From 07d4be77598ecd3ce295a1e2b3afdd917d0fc96f Mon Sep 17 00:00:00 2001
From: Hamish Willee <hamishwillee@gmail.com>
Date: Wed, 6 Mar 2024 17:12:28 +1100
Subject: [PATCH] Set camera source

---
 en/services/camera.md | 68 +++++++++++++++++++++++++++++++++----------
 1 file changed, 52 insertions(+), 16 deletions(-)

diff --git a/en/services/camera.md b/en/services/camera.md
index fa273a1da..be68d19e8 100644
--- a/en/services/camera.md
+++ b/en/services/camera.md
@@ -42,11 +42,11 @@ The camera identification operation identifies all the available cameras and det
 
 > **Tip** Camera identification must be carried out before all other operations!
 
-The first time a heartbeat is received from a new camera component, the GCS will send it a [MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE) message asking for [CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION) (message id 259).
+The first time a heartbeat is received from a new camera component, the GCS will send it a [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE) message asking for [CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION) (message id 259).
 The camera will then respond with the a [COMMAND_ACK](../messages/common.md#COMMAND_ACK) message containing a result.
 On success (result is [MAV_RESULT_ACCEPTED](../messages/common.md#MAV_RESULT_ACCEPTED)) the camera component must then send a [CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION) message.
 
-[![Mermaid Sequence: Camera Id](https://mermaid.ink/img/eyJjb2RlIjoic2VxdWVuY2VEaWFncmFtO1xuICAgIHBhcnRpY2lwYW50IEdDU1xuICAgIHBhcnRpY2lwYW50IENhbWVyYVxuICAgIENhbWVyYS0-PkdDUzogSEVBUlRCRUFUIFtjbXAgaWQ6IE1BVl9DT01QX0lEX0NBTUVSQV0gKGZpcnN0KSBcbiAgICBHQ1MtPj5DYW1lcmE6IE1BVl9DTURfUkVRVUVTVF9NRVNTQUdFKHBhcmFtMT0yNTkpXG4gICAgR0NTLT4-R0NTOiBTdGFydCB0aW1lb3V0XG4gICAgQ2FtZXJhLT4-R0NTOiBDT01NQU5EX0FDS1xuICAgIE5vdGUgb3ZlciBDYW1lcmEsR0NTOiBJZiBNQVZfUkVTVUxUX0FDQ0VQVEVEIHNlbmQgaW5mby5cbiAgICBDYW1lcmEtPj5HQ1M6IENBTUVSQV9JTkZPUk1BVElPTiIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoic2VxdWVuY2VEaWFncmFtO1xuICAgIHBhcnRpY2lwYW50IEdDU1xuICAgIHBhcnRpY2lwYW50IENhbWVyYVxuICAgIENhbWVyYS0-PkdDUzogSEVBUlRCRUFUIFtjbXAgaWQ6IE1BVl9DT01QX0lEX0NBTUVSQV0gKGZpcnN0KSBcbiAgICBHQ1MtPj5DYW1lcmE6IE1BVl9DTURfUkVRVUVTVF9NRVNTQUdFKHBhcmFtMT0yNTkpXG4gICAgR0NTLT4-R0NTOiBTdGFydCB0aW1lb3V0XG4gICAgQ2FtZXJhLT4-R0NTOiBDT01NQU5EX0FDS1xuICAgIE5vdGUgb3ZlciBDYW1lcmEsR0NTOiBJZiBNQVZfUkVTVUxUX0FDQ0VQVEVEIHNlbmQgaW5mby5cbiAgICBDYW1lcmEtPj5HQ1M6IENBTUVSQV9JTkZPUk1BVElPTiIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)
+[![Mermaid Sequence: Camera Id](https://mermaid.ink/img/pako:eNptkVFLwzAUhf9KyNMGVVDwwYqD2MZZNN1sOl-shNDcamBJa5oKMvbfje0UweXpcvOde09ydrhuFeAY9_A-gK0h1fLVSXNVWRROJ53Xte6k9WiZ8P_NRBpwcupP9cliEcgY3VFSlDeUlOi5Nh3SKkaMPIlkxdYiS0VCGC3IC5o12vV-jqYRQRn006ADz1JR0McN5aVglHOypLNgQJqz6_OLy_lf2biW--AOeW2gHfwxX8EAI3kqSHI_XeetB9R-gDuA0Yhlzbi-oHzzUAY4oeuSpqgHq5C2TXt6dPb4KJHlt6uCkTJb5TjCATBSq_DHu29Nhf0bGKhwHEoFjRy2vsKV3Qd06JT0QJX2rcNxI7c9RFgOvuWftsaxdwP8QIecfikYRWwKc8x0_wV0cJV0?type=png)](https://mermaid-js.github.io/mermaid-live-editor/edit#pako:eNptkVFLwzAUhf9KyNMGVVDwwYqD2MZZNN1sOl-shNDcamBJa5oKMvbfje0UweXpcvOde09ydrhuFeAY9_A-gK0h1fLVSXNVWRROJ53Xte6k9WiZ8P_NRBpwcupP9cliEcgY3VFSlDeUlOi5Nh3SKkaMPIlkxdYiS0VCGC3IC5o12vV-jqYRQRn006ADz1JR0McN5aVglHOypLNgQJqz6_OLy_lf2biW--AOeW2gHfwxX8EAI3kqSHI_XeetB9R-gDuA0Yhlzbi-oHzzUAY4oeuSpqgHq5C2TXt6dPb4KJHlt6uCkTJb5TjCATBSq_DHu29Nhf0bGKhwHEoFjRy2vsKV3Qd06JT0QJX2rcNxI7c9RFgOvuWftsaxdwP8QIecfikYRWwKc8x0_wV0cJV0)
 
