[Problem Soved]Does gremsy ZIO gimbal camera support Camera Shooting command in mission

Regards,
Koh

Hi Koh,

As for the trigger, you can use the command below: 

I think that we should create a chat conversation that has our engineering team there. So that they can provide you with a prompt response for integration, especially the Mavlink custom program.

Regards,
Khanh
Check your ticket status : https://support.gremsy.com/helpdesk/tickets/13552

On Thu, 28 Dec at 9:10 AM , 項錦先 <k-koh@sensyn-robotics.com> wrote:

Dear gremsy,
We are using a gremsy ZIO gimbal camera on an Ardupilot drone.- ZIO gimbal firmware v7.8.0
- ZIO SOM firmware v2.0.1 build.12122023
- Ardupilot 4.3.3 and 4.4.3

I want to use the Gremsy zio camera to take photos in mission command.


Question:Can you tell me which MAVLink command to control the Gremsy zio camera Shooting photo on a mission?

Regards,
Koh

by duongdev on Thu, 28 Dec, 2023 at 11:41 AM as Incoming email

by Gremsy Support Team on Tue, 2 Jan at 2:56 PM as Outbound email

by 項錦先 on Wed, 10 Jan at 7:34 PM as Incoming email

Dear gremsy,
Thank you for your reply.
>As for the trigger, you can use the command below: MAV_CMD_DO_DIGICAM_CONTROL (203 )

I tried MAV_CMD_DO_DIGICAM_CONTROL (203 ) to Shooting camera.```mavproxy.py --master=/dev/ttyACM0,115200 --console --map --load-module gimbal,messagemessage COMMAND_LONG 0 0 203 0 0 0 0 0 1 0 0
```
But there is no response.


And I tried MAV_CMD_IMAGE_START_CAPTURE (2000) to Shooting camera.```
mavproxy.py --master=/dev/ttyACM0,115200 --console --map --load-module gimbal,message
message COMMAND_LONG 0 0 2000 0 0 0 1 0 0 0 0
```
The command ACCEPTED, but no photo saved on the SD card.Question:Does the Gremsy zio camera support Shooting photos on a mission using some mavlink command?

Hi 項錦先,

Please check our engineer's response above and give us any update. 

Thank you,
Khanh
Check your ticket status : https://support.gremsy.com/helpdesk/tickets/13552

On Thu, 28 Dec, 2023 at 11:41 AM , duongdev <duong.nguyen@gremsy.com> wrote:

Hi,
I'm Duong, software engineer at Gremsy.
1. Reply for your questions
Can you tell me which MAVLink command to switch camera photo/video mode on a mission?Can you tell me which MAVLink command to start and stop camera video on a mission?
-> You can use the camera menu on the Ground control station (QGC or Mission Planner) to switch and control the video recording while doing a mission. We didn't test the video control while doing a mission, but I think it is possible.
We don't have an example to control the video on our PayloadSDK at the moment, but it will be updated soon.
About the command to control the Zio payload's camera, you can refer https://mavlink.io/en/services/camera.html, or take a look into our PayloadSDK at https://github.com/Gremsy/PayloadSdk/tree/develop
2. MAVlink command supported list-> We will complete the supported list of MAVlink commands for our payloads soon. We will send you right after the document is ready.-> For now, please follow the MAVlink camera protocol and our PayloadSDK for interacting with our payloads.
Hope this helps,Duong Ng

by duongdev on Thu, 11 Jan at 8:27 AM as Incoming email

by 項錦先 on Thu, 11 Jan at 10:18 AM as Incoming email

Hi there,I think you must change the target_sysid and target_compid of your COMMAND_LONG.```
mavproxy.py --master=/dev/ttyACM0,115200 --console --map --load-module gimbal,message
message COMMAND_LONG 0 0 2000 0 0 0 1 0 0 0 0
```This command will send to target_system_id 0 and target_comp_id 0, this is not our Zio system.
I think you can try with```
mavproxy.py --master=/dev/ttyACM0,115200 --console --map --load-module gimbal,message
message COMMAND_LONG 1 101 2000 0 0 0 1 0 0 0 0
```
Hope this helps,Duong Ng

by duongdev on Thu, 11 Jan at 10:32 AM as Incoming email

by duongdev on Fri, 12 Jan at 8:47 AM as Incoming email

by 項錦先 on Fri, 12 Jan at 10:30 AM as Incoming email

Hi 項錦先,
We tested the communication between the Zio payload and mavproxy (running on an Ubuntu PC).This command will work```mavproxy.py --master=/dev/ttyACM0,115200 --console --map --load-module gimbal,message
set source_component 191
message COMMAND_LONG 1 101 2000 0 0 0 1 0 0 0 0```We must change the source_component to 191 (onboard computer) before sending it to the Zio payload.You can set the source_component directly on your command or on the mavproxy GUI.
Hope this helps,Duong Ng

by 項錦先 on Fri, 19 Jan at 10:33 AM as Incoming email

Dear gremsy,

Thank you for your reply.

