package mavsdk.rpc.camera_server
Get desktop application:
View/edit binary Protocol Buffers messages
Provides handling of camera interface
Respond to camera capture status from SubscribeCaptureStatus.
message
camera_server.proto:318CameraFeedback capture_status_feedback = 1
the feedback
optional capture_status = 2
the capture status
message
camera_server.proto:322optional camera_server_result = 1
Respond to focus auto.
message
camera_server.proto:487CameraFeedback focus_auto_feedback = 1
the feedback
message
camera_server.proto:490optional camera_server_result = 1
Respond to focus auto continuous.
message
camera_server.proto:511CameraFeedback focus_auto_continuous_feedback = 1
the feedback
message
camera_server.proto:514optional camera_server_result = 1
Respond to focus auto single.
message
camera_server.proto:499CameraFeedback focus_auto_single_feedback = 1
the feedback
message
camera_server.proto:502optional camera_server_result = 1
Respond to focus in start.
message
camera_server.proto:427CameraFeedback focus_in_start_feedback = 1
the feedback
message
camera_server.proto:430optional camera_server_result = 1
Respond to focus in step.
message
camera_server.proto:403CameraFeedback focus_in_step_feedback = 1
the feedback
message
camera_server.proto:406optional camera_server_result = 1
Respond to focus meters.
message
camera_server.proto:475CameraFeedback focus_meters_feedback = 1
the feedback
message
camera_server.proto:478optional camera_server_result = 1
Respond to focus out start.
message
camera_server.proto:439CameraFeedback focus_out_start_feedback = 1
the feedback
message
camera_server.proto:442optional camera_server_result = 1
Respond to focus out step.
message
camera_server.proto:415CameraFeedback focus_out_step_feedback = 1
the feedback
message
camera_server.proto:418optional camera_server_result = 1
Respond to focus range.
message
camera_server.proto:463CameraFeedback focus_range_feedback = 1
the feedback
message
camera_server.proto:466optional camera_server_result = 1
Respond to focus stop.
message
camera_server.proto:451CameraFeedback focus_stop_feedback = 1
the feedback
message
camera_server.proto:454optional camera_server_result = 1
Respond to format storage from SubscribeFormatStorage.
message
camera_server.proto:331CameraFeedback format_storage_feedback = 1
the feedback
message
camera_server.proto:334optional camera_server_result = 1
Respond to reset settings from SubscribeResetSettings.
message
camera_server.proto:343CameraFeedback reset_settings_feedback = 1
the feedback
message
camera_server.proto:346optional camera_server_result = 1
rpc RespondSetMode (, )
camera_server.proto:55Respond to set camera mode from SubscribeSetMode.
message
camera_server.proto:293CameraFeedback set_mode_feedback = 1
the feedback
message
camera_server.proto:296optional camera_server_result = 1
Subscribe to stop video requests. Each request received should respond using StopVideoResponse
message
camera_server.proto:245CameraFeedback start_video_feedback = 1
the feedback
message
camera_server.proto:248optional camera_server_result = 1
Respond to start video streaming from SubscribeStartVideoStreaming.
message
camera_server.proto:269CameraFeedback start_video_streaming_feedback = 1
the feedback
message
camera_server.proto:272optional camera_server_result = 1
Respond to stop video request from SubscribeStopVideo.
message
camera_server.proto:257CameraFeedback stop_video_feedback = 1
the feedback
message
camera_server.proto:260optional camera_server_result = 1
Respond to stop video streaming from SubscribeStopVideoStreaming.
message
camera_server.proto:281CameraFeedback stop_video_streaming_feedback = 1
the feedback
message
camera_server.proto:284optional camera_server_result = 1
Respond to camera storage information from SubscribeStorageInformation.
message
camera_server.proto:305CameraFeedback storage_information_feedback = 1
the feedback
optional storage_information = 2
the storage information
message
camera_server.proto:309optional camera_server_result = 1
Respond to an image capture request from SubscribeTakePhoto.
message
camera_server.proto:232CameraFeedback take_photo_feedback = 1
the feedback
optional capture_info = 2
the capture information
message
camera_server.proto:236optional camera_server_result = 1
Respond to an incoming tracking off command.
message
camera_server.proto:708CameraFeedback stop_video_feedback = 1
the feedback
message
camera_server.proto:711optional camera_server_result = 1
The result of sending the response.
Respond to an incoming tracking point command.
message
camera_server.proto:694CameraFeedback stop_video_feedback = 1
the feedback
message
camera_server.proto:697optional camera_server_result = 1
The result of sending the response.
