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common: add camera-thermal-status #369

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merged 2 commits into from
Sep 9, 2024
Merged

common: add camera-thermal-status #369

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0d7c7e2
common: add camera-thermal-range
rmackay9 Aug 24, 2024
1e54495
common: updates to camera-thermal-range from peer review
hamishwillee Sep 4, 2024
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20 changes: 20 additions & 0 deletions message_definitions/v1.0/common.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3310,6 +3310,9 @@
<entry value="2048" name="CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS">
<description>Camera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).</description>
</entry>
<entry value="4096" name="CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE">
<description>Camera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).</description>
</entry>
</enum>
<enum name="VIDEO_STREAM_STATUS_FLAGS" bitmask="true">
<description>Stream status flags (Bitmap)</description>
Expand All @@ -3319,6 +3322,9 @@
<entry value="2" name="VIDEO_STREAM_STATUS_FLAGS_THERMAL">
<description>Stream is thermal imaging</description>
</entry>
<entry value="4" name="VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED">
<description>Stream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).</description>
</entry>
</enum>
<enum name="VIDEO_STREAM_TYPE">
<description>Video stream types</description>
Expand Down Expand Up @@ -6105,6 +6111,20 @@
<field type="float" name="hdg" units="rad" invalid="NaN">Heading in radians, in NED. NAN if unknown</field>
<field type="float" name="hdg_acc" units="rad" invalid="NaN">Accuracy of heading, in NED. NAN if unknown</field>
</message>
<message id="277" name="CAMERA_THERMAL_RANGE">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Camera absolute thermal range. This can be streamed when the associated `VIDEO_STREAM_STATUS.flag` bit `VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED` is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t" name="stream_id" minValue="1" instance="true">Video Stream ID (1 for first, 2 for second, etc.)</field>
<field type="uint8_t" name="camera_device_id" default="0" minValue="0" maxValue="6">Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).</field>
<field type="float" name="max" units="degC">Temperature max.</field>
<field type="float" name="max_point_x" invalid="NaN">Temperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.</field>
<field type="float" name="max_point_y" invalid="NaN">Temperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.</field>
<field type="float" name="min" units="degC">Temperature min.</field>
<field type="float" name="min_point_x" invalid="NaN">Temperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.</field>
<field type="float" name="min_point_y" invalid="NaN">Temperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.</field>
</message>
<message id="280" name="GIMBAL_MANAGER_INFORMATION">
<description>Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
Expand Down
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