mavsdk::Camera Class Reference

#include: camera.h

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Can be used to manage cameras that implement the MAVLink Camera Protocol: https://mavlink.io/en/protocol/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.

Data Structures

struct CameraList

struct CaptureInfo

struct CurrentSettingsUpdate

struct EulerAngle

struct Information

struct ModeUpdate

struct Option

struct Position

struct PossibleSettingOptionsUpdate

struct Quaternion

struct Setting

struct SettingOptions

struct Storage

struct StorageUpdate

struct VideoStreamInfo

struct VideoStreamSettings

struct VideoStreamUpdate

Public Types

Type	Description
enum Mode	Camera mode type.
enum PhotosRange	Photos range type.
enum Result	Possible results returned for camera commands.
std::function< void(Result)> ResultCallback	Callback type for asynchronous Camera calls.
std::function< void(Result, std::vector< CaptureInfo >)> ListPhotosCallback	Callback type for list_photos_async.
std::function< void(CameraList)> CameraListCallback	Callback type for subscribe_camera_list.
Handle< CameraList > CameraListHandle	Handle type for subscribe_camera_list.
std::function< void(ModeUpdate)> ModeCallback	Callback type for subscribe_mode.
Handle< ModeUpdate > ModeHandle	Handle type for subscribe_mode.
std::function< void(VideoStreamUpdate)> VideoStreamInfoCallback	Callback type for subscribe_video_stream_info.
Handle< VideoStreamUpdate > VideoStreamInfoHandle	Handle type for subscribe_video_stream_info.
std::function< void(CaptureInfo)> CaptureInfoCallback	Callback type for subscribe_capture_info.
Handle< CaptureInfo > CaptureInfoHandle	Handle type for subscribe_capture_info.
std::function< void(StorageUpdate)> StorageCallback	Callback type for subscribe_storage.
Handle< StorageUpdate > StorageHandle	Handle type for subscribe_storage.
std::function< void(CurrentSettingsUpdate)> CurrentSettingsCallback	Callback type for subscribe_current_settings.
Handle< CurrentSettingsUpdate > CurrentSettingsHandle	Handle type for subscribe_current_settings.
std::function< void(PossibleSettingOptionsUpdate)> PossibleSettingOptionsCallback	Callback type for subscribe_possible_setting_options.
Handle< PossibleSettingOptionsUpdate > PossibleSettingOptionsHandle	Handle type for subscribe_possible_setting_options.
std::function< void(Result, Setting)> GetSettingCallback	Callback type for get_setting_async.

