mirror of
https://github.com/mavlink/mavlink-devguide.git
synced 2026-06-19 07:36:26 +00:00
Separate out the deprecated commands
This commit is contained in:
Hamish Willee
+46
-31
@@ -316,38 +316,53 @@ Camera components that are powered from their own battery should publish [BATTER
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Other components like a GCS will typically only use the camera `BATTERY_STATUS.battery_remaining` field (or possibly `time_remaining`); generally other fields can be set as "not supported".
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## Message/Enum Summary
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## Message/Command/Enum Summary
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| Message | Description | Status |
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| --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------- |
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| <a id="MAV_CMD_REQUEST_MESSAGE"></a>[MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE) | Send command to request any message | to be used |
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| <a id="CAMERA_INFORMATION"></a>[CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION) | Basic information about camera including supported features and URI link to extended information (`cam_definition_uri` field). |
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| <a id="CAMERA_SETTINGS"></a>[CAMERA_SETTINGS](../messages/common.md#CAMERA_SETTINGS) | Timestamp and camera mode information. |
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| <a id="MAV_CMD_SET_CAMERA_MODE"></a>[MAV_CMD_SET_CAMERA_MODE](../messages/common.md#MAV_CMD_SET_CAMERA_MODE) | Send command to set [CAMERA_MODE](#CAMERA_MODE). |
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| <a id="VIDEO_STREAM_INFORMATION"></a>[VIDEO_STREAM_INFORMATION](../messages/common.md#VIDEO_STREAM_INFORMATION) | Information defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique `stream_id`. |
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| <a id="VIDEO_STREAM_STATUS"></a>[VIDEO_STREAM_STATUS](../messages/common.md#VIDEO_STREAM_STATUS) | Information updating a video stream configuration. <!-- TBD? --> |
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| <a id="storage_information"></a>[STORAGE_INFORMATION](../messages/common.md#STORAGE_INFORMATION) | Storage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds). |
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| <a id="MAV_CMD_STORAGE_FORMAT"></a>[MAV_CMD_STORAGE_FORMAT](../messages/common.md#MAV_CMD_STORAGE_FORMAT) | Send command to format the specified storage device. |
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| <a id="CAMERA_CAPTURE_STATUS"></a>[CAMERA_CAPTURE_STATUS](../messages/common.md#CAMERA_CAPTURE_STATUS) | Camera capture status, including current capture type (if any), capture interval, available capacity. |
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| <a id="MAV_CMD_IMAGE_START_CAPTURE"></a>[MAV_CMD_IMAGE_START_CAPTURE](../messages/common.md#MAV_CMD_IMAGE_START_CAPTURE) | Send command to start image capture, specifying the duration between captures and total number of images to capture. |
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| <a id="MAV_CMD_IMAGE_STOP_CAPTURE"></a>[MAV_CMD_IMAGE_STOP_CAPTURE](../messages/common.md#MAV_CMD_IMAGE_STOP_CAPTURE) | Send command to stop image capture. |
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| <a id="CAMERA_IMAGE_CAPTURED"></a>[CAMERA_IMAGE_CAPTURED](../messages/common.md#CAMERA_IMAGE_CAPTURED) | Information about image captured (returned to GPS every time an image is captured). |
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| <a id="MAV_CMD_VIDEO_START_CAPTURE"></a>[MAV_CMD_VIDEO_START_CAPTURE](../messages/common.md#MAV_CMD_VIDEO_START_CAPTURE) | Send command to start video capture, specifying the frequency that [CAMERA_CAPTURE_STATUS](#CAMERA_CAPTURE_STATUS) messages should be sent while recording. |
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| <a id="MAV_CMD_VIDEO_STOP_CAPTURE"></a>[MAV_CMD_VIDEO_STOP_CAPTURE](../messages/common.md#MAV_CMD_VIDEO_STOP_CAPTURE) | Send command to stop video capture. |
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| <a id="MAV_CMD_VIDEO_START_STREAMING"></a>[MAV_CMD_VIDEO_START_STREAMING](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING) | Send command to start video streaming for the given Stream ID (`stream_id`.) This is mostly for streaming protocols that _push_ a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all `MAV_CMD_XXX` commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a [MAV_CMD_VIDEO_STOP_STREAMING](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING) command targeting the current Stream ID followed by a [MAV_CMD_VIDEO_START_STREAMING](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING) targeting the newly selected Stream ID. |
