U-Camera User Manual - Communication Protocol
5.5.2.5
5.5.2.5
Set Telemetry Data Frequency (Cat: 0x08, ID: 0x05)
Set Telemetry Data Frequency (Cat: 0x08, ID: 0x05)
The user can configure the data rate by sending this packet providing the desired data
frequency.
Payload Position
Data Type
Data Description
0
uint16
Data frequency in Hertzs (1 to 200 Hz)
5.5.3
5.5.3
Gimbal Category (Cat: 0x09)
Gimbal Category (Cat: 0x09)
The Gimbal category refers to the control of the pointing system itself. This category
contains the packets regarding mode selection/report and rates/angles command and
report.
Packet ID Byte
Packet Name
Source
Destination
Brief
0x01
Set Mode
CTRL
GMB
Set Gimbal Mode
0x02
Report Mote
GMB
CTRL
Report Gimbal Mode
0x03
Set Gimbal Rates
CTRL
GMB
Set Gimbal Rates
0x04
Report Gimbal Rates
GMB
CTRL
Report Gimbal Rates
0x05
Set Gimbal Angles
CTRL
GMB
Set Gimbal Angles
0x06
Report Gimbal Angles
GMB
CTRL
Report Gimbal Angles
5.5.3.1
5.5.3.1
Set Mode Packet (Cat: 0x09, ID: 0x01)
Set Mode Packet (Cat: 0x09, ID: 0x01)
The packet allows to set the pointing mode of the gimbal.
Data Position
Data Type
Data
Data Description
0
int16
Mode Number
Mode number described in the next table
Available Modes are:
Mode Number
Mode Name
Mode Description
0
Angles
Command Gimbal Angles
1
Rates
Command Pointing Rates
2
Safe Mode
Protect the Lens
3
PIlot
Front View
4
Init Mode
Initialization Mode
5
Gyro Autoalign
Performs Gyro Autoalign
6
Gull Autoalign
Performs Gyro and Accelerometers Autoalign
7
FFC Calibration
Performs FFC thermal calibration (IR only)
5.5.3.2
5.5.3.2
Report Mode Packet (Cat: 0x09, ID: 0x02)
Report Mode Packet (Cat: 0x09, ID: 0x02)
This packet is reported periodically from the gimbal containing the operative mode
number.
The packet structure is the following:
Data Position
Data Type
Data
Mode Description
0
int16
Mode Number
Mode number described in the previous table
The mode definition is the same described in the previous section.
16
