Camera

class mavsdk.camera.Camera(async_plugin_manager)

Bases: AsyncBase

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.

Generated by dcsdkgen - MAVSDK Camera API

async camera_list()

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.

Yields:

camera_list (CameraList) – Camera list

async capture_info()

Subscribe to capture info updates.

Yields:

capture_info (CaptureInfo) – Capture info

async current_settings()

Get the list of current camera settings.

Yields:

update (CurrentSettingsUpdate) – Current setting update per camera

async focus_in_start(component_id)

Start focusing in.

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async focus_out_start(component_id)

Start focusing out.

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async focus_range(component_id, range)

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

Parameters:

  • component_id (int32_t) – Component ID

  • range (float) – Range must be between 0.0 - 100.0

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async focus_stop(component_id)

Stop focus.

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async format_storage(component_id, storage_id)

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

This will delete all content of the camera storage!

Parameters:

  • component_id (int32_t) – Component ID

  • storage_id (int32_t) – Storage identify to be format

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async get_current_settings(component_id)

Get current settings.

Parameters:

component_id (int32_t) – Component ID

Returns:

current_settings – List of current settings

Return type:

[Setting]

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async get_mode(component_id)

Get camera mode.

Parameters:

component_id (int32_t) – Component ID

Returns:

mode – Mode

Return type:

Mode

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async get_possible_setting_options(component_id)

Get possible setting options.

Parameters:

component_id (int32_t) – Component ID

Returns:

setting_options – List of settings that can be changed

Return type:

[SettingOptions]

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async get_setting(component_id, setting)

Get a setting.

Only setting_id of setting needs to be set.

Parameters:

  • component_id (int32_t) – Component ID (0/all not available)

  • setting (Setting) – Requested setting

Returns:

setting – Setting

Return type:

Setting

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async get_storage(component_id)

Get camera’s storage status.

Parameters:

component_id (int32_t) – Component ID

Returns:

storage – Camera’s storage status

Return type:

Storage

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async get_video_stream_info(component_id)

Get video stream info.

Parameters:

component_id (int32_t) – Component ID

Returns:

video_stream_info – Video stream info

Return type:

VideoStreamInfo

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async list_photos(component_id, photos_range)

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.

Parameters:

  • component_id (int32_t) – Component ID

  • photos_range (PhotosRange) – Which photos should be listed (all or since connection)

Returns:

capture_infos – List of capture infos (representing the photos)

Return type:

[CaptureInfo]

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async mode()

Subscribe to camera mode updates.

Yields:

update (ModeUpdate) – Mode update for camera

name = 'Camera'
async possible_setting_options()

Get the list of settings that can be changed.

Yields:

update (PossibleSettingOptionsUpdate) – Possible setting update per camera

async reset_settings(component_id)

Reset all settings in camera.

This will reset all camera settings to default value

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async set_mode(component_id, mode)

Set camera mode.

Parameters:

  • component_id (int32_t) – Component ID

  • mode (Mode) – Camera mode to set

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async set_setting(component_id, setting)

Set a setting to some value.

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

Parameters:

  • component_id (int32_t) – Component ID

  • setting (Setting) – Desired setting

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async start_photo_interval(component_id, interval_s)

Start photo timelapse with a given interval.

Parameters:

  • component_id (int32_t) – Component ID

  • interval_s (float) – Interval between photos (in seconds)

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async start_video(component_id)

Start a video recording.

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async start_video_streaming(component_id, stream_id)

Start video streaming.

Parameters:

  • component_id (int32_t) – Component ID

  • stream_id (int32_t) – video stream id

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async stop_photo_interval(component_id)

Stop a running photo timelapse.

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async stop_video(component_id)

Stop a running video recording.

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async stop_video_streaming(component_id, stream_id)

Stop current video streaming.

Parameters:

  • component_id (int32_t) – Component ID

  • stream_id (int32_t) – video stream id

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async storage()

Subscribe to camera’s storage status updates.

