Developer information

MavLink camera control #

Entire and therfore camera can be controlled via MavLink commands (API).
With lower descibed commands can any part of the drone system control exposure or geotagging via the Entire as bridge.

Next commands must be wrapped to COMMAND_LONG packet in format:
Command, p1, p2, p3, p4, p5, p6, p7

Trigger Photo
MAV_CMD_DO_DIGICAM_CONTROL, 0, 0, 0, 0, 1, 0, 0

Trigger video
MAV_CMD_DO_DIGICAM_CONFIGURE, 106, 0, 0, 0, 0, 0, 0

Trigger Play
MAV_CMD_DO_DIGICAM_CONFIGURE, 116, 0, 0, 0, 0, 0, 0

Trigger MENU
MAV_CMD_DO_DIGICAM_CONFIGURE, 105, 0, 0, 0, 0, 0, 0

Trigger UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 102, 0, 0, 0, 0, 0, 0

Trigger Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 103, 0, 0, 0, 0, 0, 0

Trigger Left
MAV_CMD_DO_DIGICAM_CONFIGURE, 100, 0, 0, 0, 0, 0, 0

Trigger Right
MAV_CMD_DO_DIGICAM_CONFIGURE, 101, 0, 0, 0, 0, 0, 0

Trigger OK
MAV_CMD_DO_DIGICAM_CONFIGURE, 104, 0, 0, 0, 0, 0, 0

Trigger Display
MAV_CMD_DO_DIGICAM_CONFIGURE, 134, 0, 0, 0, 0, 0, 0

Trigger POWER
MAV_CMD_DO_DIGICAM_CONFIGURE, 1004, 0, 0, 0, 0, 0, 0

Trigger AF
MAV_CMD_DO_DIGICAM_CONFIGURE, 135, 0, 0, 0, 0, 0, 0

Trigger C1
MAV_CMD_DO_DIGICAM_CONFIGURE, 1001, 0, 0, 0, 0, 0, 0

Trigger C2
MAV_CMD_DO_DIGICAM_CONFIGURE, 1002, 0, 0, 0, 0, 0, 0

Trigger C3
MAV_CMD_DO_DIGICAM_CONFIGURE, 1003, 0, 0, 0, 0, 0, 0

Trigger MF UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 113, 0, 0, 0, 0, 0, 0
Trigger MF Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 114, 0, 0, 0, 0, 0, 0

Trigger WB UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 109, 0, 0, 0, 0, 0, 0
Trigger Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 110, 0, 0, 0, 0, 0, 0

Trigger Speed up
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 0, 0, 101, 0, 0, 0
Trigger Speed down
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 0, 0, 99, 0, 0, 0

Trigger Aperture UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 101, 0, 0, 0, 0, 0
Trigger Aperture Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 99, 0, 0, 0, 0, 0

Trigger ISO up
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 0, 101, 0, 0, 0, 0
Trigger ISO Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 0, 99, 0, 0, 0, 0

Trigger EXP corr UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 122, 0, 0, 0, 0, 0, 0
Trigger EXP corr Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 123, 0, 0, 0, 0, 0, 0

Trigger Zoom up
MAV_CMD_DO_DIGICAM_CONTROL, 0, 101, 0, 0, 0, 0, 0
Trigger Zoom Down
MAV_CMD_DO_DIGICAM_CONTROL, 0, 99, 0, 0, 0, 0, 0

Trigger Focus UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 111, 0, 0, 0, 0, 0, 0
Trigger Focus Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 112, 0, 0, 0, 0, 0, 0

Start geotagging
MAV_CMD_DO_DIGICAM_CONFIGURE, 132, 0, 0, 0, 0, 0, 0

Stop geotagging
MAV_CMD_DO_DIGICAM_CONFIGURE, 133, 0, 0, 0, 0, 0, 0

 

******************************************
Text Commands – all can be discovered at Entire’s web GUI which is all based  on these commands.
******************************************
Text commands are sent (wraped up) as COMMAND_LONG with command type DO_DIGICAM_CONTROL. Param1 – is everytime set to 9999 (first four bytes) as sign of “text command”, next bytes are not filled as floats, but as bytes (chars) containing text string ended by dot “.”. Commands are case sensitive. MavLink officially does not include any routines to pack text data to Command Long. You will have to “create” your Command Long packet by your own.
******************************************
Text packet is generated as Command Long:
Send Text command
MAV_CMD_DO_DIGICAM_CONTROL, 9999, cmd_par_txt
******************************************

—–Set control mode:—–
USB
“cm-u.”
LAN
“cm-L.”
Marshall
“cm-M.”
WiFi
“cm-w.”
Bluetooth
“cm-b.”
RED
“cm-R.”
SBUS out
“cm-S.”
iXlink
“cm-i.”
LANC
“cm-l.”
WAVE
“cm-W.”

