package mavsdk.rpc.camera
Get desktop application:
View/edit binary Protocol Buffers messages
service CameraService
camera.proto:19Can be used to manage cameras that implement the MAVLink Camera Protocol: https://mavlink.io/en/services/camera.html. Currently only a single camera is supported. When multiple cameras are supported the plugin will need to be instantiated separately for every camera and the camera selected using `select_camera`.
rpc FocusInStart (, )
camera.proto:166Start focusing in.
message
camera.proto:537int32 component_id = 1
Component ID
message
camera.proto:540optional camera_result = 1
rpc FocusOutStart (, )
camera.proto:170Start focusing out.
message
camera.proto:544int32 component_id = 1
Component ID
message
camera.proto:547optional camera_result = 1
rpc FocusRange (, )
camera.proto:178Focus with range value of full range (value between 0.0 and 100.0).
message
camera.proto:558int32 component_id = 1
Component ID
float range = 2
Range must be between 0.0 - 100.0
message
camera.proto:562optional camera_result = 1
rpc FocusStop (, )
camera.proto:174Stop focus.
message
camera.proto:551int32 component_id = 1
Component ID
message
camera.proto:554optional camera_result = 1
rpc FormatStorage (, )
camera.proto:128Format storage (e.g. SD card) in camera. This will delete all content of the camera storage!
message
camera.proto:464int32 component_id = 1
Component ID
int32 storage_id = 2
Storage identify to be format
message
camera.proto:468optional camera_result = 1
rpc GetCurrentSettings (, )
camera.proto:102Get current settings.
message
camera.proto:439int32 component_id = 1
Component ID
message
camera.proto:442optional camera_result = 1
repeated current_settings = 2
List of current settings
rpc GetMode (, )
camera.proto:74Get camera mode.
message
camera.proto:415int32 component_id = 1
Component ID
message
camera.proto:418optional camera_result = 1
Mode mode = 2
Mode
Get possible setting options.
message
camera.proto:447int32 component_id = 1
Component ID
message
camera.proto:450optional camera_result = 1
repeated setting_options = 2
List of settings that can be changed
rpc GetSetting (, )
camera.proto:122Get a setting. Only setting_id of setting needs to be set.
message
camera.proto:455int32 component_id = 1
Component ID (0/all not available)
optional setting = 2
Requested setting
message
camera.proto:459optional camera_result = 1
optional setting = 2
Setting
rpc GetStorage (, )
camera.proto:94Get camera's storage status.
message
camera.proto:431int32 component_id = 1
Component ID
message
camera.proto:434optional camera_result = 1
optional storage = 2
Camera's storage status
rpc GetVideoStreamInfo (, )
camera.proto:82Get video stream info.
message
camera.proto:423int32 component_id = 1
Component ID
message
camera.proto:426optional camera_result = 1
optional video_stream_info = 2
Video stream info
rpc ListPhotos (, )
camera.proto:59List photos available on the camera. Note that this might need to be called initially to set the PhotosRange accordingly. Once set to 'all' rather than 'since connection', it will try to request the previous images over time.
message
camera.proto:296int32 component_id = 1
Component ID
PhotosRange photos_range = 2
Which photos should be listed (all or since connection)
message
camera.proto:300optional camera_result = 1
repeated capture_infos = 2
List of capture infos (representing the photos)
rpc ResetSettings (, )
camera.proto:134Reset all settings in camera. This will reset all camera settings to default value
message
camera.proto:472int32 component_id = 1
Component ID
message
camera.proto:475optional camera_result = 1
rpc SetMode (, )
camera.proto:51Set camera mode.
message
camera.proto:288int32 component_id = 1
Component ID
Mode mode = 2
Camera mode to set
message
camera.proto:292optional camera_result = 1
rpc SetSetting (, )
camera.proto:116Set a setting to some value. Only setting_id of setting and option_id of option needs to be set.
message
camera.proto:407int32 component_id = 1
Component ID
optional setting = 2
Desired setting
message
camera.proto:411optional camera_result = 1
rpc StartPhotoInterval (, )
camera.proto:27Start photo timelapse with a given interval.
message
camera.proto:243int32 component_id = 1
Component ID
float interval_s = 2
Interval between photos (in seconds)
message
camera.proto:247optional camera_result = 1
rpc StartVideo (, )
camera.proto:35Start a video recording.