I can use "set source_component 191" on mavproxy to save photos to the Zio payload sd card by COMMAND_LONG.```# Using SITL
cd gitlab/ardupilot/ArduCopter
../Tools/autotest/sim_vehicle.py -A "--serial2=uart:/dev/ttyUSB0:115200" --console --map -D -l 34.968639174,136.9803456388,5,7module load gimbal
module load message
set source_component 191
message COMMAND_LONG 1 101 203 0 0 0 0 0 1 0 0message COMMAND_LONG 1 101 2000 0 0 0 1 0 0 0 0
```
But when I use MAV_CMD_DO_DIGICAM_CONTROL or MAV_CMD_IMAGE_START_CAPTURE in Mission.```# Using SITL
cd gitlab/ardupilot/ArduCopter
../Tools/autotest/sim_vehicle.py -A "--serial2=uart:/dev/ttyUSB0:115200" --console --map -D -l 34.968639174,136.9803456388,5,7module load gimbal
module load message
set source_component 191mode guided
arm throttle
takeoff 40
auto```But there was no response, and no photo saved on the SD card when I ran Mission.

Question:Do I need to set "set source_component 191" somewhere for Mission ?
Regards,
Koh 

Dear gremsy,

Thank you for your reply.

using "set source_component 191" on mavproxy (mavproxy default source_component is 230)
I can save photos to the Zio payload sd card.```mavproxy.py --master=/dev/ttyACM0,115200 --console --map --load-module gimbal,message
set source_component 191
message COMMAND_LONG 1 101 203 0 0 0 0 0 1 0 0message COMMAND_LONG 1 101 2000 0 0 0 1 0 0 0 0
```
Regards,
Koh 

2024年1月12日(金) 10:47 Duong Nguyen <duong.nguyen@gremsy.com>:

Hi 項錦先,
We tested the communication between the Zio payload and mavproxy (running on an Ubuntu PC).This command will work```mavproxy.py --master=/dev/ttyACM0,115200 --console --map --load-module gimbal,message
set source_component 191
message COMMAND_LONG 1 101 2000 0 0 0 1 0 0 0 0```We must change the source_component to 191 (onboard computer) before sending it to the Zio payload.You can set the source_component directly on your command or on the mavproxy GUI.
Hope this helps,Duong Ng

by Gremsy Support Team on Mon, 22 Jan at 2:26 PM as Outbound email

by Gremsy Support Team on Mon, 22 Jan at 3:05 PM as Outbound email

by Gremsy Support Team on Fri, 26 Jan at 10:57 AM as Outbound email

by 項錦先 on Tue, 26 Mar at 8:37 PM as Incoming email

Hi Koh,

Have you tried to update the SOM firmware and tested it yet?

Please keep us updated.

Thank you,
Khanh
Check your ticket status : https://support.gremsy.com/helpdesk/tickets/13552

On Mon, 22 Jan at 3:05 PM , Gremsy Support Team <support@gremsy.com> wrote:

Hi 項錦先,

Please test again with latest ZIO SOM firmware v2.0.1 build.16012024

Regards,
Khanh
Check your ticket status : https://support.gremsy.com/helpdesk/tickets/13552

On Mon, 22 Jan at 2:26 PM , Gremsy Support Team <support@gremsy.com> wrote:

Hi 項錦先,

Our team will check about the issue with not saving the picture during mission and get back shortly. 

Thank you,
Khanh
Check your ticket status : https://support.gremsy.com/helpdesk/tickets/13552

On Fri, 19 Jan at 10:33 AM , 項錦先 <k-koh@sensyn-robotics.com> wrote:

Dear gremsy,

Thank you for your reply.

I can use "set source_component 191" on mavproxy to save photos to the Zio payload sd card by COMMAND_LONG.```# Using SITL
cd gitlab/ardupilot/ArduCopter
../Tools/autotest/sim_vehicle.py -A "--serial2=uart:/dev/ttyUSB0:115200" --console --map -D -l 34.968639174,136.9803456388,5,7module load gimbal
module load message
set source_component 191
message COMMAND_LONG 1 101 203 0 0 0 0 0 1 0 0message COMMAND_LONG 1 101 2000 0 0 0 1 0 0 0 0
```
But when I use MAV_CMD_DO_DIGICAM_CONTROL or MAV_CMD_IMAGE_START_CAPTURE in Mission.```# Using SITL
cd gitlab/ardupilot/ArduCopter
../Tools/autotest/sim_vehicle.py -A "--serial2=uart:/dev/ttyUSB0:115200" --console --map -D -l 34.968639174,136.9803456388,5,7module load gimbal
module load message
set source_component 191mode guided
arm throttle
takeoff 40
auto```But there was no response, and no photo saved on the SD card when I ran Mission.

Question:Do I need to set "set source_component 191" somewhere for Mission ?
Regards,
Koh 

2024年1月12日(金) 12:29 項錦先 <k-koh@sensyn-robotics.com>:

Dear gremsy,

Thank you for your reply.

using "set source_component 191" on mavproxy (mavproxy default source_component is 230)
I can save photos to the Zio payload sd card.```mavproxy.py --master=/dev/ttyACM0,115200 --console --map --load-module gimbal,message
set source_component 191
message COMMAND_LONG 1 101 203 0 0 0 0 0 1 0 0message COMMAND_LONG 1 101 2000 0 0 0 1 0 0 0 0
```
Regards,
Koh 

