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NextVision Control
This action allows controlling NextVision cameras over MAVLink. Several command types are supported, some of which provide active feedback based on the camera's reported state.
Unlike other actions, this action targets a fixed system ID (1) and component ID (1), matching the hardcoded IDs used by NextVision cameras. Connectivity is determined by receiving NextVision telemetry rather than vehicle heartbeats.
Non-standard MAVLink
NextVision cameras do not follow the MAVLink standard. The commands used by this action are specific to NextVision and are not compatible with other camera systems.
CCA2 ground station compatibility
When routing through the NextVision CCA2 ground station, command acknowledgements are blocked and cannot reach KH Control. Commands will show a timeout even when they are received and executed by the camera.
Commands
Set System Mode
Sets the camera operating mode. The icon highlights when the camera reports the matching mode.
| Mode | Description | Icon |
|---|---|---|
| STOW | Stow the camera |  |
| PILOT | Pilot-controlled pointing |  |
| HOLD | Hold coordinate |  |
| OBS | Observation |  |
| GRR | Ground rate rejection |  |
| TRACK | Target tracking |  |
| EPR | Enhanced position reference |  |
| NADIR | Nadir pointing |  |
| N.SCAN | Nadir scan |  |
| 2D.SCAN | 2D area scan |  |
| PARK | Retract the gimbal |  |
When the camera reports the current mode, the matching icon highlights:
| Mode | in TRACK mode | in another mode |
|---|---|---|
| TRACK |  | |
Set Sensor
Switches between the day camera and IR sensor. The icon highlights when the camera reports the matching sensor.
| Sensor | using day sensor | using IR sensor |
|---|---|---|
| Day |  |  |
| IR |  |  |
Do NUC
Triggers a Non-Uniformity Correction (NUC) on the IR sensor. No feedback is provided.
Set Position
Sets the camera to a position-based mode with optional pitch and roll values. The display text on the button can be customised.
| Mode | Description | Icon |
|---|---|---|
| L.POS | Local position |  |
| G.POS | Global position |  |
| U.POS | Un-stabilized position |  |
Set Roll De-rotation
Enables or disables roll de-rotation. The icon highlights when the camera reports the matching de-rotation state.
| De-rotation | de-rotation enabled | de-rotation disabled |
|---|---|---|
| Enable |  |  |
| Disable |  |  |
Under the hood
Target
This action always targets system ID 1 and component ID 1, matching the NextVision camera's fixed IDs. The system target configured in the plugin settings is not used.
Commands
Set System Mode (non-retract)
MAV_CMD_DO_DIGICAM_CONTROL as a COMMAND_LONG
| Field Name | Type | Value | Description |
|---|---|---|---|
| param 1 | float | 0.0 | set system mode command |
| param 2 | float | mode selection | 0=STOW, 1=PILOT, 2=HOLD, 3=OBS, 6=GRR, 7=TRACK, 8=EPR, 9=NADIR, 10=N.SCAN, 11=2D.SCAN |
| param 5 | float | 0.0 or 1.0 | 1.0 when TRACK mode is selected else 0.0 |
Set System Mode (PARK)
MAV_CMD_DO_MOUNT_CONTROL as a COMMAND_LONG
| Field Name | Type | Value | Description |
|---|---|---|---|
| param 7 | float | 0.0 | MAV_MOUNT_MODE_RETRACT |
Set Sensor
MAV_CMD_DO_DIGICAM_CONTROL as a COMMAND_LONG
| Field Name | Type | Value | Description |
|---|---|---|---|
| param 1 | float | 3.0 | Set sensor |
| param 2 | float | 0.0 or 1.0 | 0.0: Day sensor, 1.0: IR sensor |
Do NUC
MAV_CMD_DO_DIGICAM_CONTROL as a COMMAND_LONG
| Field Name | Type | Value | Description |
|---|---|---|---|
| param 1 | float | 11.0 | DO NUC |
Set Position
MAV_CMD_DO_DIGICAM_CONTROL as a COMMAND_LONG
| Field Name | Type | Value | Description |
|---|---|---|---|
| param 1 | float | 0.0 | Set system mode |
| param 2 | float | mode selection | 4=Local Position, 5=Global Position, 13=Un-stabilized Position |
| param 3 | float | user selection | Pitch (degrees) |
| param 4 | float | user selection | Roll (degrees) |
Set Roll De-rotation
MAV_CMD_DO_DIGICAM_CONTROL as a COMMAND_LONG
| Field Name | Type | Value | Description |
|---|---|---|---|
| param 1 | float | 18.0 | Set roll de-rotation |
| param 2 | float | 0.0 or 1.0 | 0.0: Disable, 1.0: Enable |
Feedback
This action does not use heartbeats for link detection. Connectivity is determined by receiving V2_EXTENSION messages (messageType=0) from the camera. If no such messages are received within 5 seconds the action is considered disconnected.
The system mode, active sensor, and roll de-rotation state used for active feedback are all decoded from the system report carried in these V2_EXTENSION messages.