From 79367b63d25fb7f4747654c46126bb6a2724ea6e Mon Sep 17 00:00:00 2001 From: Jonas Vautherin Date: Fri, 19 Mar 2021 01:16:33 +0100 Subject: [PATCH] Update proto submodule --- mavsdk/calibration.py | 10 +- mavsdk/calibration_pb2.py | 28 +- mavsdk/camera.py | 120 ++- mavsdk/camera_pb2.py | 118 ++- mavsdk/mission.py | 62 +- mavsdk/mission_pb2.py | 143 +--- mavsdk/mission_pb2_grpc.py | 38 - mavsdk/mission_raw.py | 174 ++++- mavsdk/mission_raw_pb2.py | 188 ++++- mavsdk/mission_raw_pb2_grpc.py | 41 + mavsdk/offboard.py | 119 +++ mavsdk/offboard_pb2.py | 188 ++++- mavsdk/offboard_pb2_grpc.py | 35 + mavsdk/telemetry.py | 565 +++++++++++++- mavsdk/telemetry_pb2.py | 1318 +++++++++++++++++++++++++------- mavsdk/telemetry_pb2_grpc.py | 206 ++++- mavsdk/tracking_server_pb2.py | 56 +- mavsdk/tune_pb2.py | 34 +- proto | 2 +- 19 files changed, 2796 insertions(+), 649 deletions(-) diff --git a/mavsdk/calibration.py b/mavsdk/calibration.py index d64ddbb8..76607009 100644 --- a/mavsdk/calibration.py +++ b/mavsdk/calibration.py @@ -533,10 +533,18 @@ async def cancel(self): """ Cancel ongoing calibration process. - + Raises + ------ + CalibrationError + If the request fails. The error contains the reason for the failure. """ request = calibration_pb2.CancelRequest() response = await self._stub.Cancel(request) + + result = self._extract_result(response) + + if result.result is not CalibrationResult.Result.SUCCESS: + raise CalibrationError(result, "cancel()") \ No newline at end of file diff --git a/mavsdk/calibration_pb2.py b/mavsdk/calibration_pb2.py index a0cb4079..a1416fd9 100644 --- a/mavsdk/calibration_pb2.py +++ b/mavsdk/calibration_pb2.py @@ -20,7 +20,7 @@ syntax='proto3', serialized_options=b'\n\025io.mavsdk.calibrationB\020CalibrationProto', create_key=_descriptor._internal_create_key, - serialized_pb=b'\n\x1d\x63\x61libration/calibration.proto\x12\x16mavsdk.rpc.calibration\x1a\x14mavsdk_options.proto\"\x1f\n\x1dSubscribeCalibrateGyroRequest\"\x9b\x01\n\x15\x43\x61librateGyroResponse\x12\x45\n\x12\x63\x61libration_result\x18\x01 \x01(\x0b\x32).mavsdk.rpc.calibration.CalibrationResult\x12;\n\rprogress_data\x18\x02 \x01(\x0b\x32$.mavsdk.rpc.calibration.ProgressData\"(\n&SubscribeCalibrateAccelerometerRequest\"\xa4\x01\n\x1e\x43\x61librateAccelerometerResponse\x12\x45\n\x12\x63\x61libration_result\x18\x01 \x01(\x0b\x32).mavsdk.rpc.calibration.CalibrationResult\x12;\n\rprogress_data\x18\x02 \x01(\x0b\x32$.mavsdk.rpc.calibration.ProgressData\"\'\n%SubscribeCalibrateMagnetometerRequest\"\xa3\x01\n\x1d\x43\x61librateMagnetometerResponse\x12\x45\n\x12\x63\x61libration_result\x18\x01 \x01(\x0b\x32).mavsdk.rpc.calibration.CalibrationResult\x12;\n\rprogress_data\x18\x02 \x01(\x0b\x32$.mavsdk.rpc.calibration.ProgressData\"\'\n%SubscribeCalibrateLevelHorizonRequest\"\xa3\x01\n\x1d\x43\x61librateLevelHorizonResponse\x12\x45\n\x12\x63\x61libration_result\x18\x01 \x01(\x0b\x32).mavsdk.rpc.calibration.CalibrationResult\x12;\n\rprogress_data\x18\x02 \x01(\x0b\x32$.mavsdk.rpc.calibration.ProgressData\".\n,SubscribeCalibrateGimbalAccelerometerRequest\"\xaa\x01\n$CalibrateGimbalAccelerometerResponse\x12\x45\n\x12\x63\x61libration_result\x18\x01 \x01(\x0b\x32).mavsdk.rpc.calibration.CalibrationResult\x12;\n\rprogress_data\x18\x02 \x01(\x0b\x32$.mavsdk.rpc.calibration.ProgressData\"\x0f\n\rCancelRequest\"\x10\n\x0e\x43\x61ncelResponse\"\xe2\x02\n\x11\x43\x61librationResult\x12@\n\x06result\x18\x01 \x01(\x0e\x32\x30.mavsdk.rpc.calibration.CalibrationResult.Result\x12\x12\n\nresult_str\x18\x02 \x01(\t\"\xf6\x01\n\x06Result\x12\x12\n\x0eRESULT_UNKNOWN\x10\x00\x12\x12\n\x0eRESULT_SUCCESS\x10\x01\x12\x0f\n\x0bRESULT_NEXT\x10\x02\x12\x11\n\rRESULT_FAILED\x10\x03\x12\x14\n\x10RESULT_NO_SYSTEM\x10\x04\x12\x1b\n\x17RESULT_CONNECTION_ERROR\x10\x05\x12\x0f\n\x0bRESULT_BUSY\x10\x06\x12\x19\n\x15RESULT_COMMAND_DENIED\x10\x07\x12\x12\n\x0eRESULT_TIMEOUT\x10\x08\x12\x14\n\x10RESULT_CANCELLED\x10\t\x12\x17\n\x13RESULT_FAILED_ARMED\x10\n\"\x83\x01\n\x0cProgressData\x12\x1f\n\x0chas_progress\x18\x01 \x01(\x08\x42\t\x82\xb5\x18\x05\x66\x61lse\x12\x19\n\x08progress\x18\x02 \x01(\x02\x42\x07\x82\xb5\x18\x03NaN\x12\"\n\x0fhas_status_text\x18\x03 \x01(\x08\x42\t\x82\xb5\x18\x05\x66\x61lse\x12\x13\n\x0bstatus_text\x18\x04 \x01(\t2\xac\x07\n\x12\x43\x61librationService\x12\x8a\x01\n\x16SubscribeCalibrateGyro\x12\x35.mavsdk.rpc.calibration.SubscribeCalibrateGyroRequest\x1a-.mavsdk.rpc.calibration.CalibrateGyroResponse\"\x08\x80\xb5\x18\x00\x88\xb5\x18\x01\x30\x01\x12\xa5\x01\n\x1fSubscribeCalibrateAccelerometer\x12>.mavsdk.rpc.calibration.SubscribeCalibrateAccelerometerRequest\x1a\x36.mavsdk.rpc.calibration.CalibrateAccelerometerResponse\"\x08\x80\xb5\x18\x00\x88\xb5\x18\x01\x30\x01\x12\xa2\x01\n\x1eSubscribeCalibrateMagnetometer\x12=.mavsdk.rpc.calibration.SubscribeCalibrateMagnetometerRequest\x1a\x35.mavsdk.rpc.calibration.CalibrateMagnetometerResponse\"\x08\x80\xb5\x18\x00\x88\xb5\x18\x01\x30\x01\x12\xa2\x01\n\x1eSubscribeCalibrateLevelHorizon\x12=.mavsdk.rpc.calibration.SubscribeCalibrateLevelHorizonRequest\x1a\x35.mavsdk.rpc.calibration.CalibrateLevelHorizonResponse\"\x08\x80\xb5\x18\x00\x88\xb5\x18\x01\x30\x01\x12\xb7\x01\n%SubscribeCalibrateGimbalAccelerometer\x12\x44.mavsdk.rpc.calibration.SubscribeCalibrateGimbalAccelerometerRequest\x1a<.mavsdk.rpc.calibration.CalibrateGimbalAccelerometerResponse\"\x08\x80\xb5\x18\x00\x88\xb5\x18\x01\x30\x01\x12]\n\x06\x43\x61ncel\x12%.mavsdk.rpc.calibration.CancelRequest\x1a&.mavsdk.rpc.calibration.CancelResponse\"\x04\x80\xb5\x18\x01\x42)\n\x15io.mavsdk.calibrationB\x10\x43\x61librationProtob\x06proto3' + serialized_pb=b'\n\x1d\x63\x61libration/calibration.proto\x12\x16mavsdk.rpc.calibration\x1a\x14mavsdk_options.proto\"\x1f\n\x1dSubscribeCalibrateGyroRequest\"\x9b\x01\n\x15\x43\x61librateGyroResponse\x12\x45\n\x12\x63\x61libration_result\x18\x01 \x01(\x0b\x32).mavsdk.rpc.calibration.CalibrationResult\x12;\n\rprogress_data\x18\x02 \x01(\x0b\x32$.mavsdk.rpc.calibration.ProgressData\"(\n&SubscribeCalibrateAccelerometerRequest\"\xa4\x01\n\x1e\x43\x61librateAccelerometerResponse\x12\x45\n\x12\x63\x61libration_result\x18\x01 \x01(\x0b\x32).mavsdk.rpc.calibration.CalibrationResult\x12;\n\rprogress_data\x18\x02 \x01(\x0b\x32$.mavsdk.rpc.calibration.ProgressData\"\'\n%SubscribeCalibrateMagnetometerRequest\"\xa3\x01\n\x1d\x43\x61librateMagnetometerResponse\x12\x45\n\x12\x63\x61libration_result\x18\x01 \x01(\x0b\x32).mavsdk.rpc.calibration.CalibrationResult\x12;\n\rprogress_data\x18\x02 \x01(\x0b\x32$.mavsdk.rpc.calibration.ProgressData\"\'\n%SubscribeCalibrateLevelHorizonRequest\"\xa3\x01\n\x1d\x43\x61librateLevelHorizonResponse\x12\x45\n\x12\x63\x61libration_result\x18\x01 \x01(\x0b\x32).mavsdk.rpc.calibration.CalibrationResult\x12;\n\rprogress_data\x18\x02 \x01(\x0b\x32$.mavsdk.rpc.calibration.ProgressData\".\n,SubscribeCalibrateGimbalAccelerometerRequest\"\xaa\x01\n$CalibrateGimbalAccelerometerResponse\x12\x45\n\x12\x63\x61libration_result\x18\x01 \x01(\x0b\x32).mavsdk.rpc.calibration.CalibrationResult\x12;\n\rprogress_data\x18\x02 \x01(\x0b\x32$.mavsdk.rpc.calibration.ProgressData\"\x0f\n\rCancelRequest\"W\n\x0e\x43\x61ncelResponse\x12\x45\n\x12\x63\x61libration_result\x18\x01 \x01(\x0b\x32).mavsdk.rpc.calibration.CalibrationResult\"\xe2\x02\n\x11\x43\x61librationResult\x12@\n\x06result\x18\x01 \x01(\x0e\x32\x30.mavsdk.rpc.calibration.CalibrationResult.Result\x12\x12\n\nresult_str\x18\x02 \x01(\t\"\xf6\x01\n\x06Result\x12\x12\n\x0eRESULT_UNKNOWN\x10\x00\x12\x12\n\x0eRESULT_SUCCESS\x10\x01\x12\x0f\n\x0bRESULT_NEXT\x10\x02\x12\x11\n\rRESULT_FAILED\x10\x03\x12\x14\n\x10RESULT_NO_SYSTEM\x10\x04\x12\x1b\n\x17RESULT_CONNECTION_ERROR\x10\x05\x12\x0f\n\x0bRESULT_BUSY\x10\x06\x12\x19\n\x15RESULT_COMMAND_DENIED\x10\x07\x12\x12\n\x0eRESULT_TIMEOUT\x10\x08\x12\x14\n\x10RESULT_CANCELLED\x10\t\x12\x17\n\x13RESULT_FAILED_ARMED\x10\n\"\x83\x01\n\x0cProgressData\x12\x1f\n\x0chas_progress\x18\x01 \x01(\x08\x42\t\x82\xb5\x18\x05\x66\x61lse\x12\x19\n\x08progress\x18\x02 \x01(\x02\x42\x07\x82\xb5\x18\x03NaN\x12\"\n\x0fhas_status_text\x18\x03 \x01(\x08\x42\t\x82\xb5\x18\x05\x66\x61lse\x12\x13\n\x0bstatus_text\x18\x04 \x01(\t2\xac\x07\n\x12\x43\x61librationService\x12\x8a\x01\n\x16SubscribeCalibrateGyro\x12\x35.mavsdk.rpc.calibration.SubscribeCalibrateGyroRequest\x1a-.mavsdk.rpc.calibration.CalibrateGyroResponse\"\x08\x80\xb5\x18\x00\x88\xb5\x18\x01\x30\x01\x12\xa5\x01\n\x1fSubscribeCalibrateAccelerometer\x12>.mavsdk.rpc.calibration.SubscribeCalibrateAccelerometerRequest\x1a\x36.mavsdk.rpc.calibration.CalibrateAccelerometerResponse\"\x08\x80\xb5\x18\x00\x88\xb5\x18\x01\x30\x01\x12\xa2\x01\n\x1eSubscribeCalibrateMagnetometer\x12=.mavsdk.rpc.calibration.SubscribeCalibrateMagnetometerRequest\x1a\x35.mavsdk.rpc.calibration.CalibrateMagnetometerResponse\"\x08\x80\xb5\x18\x00\x88\xb5\x18\x01\x30\x01\x12\xa2\x01\n\x1eSubscribeCalibrateLevelHorizon\x12=.mavsdk.rpc.calibration.SubscribeCalibrateLevelHorizonRequest\x1a\x35.mavsdk.rpc.calibration.CalibrateLevelHorizonResponse\"\x08\x80\xb5\x18\x00\x88\xb5\x18\x01\x30\x01\x12\xb7\x01\n%SubscribeCalibrateGimbalAccelerometer\x12\x44.mavsdk.rpc.calibration.SubscribeCalibrateGimbalAccelerometerRequest\x1a<.mavsdk.rpc.calibration.CalibrateGimbalAccelerometerResponse\"\x08\x80\xb5\x18\x00\x88\xb5\x18\x01\x30\x01\x12]\n\x06\x43\x61ncel\x12%.mavsdk.rpc.calibration.CancelRequest\x1a&.mavsdk.rpc.calibration.CancelResponse\"\x04\x80\xb5\x18\x01\x42)\n\x15io.mavsdk.calibrationB\x10\x43\x61librationProtob\x06proto3' , dependencies=[mavsdk__options__pb2.DESCRIPTOR,]) @@ -91,8 +91,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=1258, - serialized_end=1504, + serialized_start=1329, + serialized_end=1575, ) _sym_db.RegisterEnumDescriptor(_CALIBRATIONRESULT_RESULT) @@ -450,6 +450,13 @@ containing_type=None, create_key=_descriptor._internal_create_key, fields=[ + _descriptor.FieldDescriptor( + name='calibration_result', full_name='mavsdk.rpc.calibration.CancelResponse.calibration_result', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), ], extensions=[ ], @@ -463,7 +470,7 @@ oneofs=[ ], serialized_start=1131, - serialized_end=1147, + serialized_end=1218, ) @@ -502,8 +509,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1150, - serialized_end=1504, + serialized_start=1221, + serialized_end=1575, ) @@ -555,8 +562,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1507, - serialized_end=1638, + serialized_start=1578, + serialized_end=1709, ) _CALIBRATEGYRORESPONSE.fields_by_name['calibration_result'].message_type = _CALIBRATIONRESULT @@ -569,6 +576,7 @@ _CALIBRATELEVELHORIZONRESPONSE.fields_by_name['progress_data'].message_type = _PROGRESSDATA _CALIBRATEGIMBALACCELEROMETERRESPONSE.fields_by_name['calibration_result'].message_type = _CALIBRATIONRESULT _CALIBRATEGIMBALACCELEROMETERRESPONSE.fields_by_name['progress_data'].message_type = _PROGRESSDATA +_CANCELRESPONSE.fields_by_name['calibration_result'].message_type = _CALIBRATIONRESULT _CALIBRATIONRESULT.fields_by_name['result'].enum_type = _CALIBRATIONRESULT_RESULT _CALIBRATIONRESULT_RESULT.containing_type = _CALIBRATIONRESULT DESCRIPTOR.message_types_by_name['SubscribeCalibrateGyroRequest'] = _SUBSCRIBECALIBRATEGYROREQUEST @@ -698,8 +706,8 @@ index=0, serialized_options=None, create_key=_descriptor._internal_create_key, - serialized_start=1641, - serialized_end=2581, + serialized_start=1712, + serialized_end=2652, methods=[ _descriptor.MethodDescriptor( name='SubscribeCalibrateGyro', diff --git a/mavsdk/camera.py b/mavsdk/camera.py index 6a6fb52d..23b27112 100644 --- a/mavsdk/camera.py +++ b/mavsdk/camera.py @@ -736,6 +736,9 @@ class VideoStreamSettings: uri : std::string Video stream URI + horizontal_fov_deg : float + Horizontal fov in degrees + """ @@ -747,7 +750,8 @@ def __init__( vertical_resolution_pix, bit_rate_b_s, rotation_deg, - uri): + uri, + horizontal_fov_deg): """ Initializes the VideoStreamSettings object """ self.frame_rate_hz = frame_rate_hz self.horizontal_resolution_pix = horizontal_resolution_pix @@ -755,6 +759,7 @@ def __init__( self.bit_rate_b_s = bit_rate_b_s self.rotation_deg = rotation_deg self.uri = uri + self.horizontal_fov_deg = horizontal_fov_deg def __equals__(self, to_compare): """ Checks if two VideoStreamSettings are the same """ @@ -767,7 +772,8 @@ def __equals__(self, to_compare): (self.vertical_resolution_pix == to_compare.vertical_resolution_pix) and \ (self.bit_rate_b_s == to_compare.bit_rate_b_s) and \ (self.rotation_deg == to_compare.rotation_deg) and \ - (self.uri == to_compare.uri) + (self.uri == to_compare.uri) and \ + (self.horizontal_fov_deg == to_compare.horizontal_fov_deg) except AttributeError: return False @@ -780,7 +786,8 @@ def __str__(self): "vertical_resolution_pix: " + str(self.vertical_resolution_pix), "bit_rate_b_s: " + str(self.bit_rate_b_s), "rotation_deg: " + str(self.rotation_deg), - "uri: " + str(self.uri) + "uri: " + str(self.uri), + "horizontal_fov_deg: " + str(self.horizontal_fov_deg) ]) return f"VideoStreamSettings: [{struct_repr}]" @@ -805,7 +812,10 @@ def translate_from_rpc(rpcVideoStreamSettings): rpcVideoStreamSettings.rotation_deg, - rpcVideoStreamSettings.uri + rpcVideoStreamSettings.uri, + + + rpcVideoStreamSettings.horizontal_fov_deg ) def translate_to_rpc(self, rpcVideoStreamSettings): @@ -848,6 +858,12 @@ def