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Table of Contents
MavLink camera control #

TAG-E uses PARAM_EXT protocol to control camera exposure values and configuration. Accurate and most recent description of available PARAM_EXT parameters and optional values is listed in camera description XML file shared by your TAG-E unit. You can find it under QGC files -> \Documents\QGroundControl\Parameters\Tag-E_ILX-LR1_xxx.xml

List of currently supported PARAM_EXT parameters and options:

Camera Mode — TG_CAM_MODE
param_id → TG_CAM_MODE
type → uint32
Value param_value
Photo0
Video1
Limited88
Offline99
Exposure Mode — TG_EXPMODE
param_id → TG_EXPMODE
type → uint32
Value param_value
iAuto294912
P65538
A131075
S196612
M1
Aperture — TG_APERTURE
param_id → TG_APERTURE
type → float
Value param_value
2.82.8
3.23.2
3.53.5
4.04.0
4.54.5
5.05.0
5.65.6
6.36.3
7.17.1
8.08.0
9.09.0
1010
1111
1313
1414
1616
1818
2020
2222
Shutter Speed — TG_SHTTERSPD
param_id → TG_SHTTERSPD
type → uint32
Value param_value
21310730
1.61048586
1.3851978
1655370
0.8524298
0.6393226
0.5327690
0.4262154
1/365539
1/465540
1/565541
1/665542
1/865544
1/1065546
1/1365549
1/1565551
1/2065556
1/2565561
1/3065566
1/4065576
1/5065586
1/6065596
1/8065616
1/10065636
1/12565661
1/16065696
1/20065736
1/25065786
1/32065856
1/40065936
1/50066036
1/64066176
1/80066336
1/100066536
1/125066786
1/160067136
1/200067536
1/250068036
1/320068736
1/400069536
Exposure Compensation — TG_EXPC
param_id → TG_EXPC
type → float
Value param_value
-5.0-5.0
-4.7-4.7
-4.3-4.3
-4.0-4.0
-3.7-3.7
-3.3-3.3
-3.0-3.0
-2.7-2.7
-2.3-2.3
-2.0-2.0
-1.7-1.7
-1.3-1.3
-1.0-1.0
-0.7-0.7
-0.3-0.3
0.00.0
+0.3+0.3
+0.7+0.7
+1.0+1.0
+1.3+1.3
+1.7+1.7
+2.0+2.0
+2.3+2.3
+2.7+2.7
+3.0+3.0
+3.3+3.3
+3.7+3.7
+4.0+4.0
+4.3+4.3
+4.7+4.7
+5.0+5.0
ISO — TG_ISO
param_id → TG_ISO
type → uint32
Value param_value
auto16777215
50*50
64*64
80*80
100100
125125
160160
200200
250250
320320
400400
500500
640640
800800
10001000
12501250
16001600
20002000
25002500
32003200
40004000
50005000
64006400
80008000
1000010000
1280012800
1600016000
2000020000
2560025600
3200032000
Auto ISO Minimum — TG_AISOMIN
param_id → TG_AISOMIN
type → uint32
Value param_value
50*50
64*64
80*80
100100
125125
160160
200200
250250
320320
400400
500500
640640
800800
10001000
12501250
16001600
20002000
25002500
32003200
40004000
50005000
64006400
80008000
1000010000
1280012800
1600016000
2000020000
2560025600
3200032000
Auto ISO Maximum — TG_AISOMAX
param_id → TG_AISOMAX
type → uint32
Value param_value
50*50
64*64
80*80
100100
125125
160160
200200
250250
320320
400400
500500
640640
800800
10001000
12501250
16001600
20002000
25002500
32003200
40004000
50005000
64006400
80008000
1000010000
1280012800
1600016000
2000020000
2560025600
3200032000
Focus Mode — TG_AFMODE
param_id → TG_AFMODE
type → uint32
Value param_value
MF1
AF-S2
AF-C32772
AF-A32773
Image Resolution — TG_IMGRES
param_id → TG_IMGRES
type → uint32
Value param_value
L1
M2
S3
Format SD Card — TG_FORMAT
param_id → TG_FORMAT
type → bool

FORMAT SD (3x repeat -> 1,0,1,0,1,0)

