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Camera Definition File

A GCS will build a Camera Controller UI for image and video capture using information provided by the CAMERA_INFORMATION message. For very simple cameras, the information in the CAMERA_INFORMATION message itself is sufficient to construct the UI. For more complicated cameras (with settings and options) the information required to build the UI must be supplied in a Camera Definition File that is located at the URI specified in the message's cam_definition_uri field.

The Camera Definition File contains all the camera settings, the options for each setting, and exclusion lists (options that invalidate or are conditional on other settings). In addition, it may contain localisations of GUI strings for display to the user.

At the bottom of this page, you can find a full example of a Camera Definition File.

Note A Camera Definition File is required because the camera options differ so greatly between cameras. It is not reasonable to create specific MAVLink messages for each and every possible option and to tell the GCS the valid options for each camera setting.

Schema

The XML file has 3 main sections (elements):

  • Definition
  • Parameters
  • Localization

Definition

All fields are self explanatory:

<definition version="1">
    <model>T100</model>
    <vendor>Foo Industries</vendor>
</definition>

Parameters

An extended set of parameter messages is used to define settings and options. These minimally have a parameter name, type and default value (types can be predefined or arbitrary - though arbitrary types are only supported by custom camera controllers). They will also have a description that is displayed to the user and the set of possible options.

Parameters can be simple or quite complex, depending on the behavior they change.

Parameter Types

The type of the parameter follows the enum MAV_PARAM_EXT_TYPE. Within the XML file, these are defined as:

  • bool (internally treated as a uint8)
  • uint8
  • int8
  • uint16
  • int16
  • uint32
  • int32
  • uint64
  • int64
  • float
  • double
  • custom

The custom type is a special case that allows for arbitrary data structures of up to 128 bytes. However these are not supported by default - you would need to extend or write your own camera controller within the GCS to interpret this type.

Parameter Definition

The simplest parameter would be a boolean type, which inherently (and automatically) only provides two options (on/off):

<parameter name="CAM_IRLOCK" type="bool" default="0">
    <description>Enable IR Lock</description>
</parameter>

The name attribute is the name of the parameter. This is the name used when requesting or setting the parameter's value using the extended parameter messages. The description is what is shown to the user.

More common are parameters that provide options:

<parameter name="CAM_WBMODE" type="uint32" default="0">
    <description>White Balance Mode</description>
    <options>
        <option name="Auto" value="0" />
        <option name="Incandescent" value="1" />
        <option name="Sunset" value="3" />
        <option name="Sunny" value="4" />
        <option name="Cloudy" value="5" />
        <option name="Fluorescent" value="7" />
    </options>
</parameter>

In this case, the GCS will automatically build a drop down list with the options defined within the options group. When sending/receiving the options, the value field is used and it is not in any way interpreted by the GCS. The name field is used for display only. In other words, using the example above, when the user selects Sunset, the GCS will send a PARAM_EXT_SET message with the id CAM_WBMODE and a uint32 value of 3.

Exclusion Rules

Some parameters are only relevant when some other parameter is set to some specific option. For example, shutter speed and ISO would only be available when the camera is set to manual exposure mode and not shown when the camera is set to auto exposure mode. To specify this behavior, you would use the exclusion element:

<parameter name="CAM_EXPMODE" type="uint32" default="0">
    <description>Exposure Mode</description>
    <options default="0">
        <option name="Auto" value="0">
            <exclusions>
                <exclude>CAM_ISO</exclude>
                <exclude>CAM_SHUTTERSPD</exclude>
            </exclusions>
        </option>
        <option name="Manual" value="1">
            <exclusions>
                <exclude>CAM_EV</exclude>
            </exclusions>
        </option>
    </options>
</parameter>

The above example describes an Exposure Mode parameter and its two options: Auto and Manual. When the option is set to Auto, both the CAM_ISO and CAM_SHUTTERSPD parameters (defined elsewhere in the parameter list) are hidden from the UI as they are not applicable. On the other hand, if the option is set to Manual, the CAM_EV parameter is hidden as it is not applicable while the camera is in Manual Exposure Mode.