2024年1月12日(金) 10:47 Duong Nguyen <duong.nguyen@gremsy.com>:

Hi 項錦先,
We tested the communication between the Zio payload and mavproxy (running on an Ubuntu PC).This command will work```mavproxy.py --master=/dev/ttyACM0,115200 --console --map --load-module gimbal,message
set source_component 191
message COMMAND_LONG 1 101 2000 0 0 0 1 0 0 0 0```We must change the source_component to 191 (onboard computer) before sending it to the Zio payload.You can set the source_component directly on your command or on the mavproxy GUI.
Hope this helps,Duong Ng

by Gremsy Support Team on Wed, 27 Mar at 1:09 PM as Outbound email

by duongdev on Wed, 3 Apr at 12:45 PM as Incoming email

by 項錦先 on Thu, 4 Apr at 3:17 PM as Incoming email

Hi Sensyn-robotic team,
About the issue of trigger image and control gimbal when flying a mission, we assume that you are using an Ardupilot flight controller.We found some minor bugs on the software of the Zio payload. We just released an alpha software package to fix your issues.Please help us to update your Zio payload and the issue should be fixed.Here is the new software for testing software v2.0.1.4 alphaPlease note that you MUST update the software for the camera to v2.0.1.4 and the firmware for the gimbal to v7.8.1 as well.
You can find the instruction for creating a map with the exact command for trigger image and control gimbal on the attachment file.
Hope this helps,BR,
Duong Ng

by 項錦先 on Thu, 4 Apr at 5:00 PM as Incoming email

Dear gremsy,
Thank you for your reply.
Thank you for releasing an alpha software package.I will try it and let you know.

2024年4月3日(水) 14:45 Duong Nguyen <duong.nguyen@gremsy.com>:

Hi Sensyn-robotic team,
About the issue of trigger image and control gimbal when flying a mission, we assume that you are using an Ardupilot flight controller.We found some minor bugs on the software of the Zio payload. We just released an alpha software package to fix your issues.Please help us to update your Zio payload and the issue should be fixed.Here is the new software for testing software v2.0.1.4 alphaPlease note that you MUST update the software for the camera to v2.0.1.4 and the firmware for the gimbal to v7.8.1 as well.
You can find the instruction for creating a map with the exact command for trigger image and control gimbal on the attachment file.
Hope this helps,BR,
Duong Ng

by Gremsy Support Team on Fri, 5 Apr at 9:13 AM as Outbound email

Hi Koh,

When perform the mission, did you see the camera trigger or not? 

If it triggered during flight, please check the SD card and format it on the QGC settings 

Also try with another SD card.

Regards.
Khanh
Check your ticket status : https://support.gremsy.com/helpdesk/tickets/13552

by 項錦先 on Tue, 9 Apr at 2:21 PM as Incoming email

Dear gremsy,

> When perform the mission, did you see the camera trigger or not?When perform the mission, I checked the camera trigger in QGroundControl UI, it seems camera trigger not happen.

> format it on the QGC settings

Formatted on the QGC settings, but it seems to have no effect.

> Also try with another SD card.

Try another SD card, but it seems to have no effect.

Regards,
Koh

2024年4月5日(金) 11:13 Gremsy Support Team <support@gremsy.com>:

Hi Koh,

When perform the mission, did you see the camera trigger or not? 

If it triggered during flight, please check the SD card and format it on the QGC settings 

Also try with another SD card.

Regards.
Khanh
Check your ticket status : https://support.gremsy.com/helpdesk/tickets/13552

On Thu, 4 Apr at 5:00 PM , 項錦先 <k-koh@sensyn-robotics.com> wrote:

Dear gremsy,

I tried Zio_SoM_Firmware v2.0.1.4 + Zio-Firmware v7.8.1.The control gimbal when flying a mission is successful.But the trigger image action when flying a mission failed (No photo files saved in sd card).
I upload a mission item like this.Is there some wrong settings in my mavlink mission item?

MAV_CMD_DO_DIGICAM_CONTROL in MISSION_ITEMI tried these 3 type compid settings, but they did not work.