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| <a id="MAV_CMD_VIDEO_STOP_STREAMING"></a>[MAV_CMD_VIDEO_STOP_STREAMING](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING) | Send command to stop video streaming for the given Stream ID (`stream_id`.) This is mostly for streaming protocols that _push_ a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all `MAV_CMD_XXX` commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a [MAV_CMD_VIDEO_STOP_STREAMING](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING) command targeting the current Stream ID followed by a [MAV_CMD_VIDEO_START_STREAMING](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING) targeting the newly selected Stream ID. |
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| <a id="MAV_CMD_REQUEST_CAMERA_SETTINGS"></a>[MAV_CMD_REQUEST_CAMERA_SETTINGS](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS) | Send command to request [CAMERA_SETTINGS](#CAMERA_SETTINGS). | deprecated |
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| <a id="MAV_CMD_REQUEST_CAMERA_INFORMATION"></a>[MAV_CMD_REQUEST_CAMERA_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION) | Send command to request [CAMERA_INFORMATION](#CAMERA_INFORMATION). | deprecated |
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| <a id="MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION"></a>[MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION) | Send command to request [VIDEO_STREAM_INFORMATION](#VIDEO_STREAM_INFORMATION). This is sent once for each camera when a camera is detected and it has set the [CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM](../messages/common.md#CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) flag within the [CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION) message `flags` field. | deprecated |
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| <a id="MAV_CMD_REQUEST_VIDEO_STREAM_STATUS"></a>[MAV_CMD_REQUEST_VIDEO_STREAM_STATUS](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS) | Send command to request [VIDEO_STREAM_STATUS](#VIDEO_STREAM_STATUS). This is sent whenever there is a mode change (when [MAV_CMD_SET_CAMERA_MODE](../messages/common.md#MAV_CMD_SET_CAMERA_MODE) is sent.) It allows the camera to update the stream configuration when a camera mode change occurs. | deprecated |
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| <a id="MAV_CMD_REQUEST_STORAGE_INFORMATION"></a>[MAV_CMD_REQUEST_STORAGE_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_STORAGE_INFORMATION) | Send command to request [STORAGE_INFORMATION](#storage_information). | deprecated |
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| <a id="MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS"></a>[MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS) | Send command to request [CAMERA_CAPTURE_STATUS](#CAMERA_CAPTURE_STATUS). | deprecated |
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| <a id="CAMERA_FOV_STATUS"></a>[CAMERA_FOV_STATUS](../messages/common.md#CAMERA_FOV_STATUS) | Information about the field of view of a camera. Requested using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE). |
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| <a id="MAV_CMD_CAMERA_TRACK_POINT"></a>[MAV_CMD_CAMERA_TRACK_POINT](../messages/common.md#MAV_CMD_CAMERA_TRACK_POINT) | Initate visual point tracking, if supported by the camera ([CAMERA_CAP_FLAGS_HAS_TRACKING_POINT](#CAMERA_CAP_FLAGS) is set). |
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| <a id="MAV_CMD_CAMERA_TRACK_RECTANGLE"></a>[MAV_CMD_CAMERA_TRACK_RECTANGLE](../messages/common.md#MAV_CMD_CAMERA_TRACK_RECTANGLE) | Initiate visual rectangle tracking, if supported by the camera ([CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE](#CAMERA_CAP_FLAGS) is set). |
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| <a id="MAV_CMD_CAMERA_STOP_TRACKING"></a>[MAV_CMD_CAMERA_STOP_TRACKING](../messages/common.md#MAV_CMD_CAMERA_STOP_TRACKING) | Stop camera tracking (as initiated using `MAV_CMD_CAMERA_TRACK_POINT` or `MAV_CMD_CAMERA_TRACK_RECTANGLE`). |
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| <a id="CAMERA_TRACKING_IMAGE_STATUS"></a>[CAMERA_TRACKING_IMAGE_STATUS](../messages/common.md#CAMERA_TRACKING_IMAGE_STATUS) | Camera tracking status, sent while in active tracking. Use [MAV_CMD_SET_MESSAGE_INTERVAL](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL) to define message interval. |
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| <a id="CAMERA_TRACKING_GEO_STATUS"></a>[CAMERA_TRACKING_GEO_STATUS](../messages/common.md#CAMERA_TRACKING_GEO_STATUS) | Camera tracking status, sent while in active tracking. Use [MAV_CMD_SET_MESSAGE_INTERVAL](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL) to define message interval. |