 <!-- Original diagram
 sequenceDiagram;
@@ -90,7 +90,7 @@ The GCS can determine if it needs to make sure the camera is in the proper mode
 In addition, some cameras can capture images in any mode but with different resolutions.
 For example, a 20 megapixel camera would take a full resolution image when set to `CAMERA_MODE_IMAGE` but only at the current video resolution if it is set to `CAMERA_MODE_VIDEO`.
 
-To get the current mode, the GCS would send a [MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE) command asking for [CAMERA_SETTINGS](../messages/common.md#CAMERA_SETTINGS).
+To get the current mode, the GCS would send a [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE) command asking for [CAMERA_SETTINGS](../messages/common.md#CAMERA_SETTINGS).
 The camera component will then respond with the [COMMAND_ACK](../messages/common.md#COMMAND_ACK) message containing a result.
 On success (`COMMAND_ACK.result` is [MAV_RESULT_ACCEPTED](../messages/common.md#MAV_RESULT_ACCEPTED)) the camera must then send a [CAMERA_SETTINGS](../messages/common.md#CAMERA_SETTINGS) message.
 The current mode is the `CAMERA_SETTINGS.mode_id` field.
@@ -134,13 +134,40 @@ sequenceDiagram;
 ### Storage Status
 
 Before capturing images and/or videos, a GCS should query the storage status to determine if the camera has enough free space for these operations (and provide the user with feedback as to the current storage status).
-The GCS will send the [MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE) command and it expects a [COMMAND_ACK](../messages/common.md#COMMAND_ACK) message back as well as a [STORAGE_INFORMATION](../messages/common.md#STORAGE_INFORMATION) response.
+The GCS will send the [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE) command and it expects a [COMMAND_ACK](../messages/common.md#COMMAND_ACK) message back as well as a [STORAGE_INFORMATION](../messages/common.md#STORAGE_INFORMATION) response.
 For formatting (or erasing depending on your implementation), the GCS will send a [MAV_CMD_STORAGE_FORMAT](../messages/common.md#MAV_CMD_STORAGE_FORMAT) command.
 