• set sysid:255 compid:190
• set sysid:1 compid:190
• set sysid:255 compid:0

18:11:36.512 GcsConnector D mission msg_item: MAVLINK_MSG_ID_MISSION_ITEM_INT - sysid:255 compid:190 param1:0.0 param2:0.0 param3:0.0 param4:0.0 x:1 y:0 z:0.0 seq:11 command:203 target_system:1 target_component:1 frame:3 current:0 autocontinue:1 mission_type:0


18:40:35.249 GcsConnector D mission msg_item: MAVLINK_MSG_ID_MISSION_ITEM_INT - sysid:1 compid:190 param1:0.0 param2:0.0 param3:0.0 param4:0.0 x:1 y:0 z:0.0 seq:11 command:203 target_system:1 target_component:1 frame:3 current:0 autocontinue:1 mission_type:0


18:50:51.863 GcsConnector D mission msg_item: MAVLINK_MSG_ID_MISSION_ITEM_INT - sysid:255 compid:0 param1:0.0 param2:0.0 param3:0.0 param4:0.0 x:1 y:0 z:0.0 seq:11 command:203 target_system:1 target_component:1 frame:3 current:0 autocontinue:1 mission_type:0

2024年4月4日(木) 17:16 項錦先 <k-koh@sensyn-robotics.com>:

Dear gremsy,
Thank you for your reply.
Thank you for releasing an alpha software package.I will try it and let you know.

2024年4月3日(水) 14:45 Duong Nguyen <duong.nguyen@gremsy.com>:

Hi Sensyn-robotic team,
About the issue of trigger image and control gimbal when flying a mission, we assume that you are using an Ardupilot flight controller.We found some minor bugs on the software of the Zio payload. We just released an alpha software package to fix your issues.Please help us to update your Zio payload and the issue should be fixed.Here is the new software for testing software v2.0.1.4 alphaPlease note that you MUST update the software for the camera to v2.0.1.4 and the firmware for the gimbal to v7.8.1 as well.
You can find the instruction for creating a map with the exact command for trigger image and control gimbal on the attachment file.
Hope this helps,BR,
Duong Ng

by duongdev on Wed, 10 Apr at 8:09 AM as Incoming email

Hi Koh,
Can you confirm if you can trigger the image manually ?Did you set the CAM_TYPE=5 ?Please see the picture below for the trigger command you can use in the missionAlso, can you send us your mapping plan? We can check if you are missing something.And, please confirm some software version you are using: + software for the Zio's camera
+ firmware for the Zio's gimbal + software of the Ardupilot
Waiting for your reply
BR,Duong Ng

by 項錦先 on Wed, 10 Apr at 8:42 AM as Incoming email

Dear Duong Ng,
I am usingArduCopter simulator Copter-4.4.3Zio_SoM_Firmware v2.0.1.4 + Zio-Firmware v7.8.1.
There is no CAM_TYPE parameter in Ardupilot.I set CAM1_TYPE = 6
I am using DO_DIGICAM_CONTROL
I saved a mapping plan file from MissionPlanner, Can you check if my mapping plan is wrong?

2024年4月10日(水) 10:09 Duong Nguyen <duong.nguyen@gremsy.com>:

Hi Koh,
Can you confirm if you can trigger the image manually ?Did you set the CAM_TYPE=5 ?Please see the picture below for the trigger command you can use in the missionAlso, can you send us your mapping plan? We can check if you are missing something.And, please confirm some software version you are using: + software for the Zio's camera
+ firmware for the Zio's gimbal + software of the Ardupilot
Waiting for your reply
BR,Duong Ng

by duongdev on Wed, 10 Apr at 8:47 AM as Incoming email

by 項錦先 on Wed, 10 Apr at 9:10 AM as Incoming email

Hi 項錦先,
Please help us to change the CAM1_TYPE to 5 then try again.Also, we will check your mapping plan to see if there are any missing things here.
BR,Duong Ng

by 項錦先 on Wed, 10 Apr at 9:13 AM as Incoming email

Dear Duong Ng,
Thank you for your quick response.After changing CAM1_TYPE to 5, the camera trigger in the mission is worked.

But in this zio-manual, the setting is MNT1_TYPE: “6”.https://docs.gremsy.com/payloads/zio-manual-v2/autopilot-setup/setup-with-ardupilot/3.-parameter-settings

Do we need to set CAM1_TYPE to 5 other than 6 in the future?

2024年4月10日(水) 10:47 Duong Nguyen <duong.nguyen@gremsy.com>:

Hi 項錦先,
Please help us to change the CAM1_TYPE to 5 then try again.Also, we will check your mapping plan to see if there are any missing things here.
BR,Duong Ng

by duongdev on Wed, 10 Apr at 9:52 AM as Incoming email