From cdfe7a82380b4dae477cf5fac2fe0089817ac560 Mon Sep 17 00:00:00 2001
From: Hamish Willee <hamishwillee@gmail.com>
Date: Wed, 4 Sep 2024 10:34:31 +1000
Subject: [PATCH] common: updates to camera-thermal-range from peer review

---
 message_definitions/v1.0/common.xml | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
index 26ec616f39..bbecbdf648 100644
--- a/message_definitions/v1.0/common.xml
+++ b/message_definitions/v1.0/common.xml
@@ -3311,7 +3311,7 @@
         <description>Camera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).</description>
       </entry>
       <entry value="4096" name="CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE">
-        <description>Camera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE).</description>
+        <description>Camera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).</description>
       </entry>
     </enum>
     <enum name="VIDEO_STREAM_STATUS_FLAGS" bitmask="true">
@@ -3323,7 +3323,7 @@
         <description>Stream is thermal imaging</description>
       </entry>
       <entry value="4" name="VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED">
-        <description>Stream can report absolute thermal range (see CAMERA_THERMAL_RANGE)</description>
+        <description>Stream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).</description>
       </entry>
     </enum>
     <enum name="VIDEO_STREAM_TYPE">
@@ -6112,10 +6112,12 @@
       <field type="float" name="hdg_acc" units="rad" invalid="NaN">Accuracy of heading, in NED. NAN if unknown</field>
     </message>
     <message id="277" name="CAMERA_THERMAL_RANGE">
-      <description>Camera absolute thermal range.  This can be streamed when the associated `VIDEO_STREAM_STATUS.flag` bit `VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED` is set, but a GCS may choose to only request it for the current active stream.  Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).</description>
+      <wip/>
+      <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+      <description>Camera absolute thermal range. This can be streamed when the associated `VIDEO_STREAM_STATUS.flag` bit `VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED` is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).</description>
       <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
-      <field type="uint8_t" name="stream_id" invalid="0" instance="true">Video Stream ID (1 for first, 2 for second, etc.)</field>
-      <field type="uint8_t" name="camera_device_id" invalid="0">Camera id of a camera associated with this component. This is the component id of a proxied MAVLink camera, or 1-6 for a non-MAVLink camera attached to the component. Use 0 if the component is a camera (not something else providing access to a camera).</field>
+      <field type="uint8_t" name="stream_id" minValue="1" instance="true">Video Stream ID (1 for first, 2 for second, etc.)</field>
+      <field type="uint8_t" name="camera_device_id" default="0" minValue="0" maxValue="6">Camera id of a non-MAVLink camera attached to an autopilot (1-6).  0 if the component is a MAVLink camera (with its own component id).</field>
       <field type="float" name="max" units="degC">Temperature max.</field>
       <field type="float" name="max_point_x" invalid="NaN">Temperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.</field>
       <field type="float" name="max_point_y" invalid="NaN">Temperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.</field>