 ### Camera Capture Status
 
 In addition to querying about storage status, the GCS will also request the current _Camera Capture Status_ in order to provide the user with proper UI indicators.
-The GCS will send a [MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE) command asking for [[CAMERA_CAPTURE_STATUS](../messages/common.md#CAMERA_CAPTURE_STATUS)] and it expects a [COMMAND_ACK](../messages/common.md#COMMAND_ACK) message back as well as a [CAMERA_CAPTURE_STATUS](../messages/common.md#CAMERA_CAPTURE_STATUS) response.
+The GCS will send a [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE) command asking for [CAMERA_CAPTURE_STATUS](../messages/common.md#CAMERA_CAPTURE_STATUS) and it expects a [COMMAND_ACK](../messages/common.md#COMMAND_ACK) message back as well as a [CAMERA_CAPTURE_STATUS](../messages/common.md#CAMERA_CAPTURE_STATUS) response.
+
+### Cameras with Multiple Sensors
+
+Most cameras have a single sensor, which is capable of capturing just one "source", such as visible light (RGB), or infrared (thermal images).
+This single sensor will be used for both [still image capture](#still-image-capture) and [video streaming](#video_streaming).
+
+Some cameras support multiple sensors, for example, both IR and visble light.
+
+> **Note** Cameras that have multiple independent sensors, and so can stream/capture from them at the same time, should expose each sensor as a separate MAVLink camera.
+
+Cameras with multiple dependent sensors can usually capture and stream from either sensor or a composite of both (such as picture-in-picture).
+We refer to each of the options above as a "camera source", one of which can be used for both video and image capture at a time.
+
+The camera source used for image capture and streaming can be set in several ways:
+
+- Video streams can be exposed for each source (this would make sense because the different sensors are likely to have different resolutions).
+  The stream to use can be selected in the normal way, and this would also set the active source.
+- The active source can be exposed and set through a [Camera definition file](../services/camera_def.md) setting.
+- The active source can be set using the [MAV_CMD_SET_CAMERA_SOURCE](#MAV_CMD_SET_CAMERA_SOURCE) command.
+  This can be used in missions (unlike camera settings) and does not require that video is streamed to set the source.
+  Note that there is no method to determine whether a particular source/sources are supported on your camera ahead of time, but the command should be rejected if the indicated source is not supported.
+
+Whichever method is used, sets the current source for both image and video capture, and remains in place until a different source is set using one of the methods.
+
+> **Warning** If you're streaming video and you change the source using `MAV_CMD_SET_CAMERA_SOURCE`, the original stream will stop.
+> This is likely to be problematic if you're currently viewing video, as a new stream will need to be selected.
+> Changing video stream while capturing images is usually fine, because the image will just be captured using the current settings.
 
 ### Still Image Capture
 
@@ -149,13 +176,15 @@ A camera supports _still image capture_ if the [CAMERA_CAP_FLAGS_CAPTURE_IMAGE](
 A GCS/MAVLink app uses the [MAV_CMD_IMAGE_START_CAPTURE](../messages/common.md#MAV_CMD_IMAGE_START_CAPTURE) command to request that the camera capture a specified number of images (or forever), and the duration between them.
 The camera immediately returns the normal command acknowledgment ([MAV_RESULT](../messages/common.md#MAV_RESULT_ACCEPTED)).
 
+> **Note** For cameras that support multiple sources, such as IR, visible light, picture in picture, then you should first set the [current source for image and video capture](#cameras-with-multiple-sensors).
+
 Each time an image is captured, the camera _broadcasts_ a [CAMERA_IMAGE_CAPTURED](../messages/common.md#CAMERA_IMAGE_CAPTURED) message.
 This message not only tells the GCS the image was captured, it is also intended for geo-tagging.
 
 > **Note** The camera must iterate `CAMERA_IMAGE_CAPTURED.image_index` and the counter used in `CAMERA_CAPTURE_STATUS.image_count` for every _new_ image capture (these values iterate until explicitly cleared using [MAV_CMD_STORAGE_FORMAT](#MAV_CMD_STORAGE_FORMAT)).
 > The index and total image count can be used to [re-request missing images](#missing_images) (e.g. images captured when the vehicle was out of telemetry range).
 
-The [MAV_CMD_IMAGE_STOP_CAPTURE](../messages/common.md#MAV_CMD_IMAGE_STOP_CAPTURE) command can optionally be sent to stop an image capture sequence (this is needed if image capture has been set to continue forever).
+The [MAV_CMD_IMAGE_STOP_CAPTURE](#MAV_CMD_IMAGE_STOP_CAPTURE) command can optionally be sent to stop an image capture sequence (this is needed if image capture has been set to continue forever).
 