EXIF → Custom Label — TG_CINFO
param_id → TG_CINFO
type → custom

EXIF → Custom Label

EXIF → Landing Detection — TG_LAND_DET
param_id → TG_LAND_DET
type → bool

EXIF → landing detection

EXIF → Write Now — TG_WR_EXIF
param_id → TG_WR_EXIF
type → bool

EXIF → Write now

PPK Mode — TG_PPK_ENABLE
param_id → TG_PPK_ENABLE
type → uint32
Value param_value
Disabled0
Enabled1
Config2
PPK → Model — TG_PPK_MODEL
param_id → TG_PPK_MODEL
type → custom

PPK → Model

PPK → Manufacturer — TG_PPK_MAKE
param_id → TG_PPK_MAKE
type → custom

PPK → Manufacturer

PPK → Serial — TG_PPK_SERIAL
param_id → TG_PPK_SERIAL
type → custom

PPK → Serial

MavLink TAG-E status packets #

TAG-E sends status packets depending on the state of the camera or TAG-E configuration. These packets are generated on predefined interval or as soon as some change happened.
******************************************
TAG-E sends:

  • Heart beat
    • custom_mode 0x1A6EC654L
  • Data32
  • Data16


******************************************

—- packet Data32 structure —-

byte 0 – 0xAC -> AirPixel data sync byte
byte 1 – 0xD6 -> TAG-E status packet type
byte 2:
    • bit 0 – camera connected status
    • bit 1 – IO-A status
    • bit 2 – IO-B status
    • bit 3 – IO-C status
    • bit 4 – timesync status (1-ready)
    • bit 5 – Time synced in camera (1-ready)
    • bit 6 – Auto take-off detection enabled status
byte 3 – reserved (00)
byte 4 – MavLink GPS speed
byte 5 – NMEA GPS speed 
byte 6 – ERB GPS speed 
byte 7 – MavLink ATTI speed
byte 8 – MavLink TIMESYNC speed 
byte 9 – Camera ISO Lbyte
byte 10 – Camera ISO Hbyte
byte 11 – Camera ISO-min Lbyte
byte 12 – Camera ISO-min Hbyte
byte 13 – Camera ISO-max Lbyte
byte 14 – Camera ISO-max Hbyte
byte 15 – Camera Sh.Speed Lbyte
byte 16 – Camera Sh.Speed Hbyte1
byte 17 – Camera Sh.Speed Hbyte2
byte 18 – Camera Aperture (x10)
byte 19 – Camera Mode
byte 20 – Camera Exp.Corr
byte 21 – Camera AF-mode
byte 22 – SD status
    • 0 — Unknown / Camera disconnected
    • 1 — OK 
    • 2 — No Card 
    • 3 — Card Error 
    • 4 — Card Recognizing / Card Locked and DB Error 
    • 5 — DB Error 
    • 6 — Card Recognizing 
    • 7 — Card Locked and DB Error 
    • 8 — DB Error (Cannot Repair and Need Format) 
    • 9 — Card Error (Read-Only Media)
 
 
 
—- packet Data16 structure —-

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

byte 2 – Logging session status

    • 0 – IDLE
    • 1 – Initialization
    • 2 – RUN
    • 3 – Saving (Geotagging under progress)
    • 100 – Error

byte 3 – Geotagging progress

    • 0-100 (% of progress of geotagging)

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
byte 8 – Camera ready status

MavLink camera control - direct commands #

TAG-E can be controlled remotely over MAVLink by sending a COMMAND_LONG message with
command = MAV_CMD_DO_DIGICAM_CONFIGURE.

The specific action to perform is selected using param1 (or other), all params not mentioned in command description are expected to be 0. Some actions require additional parameters, which are listed under each command. Every recognized command is confirmed with a COMMAND_ACK message.

Aperture decrease
MAV_CMD_DO_DIGICAM_CONFIGURE
param2 = 99
Decreases the lens aperture by one step.

Aperture increase
MAV_CMD_DO_DIGICAM_CONFIGURE
param2 = 101
Increases the lens aperture by one step.

ISO increase
MAV_CMD_DO_DIGICAM_CONFIGURE
param3 = 101
Increases ISO sensitivity by one step.

