Camera
Harlock supports two camera families: SIYI (proprietary link) and MAVLink Camera (standard protocol).
SIYI Camera
Connection
SIYI cameras (A8 mini, ZR10, ZR30, ZT30) communicate via UDP over the HM30/MK32 link network. The default IP is 192.168.144.25.
Supported features
| Feature | Description |
|---|---|
| Video streaming | RTSP via SIYI network |
| Gimbal control | Pitch and Yaw via joystick or map click |
| Zoom | Optical and digital zoom |
| Photo capture | Remote shutter command |
| Video recording | Start/Stop recording to SD card |
| Tracking mode | Subject tracking (compatible models) |
Configuration
Go to Settings → Camera → SIYI to:
- Set the camera IP address
- Configure streaming resolution
- Enable gimbal follow mode
MAVLink Camera
Cameras that speak MAVLink Camera Protocol v2 are automatically detected when the vehicle connects.
Supported commands
MAV_CMD_IMAGE_START_CAPTURE/STOP_CAPTUREMAV_CMD_VIDEO_START_CAPTURE/STOP_CAPTURECAMERA_INFORMATION(automatic capability detection)CAMERA_SETTINGS(read and write)
Gimbal control
The gimbal panel is always visible in the right sidebar when a camera is connected. You can:
- Use the arrow keys to move the gimbal
- Click Centre to return the gimbal to 0°/0°
- Set a precise pitch angle (e.g. -90° for nadir)
info
For photogrammetry in Survey mode, set the gimbal to -90° pitch (nadir) before takeoff.