Required Option Updates

There are cases where an option change requires a parameter to be updated. For example, using the example above, when the camera is set to Auto Exposure Mode, it internally might change the ISO and Shutter speed. When the user switches back to Manual Exposure Mode, the GCS must request an update for the current ISO and Shutter speed as they may have changed. To do this, you would use the update element:

<parameter name="CAM_EXPMODE" type="uint32" default="0">
    <description>Exposure Mode</description>
    <updates>
        <update>CAM_SHUTTERSPD</update>
        <update>CAM_ISO</update>
    </updates>
    <options default="0">
        <option name="Auto" value="0">
            <exclusions>
                <exclude>CAM_ISO</exclude>
                <exclude>CAM_SHUTTERSPD</exclude>
            </exclusions>
        </option>
        <option name="Manual" value="1">
            <exclusions>
                <exclude>CAM_EV</exclude>
            </exclusions>
        </option>
    </options>
</parameter>

This tells the GCS that when the CAM_EXPMODE parameter changes, both the CAM_SHUTTERSPD and the CAM_ISO must be updated (requested from the camera).

Range Limit

Suppose your camera has the following ISO options:

<parameter name="CAM_ISO" type="uint32" default="100">
    <description>ISO</description>
    <options>
        <option name="50" value="50" />
        <option name="100" value="100" />
        <option name="150" value="150" />
        <option name="200" value="200" />
        <option name="300" value="300" />
        <option name="400" value="400" />
        <option name="600" value="600" />
        <option name="800" value="800" />
        <option name="1600" value="1600" />
        <option name="3200" value="3200" />
        <option name="6400" value="6400" />
    </options>
</parameter>

But this full range is only available when in Photo Mode. For whatever reason, when the camera is set to Video Mode, only a subset of the above range is valid. In this case, you would use the parameterrange element:

<parameter name="CAM_MODE" type="uint32" default="1" control="0">
    <description>Camera Mode</description>
    <options>
        <option name="Photo" value="0" />
        <option name="Video" value="1">
            <parameterranges>
                <parameterrange parameter="CAM_ISO" condition="CAM_EXPMODE=1">
                    <roption name="100" value="100" />
                    <roption name="150" value="150" />
                    <roption name="200" value="200" />
                    <roption name="300" value="300" />
                    <roption name="400" value="400" />
                    <roption name="600" value="600" />
                    <roption name="800" value="800" />
                    <roption name="1600" value="1600" />
                    <roption name="3200" value="3200" />
                </parameterrange>
            </parameterranges>
        </option>
    </options>
</parameter>

This indicates to the GCS that when the CAM_MODE parameter is set to Video, only the given range for the CAM_ISO parameter is valid. It additionally gives a condition that this is only the case when the CAM_EXPOSURE mode is set to Manual (1).

This example also tells the GCS not to display this parameter to the user (control=“0”). Camera Mode is a standard parameter defined in the CAMERA_INFORMATION message and it’s handled by the GCS in that way. The parameter definition above was created in order to tell the GCS the rules that are applied when changes to the mode occur.

Localization

The localization element is used for defining localized strings for display to users. If found, the GCS will use to replace all description and options name values found in the file with the strings defined here. Here is an example for German localization (de_DE):

<localization>
    <locale name="de_DE">
        <strings original="Camera Mode" translated="Kamera Modus" />
        <strings original="Photo" translated="Foto" />
        <strings original="Video" translated="Video" />
        <strings original="White Balance Mode" translated="Weißabgleich Modus" />
        <strings original="Auto" translated="Auto" />
        <strings original="Incandescent" translated="Glühlampen" />
        <strings original="Sunset" translated="Sonnenuntergang" />
        <strings original="Sunny" translated="Sonnig" />
        <strings original="Cloudy" translated="Bewölkt" />
        <strings original="Fluorescent" translated="Fluoreszierende" />
    </locale>
</localization>

When the GCS loads and parses the XML file, it will check and see if it can find a localized version appropriate to the system language. If it finds a localisation, it will proceed to replace all occurrences of original with translated. If something is not found, the default English string is used. You can have as many locales as deemed necessary.

Protocol Definition

Once the Camera Definition File is loaded by the GCS, it will request all parameters from the camera using the PARAM_EXT_REQUEST_LIST message. In response, the camera will send back all parameters using the PARAM_EXT_VALUE message.

When the user makes a selection, the GCS will send the new option using the PARAM_EXT_SET message and it will expect in response a PARAM_EXT_ACK message.

When the GCS requires a current option for a given parameter, it will use the PARAM_EXT_REQUEST_READ message and it will expect in response a PARAM_EXT_VALUE message.