Yields:

update (StorageUpdate) – Camera’s storage status

async take_photo(component_id)

Take one photo.

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async track_point(component_id, point_x, point_y, radius)

Track point.

Parameters:

  • component_id (int32_t) – Component ID

  • point_x (float) – Point in X axis (0..1, 0 is left, 1 is right)

  • point_y (float) – Point in Y axis (0..1, 0 is top, 1 is bottom)

  • radius (float) – Radius (0 is one pixel, 1 is full image width)

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async track_rectangle(component_id, top_left_x, top_left_y, bottom_right_x, bottom_right_y)

Track rectangle.

Parameters:

  • component_id (int32_t) – Component ID

  • top_left_x (float) – Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right)

  • top_left_y (float) – Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom)

  • bottom_right_x (float) – Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right)

  • bottom_right_y (float) – Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom)

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async track_stop(component_id)

Stop tracking.

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async video_stream_info()

Subscribe to video stream info updates.

Yields:

update (VideoStreamUpdate) – Video stream update for camera

async zoom_in_start(component_id)

Start zooming in.

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async zoom_out_start(component_id)

Start zooming out.

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async zoom_range(component_id, range)

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

Parameters:

  • component_id (int32_t) – Component ID

  • range (float) – Range must be between 0.0 and 100.0

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

async zoom_stop(component_id)

Stop zooming.

Parameters:

component_id (int32_t) – Component ID

Raises:

CameraError – If the request fails. The error contains the reason for the failure.

exception mavsdk.camera.CameraError(result, origin, *params)

Bases: Exception

Raised when a CameraResult is a fail code

class mavsdk.camera.CameraList(cameras)

Bases: object

Camera list

Parameters:

cameras ([Information]) – Camera items.

class mavsdk.camera.CameraResult(result, result_str)

Bases: object

Result type.

Parameters:

  • result (Result) – Result enum value

  • result_str (std::string) – Human-readable English string describing the result

class Result(value)

Bases: Enum

Possible results returned for camera commands

Values

UNKNOWN

Unknown result

SUCCESS

Command executed successfully

IN_PROGRESS

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

WRONG_ARGUMENT

Command has wrong argument(s)

NO_SYSTEM

No system connected

PROTOCOL_UNSUPPORTED

Definition file protocol not supported

UNAVAILABLE

Not available (yet)

CAMERA_ID_INVALID

Camera with camera ID not found

ACTION_UNSUPPORTED

Camera action not supported

ACTION_UNSUPPORTED = 12
BUSY = 3
CAMERA_ID_INVALID = 11
DENIED = 4
ERROR = 5
IN_PROGRESS = 2
NO_SYSTEM = 8
PROTOCOL_UNSUPPORTED = 9
SUCCESS = 1
TIMEOUT = 6
UNAVAILABLE = 10
UNKNOWN = 0
WRONG_ARGUMENT = 7
class mavsdk.camera.CaptureInfo(component_id, position, attitude_quaternion, attitude_euler_angle, time_utc_us, is_success, index, file_url)

Bases: object

Information about a picture just captured.

Parameters:

  • component_id (int32_t) – Component ID

  • position (Position) – Location where the picture was taken

  • attitude_quaternion (Quaternion) – Attitude of the camera when the picture was taken (quaternion)

  • attitude_euler_angle (EulerAngle) – Attitude of the camera when the picture was taken (euler angle)

  • time_utc_us (uint64_t) – Timestamp in UTC (since UNIX epoch) in microseconds

  • is_success (bool) – True if the capture was successful

  • index (int32_t) – Zero-based index of this image since vehicle was armed

  • file_url (std::string) – Download URL of this image

class mavsdk.camera.CurrentSettingsUpdate(component_id, current_settings)

Bases: object

An update about a current setting

Parameters:

  • component_id (int32_t) – Component ID

  • current_settings ([Setting]) – List of current settings

class mavsdk.camera.EulerAngle(roll_deg, pitch_deg, yaw_deg)

Bases: object

Euler angle type.