ISO decrease
MAV_CMD_DO_DIGICAM_CONFIGURE
param3 = 99
Decreases ISO sensitivity by one step.

Shutter speed increase
MAV_CMD_DO_DIGICAM_CONFIGURE
param4 = 101
Increases shutter speed by one step.

Shutter speed decrease
MAV_CMD_DO_DIGICAM_CONFIGURE
param4 = 99
Decreases shutter speed by one step.

Button Left
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 100
Navigates left in the camera’s on-screen menu.

Button Right
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 101
Navigates right in the camera’s on-screen menu.

Button Up
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 102
Navigates up in the camera’s on-screen menu.

Button Down
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 103
Navigates down in the camera’s on-screen menu.

Button OK
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 104
Confirms the current selection in the camera menu.

Button Menu
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 105
Opens or closes the camera’s on-screen menu.

Trigger video
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 106
Starts or stops video recording.

White balance increase
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 109
Increases / cycles forward through white balance presets.

White balance decrease
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 110
Decreases / cycles backward through white balance presets.

Manual focus near/far (slow, step +)
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 111
Adjusts manual focus by one small step in one direction.

Manual focus near/far (slow, step -)
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 112
Adjusts manual focus by one small step in the opposite direction.

Manual focus near/far (fast, step +)
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 113
Adjusts manual focus by one large step in one direction.

Manual focus near/far (fast, step -)
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 114
Adjusts manual focus by one large step in the opposite direction.

Live-view zoom toggle
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 115
Toggles the magnified live-view display used to check focus.

Play
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 116
Opens image/video playback mode.

PASM toggle
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 117
Cycles the exposure mode

Focus point (area) right
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 118
Moves the manual focus plane cursor right.

Focus point (area) left
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 119
Moves the manual focus plane cursor left.

Focus plane cursor up
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 120
Moves the manual focus plane cursor up.

Focus plane cursor down
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 121
Moves the manual focus plane cursor down.

Toggle AF mode
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 124
Cycles the AF mode. (Setting of particular AF mode is available via PARAM_EXT protocol)

Geotagging start
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 132
Requests the start of a geotagging session.

Geotagging stop
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 133
Requests the stop of a geotagging session.

Display
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 134
Toggles the camera’s display / screen information mode.

Trigger AF
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 135
Triggers autofocus.

Zoom proportional
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 136
Drives the camera zoom.
param7 = signed zoom value; a positive value zooms in, a negative value
zooms out.

Focus magnification level
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 137
Sets the live-view focus magnification level (used to check focus more
closely).
param7 = magnification level, accepted values 0 to 3:

  • 0 = off / no magnification
  • 1 = magnification level 1
  • 2 = magnification level 2
  • 3 = magnification level 3 (highest)

Any value outside 0-3 is ignored and the magnification level is left
unchanged. Note: in the current firmware version, levels 1 and 2 produce
the same amount of magnification; this is expected to be corrected in a
future update.

AF area position
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 1101
Sets the autofocus target position within the frame.
param2 = horizontal position, 0-100 (percent of frame width, left to right)
param3 = vertical position, 0-100 (percent of frame height, top to bottom)
Values outside 0-100 are automatically clamped to the nearest valid value.

Focus area
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 180
param7 = focus area mode code

Selects the autofocus area mode. This is different from the AF area position command (trigger code 1101),
which only moves the AF target point within whatever mode is currently
selected here. 

  • Available modes:
  • 1 — Wide
  • 2 — Zone
  • 3 — Center
  • 257 — Flexible Spot S
  • 258 — Flexible Spot M
  • 259 — Flexible Spot L
  • 260 — Expand Flexible Spot
  • 261 — Flexible Spot
  • 262 — Flexible Spot XS
  • 263 — Flexible Spot XL
  • 4353 — Flexible Spot Free Size 1
  • 4354 — Flexible Spot Free Size 2
  • 4355 — Flexible Spot Free Size 3
  • 513 — Lock on AF Wide
  • 514 — Lock on AF Zone
  • 515 — Lock on AF Center
  • 516 — Lock on AF Flexible Spot S
  • 517 — Lock on AF Flexible Spot M
  • 518 — Lock on AF Flexible Spot L
  • 519 — Lock on Expand Flexible Spot
  • 520 — Lock on AF Flexible Spot
  • 521 — Lock on AF Flexible Spot XS
  • 522 — Lock on AF Flexible Spot XL
  • 4609 — Lock on AF Flexible Spot Free Size 1
  • 4610 — Lock on AF Flexible Spot Free Size 2
  • 4611 — Lock on AF Flexible Spot Free Size 3

Geotagging reset
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 260
Resets the geotagging session state – erases all current saved tags and sets new session.

