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common.xml: Add commands, capability and flag for Moving Target Indicators (MTI) (#2323)

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* common.xml: Add bitmask="true" to CAMERA_TRACKING_STATUS_FLAGS

* common.xml: Add capability and flag for Moving Target Indicators (MTI)

Currently marked as work-in-progress (WIP)

* development.xml: Add commands for Moving Target Indicators (MTI)

Currently marked as work-in-progress (WIP)
This commit is contained in:
Nick E
2025-08-14 09:53:52 +10:00
committed by GitHub
parent 115f1c8364
commit 2ca0cb55ae
2 changed files with 23 additions and 2 deletions
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message_definitions/v1.0/common.xml
+9 -1
View File
@@ -3742,6 +3742,10 @@
<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).</description>
</entry>
<entry value="8192" name="CAMERA_CAP_FLAGS_HAS_MTI">
<wip/>
<description>Camera supports Moving Target Indicators (MTI) on the camera view (using MAV_CMD_CAMERA_START_MTI).</description>
</entry>
</enum>
<enum name="VIDEO_STREAM_STATUS_FLAGS" bitmask="true">
<description>Stream status flags (Bitmap)</description>
@@ -3782,7 +3786,7 @@
<description>Stream encoding is H.265</description>
</entry>
</enum>
<enum name="CAMERA_TRACKING_STATUS_FLAGS">
<enum name="CAMERA_TRACKING_STATUS_FLAGS" bitmask="true">
<description>Camera tracking status flags</description>
<entry value="0" name="CAMERA_TRACKING_STATUS_FLAGS_IDLE">
<description>Camera is not tracking</description>
@@ -3793,6 +3797,10 @@
<entry value="2" name="CAMERA_TRACKING_STATUS_FLAGS_ERROR">
<description>Camera tracking in error state</description>
</entry>
<entry value="4" name="CAMERA_TRACKING_STATUS_FLAGS_MTI">
<wip/>
<description>Camera Moving Target Indicators (MTI) are active</description>
</entry>
</enum>
<enum name="CAMERA_TRACKING_MODE">
<description>Camera tracking modes</description>
message_definitions/v1.0/development.xml
+14 -1
View File
@@ -198,12 +198,25 @@
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="2020" name="MAV_CMD_CAMERA_START_MTI" hasLocation="false" isDestination="false">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Enable Moving Target Indicators (MTI) on streamed video.
Support for feature can be checked with CAMERA_CAP_FLAGS_HAS_MTI, and disabled with MAV_CMD_CAMERA_STOP_MTI.</description>
<param index="1" label="Target Camera ID" minValue="0" maxValue="255" increment="1">Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.</param>
</entry>
<entry value="2021" name="MAV_CMD_CAMERA_STOP_MTI" hasLocation="false" isDestination="false">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Disable Moving Target Indicators (MTI) on streamed video.</description>
<param index="1" label="Target Camera ID" minValue="0" maxValue="255" increment="1">Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.</param>
</entry>
<entry value="12900" name="MAV_CMD_ODID_SET_EMERGENCY" hasLocation="false" isDestination="false">
<description>Used to manually set/unset emergency status for remote id.
This is for compliance with MOC ASTM docs, specifically F358 section 7.7: "Emergency Status Indicator".
The requirement can also be satisfied by automatic setting of the emergency status by flight stack, and that approach is preferred.
See https://mavlink.io/en/services/opendroneid.html for more information.
</description>
</description>
<param index="1" label="Number" minValue="0" increment="1">Set/unset emergency 0: unset, 1: set</param>
<param index="2" reserved="true" default="NaN"/>
<param index="3" reserved="true" default="NaN"/>