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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

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
 

—- 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

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

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
 

—- 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