Save processing LOG to SD card
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 1100
Saves TAG-E processing LOG to TAG-E’s microSD card if inserted.

Gimbal set tilt
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3001
Sets the gimbal tilt angle.
param6 = tilt angle, in degrees

Gimbal tilt to nadir
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3003
Points the gimbal straight down (-90 degrees tilt).

Gimbal toggle motors
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3004
Turns the gimbal’s stabilization motors on or off.

Gimbal tilt to horizon
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3005
Levels the gimbal to the horizon (0 degrees tilt).

Gimbal set tilt speed
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3006
Sets the gimbal’s tilt movement speed.
param6 = tilt speed

Gimbal set yaw
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3007
Sets the gimbal yaw angle.
param6 = yaw angle, in degrees

Gimbal set yaw speed
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3008
Sets the gimbal’s yaw movement speed.
param6 = yaw speed

Gimbal set yaw and tilt speed
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3009
Sets the gimbal’s yaw and tilt movement speed together.
param5 = yaw speed
param6 = tilt speed

Gimbal set lock/follow ratio
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3030
Sets the gimbal’s lock / follow mode ratio.
param7 = lock-follow value

Set custom tag
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 6000 to 6009
Sets one of ten custom text tags that can be embedded alongside captured media.
param2 to param7 = the tag text, up to 24 characters, supplied across
these remaining parameters encoded as floats.
The text is stored exactly as sent and automatically terminated at 24
characters.

Format SD card
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 6549
Formats the SD card.
param2 = 666 (required confirmation value)
To prevent an SD card from being formatted by accident, this command is
only carried out when param2 is set exactly to 666; otherwise it is
ignored.

What are your Feelings
MavLink camera control

TAG-E uses PARAM_EXT protocol to control camera exposure values and configuration. Accurate and most recent description of available PARAM_EXT parameters and optional values is listed in camera description XML file shared by your TAG-E unit. You can find it under QGC files -> \Documents\QGroundControl\Parameters\Tag-E_ILX-LR1_xxx.xml

List of currently supported PARAM_EXT parameters and options:

Camera Mode — TG_CAM_MODE
param_id → TG_CAM_MODE
type → uint32
Value param_value
Photo0
Video1
Limited88
Offline99
Exposure Mode — TG_EXPMODE
param_id → TG_EXPMODE
type → uint32
Value param_value
iAuto294912
P65538
A131075
S196612
M1
Aperture — TG_APERTURE
param_id → TG_APERTURE
type → float
Value param_value
2.82.8
3.23.2
3.53.5
4.04.0
4.54.5
5.05.0
5.65.6
6.36.3
7.17.1
8.08.0
9.09.0
1010
1111
1313
1414
1616
1818
2020
2222
Shutter Speed — TG_SHTTERSPD
param_id → TG_SHTTERSPD
type → uint32
Value param_value
21310730
1.61048586
1.3851978
1655370
0.8524298
0.6393226
0.5327690
0.4262154
1/365539
1/465540
1/565541
1/665542
1/865544
1/1065546
1/1365549
1/1565551
1/2065556
1/2565561
1/3065566
1/4065576
1/5065586
1/6065596
1/8065616
1/10065636
1/12565661
1/16065696
1/20065736
1/25065786
1/32065856
1/40065936
1/50066036
1/64066176
1/80066336
1/100066536
1/125066786
1/160067136
1/200067536
1/250068036
1/320068736
1/400069536
Exposure Compensation — TG_EXPC
param_id → TG_EXPC
type → float
Value param_value
-5.0-5.0
-4.7-4.7
-4.3-4.3
-4.0-4.0
-3.7-3.7
-3.3-3.3
-3.0-3.0
-2.7-2.7
-2.3-2.3
-2.0-2.0
-1.7-1.7
-1.3-1.3
-1.0-1.0
-0.7-0.7
-0.3-0.3
0.00.0
+0.3+0.3
+0.7+0.7
+1.0+1.0
+1.3+1.3
+1.7+1.7
+2.0+2.0
+2.3+2.3
+2.7+2.7
+3.0+3.0
+3.3+3.3
+3.7+3.7
+4.0+4.0
+4.3+4.3
+4.7+4.7
+5.0+5.0
ISO — TG_ISO
param_id → TG_ISO
type → uint32
Value param_value
auto16777215
50*50
64*64
80*80
100100
125125
160160
200200
250250
320320
400400
500500
640640
800800
10001000
12501250
16001600
20002000
25002500
32003200
40004000
50005000
64006400
80008000
1000010000
1280012800
1600016000
2000020000
2560025600
3200032000
Auto ISO Minimum — TG_AISOMIN
param_id → TG_AISOMIN
type → uint32
Value param_value
50*50
64*64
80*80
100100
125125
160160
200200
250250
320320
400400
500500
640640
800800
10001000
12501250
16001600
20002000
25002500
32003200
40004000
50005000
64006400
80008000
1000010000
1280012800
1600016000
2000020000
2560025600
3200032000
Auto ISO Maximum — TG_AISOMAX
param_id → TG_AISOMAX
type → uint32
Value param_value
50*50
64*64
80*80
100100
125125
160160
200200
250250
320320
400400
500500
640640
800800
10001000
12501250
16001600
20002000
25002500
32003200
40004000
50005000
64006400
80008000
1000010000
1280012800
1600016000
2000020000
2560025600
3200032000
Focus Mode — TG_AFMODE
param_id → TG_AFMODE
type → uint32
Value param_value
MF1
AF-S2
AF-C32772
AF-A32773
Image Resolution — TG_IMGRES
param_id → TG_IMGRES
type → uint32
Value param_value
L1
M2
S3
Format SD Card — TG_FORMAT
param_id → TG_FORMAT
type → bool

FORMAT SD (3x repeat -> 1,0,1,0,1,0)

EXIF → Custom Label — TG_CINFO
param_id → TG_CINFO
type → custom

EXIF → Custom Label

EXIF → Landing Detection — TG_LAND_DET
param_id → TG_LAND_DET
type → bool

EXIF → landing detection

EXIF → Write Now — TG_WR_EXIF
param_id → TG_WR_EXIF
type → bool

EXIF → Write now

PPK Mode — TG_PPK_ENABLE
param_id → TG_PPK_ENABLE
type → uint32
Value param_value
Disabled0
Enabled1
Config2
PPK → Model — TG_PPK_MODEL
param_id → TG_PPK_MODEL
type → custom

PPK → Model

PPK → Manufacturer — TG_PPK_MAKE
param_id → TG_PPK_MAKE
type → custom

PPK → Manufacturer

PPK → Serial — TG_PPK_SERIAL
param_id → TG_PPK_SERIAL
type → custom

PPK → Serial

MavLink TAG-E status packets

TAG-E sends status packets depending on the state of the camera or TAG-E configuration. These packets are generated on predefined interval or as soon as some change happened.
******************************************
TAG-E sends:

  • Heart beat
    • custom_mode 0x1A6EC654L
  • Data32
  • Data16


******************************************

—- packet Data32 structure —-

byte 0 – 0xAC -> AirPixel data sync byte
byte 1 – 0xD6 -> TAG-E status packet type
byte 2:
    • bit 0 – camera connected status
    • bit 1 – IO-A status
    • bit 2 – IO-B status
    • bit 3 – IO-C status
    • bit 4 – timesync status (1-ready)
    • bit 5 – Time synced in camera (1-ready)
    • bit 6 – Auto take-off detection enabled status
byte 3 – reserved (00)
byte 4 – MavLink GPS speed
byte 5 – NMEA GPS speed 
byte 6 – ERB GPS speed 
byte 7 – MavLink ATTI speed
byte 8 – MavLink TIMESYNC speed 
byte 9 – Camera ISO Lbyte
byte 10 – Camera ISO Hbyte
byte 11 – Camera ISO-min Lbyte
byte 12 – Camera ISO-min Hbyte
byte 13 – Camera ISO-max Lbyte
byte 14 – Camera ISO-max Hbyte
byte 15 – Camera Sh.Speed Lbyte
byte 16 – Camera Sh.Speed Hbyte1
byte 17 – Camera Sh.Speed Hbyte2
byte 18 – Camera Aperture (x10)
byte 19 – Camera Mode
byte 20 – Camera Exp.Corr
byte 21 – Camera AF-mode
byte 22 – SD status
    • 0 — Unknown / Camera disconnected
    • 1 — OK 
    • 2 — No Card 
    • 3 — Card Error 
    • 4 — Card Recognizing / Card Locked and DB Error 
    • 5 — DB Error 
    • 6 — Card Recognizing 
    • 7 — Card Locked and DB Error 
    • 8 — DB Error (Cannot Repair and Need Format) 
    • 9 — Card Error (Read-Only Media)
 