—–Set XMP tagging:—–
“xmp-1.”
“xmp-0.”

—–Set EXIF tagging:—–
“log-c.”
“log-s.”
“log-n.”

 

MavLink Entire status packets #

Entire sends also status packets depending on the state of the camera / geotagging. Those packets are generated on predefined interval or as soon as some change happened.
******************************************
Entire sends:
-Heart beat
-Data64
-Data16
******************************************

—- packet Data64 structure —-
byte 0 – 0xAC -> sign of Entire generated packet
byte 1 – 0xA0 -> Status packet type

byte 2:
    bit 0 – camera connected status
    bit 1 – WiFi active status
    bit 3 – WiFi connection status

byte 3 – USB mode
byte 4 – Geotagging mode
byte 5 – Geotagging session status
byte 6 – Geotagging autotrigger status
byte 7 – Camera features
byte 8:
    bit 0 Gremsy tuning status
    bit 1 Gremsy control status

byte 9 – UNIA status
byte 10 – UNIB status
byte 11 – UNIC status
byte 12 – UNI1 status
byte 13 – UNI2 status
byte 14 – UNI3 status
byte 15 – UNI4 status

byte 16 – MavLink GPS speed
byte 17 – MavLink ATTI speed
byte 18 – ERB GPS speed
byte 19 – NMEA GPS speed
byte 20 – gimbal ATTI speed

byte 21 – focus distance Lbyte //only PhaseOne industrial
byte 22 – focus distance Hbyte //only PhaseOne industrial

 

—- packet Data16 structure —-
byte 0 – 0xAC -> sign of Entire generated packet
byte 1 – 0xA9 -> Geotagging status packet

byte 2 – Logging session status
byte 3 – Geotagging progress

byte 4 – Detected photos in session Lbyte
byte 5 – Detected photos in session Hbyte

byte 6 – Current LightWare measured distance Lbyte
byte 7 – Current LightWare measured distance Hbyte

 

MavLink camera control

Entire and therfore camera can be controlled via MavLink commands (API).
With lower descibed commands can any part of the drone system control exposure or geotagging via the Entire as bridge.

Next commands must be wrapped to COMMAND_LONG packet in format:
Command, p1, p2, p3, p4, p5, p6, p7

Trigger Photo
MAV_CMD_DO_DIGICAM_CONTROL, 0, 0, 0, 0, 1, 0, 0

Trigger video
MAV_CMD_DO_DIGICAM_CONFIGURE, 106, 0, 0, 0, 0, 0, 0

Trigger Play
MAV_CMD_DO_DIGICAM_CONFIGURE, 116, 0, 0, 0, 0, 0, 0

Trigger MENU
MAV_CMD_DO_DIGICAM_CONFIGURE, 105, 0, 0, 0, 0, 0, 0

Trigger UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 102, 0, 0, 0, 0, 0, 0

Trigger Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 103, 0, 0, 0, 0, 0, 0

Trigger Left
MAV_CMD_DO_DIGICAM_CONFIGURE, 100, 0, 0, 0, 0, 0, 0

Trigger Right
MAV_CMD_DO_DIGICAM_CONFIGURE, 101, 0, 0, 0, 0, 0, 0

Trigger OK
MAV_CMD_DO_DIGICAM_CONFIGURE, 104, 0, 0, 0, 0, 0, 0

Trigger Display
MAV_CMD_DO_DIGICAM_CONFIGURE, 134, 0, 0, 0, 0, 0, 0

Trigger POWER
MAV_CMD_DO_DIGICAM_CONFIGURE, 1004, 0, 0, 0, 0, 0, 0

Trigger AF
MAV_CMD_DO_DIGICAM_CONFIGURE, 135, 0, 0, 0, 0, 0, 0

Trigger C1
MAV_CMD_DO_DIGICAM_CONFIGURE, 1001, 0, 0, 0, 0, 0, 0

Trigger C2
MAV_CMD_DO_DIGICAM_CONFIGURE, 1002, 0, 0, 0, 0, 0, 0

Trigger C3
MAV_CMD_DO_DIGICAM_CONFIGURE, 1003, 0, 0, 0, 0, 0, 0

Trigger MF UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 113, 0, 0, 0, 0, 0, 0
Trigger MF Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 114, 0, 0, 0, 0, 0, 0