 The still image capture message sequence _for missions_ (as described above) is shown below:
 
@@ -182,7 +211,7 @@ The message sequence for _interactive user-initiated image capture_ through a GU
 In this case the GCS should:
 
 - Confirm that the camera is _ready_ to take images before allowing the user to request image capture.
-  - It does this by by sending [MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE) asking for [CAMERA_CAPTURE_STATUS](../messages/common.md#CAMERA_CAPTURE_STATUS).
+  - It does this by by sending [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE) asking for [CAMERA_CAPTURE_STATUS](../messages/common.md#CAMERA_CAPTURE_STATUS).
   - The camera should return a `MAV_RESULT` and then [CAMERA_CAPTURE_STATUS](../messages/common.md#CAMERA_CAPTURE_STATUS).
   - The GCS should check that the status is "Idle" before enabling camera capture in the GUI.
 - Send [MAV_CMD_IMAGE_START_CAPTURE](../messages/common.md#MAV_CMD_IMAGE_START_CAPTURE) specifying a single image (only).
@@ -216,7 +245,7 @@ The camera broadcasts a [CAMERA_IMAGE_CAPTURED](#CAMERA_IMAGE_CAPTURED) every ti
 These messages can be lost during transmission; for example if the vehicle is out of data-link range of the ground stations.
 
 Lost image capture messages can be detected by comparing GCS and camera image counts.
-Individual entries can be requested using [MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE), where `param1="MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED"` and `param2="the index of the missing image"`.
+Individual entries can be requested using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE), where `param1="MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED"` and `param2="the index of the missing image"`.
 
 The camera image log iterates "forever" (but may be explicitly reset using [MAV_CMD_STORAGE_FORMAT.param3=1](../messages/common.md#MAV_CMD_STORAGE_FORMAT)).
 
@@ -257,13 +286,18 @@ The steps are:
 
 1. GCS follows the [Camera Identification](#camera_identification) steps to get [CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION) for every camera.
 1. GCS checks if [CAMERA_INFORMATION.flags](../messages/common.md#CAMERA_INFORMATION) contains the [CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM](../messages/common.md#CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) flag.
-1. If so, the GCS sends the [MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE) message to the camera requesting the video streaming configuration (`param1=269`) for all streams (`param2=0`).
+1. If so, the GCS sends the [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE) message to the camera requesting the video streaming configuration (`param1=269`) for all streams (`param2=0`).
    > **Note** A GCS can also request information for a _particular stream_ by setting its id in `param2`.
 1. Camera returns a [VIDEO_STREAM_INFORMATION](../messages/common.md#VIDEO_STREAM_INFORMATION) message for the specified stream or all streams it supports.
 
 > **Note** If your camera only provides video streaming and nothing else (no camera features), the [CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM](../messages/common.md#CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) flag is the only flag you need to set.
 > The GCS will then provide video streaming support and skip camera control.
 
+<span></span>
+
+> **Note** Cameras that support multiple sources, such as IR, visible light, picture in picture, can set the [current source for image and video capture](#cameras-with-multiple-sensors).
+> If this happens while you're streaming from a different source, the current stream will be stopped.
+
 ### Camera Tracking
 
 A camera may support tracking a point and/or a rectangle.
@@ -284,7 +318,7 @@ After stopping tracking you should call `MAV_CMD_SET_MESSAGE_INTERVAL` to stop s
 
 #### Camera tracking message sequence
 
-> **Note** The GCS should already have identified all connected cameras by their heartbeat and followed the [Camera Identification](#camera_identification) steps to get [CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION) for every camera.
+> **Note** The GCS should already have identified all connected cameras by their heartbeat and followed the [Camera Identification](#camera_identification) steps to get [CAMERA_INFORMATION](#CAMERA_INFORMATION) for every camera.
 
 The sequence for tracking a point is shown below (tracking a rectangle is the same sequence but a different tracking command).
 