 
 
—- packet Data16 structure —-

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

byte 2 – Logging session status

    • 0 – IDLE
    • 1 – Initialization
    • 2 – RUN
    • 3 – Saving (Geotagging under progress)
    • 100 – Error

byte 3 – Geotagging progress

    • 0-100 (% of progress of geotagging)

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
byte 8 – Camera ready status

MavLink camera control - direct commands

TAG-E can be controlled remotely over MAVLink by sending a COMMAND_LONG message with
command = MAV_CMD_DO_DIGICAM_CONFIGURE.

The specific action to perform is selected using param1 (or other), all params not mentioned in command description are expected to be 0. Some actions require additional parameters, which are listed under each command. Every recognized command is confirmed with a COMMAND_ACK message.

Aperture decrease
MAV_CMD_DO_DIGICAM_CONFIGURE
param2 = 99
Decreases the lens aperture by one step.

Aperture increase
MAV_CMD_DO_DIGICAM_CONFIGURE
param2 = 101
Increases the lens aperture by one step.

ISO increase
MAV_CMD_DO_DIGICAM_CONFIGURE
param3 = 101
Increases ISO sensitivity by one step.

ISO decrease
MAV_CMD_DO_DIGICAM_CONFIGURE
param3 = 99
Decreases ISO sensitivity by one step.

Shutter speed increase
MAV_CMD_DO_DIGICAM_CONFIGURE
param4 = 101
Increases shutter speed by one step.

Shutter speed decrease
MAV_CMD_DO_DIGICAM_CONFIGURE
param4 = 99
Decreases shutter speed by one step.

Button Left
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 100
Navigates left in the camera’s on-screen menu.

Button Right
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 101
Navigates right in the camera’s on-screen menu.

Button Up
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 102
Navigates up in the camera’s on-screen menu.

Button Down
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 103
Navigates down in the camera’s on-screen menu.

Button OK
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 104
Confirms the current selection in the camera menu.

Button Menu
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 105
Opens or closes the camera’s on-screen menu.

Trigger video
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 106
Starts or stops video recording.

White balance increase
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 109
Increases / cycles forward through white balance presets.

White balance decrease
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 110
Decreases / cycles backward through white balance presets.

Manual focus near/far (slow, step +)
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 111
Adjusts manual focus by one small step in one direction.

Manual focus near/far (slow, step -)
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 112
Adjusts manual focus by one small step in the opposite direction.

Manual focus near/far (fast, step +)
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 113
Adjusts manual focus by one large step in one direction.

Manual focus near/far (fast, step -)
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 114
Adjusts manual focus by one large step in the opposite direction.

Live-view zoom toggle
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 115
Toggles the magnified live-view display used to check focus.

Play
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 116
Opens image/video playback mode.

PASM toggle
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 117
Cycles the exposure mode

Focus point (area) right
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 118
Moves the manual focus plane cursor right.

Focus point (area) left
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 119
Moves the manual focus plane cursor left.

Focus plane cursor up
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 120
Moves the manual focus plane cursor up.

Focus plane cursor down
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 121
Moves the manual focus plane cursor down.

Toggle AF mode
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 124
Cycles the AF mode. (Setting of particular AF mode is available via PARAM_EXT protocol)

Geotagging start
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 132
Requests the start of a geotagging session.

Geotagging stop
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 133
Requests the stop of a geotagging session.