Full Camera Definition File Example {#full_example}

<?xml version="1.0" encoding="UTF-8" ?>
<mavlinkcamera>
    <definition version="7">
        <model>T100</model>
        <vendor>Foo Industries</vendor>
    </definition>
    <parameters>
        <!-- control = 0 tells us this should not create an automatic UI control -->
        <parameter name="CAM_MODE" type="uint32" default="1" control="0">
            <description>Camera Mode</description>
            <!-- This tells us when this parameter changes, these parameters must be updated (requested)-->
            <updates>
                <update>CAM_SHUTTERSPD</update>
                <update>CAM_ISO</update>
                <update>CAM_VIDRES</update>
                <update>CAM_ASPECTRATIO</update>
            </updates>
            <options>
                <option name="Photo" value="0">
                    <!-- This tells us when Camera Mode is set to Photo mode, the following parameters should be ignored (hidden from UI or disabled)-->
                    <exclusions>
                        <exclude>CAM_VIDRES</exclude>
                        <exclude>CAM_VIDFMT</exclude>
                    </exclusions>
                </option>
                <option name="Video" value="1">
                    <!-- Conversely, when Camera Mode is set to Photo mode, the following parameters should be ignored (hidden from UI or disabled)-->
                    <exclusions>
                        <exclude>CAM_PHOTOFMT</exclude>
                        <exclude>CAM_PHOTOQUAL</exclude>
                        <exclude>CAM_COLORMODE</exclude>
                    </exclusions>
                    <parameterranges>
                        <parameterrange parameter="CAM_ISO" condition="CAM_EXPMODE=1">
                            <roption name="100" value="100" />
                            <roption name="150" value="150" />
                            <roption name="200" value="200" />
                            <roption name="300" value="300" />
                            <roption name="400" value="400" />
                            <roption name="600" value="600" />
                            <roption name="800" value="800" />
                            <roption name="1600" value="1600" />
                            <roption name="3200" value="3200" />
                        </parameterrange>
                    </parameterranges>
                </option>
            </options>
        </parameter>
        <parameter name="CAM_WBMODE" type="uint32" default="0">
            <description>White Balance Mode</description>
            <options>
                <option name="Auto" value="0" />
                <option name="Incandescent" value="1" />
                <option name="Sunset" value="3" />
                <option name="Sunny" value="4" />
                <option name="Cloudy" value="5" />
                <option name="Fluorescent" value="7" />
            </options>
        </parameter>
        <parameter name="CAM_EXPMODE" type="uint32" default="0">
            <description>Exposure Mode</description>
            <updates>
                <update>CAM_SHUTTERSPD</update>
                <update>CAM_ISO</update>
            </updates>
            <options default="0">
                <option name="Auto" value="0">
                    <exclusions>
                        <exclude>CAM_ISO</exclude>
                        <exclude>CAM_SHUTTERSPD</exclude>
                    </exclusions>
                </option>
                <option name="Manual" value="1">
                    <exclusions>
                        <exclude>CAM_EV</exclude>
                    </exclusions>
                </option>
            </options>
        </parameter>
        <parameter name="CAM_SHUTTERSPD" type="float" default="0.016666">
            <description>Shutter Speed</description>
            <options>
                <option name="4" value="4" />
                <option name="3" value="3" />
                <option name="2" value="2" />
                <option name="1" value="1" />
                <option name="1/30" value="0.033333" />
                <option name="1/60" value="0.016666" />
                <option name="1/125" value="0.008" />
                <option name="1/250" value="0.004" />
                <option name="1/500" value="0.002" />
                <option name="1/1000" value="0.001" />
                <option name="1/2000" value="0.0005" />
                <option name="1/4000" value="0.00025" />
                <option name="1/8000" value="0.000125" />
            </options>
        </parameter>
        <parameter name="CAM_ISO" type="uint32" default="100">
            <description>ISO</description>
            <options>
                <option name="100" value="100" />
                <option name="150" value="150" />
                <option name="200" value="200" />
                <option name="300" value="300" />
                <option name="400" value="400" />
                <option name="600" value="600" />
                <option name="800" value="800" />
                <option name="1600" value="1600" />
                <option name="3200" value="3200" />
                <option name="6400" value="6400" />
            </options>
        </parameter>
        <parameter name="CAM_EV" type="float" default="0">
            <description>Exposure Compensation</description>
            <options>
                <option name="-3" value="-3" />
                <option name="-2.5" value="-2.5" />
                <option name="-2" value="-2" />