Public Member Functions

Type	Name	Description
	Camera (System & system)	Constructor. Creates the plugin for a specific System.
	Camera (std::shared_ptr< System > system)	Constructor. Creates the plugin for a specific System.
	~Camera () override	Destructor (internal use only).
	Camera (const Camera & other)	Copy constructor.
void	take_photo_async (int32_t component_id, const ResultCallback callback)	Take one photo.
Result	take_photo (int32_t component_id)const	Take one photo.
void	start_photo_interval_async (int32_t component_id, float interval_s, const ResultCallback callback)	Start photo timelapse with a given interval.
Result	start_photo_interval (int32_t component_id, float interval_s)const	Start photo timelapse with a given interval.
void	stop_photo_interval_async (int32_t component_id, const ResultCallback callback)	Stop a running photo timelapse.
Result	stop_photo_interval (int32_t component_id)const	Stop a running photo timelapse.
void	start_video_async (int32_t component_id, const ResultCallback callback)	Start a video recording.
Result	start_video (int32_t component_id)const	Start a video recording.
void	stop_video_async (int32_t component_id, const ResultCallback callback)	Stop a running video recording.
Result	stop_video (int32_t component_id)const	Stop a running video recording.
Result	start_video_streaming (int32_t component_id, int32_t stream_id)const	Start video streaming.
Result	stop_video_streaming (int32_t component_id, int32_t stream_id)const	Stop current video streaming.
void	set_mode_async (int32_t component_id, Mode mode, const ResultCallback callback)	Set camera mode.
Result	set_mode (int32_t component_id, Mode mode)const	Set camera mode.
void	list_photos_async (int32_t component_id, PhotosRange photos_range, const ListPhotosCallback callback)	List photos available on the camera.
std::pair< Result, std::vector< Camera::CaptureInfo > >	list_photos (int32_t component_id, PhotosRange photos_range)const	List photos available on the camera.
CameraListHandle	subscribe_camera_list (const CameraListCallback & callback)	Subscribe to list of cameras.
void	unsubscribe_camera_list (CameraListHandle handle)	Unsubscribe from subscribe_camera_list.
CameraList	camera_list () const	Poll for 'CameraList' (blocking).
ModeHandle	subscribe_mode (const ModeCallback & callback)	Subscribe to camera mode updates.
void	unsubscribe_mode (ModeHandle handle)	Unsubscribe from subscribe_mode.
std::pair< Result, Camera::Mode >	get_mode (int32_t component_id)const	Get camera mode.
VideoStreamInfoHandle	subscribe_video_stream_info (const VideoStreamInfoCallback & callback)	Subscribe to video stream info updates.
void	unsubscribe_video_stream_info (VideoStreamInfoHandle handle)	Unsubscribe from subscribe_video_stream_info.
std::pair< Result, Camera::VideoStreamInfo >	get_video_stream_info (int32_t component_id)const	Get video stream info.
CaptureInfoHandle	subscribe_capture_info (const CaptureInfoCallback & callback)	Subscribe to capture info updates.
void	unsubscribe_capture_info (CaptureInfoHandle handle)	Unsubscribe from subscribe_capture_info.
StorageHandle	subscribe_storage (const StorageCallback & callback)	Subscribe to camera's storage status updates.
void	unsubscribe_storage (StorageHandle handle)	Unsubscribe from subscribe_storage.
std::pair< Result, Camera::Storage >	get_storage (int32_t component_id)const	Get camera's storage status.
CurrentSettingsHandle	subscribe_current_settings (const CurrentSettingsCallback & callback)	Get the list of current camera settings.
void	unsubscribe_current_settings (CurrentSettingsHandle handle)	Unsubscribe from subscribe_current_settings.
std::pair< Result, std::vector< Camera::Setting > >	get_current_settings (int32_t component_id)const	Get current settings.
PossibleSettingOptionsHandle	subscribe_possible_setting_options (const PossibleSettingOptionsCallback & callback)	Get the list of settings that can be changed.
void	unsubscribe_possible_setting_options (PossibleSettingOptionsHandle handle)	Unsubscribe from subscribe_possible_setting_options.
std::pair< Result, std::vector< Camera::SettingOptions > >	get_possible_setting_options (int32_t component_id)const	Get possible setting options.
void	set_setting_async (int32_t component_id, Setting setting, const ResultCallback callback)	Set a setting to some value.
Result	set_setting (int32_t component_id, Setting setting)const	Set a setting to some value.
void	get_setting_async (int32_t component_id, Setting setting, const GetSettingCallback callback)	Get a setting.
std::pair< Result, Camera::Setting >	get_setting (int32_t component_id, Setting setting)const	Get a setting.
void	format_storage_async (int32_t component_id, int32_t storage_id, const ResultCallback callback)	Format storage (e.g. SD card) in camera.
Result	format_storage (int32_t component_id, int32_t storage_id)const	Format storage (e.g. SD card) in camera.
void	reset_settings_async (int32_t component_id, const ResultCallback callback)	Reset all settings in camera.
Result	reset_settings (int32_t component_id)const	Reset all settings in camera.
void	zoom_in_start_async (int32_t component_id, const ResultCallback callback)	Start zooming in.
Result	zoom_in_start (int32_t component_id)const	Start zooming in.
void	zoom_out_start_async (int32_t component_id, const ResultCallback callback)	Start zooming out.
Result	zoom_out_start (int32_t component_id)const	Start zooming out.
void	zoom_stop_async (int32_t component_id, const ResultCallback callback)	Stop zooming.
Result	zoom_stop (int32_t component_id)const	Stop zooming.
void	zoom_range_async (int32_t component_id, float range, const ResultCallback callback)	Zoom to value as proportion of full camera range (percentage between 0.0 and 100.0).
Result	zoom_range (int32_t component_id, float range)const	Zoom to value as proportion of full camera range (percentage between 0.0 and 100.0).
void	track_point_async (int32_t component_id, float point_x, float point_y, float radius, const ResultCallback callback)	Track point.
Result	track_point (int32_t component_id, float point_x, float point_y, float radius)const	Track point.
void	track_rectangle_async (int32_t component_id, float top_left_x, float top_left_y, float bottom_right_x, float bottom_right_y, const ResultCallback callback)	Track rectangle.
Result	track_rectangle (int32_t component_id, float top_left_x, float top_left_y, float bottom_right_x, float bottom_right_y)const	Track rectangle.
void	track_stop_async (int32_t component_id, const ResultCallback callback)	Stop tracking.
Result	track_stop (int32_t component_id)const	Stop tracking.
void	focus_in_start_async (int32_t component_id, const ResultCallback callback)	Start focusing in.
Result	focus_in_start (int32_t component_id)const	Start focusing in.
void	focus_out_start_async (int32_t component_id, const ResultCallback callback)	Start focusing out.
Result	focus_out_start (int32_t component_id)const	Start focusing out.
void	focus_stop_async (int32_t component_id, const ResultCallback callback)	Stop focus.
Result	focus_stop (int32_t component_id)const	Stop focus.
void	focus_range_async (int32_t component_id, float range, const ResultCallback callback)	Focus with range value of full range (value between 0.0 and 100.0).
Result	focus_range (int32_t component_id, float range)const	Focus with range value of full range (value between 0.0 and 100.0).
const Camera &	operator= (const Camera &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