Trigger WB UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 109, 0, 0, 0, 0, 0, 0
Trigger Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 110, 0, 0, 0, 0, 0, 0

Trigger Speed up
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 0, 0, 101, 0, 0, 0
Trigger Speed down
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 0, 0, 99, 0, 0, 0

Trigger Aperture UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 101, 0, 0, 0, 0, 0
Trigger Aperture Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 99, 0, 0, 0, 0, 0

Trigger ISO up
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 0, 101, 0, 0, 0, 0
Trigger ISO Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 0, 0, 99, 0, 0, 0, 0

Trigger EXP corr UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 122, 0, 0, 0, 0, 0, 0
Trigger EXP corr Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 123, 0, 0, 0, 0, 0, 0

Trigger Zoom up
MAV_CMD_DO_DIGICAM_CONTROL, 0, 101, 0, 0, 0, 0, 0
Trigger Zoom Down
MAV_CMD_DO_DIGICAM_CONTROL, 0, 99, 0, 0, 0, 0, 0

Trigger Focus UP
MAV_CMD_DO_DIGICAM_CONFIGURE, 111, 0, 0, 0, 0, 0, 0
Trigger Focus Down
MAV_CMD_DO_DIGICAM_CONFIGURE, 112, 0, 0, 0, 0, 0, 0

Start geotagging
MAV_CMD_DO_DIGICAM_CONFIGURE, 132, 0, 0, 0, 0, 0, 0

Stop geotagging
MAV_CMD_DO_DIGICAM_CONFIGURE, 133, 0, 0, 0, 0, 0, 0

 

******************************************
Text Commands – all can be discovered at Entire’s web GUI which is all based  on these commands.
******************************************
Text commands are sent (wraped up) as COMMAND_LONG with command type DO_DIGICAM_CONTROL. Param1 – is everytime set to 9999 (first four bytes) as sign of “text command”, next bytes are not filled as floats, but as bytes (chars) containing text string ended by dot “.”. Commands are case sensitive. MavLink officially does not include any routines to pack text data to Command Long. You will have to “create” your Command Long packet by your own.
******************************************
Text packet is generated as Command Long:
Send Text command
MAV_CMD_DO_DIGICAM_CONTROL, 9999, cmd_par_txt
******************************************

—–Set control mode:—–
USB
“cm-u.”
LAN
“cm-L.”
Marshall
“cm-M.”
WiFi
“cm-w.”
Bluetooth
“cm-b.”
RED
“cm-R.”
SBUS out
“cm-S.”
iXlink
“cm-i.”
LANC
“cm-l.”
WAVE
“cm-W.”

—–Set XMP tagging:—–
“xmp-1.”
“xmp-0.”

—–Set EXIF tagging:—–
“log-c.”
“log-s.”
“log-n.”

 

MavLink Entire status packets

Entire sends also status packets depending on the state of the camera / geotagging. Those packets are generated on predefined interval or as soon as some change happened.
******************************************
Entire sends:
-Heart beat
-Data64
-Data16
******************************************

—- packet Data64 structure —-
byte 0 – 0xAC -> sign of Entire generated packet
byte 1 – 0xA0 -> Status packet type

byte 2:
    bit 0 – camera connected status
    bit 1 – WiFi active status
    bit 3 – WiFi connection status

byte 3 – USB mode
byte 4 – Geotagging mode
byte 5 – Geotagging session status
byte 6 – Geotagging autotrigger status
byte 7 – Camera features
byte 8:
    bit 0 Gremsy tuning status
    bit 1 Gremsy control status

byte 9 – UNIA status
byte 10 – UNIB status
byte 11 – UNIC status
byte 12 – UNI1 status
byte 13 – UNI2 status
byte 14 – UNI3 status
byte 15 – UNI4 status

byte 16 – MavLink GPS speed
byte 17 – MavLink ATTI speed
byte 18 – ERB GPS speed
byte 19 – NMEA GPS speed
byte 20 – gimbal ATTI speed

byte 21 – focus distance Lbyte //only PhaseOne industrial
byte 22 – focus distance Hbyte //only PhaseOne industrial

 

—- packet Data16 structure —-
byte 0 – 0xAC -> sign of Entire generated packet
byte 1 – 0xA9 -> Geotagging status packet

byte 2 – Logging session status
byte 3 – Geotagging progress

byte 4 – Detected photos in session Lbyte
byte 5 – Detected photos in session Hbyte

byte 6 – Current LightWare measured distance Lbyte
byte 7 – Current LightWare measured distance Hbyte