                <option name="-1.5" value="-1.5" />
                <option name="-1" value="-1" />
                <option name="-0.5" value="-0.5" />
                <option name="0" value="0" />
                <option name="+0.5" value="0.5" />
                <option name="+1" value="1" />
                <option name="+1.5" value="1.5" />
                <option name="+2" value="2" />
                <option name="+2.5" value="2.5" />
                <option name="+3" value="3" />
            </options>
        </parameter>
        <parameter name="CAM_VIDRES" type="uint32" default="0">
            <description>Video Resolution</description>
            <updates>
                <update>CAM_SHUTTERSPD</update>
                <update>CAM_ISO</update>
                <update>CAM_ASPECTRATIO</update>
            </updates>
            <options>
                <!-- 4096 x 2160 -->
                <option name="4096 x 2160 60fps (UHD)" value="0">
                    <exclusions>
                        <exclude>CAM_VIDFMT</exclude>
                    </exclusions>
                    <parameterranges>
                        <!-- When Camera Mode is Video and Exposure Mode is Manual, Shutter Speed cannot be slower than the frame rate -->
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="4096 x 2160 50fps (UHD)" value="1">
                    <exclusions>
                        <exclude>CAM_VIDFMT</exclude>
                    </exclusions>
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="4096 x 2160 48fps (UHD)" value="2">
                    <exclusions>
                        <exclude>CAM_VIDFMT</exclude>
                    </exclusions>
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="4096 x 2160 30fps (UHD)" value="3">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="4096 x 2160 25fps (UHD)" value="4">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="4096 x 2160 24fps (UHD)" value="5">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <!-- 3840 x 2160 -->
                <option name="3840 x 2160 60fps (UHD)" value="6">
                    <exclusions>
                        <exclude>CAM_VIDFMT</exclude>
                    </exclusions>
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="3840 x 2160 50fps (UHD)" value="7">
                    <exclusions>
                        <exclude>CAM_VIDFMT</exclude>
                    </exclusions>
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="3840 x 2160 48fps (UHD)" value="8">
                    <exclusions>
                        <exclude>CAM_VIDFMT</exclude>
                    </exclusions>
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="3840 x 2160 30fps (UHD)" value="9">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="3840 x 2160 25fps (UHD)" value="10">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="3840 x 2160 24fps (UHD)" value="11">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <!-- 2720 x 1530 -->
                <option name="2720 x 1530 60fps (UHD)" value="12">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="2720 x 1530 48fps (UHD)" value="13">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="2720 x 1530 30fps (UHD)" value="14">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="2720 x 1530 24fps (UHD)" value="15">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <!-- 1920 x 1080 -->
                <option name="1920 x 1080 120fps (FHD)" value="16">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="1920 x 1080 60fps (FHD)" value="17">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="1920 x 1080 50fps (FHD)" value="18">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="1920 x 1080 48fps (FHD)" value="19">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="1920 x 1080 30fps (FHD)" value="20">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="1920 x 1080 25fps (FHD)" value="21">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="1920 x 1080 24fps (FHD)" value="22">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <!-- 1280 x 720 -->
                <option name="1280 x 720 120fps (HD)" value="23">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="1280 x 720 60fps (HD)" value="24">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="1280 x 720 48fps (HD)" value="25">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="1280 x 720 30fps (HD)" value="26">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
                <option name="1280 x 720 24fps (HD)" value="27">
                    <parameterranges>
                        <parameterrange parameter="CAM_SHUTTERSPD" condition="CAM_MODE=1 AND CAM_EXPMODE=1">
                            <roption name="1/30" value="0.033333" />
                            <roption name="1/60" value="0.016666" />
                            <roption name="1/125" value="0.008" />
                            <roption name="1/250" value="0.004" />
                            <roption name="1/500" value="0.002" />
                            <roption name="1/1000" value="0.001" />
                            <roption name="1/2000" value="0.0005" />
                            <roption name="1/4000" value="0.00025" />
                            <roption name="1/8000" value="0.000125" />
                        </parameterrange>
                    </parameterranges>
                </option>
            </options>
        </parameter>
        <parameter name="CAM_VIDFMT" type="uint32" default="0">
            <description>Video Format</description>
