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feat(camera_feedback): gate CAMERA_IMAGE_CAPTURED by param (#27920)

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* feat(camera_feedback): gate CAMERA_IMAGE_CAPTURED by param

Some cameras implementing the MAVLink Camera Protocol (e.g. reached via
TRIG_INTERFACE=MAVLink) report CAMERA_IMAGE_CAPTURED themselves. The
autopilot's camera_feedback also emitted this message, so the ground
station saw duplicate capture messages for every shot.

Add a bool 'report' field to the camera_capture message, set from the new
CAM_CAP_REPORT parameter, and gate the CAMERA_IMAGE_CAPTURED stream on it.
When reporting is disabled the capture is still published and logged for
geotagging; only the MAVLink message to the ground station is suppressed.

CAM_CAP_REPORT applies live (no reboot); it only gates a MAVLink message,
unlike CAM_CAP_FBACK which reconfigures the capture pin.

* fix(camera_feedback): update docs
This commit is contained in:
Julian Oes
2026-07-22 20:03:50 +12:00
committed by GitHub
parent 2829c928c4
commit afa97475f0
8 changed files with 69 additions and 2 deletions
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4
docs/en/camera/fc_connected_camera.md
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@@ -179,6 +179,10 @@ PX4 emits the MAVLink [CAMERA_TRIGGER](https://mavlink.io/en/messages/common.htm
If camera capture is configured, the timestamp from the camera capture driver is used, otherwise the triggering timestamp.
:::
PX4 also reports each capture to the ground station as a [CAMERA_IMAGE_CAPTURED](https://mavlink.io/en/messages/common.html#CAMERA_IMAGE_CAPTURED) message.
This is controlled by [CAM_CAP_REPORT](../advanced_config/parameter_reference.md#CAM_CAP_REPORT), which is enabled by default and only needs to be disabled for cameras that report captures themselves (see [Capture Reporting](../camera/mavlink_v1_camera.md#capture-reporting)).
Captures are logged for geotagging either way.
## Testing Trigger Functionality
:::warning

8
docs/en/camera/mavlink_v1_camera.md
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@@ -113,3 +113,11 @@ You can also [set the parameters directly](../advanced_config/parameters.md):
- [TRIG_INTERFACE](../advanced_config/parameter_reference.md#TRIG_INTERFACE) — `3`: MAVLink
:::
### Capture Reporting
Some MAVLink cameras emit [CAMERA_IMAGE_CAPTURED](https://mavlink.io/en/messages/common.html#CAMERA_IMAGE_CAPTURED) themselves each time an image is captured.
By default PX4 emits this message for every capture as well, so a ground station would see each capture reported twice.
Set [CAM_CAP_REPORT](../advanced_config/parameter_reference.md#CAM_CAP_REPORT) to `0` to stop PX4 reporting captures, leaving the camera as the only source of the message.
Captures are still logged for geotagging when reporting is disabled.