@@ -292,7 +326,7 @@ The sequence for tracking a point is shown below (tracking a rectangle is the sa
 
 The steps are:
 
-1. GCS follows the [Camera Identification](#camera_identification) steps to get [CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION) for every camera.
+1. GCS follows the [Camera Identification](#camera_identification) steps to get [CAMERA_INFORMATION](#CAMERA_INFORMATION) for every camera.
 1. GCS checks if [CAMERA_INFORMATION.flags](../messages/common.md#CAMERA_INFORMATION) contains the `CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE`, `CAMERA_CAP_FLAGS_HAS_TRACKING_POINT`, `CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS`.
 1. If tracking is supported the GCS sends the command to start the type of tracking it wants to do: [MAV_CMD_CAMERA_TRACK_POINT](#MAV_CMD_CAMERA_TRACK_POINT) or [MAV_CMD_CAMERA_TRACK_RECTANGLE](#MAV_CMD_CAMERA_TRACK_RECTANGLE).
    The sequence above just shows point tracking.
@@ -316,7 +350,7 @@ Other components like a GCS will typically only use the camera `BATTERY_STATUS.b
 | <a id="CAMERA_INFORMATION"></a>[CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION)                                                                   | Basic information about camera including supported features and URI link to extended information (`cam_definition_uri` field).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
 | <a id="CAMERA_SETTINGS"></a>[CAMERA_SETTINGS](../messages/common.md#CAMERA_SETTINGS)                                                                            | Timestamp and camera mode information.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |
 | <a id="MAV_CMD_SET_CAMERA_MODE"></a>[MAV_CMD_SET_CAMERA_MODE](../messages/common.md#MAV_CMD_SET_CAMERA_MODE)                                                    | Send command to set [CAMERA_MODE](#CAMERA_MODE).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |
-| <a id="VIDEO_STREAM_INFORMATION"></a>[VIDEO_STREAM_INFORMATION](../messages/common.md#VIDEO_STREAM_INFORMATION)                                                 | Information defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique `stream_id`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
+| <a id="VIDEO_STREAM_INFORMATION"></a>[VIDEO_STREAM_INFORMATION](../messages/common.md#VIDEO_STREAM_INFORMATION)                                                 | Information defining a video stream configuration. Cameras with more than one video stream send this message for each stream, each which must have its own, unique `stream_id`.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
 | <a id="VIDEO_STREAM_STATUS"></a>[VIDEO_STREAM_STATUS](../messages/common.md#VIDEO_STREAM_STATUS)                                                                | Information updating a video stream configuration. <!-- TBD? -->                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |
 | <a id="storage_information"></a>[STORAGE_INFORMATION](../messages/common.md#STORAGE_INFORMATION)                                                                | Storage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |
 | <a id="MAV_CMD_STORAGE_FORMAT"></a>[MAV_CMD_STORAGE_FORMAT](../messages/common.md#MAV_CMD_STORAGE_FORMAT)                                                       | Send command to format the specified storage device.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |
@@ -326,11 +360,11 @@ Other components like a GCS will typically only use the camera `BATTERY_STATUS.b
 | <a id="CAMERA_IMAGE_CAPTURED"></a>[CAMERA_IMAGE_CAPTURED](../messages/common.md#CAMERA_IMAGE_CAPTURED)                                                          | Information about image captured (returned to GPS every time an image is captured).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |
 | <a id="MAV_CMD_VIDEO_START_CAPTURE"></a>[MAV_CMD_VIDEO_START_CAPTURE](../messages/common.md#MAV_CMD_VIDEO_START_CAPTURE)                                        | Send command to start video capture, specifying the frequency that [CAMERA_CAPTURE_STATUS](#CAMERA_CAPTURE_STATUS) messages should be sent while recording.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |
 | <a id="MAV_CMD_VIDEO_STOP_CAPTURE"></a>[MAV_CMD_VIDEO_STOP_CAPTURE](../messages/common.md#MAV_CMD_VIDEO_STOP_CAPTURE)                                           | Send command to stop video capture.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             |
-| <a id="MAV_CMD_VIDEO_START_STREAMING"></a>[MAV_CMD_VIDEO_START_STREAMING](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING)                                  | Send command to start video streaming for the given Stream ID (`stream_id`.) This is mostly for streaming protocols that _push_ a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all `MAV_CMD_XXX` commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a [MAV_CMD_VIDEO_STOP_STREAMING](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING) command targeting the current Stream ID followed by a [MAV_CMD_VIDEO_START_STREAMING](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING) targeting the newly selected Stream ID.   |
+| <a id="MAV_CMD_VIDEO_START_STREAMING"></a>[MAV_CMD_VIDEO_START_STREAMING](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING)                                  | Send command to start video streaming for the given Stream ID (`stream_id`). This is mostly for streaming protocols that _push_ a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all `MAV_CMD_XXX` commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a [MAV_CMD_VIDEO_STOP_STREAMING](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING) command targeting the current Stream ID followed by a [MAV_CMD_VIDEO_START_STREAMING](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING) targeting the newly selected Stream ID.   |
