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Full Parameter PDF

Overview

The INTRVAL parameter group (specifically INTRVAL_MIN or CAM_INTRVAL_MIN) sets time-based constraints for camera triggering.

Key Concepts

1. Minimum Trigger Interval

Many digital cameras (DSLRs, mirrorless) require time to process an image and clear their buffer before they can take another photo.

  • INTRVAL_MIN: The minimum time in seconds (or milliseconds, check vehicle defaults) between successive shutter commands.
  • Purpose: Prevents the autopilot from "spamming" the camera, which can cause the camera to lock up, miss shots, or result in corrupt images.

Developer Notes

  • Library: libraries/AP_Camera.
  • Usage: Crucial for high-speed mapping missions where waypoints are close together.

Camera minimum time interval between photos

INTRVAL_MIN: Camera minimum time interval between photos

Description

Postpone shooting if previous picture was taken less than this many seconds ago.

Values

  • Range: 0 to 10
  • Units: s
  • Default: 0

Description

This parameter enforces a minimum "cooldown" period between camera triggers.

  • Purpose: Useful for cameras that need time to save a photo to the SD card before taking another one. If the flight controller tries to trigger the camera faster than this rate (e.g., due to high speed and low CAM_TRIGG_DIST), the trigger command will be skipped or delayed until the interval has passed.
  • 0: Disabled (triggers as fast as commanded).

Source Code

ardupilot/libraries/AP_Camera/AP_Camera_Params.cpp

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