All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.

For more info see https://en.wikipedia.org/wiki/Euler_angles

Parameters:

  • roll_deg (float) – Roll angle in degrees, positive is banking to the right

  • pitch_deg (float) – Pitch angle in degrees, positive is pitching nose up

  • yaw_deg (float) – Yaw angle in degrees, positive is clock-wise seen from above

class mavsdk.camera.Information(component_id, vendor_name, model_name, focal_length_mm, horizontal_sensor_size_mm, vertical_sensor_size_mm, horizontal_resolution_px, vertical_resolution_px)

Bases: object

Type to represent a camera information.

Parameters:

  • component_id (int32_t) – Component ID

  • vendor_name (std::string) – Name of the camera vendor

  • model_name (std::string) – Name of the camera model

  • focal_length_mm (float) – Focal length

  • horizontal_sensor_size_mm (float) – Horizontal sensor size

  • vertical_sensor_size_mm (float) – Vertical sensor size

  • horizontal_resolution_px (uint32_t) – Horizontal image resolution in pixels

  • vertical_resolution_px (uint32_t) – Vertical image resolution in pixels

class mavsdk.camera.Mode(value)

Bases: Enum

Camera mode type.

Values

UNKNOWN

Unknown

PHOTO

Photo mode

VIDEO

Video mode

PHOTO = 1
UNKNOWN = 0
VIDEO = 2
class mavsdk.camera.ModeUpdate(component_id, mode)

Bases: object

An update about the current mode

Parameters:

  • component_id (int32_t) – Component ID

  • mode (Mode) – Camera mode

class mavsdk.camera.Option(option_id, option_description)

Bases: object

Type to represent a setting option.

Parameters:

  • option_id (std::string) – Name of the option (machine readable)

  • option_description (std::string) – Description of the option (human readable)

class mavsdk.camera.PhotosRange(value)

Bases: Enum

Photos range type.

Values

ALL

All the photos present on the camera

SINCE_CONNECTION

Photos taken since MAVSDK got connected

ALL = 0
SINCE_CONNECTION = 1
class mavsdk.camera.Position(latitude_deg, longitude_deg, absolute_altitude_m, relative_altitude_m)

Bases: object

Position type in global coordinates.

Parameters:

  • latitude_deg (double) – Latitude in degrees (range: -90 to +90)

  • longitude_deg (double) – Longitude in degrees (range: -180 to +180)

  • absolute_altitude_m (float) – Altitude AMSL (above mean sea level) in metres

  • relative_altitude_m (float) – Altitude relative to takeoff altitude in metres

class mavsdk.camera.PossibleSettingOptionsUpdate(component_id, setting_options)

Bases: object

An update about possible setting options

Parameters:

  • component_id (int32_t) – Component ID

  • setting_options ([SettingOptions]) – List of settings that can be changed

class mavsdk.camera.Quaternion(w, x, y, z)

Bases: object

Quaternion type.

All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.

For more info see: https://en.wikipedia.org/wiki/Quaternion

Parameters:

  • w (float) – Quaternion entry 0, also denoted as a

  • x (float) – Quaternion entry 1, also denoted as b

  • y (float) – Quaternion entry 2, also denoted as c

  • z (float) – Quaternion entry 3, also denoted as d

class mavsdk.camera.Setting(setting_id, setting_description, option, is_range)

Bases: object

Type to represent a setting with a selected option.

Parameters:

  • setting_id (std::string) – Name of a setting (machine readable)

  • setting_description (std::string) – Description of the setting (human readable). This field is meant to be read from the drone, ignore it when setting.

  • option (Option) – Selected option

  • is_range (bool) – If option is given as a range. This field is meant to be read from the drone, ignore it when setting.

class mavsdk.camera.SettingOptions(component_id, setting_id, setting_description, options, is_range)

Bases: object

Type to represent a setting with a list of options to choose from.