 | <a id="MAV_CMD_VIDEO_STOP_STREAMING"></a>[MAV_CMD_VIDEO_STOP_STREAMING](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING)                                     | Send command to stop video streaming for the given Stream ID (`stream_id`.) This is mostly for streaming protocols that _push_ a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all `MAV_CMD_XXX` commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a [MAV_CMD_VIDEO_STOP_STREAMING](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING) command targeting the current Stream ID followed by a [MAV_CMD_VIDEO_START_STREAMING](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING) targeting the newly selected Stream ID. |
 | <a id="MAV_CMD_REQUEST_CAMERA_SETTINGS"></a>[MAV_CMD_REQUEST_CAMERA_SETTINGS](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS)                            | Send command to request [CAMERA_SETTINGS](#CAMERA_SETTINGS).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    | deprecated |
 | <a id="MAV_CMD_REQUEST_CAMERA_INFORMATION"></a>[MAV_CMD_REQUEST_CAMERA_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION)                   | Send command to request [CAMERA_INFORMATION](#CAMERA_INFORMATION).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              | deprecated |
-| <a id="MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION"></a>[MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION) | Send command to request [VIDEO_STREAM_INFORMATION](#VIDEO_STREAM_INFORMATION). This is sent once for each camera when a camera is detected and it has set the [CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM](../messages/common.md#CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) flag within the [CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION) message `flags` field.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                | deprecated |
+| <a id="MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION"></a>[MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION) | Send command to request [VIDEO_STREAM_INFORMATION](#VIDEO_STREAM_INFORMATION). This is sent once for each camera when a camera is detected and it has set the [CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM](../messages/common.md#CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) flag within the [CAMERA_INFORMATION](#CAMERA_INFORMATION) message `flags` field.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     | deprecated |
 | <a id="MAV_CMD_REQUEST_VIDEO_STREAM_STATUS"></a>[MAV_CMD_REQUEST_VIDEO_STREAM_STATUS](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS)                | Send command to request [VIDEO_STREAM_STATUS](#VIDEO_STREAM_STATUS). This is sent whenever there is a mode change (when [MAV_CMD_SET_CAMERA_MODE](../messages/common.md#MAV_CMD_SET_CAMERA_MODE) is sent.) It allows the camera to update the stream configuration when a camera mode change occurs.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            | deprecated |
 | <a id="MAV_CMD_REQUEST_STORAGE_INFORMATION"></a>[MAV_CMD_REQUEST_STORAGE_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_STORAGE_INFORMATION)                | Send command to request [STORAGE_INFORMATION](#storage_information).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            | deprecated |
 | <a id="MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS"></a>[MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS)          | Send command to request [CAMERA_CAPTURE_STATUS](#CAMERA_CAPTURE_STATUS).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | deprecated |
@@ -340,6 +374,7 @@ Other components like a GCS will typically only use the camera `BATTERY_STATUS.b
 | <a id="MAV_CMD_CAMERA_STOP_TRACKING"></a>[MAV_CMD_CAMERA_STOP_TRACKING](../messages/common.md#MAV_CMD_CAMERA_STOP_TRACKING)                                     | Stop camera tracking (as initiated using `MAV_CMD_CAMERA_TRACK_POINT` or `MAV_CMD_CAMERA_TRACK_RECTANGLE`).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |
 | <a id="CAMERA_TRACKING_IMAGE_STATUS"></a>[CAMERA_TRACKING_IMAGE_STATUS](../messages/common.md#CAMERA_TRACKING_IMAGE_STATUS)                                     | Camera tracking status, sent while in active tracking. Use [MAV_CMD_SET_MESSAGE_INTERVAL](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL) to define message interval.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
 | <a id="CAMERA_TRACKING_GEO_STATUS"></a>[CAMERA_TRACKING_GEO_STATUS](../messages/common.md#CAMERA_TRACKING_GEO_STATUS)                                           | Camera tracking status, sent while in active tracking. Use [MAV_CMD_SET_MESSAGE_INTERVAL](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL) to define message interval.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
+| <a id="MAV_CMD_SET_CAMERA_SOURCE"></a>[MAV_CMD_SET_CAMERA_SOURCE](../messages/common.md#MAV_CMD_SET_CAMERA_SOURCE)                                              | Cameras with multiple sensor "sources", such as IR, RGB, and picture in picture can use this to specify the active source for image capture and video streaming.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |
 