Respond to an incoming tracking rectangle command.
message
camera_server.proto:701CameraFeedback stop_video_feedback = 1
the feedback
message
camera_server.proto:704optional camera_server_result = 1
The result of sending the response.
Respond to zoom in start.
message
camera_server.proto:355CameraFeedback zoom_in_start_feedback = 1
the feedback
message
camera_server.proto:358optional camera_server_result = 1
Respond to zoom out start.
message
camera_server.proto:367CameraFeedback zoom_out_start_feedback = 1
the feedback
message
camera_server.proto:370optional camera_server_result = 1
Respond to zoom range.
message
camera_server.proto:391CameraFeedback zoom_range_feedback = 1
the feedback
message
camera_server.proto:394optional camera_server_result = 1
Respond to zoom stop.
message
camera_server.proto:379CameraFeedback zoom_stop_feedback = 1
the feedback
message
camera_server.proto:382optional camera_server_result = 1
Set the camera's attitude quaternion.
message
camera_server.proto:722optional attitude_quaternion = 1
The camera's current attitude
message
camera_server.proto:725optional camera_server_result = 1
Set the field of view explicitly, for cameras that do not report a zoom factor.
message
camera_server.proto:736float horizontal_fov_deg = 1
The camera's current horizontal field of view in degrees
float vertical_fov_deg = 2
The camera's current vertical field of view in degrees
message
camera_server.proto:740optional camera_server_result = 1
rpc SetInProgress (, )
camera_server.proto:19Sets image capture in progress status flags. This should be set to true when the camera is busy taking a photo and false when it is done.
message
camera_server.proto:219bool in_progress = 1
true if capture is in progress or false for idle.
message
camera_server.proto:223optional camera_server_result = 1
rpc SetInformation (, )
camera_server.proto:13Sets the camera information. This must be called as soon as the camera server is created.
message
camera_server.proto:203optional information = 1
information about the camera
message
camera_server.proto:207optional camera_server_result = 1
rpc SetPosition (, )
camera_server.proto:190Set the camera's GPS position.
message
camera_server.proto:715optional position = 1
The camera's current GPS position
message
camera_server.proto:718optional camera_server_result = 1
Set the current tracking status to off.
message
camera_server.proto:676(message has no fields)
message
camera_server.proto:677(message has no fields)
Set/update the current rectangle tracking status.
message
camera_server.proto:671optional tracked_rectangle = 1
The tracked rectangle
message
camera_server.proto:674(message has no fields)
Sets video streaming settings.
message
camera_server.proto:211optional video_streaming = 1
information about the video stream
message
camera_server.proto:215optional camera_server_result = 1
rpc SetZoomFactor (, )
camera_server.proto:196Set the camera's zoom factor for CAMERA_FOV_STATUS reporting.
message
camera_server.proto:729float zoom_factor = 1
The camera's current zoom factor, starting at 1x.
message
camera_server.proto:732optional camera_server_result = 1
rpc SubscribeCaptureStatus (, stream )
camera_server.proto:64Subscribe to camera capture status requests. Each request received should response to using RespondCaptureStatus
message
camera_server.proto:313(message has no fields)
message
camera_server.proto:314int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeFocusAuto (, stream )
camera_server.proto:148Subscribe to focus auto command.
message
camera_server.proto:482(message has no fields)
message
camera_server.proto:483int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeFocusAutoContinuous (, stream )
camera_server.proto:160Subscribe to focus auto continuous command.
message
camera_server.proto:506(message has no fields)
message
camera_server.proto:507int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeFocusAutoSingle (, stream )
camera_server.proto:154Subscribe to focus auto single command.
message
camera_server.proto:494(message has no fields)
message
camera_server.proto:495int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeFocusInStart (, stream )
camera_server.proto:118Subscribe to focus in start command.
message
camera_server.proto:422(message has no fields)
message
camera_server.proto:423int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeFocusInStep (, stream )
camera_server.proto:106Subscribe to focus in step command.
message
camera_server.proto:398(message has no fields)
message
camera_server.proto:399int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeFocusMeters (, stream )
camera_server.proto:142Subscribe to focus meters command.
message
camera_server.proto:470(message has no fields)
message
camera_server.proto:471float focus_distance_m = 1
The focus distance in meters.
rpc SubscribeFocusOutStart (, stream )
camera_server.proto:124Subscribe to focus out start command.
message
camera_server.proto:434(message has no fields)
message
camera_server.proto:435int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeFocusOutStep (, stream )
camera_server.proto:112Subscribe to focus out step command.
message
camera_server.proto:410(message has no fields)
message
camera_server.proto:411int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeFocusRange (, stream )
camera_server.proto:136Subscribe to focus range command.
message
camera_server.proto:458(message has no fields)
message
camera_server.proto:459float focus_distance_m = 1
The focus distance in meters.
rpc SubscribeFocusStop (, stream )
camera_server.proto:130Subscribe to focus stop command.
message
camera_server.proto:446(message has no fields)
message
camera_server.proto:447int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeFormatStorage (, stream )
camera_server.proto:70Subscribe to format storage requests. Each request received should response to using RespondFormatStorage
message
camera_server.proto:326(message has no fields)
message
camera_server.proto:327int32 storage_id = 1
the storage id to format
rpc SubscribeResetSettings (, stream )
camera_server.proto:76Subscribe to reset settings requests. Each request received should response to using RespondResetSettings
message
camera_server.proto:338(message has no fields)
message
camera_server.proto:339int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeSetMode (, stream )
camera_server.proto:52Subscribe to set camera mode requests. Each request received should response to using RespondSetMode
message
camera_server.proto:288(message has no fields)
message
camera_server.proto:289Mode mode = 1
rpc SubscribeStartVideo (, stream )
camera_server.proto:28Subscribe to start video requests. Each request received should respond to using RespondStartVideo
message
camera_server.proto:240(message has no fields)
message
camera_server.proto:241int32 stream_id = 1
video stream id
rpc SubscribeStartVideoStreaming (, stream )
camera_server.proto:40Subscribe to start video streaming requests. Each request received should response to using RespondStartVideoStreaming
message
camera_server.proto:264(message has no fields)
message
camera_server.proto:265int32 stream_id = 1
video stream id
rpc SubscribeStopVideo (, stream )
camera_server.proto:34Subscribe to stop video requests. Each request received should response to using RespondStopVideo
message
camera_server.proto:252(message has no fields)
message
camera_server.proto:253int32 stream_id = 1
video stream id
rpc SubscribeStopVideoStreaming (, stream )
camera_server.proto:46Subscribe to stop video streaming requests. Each request received should response to using RespondStopVideoStreaming
message
camera_server.proto:276(message has no fields)
message
camera_server.proto:277int32 stream_id = 1
video stream id
rpc SubscribeStorageInformation (, stream )
camera_server.proto:58Subscribe to camera storage information requests. Each request received should response to using RespondStorageInformation
message
camera_server.proto:300(message has no fields)
message
camera_server.proto:301int32 storage_id = 1
rpc SubscribeTakePhoto (, stream )
camera_server.proto:22Subscribe to image capture requests. Each request received should respond to using RespondTakePhoto.
message
camera_server.proto:227(message has no fields)
message
camera_server.proto:228int32 index = 1
rpc SubscribeTrackingOffCommand (, stream )
camera_server.proto:178Subscribe to incoming tracking off command.
message
camera_server.proto:689(message has no fields)
message
camera_server.proto:690int32 dummy = 1
Unused
rpc SubscribeTrackingPointCommand (, stream )
camera_server.proto:172Subscribe to incoming tracking point command.
message
camera_server.proto:679(message has no fields)
message
camera_server.proto:680optional track_point = 1
The point to track if a point is to be tracked
rpc SubscribeTrackingRectangleCommand (, stream )
camera_server.proto:175Subscribe to incoming tracking rectangle command.
message
camera_server.proto:684(message has no fields)
message
camera_server.proto:685optional track_rectangle = 1
The point to track if a point is to be tracked
rpc SubscribeZoomInStart (, stream )
camera_server.proto:82Subscribe to zoom in start command
message
camera_server.proto:350(message has no fields)
message
camera_server.proto:351int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeZoomOutStart (, stream )
camera_server.proto:88Subscribe to zoom out start command
message
camera_server.proto:362(message has no fields)
message
camera_server.proto:363int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
rpc SubscribeZoomRange (, stream )
camera_server.proto:100Subscribe to zoom range command
message
camera_server.proto:386(message has no fields)
message
camera_server.proto:387float factor = 1
The zoom factor, starting at 1x.
rpc SubscribeZoomStop (, stream )
camera_server.proto:94Subscribe to zoom stop command
message
camera_server.proto:374(message has no fields)
message
camera_server.proto:375int32 reserved = 1
reserved, just make protoc-gen-mavsdk working
Possible feedback results for camera respond command.
Used in: , , , , , , , , , , , , , , , , , , , , , , , , , ,
CAMERA_FEEDBACK_UNKNOWN = 0
Unknown
CAMERA_FEEDBACK_OK = 1
Ok
CAMERA_FEEDBACK_BUSY = 2
Busy
CAMERA_FEEDBACK_FAILED = 3
Failed
message
camera_server.proto:585Result type.
Used in: , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , ,
CameraServerResult.Result result = 1
Result enum value
string result_str = 2
Human-readable English string describing the result
Possible results returned for action requests.
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
message
camera_server.proto:575Information about a picture just captured.
Used in:
optional position = 1
Location where the picture was taken
optional attitude_quaternion = 2
Attitude of the camera when the picture was taken (quaternion)
uint64 time_utc_us = 3
Timestamp in UTC (since UNIX epoch) in microseconds
bool is_success = 4
True if the capture was successful
int32 index = 5
Index from TakePhotoResponse
string file_url = 6
Download URL of this image
message
camera_server.proto:645Capture status
Used in:
float image_interval_s = 1
Image capture interval (in s)
float recording_time_s = 2
Elapsed time since recording started (in s)
float available_capacity_mib = 3
Available storage capacity. (in MiB)
CaptureStatus.ImageStatus image_status = 4
Current status of image capturing
CaptureStatus.VideoStatus video_status = 5
Current status of video capturing
int32 image_count = 6
Total number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT)
The image status
Used in:
IMAGE_STATUS_IDLE = 0
idle
IMAGE_STATUS_CAPTURE_IN_PROGRESS = 1
capture in progress
IMAGE_STATUS_INTERVAL_IDLE = 2
interval set but idle
IMAGE_STATUS_INTERVAL_IN_PROGRESS = 3
interval set and capture in progress)
The video status
Used in:
VIDEO_STATUS_IDLE = 0
idle
VIDEO_STATUS_CAPTURE_IN_PROGRESS = 1
capture in progress
message
camera_server.proto:527Type to represent a camera information.
Used in:
string vendor_name = 1
Name of the camera vendor
string model_name = 2
Name of the camera model
string firmware_version = 3
Camera firmware version in major[.minor[.patch[.dev]]] format
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
uint32 lens_id = 9
Lens ID
uint32 definition_file_version = 10
Camera definition file version (iteration)
string definition_file_uri = 11
Camera definition URI (http or mavlink ftp)
bool image_in_video_mode_supported = 12
Camera supports taking images while in video mode
bool video_in_image_mode_supported = 13
Camera supports recording video while in image mode
Camera mode type.
Used in:
MODE_UNKNOWN = 0
Unknown mode
MODE_PHOTO = 1
Photo mode
MODE_VIDEO = 2
Video mode
message
camera_server.proto:550Position 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_server.proto:567Quaternion 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_server.proto:666optional tracked_point = 1
The tracked point
message
camera_server.proto:669(message has no fields)
message
camera_server.proto:611Information about the camera storage.
Used in:
float used_storage_mib = 1
Used storage (in MiB)
float available_storage_mib = 2
Available storage (in MiB)
float total_storage_mib = 3
Total storage (in MiB)
StorageInformation.StorageStatus storage_status = 4
Storage status
uint32 storage_id = 5
Storage ID starting at 1
StorageInformation.StorageType storage_type = 6
Storage type
float read_speed_mib_s = 7
Read speed [MiB/s]
float write_speed_mib_s = 8
Write speed [MiB/s]
Storage status type.
Used in:
STORAGE_STATUS_NOT_AVAILABLE = 0
Storage 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_server.proto:745Point description type
Used in: ,
float point_x = 1
Point to track x value (normalized 0..1, 0 is left, 1 is right).
float point_y = 2
Point to track y value (normalized 0..1, 0 is top, 1 is bottom).
float radius = 3
Point to track y value (normalized 0..1, 0 is top, 1 is bottom).
message
camera_server.proto:752Rectangle description type
Used in: ,
float top_left_corner_x = 1
Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
float top_left_corner_y = 2
Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
float bottom_right_corner_x = 3
Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
float bottom_right_corner_y = 4
Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
message
camera_server.proto:544Type to represent video streaming settings
Used in:
bool has_rtsp_server = 1
True if the capture was successful
string rtsp_uri = 2
RTSP URI (e.g. rtsp://192.168.1.42:8554/live)