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### Messages
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| Message | Description |
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| --------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="CAMERA_INFORMATION"></a>[CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION) | Basic information about camera including supported features and URI link to extended information (`cam_definition_uri` field). |
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| <a id="CAMERA_SETTINGS"></a>[CAMERA_SETTINGS](../messages/common.md#CAMERA_SETTINGS) | Timestamp and camera mode information. |
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| <a id="VIDEO_STREAM_INFORMATION"></a>[VIDEO_STREAM_INFORMATION](../messages/common.md#VIDEO_STREAM_INFORMATION) | Information defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique `stream_id`. |
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| <a id="VIDEO_STREAM_STATUS"></a>[VIDEO_STREAM_STATUS](../messages/common.md#VIDEO_STREAM_STATUS) | Information updating a video stream configuration. <!-- TBD? --> |
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| <a id="storage_information"></a>[STORAGE_INFORMATION](../messages/common.md#STORAGE_INFORMATION) | Storage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds). |
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| <a id="CAMERA_CAPTURE_STATUS"></a>[CAMERA_CAPTURE_STATUS](../messages/common.md#CAMERA_CAPTURE_STATUS) | Camera capture status, including current capture type (if any), capture interval, available capacity. |
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| <a id="CAMERA_IMAGE_CAPTURED"></a>[CAMERA_IMAGE_CAPTURED](../messages/common.md#CAMERA_IMAGE_CAPTURED) | Information about image captured (returned to GPS every time an image is captured). |
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| <a id="CAMERA_FOV_STATUS"></a>[CAMERA_FOV_STATUS](../messages/common.md#CAMERA_FOV_STATUS) | Information about the field of view of a camera. Requested using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE). |
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| <a id="CAMERA_TRACKING_IMAGE_STATUS"></a>[CAMERA_TRACKING_IMAGE_STATUS](../messages/common.md#CAMERA_TRACKING_IMAGE_STATUS) | Camera tracking status, sent while in active tracking. Use [MAV_CMD_SET_MESSAGE_INTERVAL](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL) to define message interval. |
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| <a id="CAMERA_TRACKING_GEO_STATUS"></a>[CAMERA_TRACKING_GEO_STATUS](../messages/common.md#CAMERA_TRACKING_GEO_STATUS) | Camera tracking status, sent while in active tracking. Use [MAV_CMD_SET_MESSAGE_INTERVAL](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL) to define message interval. |
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### Commands
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| Command | Description |
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| --------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MAV_CMD_REQUEST_MESSAGE"></a>[MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE) | Send command to request any message (used to request [CAMERA_INFORMATION](#CAMERA_INFORMATION) and the other messages above) |
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| <a id="MAV_CMD_SET_CAMERA_MODE"></a>[MAV_CMD_SET_CAMERA_MODE](../messages/common.md#MAV_CMD_SET_CAMERA_MODE) | Send command to set [CAMERA_MODE](#CAMERA_MODE). |
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| <a id="MAV_CMD_IMAGE_START_CAPTURE"></a>[MAV_CMD_IMAGE_START_CAPTURE](../messages/common.md#MAV_CMD_IMAGE_START_CAPTURE) | Send command to start image capture, specifying the duration between captures and total number of images to capture. |
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| <a id="MAV_CMD_IMAGE_STOP_CAPTURE"></a>[MAV_CMD_IMAGE_STOP_CAPTURE](../messages/common.md#MAV_CMD_IMAGE_STOP_CAPTURE) | Send command to stop image capture. |
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| <a id="MAV_CMD_VIDEO_START_CAPTURE"></a>[MAV_CMD_VIDEO_START_CAPTURE](../messages/common.md#MAV_CMD_VIDEO_START_CAPTURE) | Send command to start video capture, specifying the frequency that [CAMERA_CAPTURE_STATUS](#CAMERA_CAPTURE_STATUS) messages should be sent while recording. |
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| <a id="MAV_CMD_VIDEO_STOP_CAPTURE"></a>[MAV_CMD_VIDEO_STOP_CAPTURE](../messages/common.md#MAV_CMD_VIDEO_STOP_CAPTURE) | Send command to stop video capture. |
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| <a id="MAV_CMD_VIDEO_START_STREAMING"></a>[MAV_CMD_VIDEO_START_STREAMING](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING) | Send command to start video streaming for the given Stream ID (`stream_id`.) This is mostly for streaming protocols that _push_ a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all `MAV_CMD_XXX` commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a [MAV_CMD_VIDEO_STOP_STREAMING](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING) command targeting the current Stream ID followed by a [MAV_CMD_VIDEO_START_STREAMING](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING) targeting the newly selected Stream ID. |
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| <a id="MAV_CMD_VIDEO_STOP_STREAMING"></a>[MAV_CMD_VIDEO_STOP_STREAMING](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING) | Send command to stop video streaming for the given Stream ID (`stream_id`.) This is mostly for streaming protocols that _push_ a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all `MAV_CMD_XXX` commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a [MAV_CMD_VIDEO_STOP_STREAMING](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING) command targeting the current Stream ID followed by a [MAV_CMD_VIDEO_START_STREAMING](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING) targeting the newly selected Stream ID. |
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| <a id="MAV_CMD_CAMERA_TRACK_POINT"></a>[MAV_CMD_CAMERA_TRACK_POINT](../messages/common.md#MAV_CMD_CAMERA_TRACK_POINT) | Initate visual point tracking, if supported by the camera ([CAMERA_CAP_FLAGS_HAS_TRACKING_POINT](#CAMERA_CAP_FLAGS) is set). |
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| <a id="MAV_CMD_CAMERA_TRACK_RECTANGLE"></a>[MAV_CMD_CAMERA_TRACK_RECTANGLE](../messages/common.md#MAV_CMD_CAMERA_TRACK_RECTANGLE) | Initiate visual rectangle tracking, if supported by the camera ([CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE](#CAMERA_CAP_FLAGS) is set). |
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| <a id="MAV_CMD_CAMERA_STOP_TRACKING"></a>[MAV_CMD_CAMERA_STOP_TRACKING](../messages/common.md#MAV_CMD_CAMERA_STOP_TRACKING) | Stop camera tracking (as initiated using `MAV_CMD_CAMERA_TRACK_POINT` or `MAV_CMD_CAMERA_TRACK_RECTANGLE`). |
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#### Deprecated Commands
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These commands have been deprecated, replaced by the generic requester command [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE)
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| Command | Description |
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| --------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MAV_CMD_REQUEST_CAMERA_SETTINGS"></a>[MAV_CMD_REQUEST_CAMERA_SETTINGS](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS) | Send command to request [CAMERA_SETTINGS](#CAMERA_SETTINGS). |
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| <a id="MAV_CMD_REQUEST_CAMERA_INFORMATION"></a>[MAV_CMD_REQUEST_CAMERA_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION) | Send command to request [CAMERA_INFORMATION](#CAMERA_INFORMATION). |
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| <a id="MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION"></a>[MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION) | Send command to request [VIDEO_STREAM_INFORMATION](#VIDEO_STREAM_INFORMATION). This is sent once for each camera when a camera is detected and it has set the [CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM](../messages/common.md#CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) flag within the [CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION) message `flags` field. |
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| <a id="MAV_CMD_REQUEST_VIDEO_STREAM_STATUS"></a>[MAV_CMD_REQUEST_VIDEO_STREAM_STATUS](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS) | Send command to request [VIDEO_STREAM_STATUS](#VIDEO_STREAM_STATUS). This is sent whenever there is a mode change (when [MAV_CMD_SET_CAMERA_MODE](../messages/common.md#MAV_CMD_SET_CAMERA_MODE) is sent.) It allows the camera to update the stream configuration when a camera mode change occurs. |
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| <a id="MAV_CMD_REQUEST_STORAGE_INFORMATION"></a>[MAV_CMD_REQUEST_STORAGE_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_STORAGE_INFORMATION) | Send command to request [STORAGE_INFORMATION](#storage_information). |
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| <a id="MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS"></a>[MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS) | Send command to request [CAMERA_CAPTURE_STATUS](#CAMERA_CAPTURE_STATUS). |
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### Enum
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| Enum | Description |
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| --------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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