 | Enum                                                                                                                        | Description                                                                                                                                                                 |
 | --------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
@@ -350,13 +385,14 @@ Other components like a GCS will typically only use the camera `BATTERY_STATUS.b
 | <a id="CAMERA_TRACKING_STATUS_FLAGS"></a>[CAMERA_TRACKING_STATUS_FLAGS](../messages/common.md#CAMERA_TRACKING_STATUS_FLAGS) | Current tracking status. Received in [CAMERA_TRACKING_IMAGE_STATUS](#CAMERA_TRACKING_IMAGE_STATUS) amd [CAMERA_TRACKING_GEO_STATUS](#CAMERA_TRACKING_GEO_STATUS).           |
 | <a id="CAMERA_TRACKING_MODE"></a>[CAMERA_TRACKING_MODE](../messages/common.md#CAMERA_TRACKING_MODE)                         | Current tracking mode. Received in [CAMERA_TRACKING_IMAGE_STATUS](#CAMERA_TRACKING_IMAGE_STATUS).                                                                           |
 | <a id="CAMERA_TRACKING_TARGET_DATA"></a>[CAMERA_TRACKING_TARGET_DATA](../messages/common.md#CAMERA_TRACKING_TARGET_DATA)    | Indicates how target data is encoded in image. Received in [CAMERA_TRACKING_IMAGE_STATUS](#CAMERA_TRACKING_IMAGE_STATUS).                                                   |
+| <a id="CAMERA_SOURCE"></a>[CAMERA_SOURCE](../messages/common.md#CAMERA_SOURCE)                                              | Specifies camera sources, such as infrared or IR. Used in [MAV_CMD_SET_CAMERA_SOURCE](#MAV_CMD_SET_CAMERA_SOURCE).                                                          |
 
 ## Migration Notes for GCS & MAVLink SDKs
 
-The original definition of this protocol used specific commands to query for each type of information requested from the camera: [MAV_CMD_REQUEST_CAMERA_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION) (for [CAMERA_INFORMATION](../messages/common.md#CAMERA_INFORMATION)), [MAV_CMD_REQUEST_CAMERA_SETTINGS](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS), [MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS),
+The original definition of this protocol used specific commands to query for each type of information requested from the camera: [MAV_CMD_REQUEST_CAMERA_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION) (for [CAMERA_INFORMATION](#CAMERA_INFORMATION)), [MAV_CMD_REQUEST_CAMERA_SETTINGS](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS), [MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS),
 [MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION), [MAV_CMD_REQUEST_STORAGE_INFORMATION](../messages/common.md#MAV_CMD_REQUEST_STORAGE_INFORMATION).
 
-The latest version replaces all of these specific commands with the general requestor [MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE).
+The latest version replaces all of these specific commands with the general requestor [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE).
 
 The transition works like this: