mavsdk::Camera Class Reference

#include: camera.h

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 CaptureInfo

struct EulerAngle

struct Information

struct Option

struct Position

struct Quaternion

struct Setting

struct SettingOptions

struct Status

struct VideoStreamInfo

struct VideoStreamSettings

Public Types

Public Member Functions

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 = std::make_shared<Camera>(system);

Parameters

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

~Camera()

mavsdk::Camera::~Camera()

Destructor (internal use only).

Camera()

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

Copy constructor (object is not copyable).

Parameters

• const Camera& -

Member Typdef Documentation

typedef ResultCallback

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

Callback type for asynchronous Camera calls.

typedef ModeCallback

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

Callback type for subscribe_mode.

typedef InformationCallback

using mavsdk::Camera::InformationCallback =  std::function<void(Information)>

Callback type for subscribe_information.

typedef VideoStreamInfoCallback

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

Callback type for subscribe_video_stream_info.

typedef CaptureInfoCallback

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

Callback type for subscribe_capture_info.

typedef StatusCallback

using mavsdk::Camera::StatusCallback =  std::function<void(Status)>

Callback type for subscribe_status.

typedef CurrentSettingsCallback

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

Callback type for subscribe_current_settings.

typedef PossibleSettingOptionsCallback

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

Callback 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.

enum Result

Possible results returned for camera commands.

Member Function Documentation

take_photo_async()

void mavsdk::Camera::take_photo_async(const ResultCallback callback)

Take one photo.

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

Parameters

• const ResultCallback callback -

take_photo()

Result mavsdk::Camera::take_photo() const

Take one photo.

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

Returns

 Result - Result of request.

start_photo_interval_async()

void mavsdk::Camera::start_photo_interval_async(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

• float interval_s -
• const ResultCallback callback -

start_photo_interval()

Result mavsdk::Camera::start_photo_interval(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

• float interval_s -

Returns

 Result - Result of request.

stop_photo_interval_async()

void mavsdk::Camera::stop_photo_interval_async(const ResultCallback callback)

Stop a running photo timelapse.

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

Parameters

• const ResultCallback callback -

stop_photo_interval()

Result mavsdk::Camera::stop_photo_interval() const

Stop a running photo timelapse.

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

Returns

 Result - Result of request.

start_video_async()

void mavsdk::Camera::start_video_async(const ResultCallback callback)

Start a video recording.

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

Parameters

• const ResultCallback callback -

start_video()

Result mavsdk::Camera::start_video() const

Start a video recording.

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

Returns

 Result - Result of request.

stop_video_async()

void mavsdk::Camera::stop_video_async(const ResultCallback callback)

Stop a running video recording.

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

Parameters

• const ResultCallback callback -

stop_video()

Result mavsdk::Camera::stop_video() const

Stop a running video recording.

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

Returns

 Result - Result of request.

start_video_streaming()

Result mavsdk::Camera::start_video_streaming() const

Start video streaming.

This function is blocking.

Returns

 Result - Result of request.

stop_video_streaming()

Result mavsdk::Camera::stop_video_streaming() const

Stop current video streaming.

This function is blocking.

Returns

 Result - Result of request.

set_mode_async()

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

Set camera mode.

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

Parameters

• Mode mode -
• const ResultCallback callback -

set_mode()

Result mavsdk::Camera::set_mode(Mode mode) const

Set camera mode.

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

Parameters

• Mode mode -

Returns

 Result - Result of request.

subscribe_mode()

void mavsdk::Camera::subscribe_mode(ModeCallback callback)

Subscribe to camera mode updates.

Parameters

• ModeCallback callback -

mode()

Mode mavsdk::Camera::mode() const

Poll for 'Mode' (blocking).

Returns

 Mode - One Mode update.

subscribe_information()

void mavsdk::Camera::subscribe_information(InformationCallback callback)

Subscribe to camera information updates.

Parameters

• InformationCallback callback -

information()

Information mavsdk::Camera::information() const

Poll for 'Information' (blocking).

Returns

 Information - One Information update.

subscribe_video_stream_info()

void mavsdk::Camera::subscribe_video_stream_info(VideoStreamInfoCallback callback)

Subscribe to video stream info updates.

Parameters

• VideoStreamInfoCallback callback -

video_stream_info()

VideoStreamInfo mavsdk::Camera::video_stream_info() const

Poll for 'VideoStreamInfo' (blocking).

Returns

 VideoStreamInfo - One VideoStreamInfo update.

subscribe_capture_info()

void mavsdk::Camera::subscribe_capture_info(CaptureInfoCallback callback)

Subscribe to capture info updates.

Parameters

• CaptureInfoCallback callback -

subscribe_status()

void mavsdk::Camera::subscribe_status(StatusCallback callback)

Subscribe to camera status updates.

Parameters

• StatusCallback callback -

status()

Status mavsdk::Camera::status() const

Poll for 'Status' (blocking).

Returns

 Status - One Status update.

subscribe_current_settings()

void mavsdk::Camera::subscribe_current_settings(CurrentSettingsCallback callback)

Get the list of current camera settings.

Parameters

• CurrentSettingsCallback callback -

subscribe_possible_setting_options()

void mavsdk::Camera::subscribe_possible_setting_options(PossibleSettingOptionsCallback callback)

Get the list of settings that can be changed.

Parameters

• PossibleSettingOptionsCallback callback -

possible_setting_options()

std::vector<SettingOptions> mavsdk::Camera::possible_setting_options() const

Poll for 'std::vector' (blocking).

Returns

 std::vector< SettingOptions > - One std::vector update.

set_setting_async()

void mavsdk::Camera::set_setting_async(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

• Setting setting -
• const ResultCallback callback -

set_setting()

Result mavsdk::Camera::set_setting(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

• Setting setting -

Returns

 Result - Result of request.

get_setting_async()

void mavsdk::Camera::get_setting_async(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

• Setting setting -
• const GetSettingCallback callback -

get_setting()

std::pair<Result, Camera::Setting> mavsdk::Camera::get_setting(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

• Setting setting -

Returns

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

format_storage_async()

void mavsdk::Camera::format_storage_async(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

• const ResultCallback callback -

format_storage()

Result mavsdk::Camera::format_storage() 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.

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 & -