Camera()

mavsdk::Camera::Camera(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto camera = Camera(system);

Parameters

• System& system - The specific system associated with this plugin.

Camera()

mavsdk::Camera::Camera(std::shared_ptr< System > system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto camera = Camera(system);

Parameters

• std::shared_ptr< System > system - The specific system associated with this plugin.

~Camera()

mavsdk::Camera::~Camera() override

Destructor (internal use only).

Camera()

mavsdk::Camera::Camera(const Camera &other)

Copy constructor.

Parameters

• const Camera& other -

Member Typdef Documentation

typedef ResultCallback

using mavsdk::Camera::ResultCallback =  std::function<void(Result)>

Callback type for asynchronous Camera calls.

typedef ListPhotosCallback

using mavsdk::Camera::ListPhotosCallback =  std::function<void(Result, std::vector<CaptureInfo>)>

Callback type for list_photos_async.

typedef CameraListCallback

using mavsdk::Camera::CameraListCallback =  std::function<void(CameraList)>

Callback type for subscribe_camera_list.

typedef CameraListHandle

using mavsdk::Camera::CameraListHandle =  Handle<CameraList>

Handle type for subscribe_camera_list.

typedef ModeCallback

using mavsdk::Camera::ModeCallback =  std::function<void(ModeUpdate)>

Callback type for subscribe_mode.

typedef ModeHandle

using mavsdk::Camera::ModeHandle =  Handle<ModeUpdate>

Handle type for subscribe_mode.

typedef VideoStreamInfoCallback

using mavsdk::Camera::VideoStreamInfoCallback =  std::function<void(VideoStreamUpdate)>

Callback type for subscribe_video_stream_info.