Parameters:

  • component_id (int32_t) – Component ID

  • setting_id (std::string) – Name of the setting (machine readable)

  • setting_description (std::string) – Description of the setting (human readable)

  • options ([Option]) – List of options or if range [min, max] or [min, max, interval]

  • is_range (bool) – If option is given as a range

class mavsdk.camera.Storage(component_id, video_on, photo_interval_on, used_storage_mib, available_storage_mib, total_storage_mib, recording_time_s, media_folder_name, storage_status, storage_id, storage_type)

Bases: object

Information about the camera’s storage status.

Parameters:

  • component_id (int32_t) – Component ID

  • video_on (bool) – Whether video recording is currently in process

  • photo_interval_on (bool) – Whether a photo interval is currently in process

  • used_storage_mib (float) – Used storage (in MiB)

  • available_storage_mib (float) – Available storage (in MiB)

  • total_storage_mib (float) – Total storage (in MiB)

  • recording_time_s (float) – Elapsed time since starting the video recording (in seconds)

  • media_folder_name (std::string) – Current folder name where media are saved

  • storage_status (StorageStatus) – Storage status

  • storage_id (uint32_t) – Storage ID starting at 1

  • storage_type (StorageType) – Storage type

class StorageStatus(value)

Bases: Enum

Storage status type.

Values

NOT_AVAILABLE

Status not available

UNFORMATTED

Storage is not formatted (i.e. has no recognized file system)

FORMATTED

Storage is formatted (i.e. has recognized a file system)

NOT_SUPPORTED

Storage status is not supported

FORMATTED = 2
NOT_AVAILABLE = 0
NOT_SUPPORTED = 3
UNFORMATTED = 1
class StorageType(value)

Bases: Enum

Storage type.

Values

UNKNOWN

Storage type unknown

USB_STICK

Storage type USB stick

SD

Storage type SD card

MICROSD

Storage type MicroSD card

HD

Storage type HD mass storage

OTHER

Storage type other, not listed

HD = 4
MICROSD = 3
OTHER = 5
SD = 2
UNKNOWN = 0
USB_STICK = 1
class mavsdk.camera.StorageUpdate(component_id, storage)

Bases: object

An update about storage

Parameters:

  • component_id (int32_t) – Component ID

  • storage (Storage) – Storage

class mavsdk.camera.VideoStreamInfo(stream_id, settings, status, spectrum)

Bases: object

Information about the video stream.

Parameters:
class VideoStreamSpectrum(value)

Bases: Enum

Video stream light spectrum type

Values

UNKNOWN

Unknown

VISIBLE_LIGHT

Visible light

INFRARED

Infrared

INFRARED = 2
UNKNOWN = 0
VISIBLE_LIGHT = 1
class VideoStreamStatus(value)

Bases: Enum

Video stream status type.

Values

NOT_RUNNING

Video stream is not running

IN_PROGRESS

Video stream is running

IN_PROGRESS = 1
NOT_RUNNING = 0
class mavsdk.camera.VideoStreamSettings(frame_rate_hz, horizontal_resolution_pix, vertical_resolution_pix, bit_rate_b_s, rotation_deg, uri, horizontal_fov_deg)

Bases: object

Type for video stream settings.

Parameters:

  • frame_rate_hz (float) – Frames per second

  • horizontal_resolution_pix (uint32_t) – Horizontal resolution (in pixels)

  • vertical_resolution_pix (uint32_t) – Vertical resolution (in pixels)

  • bit_rate_b_s (uint32_t) – Bit rate (in bits per second)

  • rotation_deg (uint32_t) – Video image rotation (clockwise, 0-359 degrees)

  • uri (std::string) – Video stream URI

  • horizontal_fov_deg (float) – Horizontal fov in degrees

class mavsdk.camera.VideoStreamUpdate(component_id, video_stream_info)

Bases: object

An update about a video stream

Parameters:

  • component_id (int32_t) – Component ID

  • video_stream_info (VideoStreamInfo) – Video stream info