message
camera.proto:258int32 component_id = 1
Component ID
message
camera.proto:261optional camera_result = 1
rpc StartVideoStreaming (, )
camera.proto:43Start video streaming.
message
camera.proto:272int32 component_id = 1
Component ID
int32 stream_id = 2
video stream id
message
camera.proto:276optional camera_result = 1
rpc StopPhotoInterval (, )
camera.proto:31Stop a running photo timelapse.
message
camera.proto:251int32 component_id = 1
Component ID
message
camera.proto:254optional camera_result = 1
rpc StopVideo (, )
camera.proto:39Stop a running video recording.
message
camera.proto:265int32 component_id = 1
Component ID
message
camera.proto:268optional camera_result = 1
rpc StopVideoStreaming (, )
camera.proto:47Stop current video streaming.
message
camera.proto:280int32 component_id = 1
Component ID
int32 stream_id = 2
video stream id
message
camera.proto:284optional camera_result = 1
rpc SubscribeCameraList (, stream )
camera.proto:66Subscribe to list of cameras. This allows to find out what cameras are connected to the system. Based on the camera ID, we can then address a specific camera.
message
camera.proto:305(message has no fields)
message
camera.proto:306optional camera_list = 1
Camera list
rpc SubscribeCaptureInfo (, stream )
camera.proto:86Subscribe to capture info updates.
message
camera.proto:332(message has no fields)
message
camera.proto:333optional capture_info = 1
Capture info
rpc SubscribeCurrentSettings (, stream )
camera.proto:98Get the list of current camera settings.
message
camera.proto:391(message has no fields)
message
camera.proto:392optional update = 1
Current setting update per camera
rpc SubscribeMode (, stream )
camera.proto:70Subscribe to camera mode updates.
message
camera.proto:316(message has no fields)
message
camera.proto:317optional update = 1
Mode update for camera
rpc SubscribePossibleSettingOptions (, stream )
camera.proto:106Get the list of settings that can be changed.
message
camera.proto:402(message has no fields)
message
camera.proto:403optional update = 1
Possible setting update per camera
rpc SubscribeStorage (, stream )
camera.proto:90Subscribe to camera's storage status updates.
message
camera.proto:380(message has no fields)
message
camera.proto:381optional update = 1
Camera's storage status
rpc SubscribeVideoStreamInfo (, stream )
camera.proto:78Subscribe to video stream info updates.
message
camera.proto:327(message has no fields)
message
camera.proto:328optional update = 1
Video stream update for camera
rpc TakePhoto (, )
camera.proto:23Take one photo.
message
camera.proto:236int32 component_id = 1
Component ID
message
camera.proto:239optional camera_result = 1
rpc TrackPoint (, )
camera.proto:154Track point.
message
camera.proto:508int32 component_id = 1
Component ID
float point_x = 2
Point in X axis (0..1, 0 is left, 1 is right)
float point_y = 3
Point in Y axis (0..1, 0 is top, 1 is bottom)
float radius = 4
Radius (0 is one pixel, 1 is full image width)
message
camera.proto:514optional camera_result = 1
rpc TrackRectangle (, )
camera.proto:158Track rectangle.
message
camera.proto:518int32 component_id = 1
Component ID
float top_left_x = 2
Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right)
float top_left_y = 3
Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom)
float bottom_right_x = 4
Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right)
float bottom_right_y = 5
Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom)
message
camera.proto:526optional camera_result = 1
rpc TrackStop (, )
camera.proto:162Stop tracking.
message
camera.proto:530int32 component_id = 1
Component ID
message
camera.proto:533optional camera_result = 1
rpc ZoomInStart (, )
camera.proto:138Start zooming in.
message
camera.proto:479int32 component_id = 1
Component ID
message
camera.proto:482optional camera_result = 1
rpc ZoomOutStart (, )
camera.proto:142Start zooming out.
message
camera.proto:486int32 component_id = 1
Component ID
message
camera.proto:489optional camera_result = 1
rpc ZoomRange (, )
camera.proto:150Zoom to value as proportion of full camera range (percentage between 0.0 and 100.0).
message
camera.proto:500int32 component_id = 1
Component ID
float range = 2
Range must be between 0.0 and 100.0
message
camera.proto:504optional camera_result = 1
rpc ZoomStop (, )
camera.proto:146Stop zooming.
message
camera.proto:493int32 component_id = 1
Component ID
message
camera.proto:496optional camera_result = 1
message
camera.proto:667Camera list
Used in:
repeated cameras = 1
Camera items.
message
camera.proto:568Result type.