            <updates>
                <update>CAM_SHUTTERSPD</update>
                <update>CAM_ISO</update>
                <update>CAM_VIDRES</update>
            </updates>
            <options>
                <option name="H264" value="1" />
                <option name="HEVC" value="3">
                    <parameterranges>
                        <!-- When Mode is HEVC, 4K res limit is 30fps -->
                        <parameterrange parameter="CAM_VIDRES" condition="CAM_MODE=1">
                            <roption name="4096 x 2160 30fps (UHD)" value="3" />
                            <roption name="4096 x 2160 25fps (UHD)" value="4" />
                            <roption name="4096 x 2160 24fps (UHD)" value="5" />
                            <roption name="3840 x 2160 30fps (UHD)" value="9" />
                            <roption name="3840 x 2160 25fps (UHD)" value="10" />
                            <roption name="3840 x 2160 24fps (UHD)" value="11" />
                            <roption name="2720 x 1530 60fps (UHD)" value="12" />
                            <roption name="2720 x 1530 48fps (UHD)" value="13" />
                            <roption name="2720 x 1530 30fps (UHD)" value="14" />
                            <roption name="2720 x 1530 24fps (UHD)" value="15" />
                            <roption name="1920 x 1080 120fps (FHD)" value="16" />
                            <roption name="1920 x 1080 60fps (FHD)" value="17" />
                            <roption name="1920 x 1080 50fps (FHD)" value="18" />
                            <roption name="1920 x 1080 48fps (FHD)" value="19" />
                            <roption name="1920 x 1080 30fps (FHD)" value="20" />
                            <roption name="1920 x 1080 25fps (FHD)" value="21" />
                            <roption name="1920 x 1080 24fps (FHD)" value="22" />
                            <roption name="1280 x 720 120fps (HD)" value="23" />
                            <roption name="1280 x 720 60fps (HD)" value="24" />
                            <roption name="1280 x 720 48fps (HD)" value="25" />
                            <roption name="1280 x 720 30fps (HD)" value="26" />
                            <roption name="1280 x 720 24fps (HD)" value="27" />
                        </parameterrange>
                    </parameterranges>
                </option>
            </options>
        </parameter>
        <parameter name="CAM_COLORMODE" type="uint32" default="1">
            <description>Color Mode</description>
            <options>
                <option name="Neutral" value="0" />
                <option name="Enhanced" value="1" />
                <option name="Night" value="3" />
                <option name="Unprocessed" value="2" />
            </options>
        </parameter>
        <parameter name="CAM_PHOTOFMT" type="uint32" default="0">
            <description>Image Format</description>
            <options>
                <option name="Jpeg" value="0" />
                <option name="Raw" value="1" />
                <option name="Jpeg+Raw" value="2" />
            </options>
        </parameter>
        <parameter name="CAM_PHOTOQUAL" type="uint32" default="1">
            <description>Image Quality</description>
            <options>
                <option name="Low" value="0" />
                <option name="Medium" value="1" />
                <option name="High" value="2" />
                <option name="Ultra" value="3" />
            </options>
        </parameter>
    </parameters>
    <localization>
        <!-- If no appropriate locale is found, the original (above) will be used -->
        <!-- At runtime, the code will go through every "description" and "option name" looking for "original" and replace it with "translated" -->
        <locale name="de_DE">
            <strings original="Camera Mode" translated="Kamera Modus" />
            <strings original="Photo" translated="Foto" />
            <strings original="White Balance Mode" translated="Weißabgleich Modus" />
            <strings original="Incandescent" translated="Glühlampen" />
            <strings original="Sunset" translated="Sonnenuntergang" />
            <strings original="Sunny" translated="Sonnig" />
            <strings original="Cloudy" translated="Bewölkt" />
            <strings original="Fluorescent" translated="Fluoreszierende" />
            <strings original="Lock" translated="Sperre" />
            <strings original="Exposure Mode" translated="Belichtungsmodus" />
            <strings original="Manual" translated="Manuell" />
            <strings original="Shutter Speed" translated="Verschlusszeit" />
            <strings original="Exposure Compensation" translated="Belichtungskorrektur" />
            <strings original="Video Resolution" translated="Videoauflösung" />
            <strings original="Average" translated="Durchschnitt" />
            <strings original="Center" translated="Zentrum" />
            <strings original="Color Mode" translated="Farbmodus" />
            <strings original="Neutral" translated="Neutral" />
            <strings original="Enhanced" translated="Verbessert" />
            <strings original="Night" translated="Nacht" />
            <strings original="Unprocessed" translated="Unverarbeitete" />
            <strings original="Image Format" translated="Bildformat" />
            <strings original="Image Quality" translated="Bildqualität" />
            <strings original="High" translated="Hoch" />
        </locale>
    </localization>
</mavlinkcamera>