translate_to_rpc(self, rpcVideoStreamSettings): + + + rpcVideoStreamSettings.horizontal_fov_deg = self.horizontal_fov_deg + + + class VideoStreamInfo: @@ -859,14 +875,17 @@ class VideoStreamInfo: settings : VideoStreamSettings Video stream settings - status : Status + status : VideoStreamStatus Current status of video streaming + spectrum : VideoStreamSpectrum + Light-spectrum of the video stream + """ - class Status(Enum): + class VideoStreamStatus(Enum): """ Video stream status type. @@ -885,18 +904,62 @@ class Status(Enum): IN_PROGRESS = 1 def translate_to_rpc(self): - if self == VideoStreamInfo.Status.NOT_RUNNING: - return camera_pb2.VideoStreamInfo.STATUS_NOT_RUNNING - if self == VideoStreamInfo.Status.IN_PROGRESS: - return camera_pb2.VideoStreamInfo.STATUS_IN_PROGRESS + if self == VideoStreamInfo.VideoStreamStatus.NOT_RUNNING: + return camera_pb2.VideoStreamInfo.VIDEO_STREAM_STATUS_NOT_RUNNING + if self == VideoStreamInfo.VideoStreamStatus.IN_PROGRESS: + return camera_pb2.VideoStreamInfo.VIDEO_STREAM_STATUS_IN_PROGRESS + + @staticmethod + def translate_from_rpc(rpc_enum_value): + """ Parses a gRPC response """ + if rpc_enum_value == camera_pb2.VideoStreamInfo.VIDEO_STREAM_STATUS_NOT_RUNNING: + return VideoStreamInfo.VideoStreamStatus.NOT_RUNNING + if rpc_enum_value == camera_pb2.VideoStreamInfo.VIDEO_STREAM_STATUS_IN_PROGRESS: + return VideoStreamInfo.VideoStreamStatus.IN_PROGRESS + + def __str__(self): + return self.name + + + class VideoStreamSpectrum(Enum): + """ + Video stream light spectrum type + + Values + ------ + UNKNOWN + Unknown + + VISIBLE_LIGHT + Visible light + + INFRARED + Infrared + + """ + + + UNKNOWN = 0 + VISIBLE_LIGHT = 1 + INFRARED = 2 + + def translate_to_rpc(self): + if self == VideoStreamInfo.VideoStreamSpectrum.UNKNOWN: + return camera_pb2.VideoStreamInfo.VIDEO_STREAM_SPECTRUM_UNKNOWN + if self == VideoStreamInfo.VideoStreamSpectrum.VISIBLE_LIGHT: + return camera_pb2.VideoStreamInfo.VIDEO_STREAM_SPECTRUM_VISIBLE_LIGHT + if self == VideoStreamInfo.VideoStreamSpectrum.INFRARED: + return camera_pb2.VideoStreamInfo.VIDEO_STREAM_SPECTRUM_INFRARED @staticmethod def translate_from_rpc(rpc_enum_value): """ Parses a gRPC response """ - if rpc_enum_value == camera_pb2.VideoStreamInfo.STATUS_NOT_RUNNING: - return VideoStreamInfo.Status.NOT_RUNNING - if rpc_enum_value == camera_pb2.VideoStreamInfo.STATUS_IN_PROGRESS: - return VideoStreamInfo.Status.IN_PROGRESS + if rpc_enum_value == camera_pb2.VideoStreamInfo.VIDEO_STREAM_SPECTRUM_UNKNOWN: + return VideoStreamInfo.VideoStreamSpectrum.UNKNOWN + if rpc_enum_value == camera_pb2.VideoStreamInfo.VIDEO_STREAM_SPECTRUM_VISIBLE_LIGHT: + return VideoStreamInfo.VideoStreamSpectrum.VISIBLE_LIGHT + if rpc_enum_value == camera_pb2.VideoStreamInfo.VIDEO_STREAM_SPECTRUM_INFRARED: + return VideoStreamInfo.VideoStreamSpectrum.INFRARED def __str__(self): return self.name @@ -905,10 +968,12 @@ def __str__(self): def __init__( self, settings, - status): + status, + spectrum): """ Initializes the VideoStreamInfo object """ self.settings = settings self.status = status + self.spectrum = spectrum def __equals__(self, to_compare): """ Checks if two VideoStreamInfo are the same """ @@ -917,7 +982,8 @@ def __equals__(self, to_compare): # VideoStreamInfo object return \ (self.settings == to_compare.settings) and \ - (self.status == to_compare.status) + (self.status == to_compare.status) and \ + (self.spectrum == to_compare.spectrum) except AttributeError: return False @@ -926,7 +992,8 @@ def __str__(self): """ VideoStreamInfo in string representation """ struct_repr = ", ".join([ "settings: " + str(self.settings), - "status: " + str(self.status) + "status: " + str(self.status), + "spectrum: " + str(self.spectrum) ]) return f"VideoStreamInfo: [{struct_repr}]" @@ -939,7 +1006,10 @@ def translate_from_rpc(rpcVideoStreamInfo): VideoStreamSettings.translate_from_rpc(rpcVideoStreamInfo.settings), - VideoStreamInfo.Status.translate_from_rpc(rpcVideoStreamInfo.status) + VideoStreamInfo.VideoStreamStatus.translate_from_rpc(rpcVideoStreamInfo.status), + + + VideoStreamInfo.VideoStreamSpectrum.translate_from_rpc(rpcVideoStreamInfo.spectrum) ) def translate_to_rpc(self, rpcVideoStreamInfo): @@ -958,6 +1028,12 @@ def translate_to_rpc(self, rpcVideoStreamInfo): + + + rpcVideoStreamInfo.spectrum = self.spectrum.translate_to_rpc() + + + class Status: @@ -1009,12 +1085,16 @@ class StorageStatus(Enum): FORMATTED Storage is formatted (i.e. has