Used in: , , , , , , , , , , , , , , , , , , , , , , , , , , , ,
CameraResult.Result result = 1
Result enum value
string result_str = 2
Human-readable English string describing the result
Possible results returned for camera commands
Used in:
RESULT_UNKNOWN = 0
Unknown result
RESULT_SUCCESS = 1
Command executed successfully
RESULT_IN_PROGRESS = 2
Command in progress
RESULT_BUSY = 3
Camera is busy and rejected command
RESULT_DENIED = 4
Camera denied the command
RESULT_ERROR = 5
An error has occurred while executing the command
RESULT_TIMEOUT = 6
Command timed out
RESULT_WRONG_ARGUMENT = 7
Command has wrong argument(s)
RESULT_NO_SYSTEM = 8
No system connected
RESULT_PROTOCOL_UNSUPPORTED = 9
Definition file protocol not supported
RESULT_UNAVAILABLE = 10
Not available (yet)
RESULT_CAMERA_ID_INVALID = 11
Camera with camera ID not found
RESULT_ACTION_UNSUPPORTED = 12
Camera action not supported
message
camera.proto:643Information about a picture just captured.
Used in: ,
int32 component_id = 1
Component ID
optional position = 2
Location where the picture was taken
optional attitude_quaternion = 3
Attitude of the camera when the picture was taken (quaternion)
optional attitude_euler_angle = 4
Attitude of the camera when the picture was taken (euler angle)
uint64 time_utc_us = 5
Timestamp in UTC (since UNIX epoch) in microseconds
bool is_success = 6
True if the capture was successful
int32 index = 7
Zero-based index of this image since vehicle was armed
string file_url = 8
Download URL of this image
message
camera.proto:386An update about a current setting
Used in:
int32 component_id = 1
Component ID
repeated current_settings = 2
List of current settings
message
camera.proto:636Euler angle type. All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence. For more info see https://en.wikipedia.org/wiki/Euler_angles
Used in:
float roll_deg = 1
Roll angle in degrees, positive is banking to the right
float pitch_deg = 2
Pitch angle in degrees, positive is pitching nose up
float yaw_deg = 3
Yaw angle in degrees, positive is clock-wise seen from above
message
camera.proto:655Type to represent a camera information.
Used in:
int32 component_id = 1
Component ID
string vendor_name = 2
Name of the camera vendor
string model_name = 3
Name of the camera model
float focal_length_mm = 4
Focal length
float horizontal_sensor_size_mm = 5
Horizontal sensor size
float vertical_sensor_size_mm = 6
Vertical sensor size
uint32 horizontal_resolution_px = 7
Horizontal image resolution in pixels
uint32 vertical_resolution_px = 8
Vertical image resolution in pixels
enum Mode
camera.proto:591Camera mode type.
Used in: , ,
MODE_UNKNOWN = 0
Unknown
MODE_PHOTO = 1
Photo mode
MODE_VIDEO = 2
Video mode
message
camera.proto:311An update about the current mode
Used in:
int32 component_id = 1
Component ID
Mode mode = 2
Camera mode
message
camera.proto:182Type to represent a setting option.
Used in: ,
string option_id = 1
Name of the option (machine readable)
string option_description = 2
Description of the option (human readable)
Photos range type.
Used in:
PHOTOS_RANGE_ALL = 0
All the photos present on the camera
PHOTOS_RANGE_SINCE_CONNECTION = 1
Photos taken since MAVSDK got connected
message
camera.proto:604Position type in global coordinates.
Used in:
double latitude_deg = 1
Latitude in degrees (range: -90 to +90)
double longitude_deg = 2
Longitude in degrees (range: -180 to +180)
float absolute_altitude_m = 3
Altitude AMSL (above mean sea level) in metres
float relative_altitude_m = 4
Altitude relative to takeoff altitude in metres
message
camera.proto:397An update about possible setting options
Used in:
int32 component_id = 1
Component ID
repeated setting_options = 2
List of settings that can be changed
message
camera.proto:621Quaternion type. All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk. For more info see: https://en.wikipedia.org/wiki/Quaternion
Used in:
float w = 1
Quaternion entry 0, also denoted as a
float x = 2
Quaternion entry 1, also denoted as b
float y = 3
Quaternion entry 2, also denoted as c
float z = 4
Quaternion entry 3, also denoted as d
message
camera.proto:188Type to represent a setting with a selected option.
