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
Recording indicator
The SIYI record command is a toggle: Harlock reads the camera's state before sending it, so pressing REC on a camera that is already recording does not stop it, and reads the state back afterwards to confirm that recording began.
The indicator says which of the two is true:
| Indicator | Meaning |
|---|---|
| Red REC, with timer | The camera confirmed it is recording |
| Amber REC? | The command was sent but the camera did not answer — verify on board |
An amber REC? means the recording is unverified — check the camera's own indicator or the SD card before relying on it.
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)
For photogrammetry in Survey mode, set the gimbal to -90° pitch (nadir) before takeoff.