Display
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 134
Toggles the camera’s display / screen information mode.

Trigger AF
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 135
Triggers autofocus.

Zoom proportional
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 136
Drives the camera zoom.
param7 = signed zoom value; a positive value zooms in, a negative value
zooms out.

Focus magnification level
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 137
Sets the live-view focus magnification level (used to check focus more
closely).
param7 = magnification level, accepted values 0 to 3:

  • 0 = off / no magnification
  • 1 = magnification level 1
  • 2 = magnification level 2
  • 3 = magnification level 3 (highest)

Any value outside 0-3 is ignored and the magnification level is left
unchanged. Note: in the current firmware version, levels 1 and 2 produce
the same amount of magnification; this is expected to be corrected in a
future update.

AF area position
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 1101
Sets the autofocus target position within the frame.
param2 = horizontal position, 0-100 (percent of frame width, left to right)
param3 = vertical position, 0-100 (percent of frame height, top to bottom)
Values outside 0-100 are automatically clamped to the nearest valid value.

Focus area
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 180
param7 = focus area mode code

Selects the autofocus area mode. This is different from the AF area position command (trigger code 1101),
which only moves the AF target point within whatever mode is currently
selected here. 

  • Available modes:
  • 1 — Wide
  • 2 — Zone
  • 3 — Center
  • 257 — Flexible Spot S
  • 258 — Flexible Spot M
  • 259 — Flexible Spot L
  • 260 — Expand Flexible Spot
  • 261 — Flexible Spot
  • 262 — Flexible Spot XS
  • 263 — Flexible Spot XL
  • 4353 — Flexible Spot Free Size 1
  • 4354 — Flexible Spot Free Size 2
  • 4355 — Flexible Spot Free Size 3
  • 513 — Lock on AF Wide
  • 514 — Lock on AF Zone
  • 515 — Lock on AF Center
  • 516 — Lock on AF Flexible Spot S
  • 517 — Lock on AF Flexible Spot M
  • 518 — Lock on AF Flexible Spot L
  • 519 — Lock on Expand Flexible Spot
  • 520 — Lock on AF Flexible Spot
  • 521 — Lock on AF Flexible Spot XS
  • 522 — Lock on AF Flexible Spot XL
  • 4609 — Lock on AF Flexible Spot Free Size 1
  • 4610 — Lock on AF Flexible Spot Free Size 2
  • 4611 — Lock on AF Flexible Spot Free Size 3

Geotagging reset
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 260
Resets the geotagging session state – erases all current saved tags and sets new session.

Save processing LOG to SD card
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 1100
Saves TAG-E processing LOG to TAG-E’s microSD card if inserted.

Gimbal set tilt
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3001
Sets the gimbal tilt angle.
param6 = tilt angle, in degrees

Gimbal tilt to nadir
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3003
Points the gimbal straight down (-90 degrees tilt).

Gimbal toggle motors
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3004
Turns the gimbal’s stabilization motors on or off.

Gimbal tilt to horizon
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3005
Levels the gimbal to the horizon (0 degrees tilt).

Gimbal set tilt speed
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3006
Sets the gimbal’s tilt movement speed.
param6 = tilt speed

Gimbal set yaw
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3007
Sets the gimbal yaw angle.
param6 = yaw angle, in degrees

Gimbal set yaw speed
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3008
Sets the gimbal’s yaw movement speed.
param6 = yaw speed

Gimbal set yaw and tilt speed
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3009
Sets the gimbal’s yaw and tilt movement speed together.
param5 = yaw speed
param6 = tilt speed

Gimbal set lock/follow ratio
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 3030
Sets the gimbal’s lock / follow mode ratio.
param7 = lock-follow value

Set custom tag
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 6000 to 6009
Sets one of ten custom text tags that can be embedded alongside captured media.
param2 to param7 = the tag text, up to 24 characters, supplied across
these remaining parameters encoded as floats.
The text is stored exactly as sent and automatically terminated at 24
characters.

Format SD card
MAV_CMD_DO_DIGICAM_CONFIGURE
param1 = 6549
Formats the SD card.
param2 = 666 (required confirmation value)
To prevent an SD card from being formatted by accident, this command is
only carried out when param2 is set exactly to 666; otherwise it is
ignored.