typedef VideoStreamInfoHandle

using mavsdk::Camera::VideoStreamInfoHandle =  Handle<VideoStreamUpdate>

Handle type for subscribe_video_stream_info.

typedef CaptureInfoCallback

using mavsdk::Camera::CaptureInfoCallback =  std::function<void(CaptureInfo)>

Callback type for subscribe_capture_info.

typedef CaptureInfoHandle

using mavsdk::Camera::CaptureInfoHandle =  Handle<CaptureInfo>

Handle type for subscribe_capture_info.

typedef StorageCallback

using mavsdk::Camera::StorageCallback =  std::function<void(StorageUpdate)>

Callback type for subscribe_storage.

typedef StorageHandle

using mavsdk::Camera::StorageHandle =  Handle<StorageUpdate>

Handle type for subscribe_storage.

typedef CurrentSettingsCallback

using mavsdk::Camera::CurrentSettingsCallback =  std::function<void(CurrentSettingsUpdate)>

Callback type for subscribe_current_settings.

typedef CurrentSettingsHandle

using mavsdk::Camera::CurrentSettingsHandle =  Handle<CurrentSettingsUpdate>

Handle type for subscribe_current_settings.

typedef PossibleSettingOptionsCallback

using mavsdk::Camera::PossibleSettingOptionsCallback =  std::function<void(PossibleSettingOptionsUpdate)>

Callback type for subscribe_possible_setting_options.

typedef PossibleSettingOptionsHandle

using mavsdk::Camera::PossibleSettingOptionsHandle =  Handle<PossibleSettingOptionsUpdate>

Handle type for subscribe_possible_setting_options.

typedef GetSettingCallback

using mavsdk::Camera::GetSettingCallback =  std::function<void(Result, Setting)>

Callback type for get_setting_async.

Member Enumeration Documentation

enum Mode

Camera mode type.

Value	Description
Unknown	Unknown.
Photo	Photo mode.
Video	Video mode.

enum PhotosRange

Photos range type.

Value	Description
All	All the photos present on the camera.
SinceConnection	Photos taken since MAVSDK got connected.

enum Result

Possible results returned for camera commands.

Value	Description
Unknown	Unknown result.
Success	Command executed successfully.
InProgress	Command in progress.
Busy	Camera is busy and rejected command.
Denied	Camera denied the command.
Error	An error has occurred while executing the command.
Timeout	Command timed out.
WrongArgument	Command has wrong argument(s).
NoSystem	No system connected.
ProtocolUnsupported	Definition file protocol not supported.
Unavailable	Not available (yet).
CameraIdInvalid	Camera with camera ID not found.
ActionUnsupported	Camera action not supported.

Member Function Documentation

take_photo_async()

void mavsdk::Camera::take_photo_async(int32_t component_id, const ResultCallback callback)

Take one photo.

This function is non-blocking. See 'take_photo' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

take_photo()

Result mavsdk::Camera::take_photo(int32_t component_id) const

Take one photo.

This function is blocking. See 'take_photo_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

start_photo_interval_async()

void mavsdk::Camera::start_photo_interval_async(int32_t component_id, float interval_s, const ResultCallback callback)

Start photo timelapse with a given interval.

This function is non-blocking. See 'start_photo_interval' for the blocking counterpart.

Parameters

• int32_t component_id -
• float interval_s -
• const ResultCallback callback -

start_photo_interval()

Result mavsdk::Camera::start_photo_interval(int32_t component_id, float interval_s) const

Start photo timelapse with a given interval.

This function is blocking. See 'start_photo_interval_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -
• float interval_s -

Returns

 Result - Result of request.

stop_photo_interval_async()

void mavsdk::Camera::stop_photo_interval_async(int32_t component_id, const ResultCallback callback)

Stop a running photo timelapse.

This function is non-blocking. See 'stop_photo_interval' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

stop_photo_interval()

Result mavsdk::Camera::stop_photo_interval(int32_t component_id) const

Stop a running photo timelapse.

This function is blocking. See 'stop_photo_interval_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

start_video_async()

void mavsdk::Camera::start_video_async(int32_t component_id, const ResultCallback callback)

Start a video recording.

This function is non-blocking. See 'start_video' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

start_video()

Result mavsdk::Camera::start_video(int32_t component_id) const

Start a video recording.

This function is blocking. See 'start_video_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

stop_video_async()

void mavsdk::Camera::stop_video_async(int32_t component_id, const ResultCallback callback)

Stop a running video recording.

This function is non-blocking. See 'stop_video' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

stop_video()

Result mavsdk::Camera::stop_video(int32_t component_id) const

Stop a running video recording.

This function is blocking. See 'stop_video_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

start_video_streaming()

Result mavsdk::Camera::start_video_streaming(int32_t component_id, int32_t stream_id) const

Start video streaming.

This function is blocking.

Parameters

• int32_t component_id -
• int32_t stream_id -

Returns

 Result - Result of request.

stop_video_streaming()

Result mavsdk::Camera::stop_video_streaming(int32_t component_id, int32_t stream_id) const

Stop current video streaming.

This function is blocking.

Parameters

• int32_t component_id -
• int32_t stream_id -

Returns

 Result - Result of request.

set_mode_async()

void mavsdk::Camera::set_mode_async(int32_t component_id, Mode mode, const ResultCallback callback)

Set camera mode.

This function is non-blocking. See 'set_mode' for the blocking counterpart.

Parameters

• int32_t component_id -
• Mode mode -
• const ResultCallback callback -

set_mode()

Result mavsdk::Camera::set_mode(int32_t component_id, Mode mode) const

Set camera mode.

This function is blocking. See 'set_mode_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -
• Mode mode -

Returns

 Result - Result of request.

list_photos_async()

void mavsdk::Camera::list_photos_async(int32_t component_id, PhotosRange photos_range, const ListPhotosCallback callback)

List 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.

This function is non-blocking. See 'list_photos' for the blocking counterpart.

Parameters

• int32_t component_id -
• PhotosRange photos_range -
• const ListPhotosCallback callback -

list_photos()

std::pair< Result, std::vector< Camera::CaptureInfo > > mavsdk::Camera::list_photos(int32_t component_id, PhotosRange photos_range) const

List 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.

This function is blocking. See 'list_photos_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -
• PhotosRange photos_range -

Returns

 std::pair< Result, std::vector< Camera::CaptureInfo > > - Result of request.

subscribe_camera_list()

CameraListHandle mavsdk::Camera::subscribe_camera_list(const CameraListCallback &callback)

Subscribe 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.

Parameters

• const CameraListCallback& callback -

Returns

 CameraListHandle -

unsubscribe_camera_list()

void mavsdk::Camera::unsubscribe_camera_list(CameraListHandle handle)

Unsubscribe from subscribe_camera_list.

Parameters

• CameraListHandle handle -

camera_list()

CameraList mavsdk::Camera::camera_list() const

Poll for 'CameraList' (blocking).

Returns

 CameraList - One CameraList update.

subscribe_mode()

ModeHandle mavsdk::Camera::subscribe_mode(const ModeCallback &callback)

Subscribe to camera mode updates.

Parameters

• const ModeCallback& callback -

Returns

 ModeHandle -

unsubscribe_mode()

void mavsdk::Camera::unsubscribe_mode(ModeHandle handle)

Unsubscribe from subscribe_mode.

Parameters

• ModeHandle handle -

get_mode()

std::pair< Result, Camera::Mode > mavsdk::Camera::get_mode(int32_t component_id) const

Get camera mode.

This function is blocking.

Parameters

• int32_t component_id -

Returns

 std::pair< Result, Camera::Mode > - Result of request.

subscribe_video_stream_info()

VideoStreamInfoHandle mavsdk::Camera::subscribe_video_stream_info(const VideoStreamInfoCallback &callback)

Subscribe to video stream info updates.

Parameters

• const VideoStreamInfoCallback& callback -

Returns

 VideoStreamInfoHandle -

unsubscribe_video_stream_info()

void mavsdk::Camera::unsubscribe_video_stream_info(VideoStreamInfoHandle handle)

Unsubscribe from subscribe_video_stream_info.

Parameters

• VideoStreamInfoHandle handle -

get_video_stream_info()

std::pair< Result, Camera::VideoStreamInfo > mavsdk::Camera::get_video_stream_info(int32_t component_id) const

Get video stream info.

This function is blocking.

Parameters

• int32_t component_id -

Returns

 std::pair< Result, Camera::VideoStreamInfo > - Result of request.

subscribe_capture_info()

CaptureInfoHandle mavsdk::Camera::subscribe_capture_info(const CaptureInfoCallback &callback)

Subscribe to capture info updates.

Parameters

• const CaptureInfoCallback& callback -

Returns

 CaptureInfoHandle -

unsubscribe_capture_info()

void mavsdk::Camera::unsubscribe_capture_info(CaptureInfoHandle handle)

Unsubscribe from subscribe_capture_info.

Parameters

• CaptureInfoHandle handle -

subscribe_storage()

StorageHandle mavsdk::Camera::subscribe_storage(const StorageCallback &callback)

Subscribe to camera's storage status updates.

Parameters

• const StorageCallback& callback -

Returns

 StorageHandle -

unsubscribe_storage()

void mavsdk::Camera::unsubscribe_storage(StorageHandle handle)

Unsubscribe from subscribe_storage.

Parameters

• StorageHandle handle -

get_storage()

std::pair< Result, Camera::Storage > mavsdk::Camera::get_storage(int32_t component_id) const

Get camera's storage status.

This function is blocking.

Parameters

• int32_t component_id -

Returns

 std::pair< Result, Camera::Storage > - Result of request.

subscribe_current_settings()

CurrentSettingsHandle mavsdk::Camera::subscribe_current_settings(const CurrentSettingsCallback &callback)

Get the list of current camera settings.

Parameters

• const CurrentSettingsCallback& callback -

Returns

 CurrentSettingsHandle -

unsubscribe_current_settings()

void mavsdk::Camera::unsubscribe_current_settings(CurrentSettingsHandle handle)

Unsubscribe from subscribe_current_settings.

Parameters

• CurrentSettingsHandle handle -

get_current_settings()

std::pair< Result, std::vector< Camera::Setting > > mavsdk::Camera::get_current_settings(int32_t component_id) const

Get current settings.

This function is blocking.

Parameters

• int32_t component_id -

Returns

 std::pair< Result, std::vector< Camera::Setting > > - Result of request.

subscribe_possible_setting_options()

PossibleSettingOptionsHandle mavsdk::Camera::subscribe_possible_setting_options(const PossibleSettingOptionsCallback &callback)

Get the list of settings that can be changed.

Parameters

• const PossibleSettingOptionsCallback& callback -

Returns

 PossibleSettingOptionsHandle -

unsubscribe_possible_setting_options()

void mavsdk::Camera::unsubscribe_possible_setting_options(PossibleSettingOptionsHandle handle)

Unsubscribe from subscribe_possible_setting_options.

Parameters

• PossibleSettingOptionsHandle handle -

get_possible_setting_options()

std::pair< Result, std::vector< Camera::SettingOptions > > mavsdk::Camera::get_possible_setting_options(int32_t component_id) const

Get possible setting options.

This function is blocking.

Parameters

• int32_t component_id -

Returns

 std::pair< Result, std::vector< Camera::SettingOptions > > - Result of request.

set_setting_async()

void mavsdk::Camera::set_setting_async(int32_t component_id, Setting setting, const ResultCallback callback)

Set a setting to some value.

Only setting_id of setting and option_id of option needs to be set.

This function is non-blocking. See 'set_setting' for the blocking counterpart.

Parameters

• int32_t component_id -
• Setting setting -
• const ResultCallback callback -

set_setting()

Result mavsdk::Camera::set_setting(int32_t component_id, Setting setting) const

Set a setting to some value.

Only setting_id of setting and option_id of option needs to be set.

This function is blocking. See 'set_setting_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -
• Setting setting -

Returns

 Result - Result of request.

get_setting_async()

void mavsdk::Camera::get_setting_async(int32_t component_id, Setting setting, const GetSettingCallback callback)

Get a setting.

Only setting_id of setting needs to be set.

This function is non-blocking. See 'get_setting' for the blocking counterpart.

Parameters

• int32_t component_id -
• Setting setting -
• const GetSettingCallback callback -

get_setting()

std::pair< Result, Camera::Setting > mavsdk::Camera::get_setting(int32_t component_id, Setting setting) const

Get a setting.

Only setting_id of setting needs to be set.

This function is blocking. See 'get_setting_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -
• Setting setting -

Returns

 std::pair< Result, Camera::Setting > - Result of request.

format_storage_async()

void mavsdk::Camera::format_storage_async(int32_t component_id, int32_t storage_id, const ResultCallback callback)

Format storage (e.g. SD card) in camera.

This will delete all content of the camera storage!

This function is non-blocking. See 'format_storage' for the blocking counterpart.

Parameters

• int32_t component_id -
• int32_t storage_id -
• const ResultCallback callback -

format_storage()

Result mavsdk::Camera::format_storage(int32_t component_id, int32_t storage_id) const

Format storage (e.g. SD card) in camera.

This will delete all content of the camera storage!

This function is blocking. See 'format_storage_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -
• int32_t storage_id -

Returns

 Result - Result of request.

reset_settings_async()

void mavsdk::Camera::reset_settings_async(int32_t component_id, const ResultCallback callback)

Reset all settings in camera.

This will reset all camera settings to default value

This function is non-blocking. See 'reset_settings' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

reset_settings()

Result mavsdk::Camera::reset_settings(int32_t component_id) const

Reset all settings in camera.

This will reset all camera settings to default value

This function is blocking. See 'reset_settings_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

zoom_in_start_async()

void mavsdk::Camera::zoom_in_start_async(int32_t component_id, const ResultCallback callback)

Start zooming in.

This function is non-blocking. See 'zoom_in_start' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

zoom_in_start()

Result mavsdk::Camera::zoom_in_start(int32_t component_id) const

Start zooming in.

This function is blocking. See 'zoom_in_start_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

zoom_out_start_async()

void mavsdk::Camera::zoom_out_start_async(int32_t component_id, const ResultCallback callback)

Start zooming out.

This function is non-blocking. See 'zoom_out_start' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

zoom_out_start()

Result mavsdk::Camera::zoom_out_start(int32_t component_id) const

Start zooming out.

This function is blocking. See 'zoom_out_start_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

zoom_stop_async()

void mavsdk::Camera::zoom_stop_async(int32_t component_id, const ResultCallback callback)

Stop zooming.

This function is non-blocking. See 'zoom_stop' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

zoom_stop()

Result mavsdk::Camera::zoom_stop(int32_t component_id) const

Stop zooming.

This function is blocking. See 'zoom_stop_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

zoom_range_async()

void mavsdk::Camera::zoom_range_async(int32_t component_id, float range, const ResultCallback callback)

Zoom to value as proportion of full camera range (percentage between 0.0 and 100.0).

This function is non-blocking. See 'zoom_range' for the blocking counterpart.

Parameters

• int32_t component_id -
• float range -
• const ResultCallback callback -

zoom_range()

Result mavsdk::Camera::zoom_range(int32_t component_id, float range) const

Zoom to value as proportion of full camera range (percentage between 0.0 and 100.0).

