM_SETTINGS ( #270 )
WIP: Message that sets video stream settings
Field Name Type Description
target_system uint8_t system ID of the target
target_component uint8_t component ID of the target
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
framerate float Frames per second (set to -1 for highest framerate possible)
resolution_h uint16_t Resolution horizontal in pixels (set to -1 for highest resolution possible)
resolution_v uint16_t Resolution vertical in pixels (set to -1 for highest resolution possible)
bitrate uint32_t Bit rate in bits per second (set to -1 for auto)
rotation uint16_t Video image rotation clockwise (0-359 degrees)
uri char[230] Video stream URI