UAV Vision CM160, Operation Manual

Page: 18 / 20

CM160 Multi-sensor Operations Manual
Doc#: 100-104
18/16
18 of 20 Version:1.8.0
13.3. Autopilot Fields for VD170 / GD170 and CM160 Cameras.
Name of Field Number Units / Description
Current Pan 1545 Rads x 1024
Current Tilt 1546 Rads x 1024
Current Zoom 1547 0 to 65534
Desired Pan 1548 Rads x 1024
Desired Tilt 1549 Rads x 1024
Desired Zoom Velocity 1550 -7 to 7
Desired Pan Velocity 1551 Rads / s x 1024
Desired Tilt Velocity 1552 Rads / s x 1024
Camera State 1553 Bit Field. *See Below*
Shutter Value 1554 0 to 27
Iris Value 1555 0 to 17
Gain Value 1556 0 to 7
Focus Value 1557 0 to 65534
Enable Position Control 1558 or
1610
(Hybrid) 0 – Velocity, * - Position
Additional fields available with the CM160 only.
Name of Field Field# Description Units
Video 1 Output IR 1559 0 (default): video 1 output = vision camera
1: video 1 output = IR camera
-1: Resets IR camera then reverts to previous
mode Boolean
FFC Mode
(Image temperature
correction)
1560 0 (default): FFC is in Auto mode
1: FFC in manual mode
3: Performs an FFC then switches back to 1 Bitfield
FFC Temperature
Delta
1561 Sets FFC temperature delta to between 0ºC and
100ºC when changed ºC x10
IR Video Mode 1562 0x00 – default
0x01 – zoom in 2x
0x02 – freeze frame (pause the video)
0x04 – camera inverts video vertically
0x08 – camera ‘reverts’ video (horizontal/invert) Bitfield
IR Video LUT 1563 Sets the lookup table (LUT) to use for IR:
0 – White hot (default)
1 – Black hot
2 – Fusion
3 – Rain Enumeration