# Camera and Light Control with Mavros
**URL:** https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676
**Category:** Blue Robotics Software
**Created:** [November 1, 2018, 5:45pm UTC](https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676 "2018-11-01T17:45:16Z")
**Posts on this page:** 10
**Page:** 1
### Author:  [@brandonk](https://discuss.bluerobotics.com/u/brandonk)
#### Post date: [November 1, 2018, 5:45pm UTC](https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676/1 "2018-11-01T17:45:16Z")
Hey Blue Robotics,
I am interested in controlling the lights and camera tilt of the BlueROV through mavros. I have the heavy addition of the BlueROV2 so my lights and camera servo are connected to the aux outputs of the BlueROV. I was thinking to use [mavros\_msgs/ActuatorControl Documentation](http://docs.ros.org/melodic/api/mavros_msgs/html/msg/ActuatorControl.html) but I was not sure if Ardusub supported this. Also, I was not sure what group mix value I would use in the message or the range is acceptable in the controls list of the message.
I have been looking at this github link. [GitHub - patrickelectric/bluerov\_ros\_playground: Scripts to help BlueRov integration with ROS](https://github.com/patrickelectric/bluerov_ros_playground) but there does not seem to be any implementation of what I am talking about. I was wondering if you guys have any idea about this or if this is possible right now.
Thanks,
Brandon
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### Author:  [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)
#### Post date: [November 3, 2018, 1:48pm UTC](https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676/2 "2018-11-03T13:48:06Z")
Hi Darrel,
The easier way to accomplish what are you looking for is to use the manual control topic to send camera tilt and light inputs.
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### Author:  [@brandonk](https://discuss.bluerobotics.com/u/brandonk)
#### Post date: [November 5, 2018, 3:47pm UTC](https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676/3 "2018-11-05T15:47:59Z")
Okay, but how do you do that because the message structure of the ManualControl message does not make it clear.
mavros\_msgs/ManualControl
std\_msgs/Header header
float32 x
float32 y
float32 z
float32 r
uint16 buttons
Or if you know where any documentation for this would be that would be helpful.
Thank you,
Brandon
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### Author:  [@jwalser](https://discuss.bluerobotics.com/u/jwalser)
#### Post date: [November 5, 2018, 4:22pm UTC](https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676/4 "2018-11-05T16:22:48Z")
See here
[https://mavlink.io/en/messages/common.html#MANUAL\_CONTROL](https://mavlink.io/en/messages/common.html#MANUAL_CONTROL)
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### Author:  [@brandonk](https://discuss.bluerobotics.com/u/brandonk)
#### Post date: [November 5, 2018, 9:15pm UTC](https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676/5 "2018-11-05T21:15:17Z")
Okay, thanks. according to that documentation in looks looks like it is for vehicle control. Is there a way to use that specifies light and camera control. Thank you.
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### Author:  [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)
#### Post date: [November 5, 2018, 9:36pm UTC](https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676/6 "2018-11-05T21:36:34Z")
Hi Darrel,
Check your vehicle configuration and the joystick button that is used to control the light, you can use this same button in MANUAL\_CONTROL message. There is no message for light control.
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### Author:  [@brandonk](https://discuss.bluerobotics.com/u/brandonk)
#### Post date: [November 20, 2018, 10:14pm UTC](https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676/7 "2018-11-20T22:14:38Z")
Cool, thank you. I think that this will work for me
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### Author:  [@brandonk](https://discuss.bluerobotics.com/u/brandonk)
#### Post date: [November 20, 2018, 11:32pm UTC](https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676/8 "2018-11-20T23:32:49Z")
I have gotten this method to work. Do you know of a way to monitor the position (or pwm signal) of the camera while it is attached to the aux outputs?
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### Author:  [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)
#### Post date: [November 21, 2018, 11:54am UTC](https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676/9 "2018-11-21T11:54:48Z")
Hi Darrel,
~~Take a look in [SERVO\_OUTPUT\_RAW](https://mavlink.io/en/messages/common.html#SERVO_OUTPUT_RAW) message.~~
The aux channels (9+) are not available due to a bug:
[https://github.com/ArduPilot/ardupilot/issues/9799](https://github.com/ArduPilot/ardupilot/issues/9799)
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### Author:  [@brandonk](https://discuss.bluerobotics.com/u/brandonk)
#### Post date: [November 26, 2018, 4:10pm UTC](https://discuss.bluerobotics.com/t/camera-and-light-control-with-mavros/3676/10 "2018-11-26T16:10:08Z")
Hey Patrick,
Okay, thanks for letting me know.
Brandon