This function is blocking. See 'zoom_range_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -
• float range -

Returns

 Result - Result of request.

track_point_async()

void mavsdk::Camera::track_point_async(int32_t component_id, float point_x, float point_y, float radius, const ResultCallback callback)

Track point.

This function is non-blocking. See 'track_point' for the blocking counterpart.

Parameters

• int32_t component_id -
• float point_x -
• float point_y -
• float radius -
• const ResultCallback callback -

track_point()

Result mavsdk::Camera::track_point(int32_t component_id, float point_x, float point_y, float radius) const

Track point.

This function is blocking. See 'track_point_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -
• float point_x -
• float point_y -
• float radius -

Returns

 Result - Result of request.

track_rectangle_async()

void mavsdk::Camera::track_rectangle_async(int32_t component_id, float top_left_x, float top_left_y, float bottom_right_x, float bottom_right_y, const ResultCallback callback)

Track rectangle.

This function is non-blocking. See 'track_rectangle' for the blocking counterpart.

Parameters

• int32_t component_id -
• float top_left_x -
• float top_left_y -
• float bottom_right_x -
• float bottom_right_y -
• const ResultCallback callback -

track_rectangle()

Result mavsdk::Camera::track_rectangle(int32_t component_id, float top_left_x, float top_left_y, float bottom_right_x, float bottom_right_y) const

Track rectangle.

This function is blocking. See 'track_rectangle_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -
• float top_left_x -
• float top_left_y -
• float bottom_right_x -
• float bottom_right_y -

Returns

 Result - Result of request.

track_stop_async()

void mavsdk::Camera::track_stop_async(int32_t component_id, const ResultCallback callback)

Stop tracking.

This function is non-blocking. See 'track_stop' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

track_stop()

Result mavsdk::Camera::track_stop(int32_t component_id) const

Stop tracking.

This function is blocking. See 'track_stop_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

focus_in_start_async()

void mavsdk::Camera::focus_in_start_async(int32_t component_id, const ResultCallback callback)

Start focusing in.

This function is non-blocking. See 'focus_in_start' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

focus_in_start()

Result mavsdk::Camera::focus_in_start(int32_t component_id) const

Start focusing in.

This function is blocking. See 'focus_in_start_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

focus_out_start_async()

void mavsdk::Camera::focus_out_start_async(int32_t component_id, const ResultCallback callback)

Start focusing out.

This function is non-blocking. See 'focus_out_start' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

focus_out_start()

Result mavsdk::Camera::focus_out_start(int32_t component_id) const

Start focusing out.

This function is blocking. See 'focus_out_start_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

focus_stop_async()

void mavsdk::Camera::focus_stop_async(int32_t component_id, const ResultCallback callback)

Stop focus.

This function is non-blocking. See 'focus_stop' for the blocking counterpart.

Parameters

• int32_t component_id -
• const ResultCallback callback -

focus_stop()

Result mavsdk::Camera::focus_stop(int32_t component_id) const

Stop focus.

This function is blocking. See 'focus_stop_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -

Returns

 Result - Result of request.

focus_range_async()

void mavsdk::Camera::focus_range_async(int32_t component_id, float range, const ResultCallback callback)

Focus with range value of full range (value between 0.0 and 100.0).

This function is non-blocking. See 'focus_range' for the blocking counterpart.

Parameters

• int32_t component_id -
• float range -
• const ResultCallback callback -

focus_range()

Result mavsdk::Camera::focus_range(int32_t component_id, float range) const

Focus with range value of full range (value between 0.0 and 100.0).

This function is blocking. See 'focus_range_async' for the non-blocking counterpart.

Parameters

• int32_t component_id -
• float range -

Returns

 Result - Result of request.

operator=()

const Camera & mavsdk::Camera::operator=(const Camera &)=delete

Equality operator (object is not copyable).

Parameters

• const Camera& -

Returns

 const Camera & -