Used in: , , , ,
string setting_id = 1
Name of a setting (machine readable)
string setting_description = 2
Description of the setting (human readable). This field is meant to be read from the drone, ignore it when setting.
optional option = 3
Selected option
bool is_range = 4
If option is given as a range. This field is meant to be read from the drone, ignore it when setting.
message
camera.proto:196Type to represent a setting with a list of options to choose from.
Used in: ,
int32 component_id = 1
Component ID
string setting_id = 2
Name of the setting (machine readable)
string setting_description = 3
Description of the setting (human readable)
repeated options = 4
List of options or if range [min, max] or [min, max, interval]
bool is_range = 5
If option is given as a range
message
camera.proto:338Information about the camera's storage status.
Used in: ,
int32 component_id = 1
Component ID
bool video_on = 2
Whether video recording is currently in process
bool photo_interval_on = 3
Whether a photo interval is currently in process
float used_storage_mib = 4
Used storage (in MiB)
float available_storage_mib = 5
Available storage (in MiB)
float total_storage_mib = 6
Total storage (in MiB)
float recording_time_s = 7
Elapsed time since starting the video recording (in seconds)
string media_folder_name = 8
Current folder name where media are saved
Storage.StorageStatus storage_status = 9
Storage status
uint32 storage_id = 10
Storage ID starting at 1
Storage.StorageType storage_type = 11
Storage type
Storage status type.
Used in:
STORAGE_STATUS_NOT_AVAILABLE = 0
Status not available
STORAGE_STATUS_UNFORMATTED = 1
Storage is not formatted (i.e. has no recognized file system)
STORAGE_STATUS_FORMATTED = 2
Storage is formatted (i.e. has recognized a file system)
STORAGE_STATUS_NOT_SUPPORTED = 3
Storage status is not supported
Storage type.
Used in:
STORAGE_TYPE_UNKNOWN = 0
Storage type unknown
STORAGE_TYPE_USB_STICK = 1
Storage type USB stick
STORAGE_TYPE_SD = 2
Storage type SD card
STORAGE_TYPE_MICROSD = 3
Storage type MicroSD card
STORAGE_TYPE_HD = 7
Storage type HD mass storage
STORAGE_TYPE_OTHER = 254
Storage type other, not listed
message
camera.proto:375An update about storage
Used in:
int32 component_id = 1
Component ID
optional storage = 2
Storage
message
camera.proto:216Information about the video stream.
Used in: ,
int32 stream_id = 1
Stream ID
optional settings = 2
Video stream settings
VideoStreamInfo.VideoStreamStatus status = 3
Current status of video streaming
VideoStreamInfo.VideoStreamSpectrum spectrum = 4
Light-spectrum of the video stream
Video stream light spectrum type
Used in:
VIDEO_STREAM_SPECTRUM_UNKNOWN = 0
Unknown
VIDEO_STREAM_SPECTRUM_VISIBLE_LIGHT = 1
Visible light
VIDEO_STREAM_SPECTRUM_INFRARED = 2
Infrared
Video stream status type.
Used in:
VIDEO_STREAM_STATUS_NOT_RUNNING = 0
Video stream is not running
VIDEO_STREAM_STATUS_IN_PROGRESS = 1
Video stream is running
message
camera.proto:205Type for video stream settings.
Used in:
float frame_rate_hz = 1
Frames per second
uint32 horizontal_resolution_pix = 2
Horizontal resolution (in pixels)
uint32 vertical_resolution_pix = 3
Vertical resolution (in pixels)
uint32 bit_rate_b_s = 4
Bit rate (in bits per second)
uint32 rotation_deg = 5
Video image rotation (clockwise, 0-359 degrees)
string uri = 6
Video stream URI
float horizontal_fov_deg = 7
Horizontal fov in degrees
message
camera.proto:322An update about a video stream
Used in:
int32 component_id = 1
Component ID
optional video_stream_info = 2
Video stream info