recognized a file system) + NOT_SUPPORTED + Storage status is not supported + """ NOT_AVAILABLE = 0 UNFORMATTED = 1 FORMATTED = 2 + NOT_SUPPORTED = 3 def translate_to_rpc(self): if self == Status.StorageStatus.NOT_AVAILABLE: @@ -1023,6 +1103,8 @@ def translate_to_rpc(self): return camera_pb2.Status.STORAGE_STATUS_UNFORMATTED if self == Status.StorageStatus.FORMATTED: return camera_pb2.Status.STORAGE_STATUS_FORMATTED + if self == Status.StorageStatus.NOT_SUPPORTED: + return camera_pb2.Status.STORAGE_STATUS_NOT_SUPPORTED @staticmethod def translate_from_rpc(rpc_enum_value): @@ -1033,6 +1115,8 @@ def translate_from_rpc(rpc_enum_value): return Status.StorageStatus.UNFORMATTED if rpc_enum_value == camera_pb2.Status.STORAGE_STATUS_FORMATTED: return Status.StorageStatus.FORMATTED + if rpc_enum_value == camera_pb2.Status.STORAGE_STATUS_NOT_SUPPORTED: + return Status.StorageStatus.NOT_SUPPORTED def __str__(self): return self.name diff --git a/mavsdk/camera_pb2.py b/mavsdk/camera_pb2.py index a3f4df7d..8f598692 100644 --- a/mavsdk/camera_pb2.py +++ b/mavsdk/camera_pb2.py @@ -21,7 +21,7 @@ syntax='proto3', serialized_options=b'\n\020io.mavsdk.cameraB\013CameraProto', create_key=_descriptor._internal_create_key, - serialized_pb=b'\n\x13\x63\x61mera/camera.proto\x12\x11mavsdk.rpc.camera\x1a\x14mavsdk_options.proto\"\x12\n\x10TakePhotoRequest\"K\n\x11TakePhotoResponse\x12\x36\n\rcamera_result\x18\x01 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\x01(\t*8\n\x04Mode\x12\x10\n\x0cMODE_UNKNOWN\x10\x00\x12\x0e\n\nMODE_PHOTO\x10\x01\x12\x0e\n\nMODE_VIDEO\x10\x02*F\n\x0bPhotosRange\x12\x14\n\x10PHOTOS_RANGE_ALL\x10\x00\x12!\n\x1dPHOTOS_RANGE_SINCE_CONNECTION\x10\x01\x32\x98\x10\n\rCameraService\x12X\n\tTakePhoto\x12#.mavsdk.rpc.camera.TakePhotoRequest\x1a$.mavsdk.rpc.camera.TakePhotoResponse\"\x00\x12s\n\x12StartPhotoInterval\x12,.mavsdk.rpc.camera.StartPhotoIntervalRequest\x1a-.mavsdk.rpc.camera.StartPhotoIntervalResponse\"\x00\x12p\n\x11StopPhotoInterval\x12+.mavsdk.rpc.camera.StopPhotoIntervalRequest\x1a,.mavsdk.rpc.camera.StopPhotoIntervalResponse\"\x00\x12[\n\nStartVideo\x12$.mavsdk.rpc.camera.StartVideoRequest\x1a%.mavsdk.rpc.camera.StartVideoResponse\"\x00\x12X\n\tStopVideo\x12#.mavsdk.rpc.camera.StopVideoRequest\x1a$.mavsdk.rpc.camera.StopVideoResponse\"\x00\x12z\n\x13StartVideoStreaming\x12-.mavsdk.rpc.camera.StartVideoStreamingRequest\x1a..mavsdk.rpc.camera.StartVideoStreamingResponse\"\x04\x80\xb5\x18\x01\x12w\n\x12StopVideoStreaming\x12,.mavsdk.rpc.camera.StopVideoStreamingRequest\x1a-.mavsdk.rpc.camera.StopVideoStreamingResponse\"\x04\x80\xb5\x18\x01\x12R\n\x07SetMode\x12!.mavsdk.rpc.camera.SetModeRequest\x1a\".mavsdk.rpc.camera.SetModeResponse\"\x00\x12[\n\nListPhotos\x12$.mavsdk.rpc.camera.ListPhotosRequest\x1a%.mavsdk.rpc.camera.ListPhotosResponse\"\x00\x12]\n\rSubscribeMode\x12\'.mavsdk.rpc.camera.SubscribeModeRequest\x1a\x1f.mavsdk.rpc.camera.ModeResponse\"\x00\x30\x01\x12r\n\x14SubscribeInformation\x12..mavsdk.rpc.camera.SubscribeInformationRequest\x1a&.mavsdk.rpc.camera.InformationResponse\"\x00\x30\x01\x12~\n\x18SubscribeVideoStreamInfo\x12\x32.mavsdk.rpc.camera.SubscribeVideoStreamInfoRequest\x1a*.mavsdk.rpc.camera.VideoStreamInfoResponse\"\x00\x30\x01\x12v\n\x14SubscribeCaptureInfo\x12..mavsdk.rpc.camera.SubscribeCaptureInfoRequest\x1a&.mavsdk.rpc.camera.CaptureInfoResponse\"\x04\x80\xb5\x18\x00\x30\x01\x12\x63\n\x0fSubscribeStatus\x12).mavsdk.rpc.camera.SubscribeStatusRequest\x1a!.mavsdk.rpc.camera.StatusResponse\"\x00\x30\x01\x12\x82\x01\n\x18SubscribeCurrentSettings\x12\x32.mavsdk.rpc.camera.SubscribeCurrentSettingsRequest\x1a*.mavsdk.rpc.camera.CurrentSettingsResponse\"\x04\x80\xb5\x18\x00\x30\x01\x12\x93\x01\n\x1fSubscribePossibleSettingOptions\x12\x39.mavsdk.rpc.camera.SubscribePossibleSettingOptionsRequest\x1a\x31.mavsdk.rpc.camera.PossibleSettingOptionsResponse\"\x00\x30\x01\x12[\n\nSetSetting\x12$.mavsdk.rpc.camera.SetSettingRequest\x1a%.mavsdk.rpc.camera.SetSettingResponse\"\x00\x12[\n\nGetSetting\x12$.mavsdk.rpc.camera.GetSettingRequest\x1a%.mavsdk.rpc.camera.GetSettingResponse\"\x00\x12\x64\n\rFormatStorage\x12\'.mavsdk.rpc.camera.FormatStorageRequest\x1a(.mavsdk.rpc.camera.FormatStorageResponse\"\x00\x42\x1f\n\x10io.mavsdk.cameraB\x0b\x43\x61meraProtob\x06proto3' , dependencies=[mavsdk__options__pb2.DESCRIPTOR,]) @@ -50,8 +50,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=4250, - serialized_end=4306, + serialized_start=4571, + serialized_end=4627, ) _sym_db.RegisterEnumDescriptor(_MODE) @@ -76,8 +76,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=4308, - serialized_end=4378, + serialized_start=4629, + serialized_end=4699, ) _sym_db.RegisterEnumDescriptor(_PHOTOSRANGE) @@ -144,30 +144,60 @@ ) _sym_db.RegisterEnumDescriptor(_CAMERARESULT_RESULT) -_VIDEOSTREAMINFO_STATUS = _descriptor.EnumDescriptor( - name='Status', - full_name='mavsdk.rpc.camera.VideoStreamInfo.Status', +_VIDEOSTREAMINFO_VIDEOSTREAMSTATUS = _descriptor.EnumDescriptor( + name='VideoStreamStatus', + full_name='mavsdk.rpc.camera.VideoStreamInfo.VideoStreamStatus', + filename=None, + file=DESCRIPTOR, + create_key=_descriptor._internal_create_key, + values=[ + _descriptor.EnumValueDescriptor( + name='VIDEO_STREAM_STATUS_NOT_RUNNING', index=0, number=0, + serialized_options=None, + type=None, + create_key=_descriptor._internal_create_key), + _descriptor.EnumValueDescriptor( + name='VIDEO_STREAM_STATUS_IN_PROGRESS', index=1, number=1, + serialized_options=None, + type=None, + create_key=_descriptor._internal_create_key), + ], + containing_type=None, + serialized_options=None, + serialized_start=3571, + serialized_end=3664, +) +_sym_db.RegisterEnumDescriptor(_VIDEOSTREAMINFO_VIDEOSTREAMSTATUS) + +_VIDEOSTREAMINFO_VIDEOSTREAMSPECTRUM = _descriptor.EnumDescriptor( + name='VideoStreamSpectrum', + full_name='mavsdk.rpc.camera.VideoStreamInfo.VideoStreamSpectrum', filename=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key, values=[ _descriptor.EnumValueDescriptor( - name='STATUS_NOT_RUNNING', index=0, number=0, + name='VIDEO_STREAM_SPECTRUM_UNKNOWN', index=0, number=0, serialized_options=None, type=None, create_key=_descriptor._internal_create_key), _descriptor.EnumValueDescriptor( - name='STATUS_IN_PROGRESS', index=1, number=1, + name='VIDEO_STREAM_SPECTRUM_VISIBLE_LIGHT', index=1, number=1, + serialized_options=None, + type=None, + create_key=_descriptor._internal_create_key), + _descriptor.EnumValueDescriptor( + name='VIDEO_STREAM_SPECTRUM_INFRARED', index=2, number=2, serialized_options=None, type=None, create_key=_descriptor._internal_create_key), ], containing_type=None, serialized_options=None, - serialized_start=3458, - serialized_end=3514, + serialized_start=3667, + serialized_end=3800, ) -_sym_db.RegisterEnumDescriptor(_VIDEOSTREAMINFO_STATUS) +_sym_db.RegisterEnumDescriptor(_VIDEOSTREAMINFO_VIDEOSTREAMSPECTRUM) _STATUS_STORAGESTATUS = _descriptor.EnumDescriptor( name='StorageStatus', @@ -191,11 +221,16 @@ serialized_options=None, type=None, create_key=_descriptor._internal_create_key), + _descriptor.EnumValueDescriptor( + name='STORAGE_STATUS_NOT_SUPPORTED', index=3, number=3, + serialized_options=None, + type=None, + create_key=_descriptor._internal_create_key), ], containing_type=None, serialized_options=None, - serialized_start=3774, - serialized_end=3885, + serialized_start=4061, + serialized_end=4206, ) _sym_db.RegisterEnumDescriptor(_STATUS_STORAGESTATUS) @@ -1648,6 +1683,13 @@ message_type=None, enum_type=None, containing_type=None, is_extension=False, extension_scope=None, serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='horizontal_fov_deg', full_name='mavsdk.rpc.camera.VideoStreamSettings.horizontal_fov_deg', index=6, + number=7, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), ], extensions=[ ], @@ -1661,7 +1703,7 @@ oneofs=[ ], serialized_start=3150, - serialized_end=3319, + serialized_end=3347, ) @@ -1687,12 +1729,20 @@ message_type=None, enum_type=None, containing_type=None, is_extension=False, extension_scope=None, serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='spectrum', full_name='mavsdk.rpc.camera.VideoStreamInfo.spectrum', index=2, + number=3, type=14, cpp_type=8, label=1, + has_default_value=False, default_value=0, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), ], extensions=[ ], nested_types=[], enum_types=[ - _VIDEOSTREAMINFO_STATUS, + _VIDEOSTREAMINFO_VIDEOSTREAMSTATUS, + _VIDEOSTREAMINFO_VIDEOSTREAMSPECTRUM, ], serialized_options=None, is_extendable=False, @@ -1700,8 +1750,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3322, - serialized_end=3514, + serialized_start=3350, + serialized_end=3800, ) @@ -1782,8 +1832,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3517, - serialized_end=3885, + serialized_start=3803, + serialized_end=4206, ) @@ -1821,8 +1871,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3887, - serialized_end=3942, + serialized_start=4208, + serialized_end=4263, ) @@ -1874,8 +1924,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3944, - serialized_end=4063, + serialized_start=4265, + serialized_end=4384, ) @@ -1927,8 +1977,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4065, - serialized_end=4192, + serialized_start=4386, + serialized_end=4513, ) @@ -1966,8 +2016,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4194, - serialized_end=4248, + serialized_start=4515, + serialized_end=4569, ) _TAKEPHOTORESPONSE.fields_by_name['camera_result'].message_type = _CAMERARESULT @@ -2001,8 +2051,10 @@ _CAPTUREINFO.fields_by_name['attitude_quaternion'].message_type = _QUATERNION _CAPTUREINFO.fields_by_name['attitude_euler_angle'].message_type = _EULERANGLE _VIDEOSTREAMINFO.fields_by_name['settings'].message_type = _VIDEOSTREAMSETTINGS -_VIDEOSTREAMINFO.fields_by_name['status'].enum_type = _VIDEOSTREAMINFO_STATUS -_VIDEOSTREAMINFO_STATUS.containing_type = _VIDEOSTREAMINFO +_VIDEOSTREAMINFO.fields_by_name['status'].enum_type = _VIDEOSTREAMINFO_VIDEOSTREAMSTATUS +_VIDEOSTREAMINFO.fields_by_name['spectrum'].enum_type = _VIDEOSTREAMINFO_VIDEOSTREAMSPECTRUM +_VIDEOSTREAMINFO_VIDEOSTREAMSTATUS.containing_type = _VIDEOSTREAMINFO +_VIDEOSTREAMINFO_VIDEOSTREAMSPECTRUM.containing_type = _VIDEOSTREAMINFO _STATUS.fields_by_name['storage_status'].enum_type = _STATUS_STORAGESTATUS _STATUS_STORAGESTATUS.containing_type = _STATUS _SETTING.fields_by_name['option'].message_type = _OPTION @@ -2421,8 +2473,8 @@ index=0, serialized_options=None, create_key=_descriptor._internal_create_key, - serialized_start=4381, - serialized_end=6453, + serialized_start=4702, + serialized_end=6774, methods=[ _descriptor.MethodDescriptor( name='TakePhoto', diff --git a/mavsdk/mission.py b/mavsdk/mission.py index 020a84e5..6ff6edf3 100644 --- a/mavsdk/mission.py +++ b/mavsdk/mission.py @@ -469,12 +469,6 @@ class Result(Enum): NO_MISSION_AVAILABLE No mission available on the system - FAILED_TO_OPEN_QGC_PLAN - Failed to open the QGroundControl plan - - FAILED_TO_PARSE_QGC_PLAN - Failed to parse the QGroundControl plan - UNSUPPORTED_MISSION_CMD Unsupported mission command @@ -493,10 +487,8 @@ class Result(Enum): INVALID_ARGUMENT = 6 UNSUPPORTED = 7 NO_MISSION_AVAILABLE = 8 - FAILED_TO_OPEN_QGC_PLAN = 9 - FAILED_TO_PARSE_QGC_PLAN = 10 - UNSUPPORTED_MISSION_CMD = 11 - TRANSFER_CANCELLED = 12 + UNSUPPORTED_MISSION_CMD = 9 + TRANSFER_CANCELLED = 10 def translate_to_rpc(self): if self == MissionResult.Result.UNKNOWN: @@ -517,10 +509,6 @@ def translate_to_rpc(self): return mission_pb2.MissionResult.RESULT_UNSUPPORTED if self == MissionResult.Result.NO_MISSION_AVAILABLE: return mission_pb2.MissionResult.RESULT_NO_MISSION_AVAILABLE - if self == MissionResult.Result.FAILED_TO_OPEN_QGC_PLAN: - return mission_pb2.MissionResult.RESULT_FAILED_TO_OPEN_QGC_PLAN - if self == MissionResult.Result.FAILED_TO_PARSE_QGC_PLAN: - return mission_pb2.MissionResult.RESULT_FAILED_TO_PARSE_QGC_PLAN if self == MissionResult.Result.UNSUPPORTED_MISSION_CMD: return mission_pb2.MissionResult.RESULT_UNSUPPORTED_MISSION_CMD if self == MissionResult.Result.TRANSFER_CANCELLED: @@ -547,10 +535,6 @@ def translate_from_rpc(rpc_enum_value): return MissionResult.Result.UNSUPPORTED if rpc_enum_value == mission_pb2.MissionResult.RESULT_NO_MISSION_AVAILABLE: return MissionResult.Result.NO_MISSION_AVAILABLE - if rpc_enum_value == mission_pb2.MissionResult.RESULT_FAILED_TO_OPEN_QGC_PLAN: - return MissionResult.Result.FAILED_TO_OPEN_QGC_PLAN - if rpc_enum_value == mission_pb2.MissionResult.RESULT_FAILED_TO_PARSE_QGC_PLAN: - return MissionResult.Result.FAILED_TO_PARSE_QGC_PLAN if rpc_enum_value == mission_pb2.MissionResult.RESULT_UNSUPPORTED_MISSION_CMD: return MissionResult.Result.UNSUPPORTED_MISSION_CMD if rpc_enum_value == mission_pb2.MissionResult.RESULT_TRANSFER_CANCELLED: @@ -963,44 +947,4 @@ async def set_return_to_launch_after_mission(self, enable): if result.result is not MissionResult.Result.SUCCESS: raise MissionError(result, "set_return_to_launch_after_mission()", enable) - - - async def import_qgroundcontrol_mission(self, qgc_plan_path): - """ - Import a QGroundControl (QGC) mission plan. - - The method will fail if any of the imported mission items are not supported - by the MAVSDK API. - - Parameters - ---------- - qgc_plan_path : std::string - File path of the QGC plan - - Returns - ------- - mission_plan : MissionPlan - The mission plan - - Raises - ------ - MissionError - If the request fails. The error contains the reason for the failure. - """ - - request = mission_pb2.ImportQgroundcontrolMissionRequest() - - - request.qgc_plan_path = qgc_plan_path - - response = await self._stub.ImportQgroundcontrolMission(request) - - - result = self._extract_result(response) - - if result.result is not MissionResult.Result.SUCCESS: - raise MissionError(result, "import_qgroundcontrol_mission()", qgc_plan_path) - - - return MissionPlan.translate_from_rpc(response.mission_plan) - \ No newline at end of file + \ No newline at end of file diff --git a/mavsdk/mission_pb2.py b/mavsdk/mission_pb2.py index d4d548bb..2dafceea 100644 --- a/mavsdk/mission_pb2.py +++ b/mavsdk/mission_pb2.py @@ -20,7 +20,7 @@ syntax='proto3', serialized_options=b'\n\021io.mavsdk.missionB\014MissionProto', create_key=_descriptor._internal_create_key, - serialized_pb=b'\n\x15mission/mission.proto\x12\x12mavsdk.rpc.mission\x1a\x14mavsdk_options.proto\"M\n\x14UploadMissionRequest\x12\x35\n\x0cmission_plan\x18\x01 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\x01(\x02\x42\x12\x82\xb5\x18\x03NaN\x89\xb5\x18-C\x1c\xeb\xe2\x36\x1a?\x12*\n\x0egimbal_yaw_deg\x18\x07 \x01(\x02\x42\x12\x82\xb5\x18\x03NaN\x89\xb5\x18-C\x1c\xeb\xe2\x36\x1a?\x12\x43\n\rcamera_action\x18\x08 \x01(\x0e\x32,.mavsdk.rpc.mission.MissionItem.CameraAction\x12\x1e\n\rloiter_time_s\x18\t \x01(\x02\x42\x07\x82\xb5\x18\x03NaN\x12(\n\x17\x63\x61mera_photo_interval_s\x18\n \x01(\x01\x42\x07\x82\xb5\x18\x03\x31.0\"\xd0\x01\n\x0c\x43\x61meraAction\x12\x16\n\x12\x43\x41MERA_ACTION_NONE\x10\x00\x12\x1c\n\x18\x43\x41MERA_ACTION_TAKE_PHOTO\x10\x01\x12&\n\"CAMERA_ACTION_START_PHOTO_INTERVAL\x10\x02\x12%\n!CAMERA_ACTION_STOP_PHOTO_INTERVAL\x10\x03\x12\x1d\n\x19\x43\x41MERA_ACTION_START_VIDEO\x10\x04\x12\x1c\n\x18\x43\x41MERA_ACTION_STOP_VIDEO\x10\x05\"E\n\x0bMissionPlan\x12\x36\n\rmission_items\x18\x01 \x03(\x0b\x32\x1f.mavsdk.rpc.mission.MissionItem\"1\n\x0fMissionProgress\x12\x0f\n\x07\x63urrent\x18\x01 \x01(\x05\x12\r\n\x05total\x18\x02 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+ serialized_pb=b'\n\x15mission/mission.proto\x12\x12mavsdk.rpc.mission\x1a\x14mavsdk_options.proto\"M\n\x14UploadMissionRequest\x12\x35\n\x0cmission_plan\x18\x01 \x01(\x0b\x32\x1f.mavsdk.rpc.mission.MissionPlan\"R\n\x15UploadMissionResponse\x12\x39\n\x0emission_result\x18\x01 \x01(\x0b\x32!.mavsdk.rpc.mission.MissionResult\"\x1c\n\x1a\x43\x61ncelMissionUploadRequest\"X\n\x1b\x43\x61ncelMissionUploadResponse\x12\x39\n\x0emission_result\x18\x01 \x01(\x0b\x32!.mavsdk.rpc.mission.MissionResult\"\x18\n\x16\x44ownloadMissionRequest\"\x8b\x01\n\x17\x44ownloadMissionResponse\x12\x39\n\x0emission_result\x18\x01 \x01(\x0b\x32!.mavsdk.rpc.mission.MissionResult\x12\x35\n\x0cmission_plan\x18\x02 \x01(\x0b\x32\x1f.mavsdk.rpc.mission.MissionPlan\"\x1e\n\x1c\x43\x61ncelMissionDownloadRequest\"Z\n\x1d\x43\x61ncelMissionDownloadResponse\x12\x39\n\x0emission_result\x18\x01 \x01(\x0b\x32!.mavsdk.rpc.mission.MissionResult\"\x15\n\x13StartMissionRequest\"Q\n\x14StartMissionResponse\x12\x39\n\x0emission_result\x18\x01 \x01(\x0b\x32!.mavsdk.rpc.mission.MissionResult\"\x15\n\x13PauseMissionRequest\"Q\n\x14PauseMissionResponse\x12\x39\n\x0emission_result\x18\x01 \x01(\x0b\x32!.mavsdk.rpc.mission.MissionResult\"\x15\n\x13\x43learMissionRequest\"Q\n\x14\x43learMissionResponse\x12\x39\n\x0emission_result\x18\x01 \x01(\x0b\x32!.mavsdk.rpc.mission.MissionResult\"-\n\x1cSetCurrentMissionItemRequest\x12\r\n\x05index\x18\x01 \x01(\x05\"Z\n\x1dSetCurrentMissionItemResponse\x12\x39\n\x0emission_result\x18\x01 \x01(\x0b\x32!.mavsdk.rpc.mission.MissionResult\"\x1a\n\x18IsMissionFinishedRequest\"k\n\x19IsMissionFinishedResponse\x12\x39\n\x0emission_result\x18\x01 \x01(\x0b\x32!.mavsdk.rpc.mission.MissionResult\x12\x13\n\x0bis_finished\x18\x02 \x01(\x08\"!\n\x1fSubscribeMissionProgressRequest\"X\n\x17MissionProgressResponse\x12=\n\x10mission_progress\x18\x01 \x01(\x0b\x32#.mavsdk.rpc.mission.MissionProgress\"&\n$GetReturnToLaunchAfterMissionRequest\"r\n%GetReturnToLaunchAfterMissionResponse\x12\x39\n\x0emission_result\x18\x01 \x01(\x0b\x32!.mavsdk.rpc.mission.MissionResult\x12\x0e\n\x06\x65nable\x18\x02 \x01(\x08\"6\n$SetReturnToLaunchAfterMissionRequest\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\"b\n%SetReturnToLaunchAfterMissionResponse\x12\x39\n\x0emission_result\x18\x01 \x01(\x0b\x32!.mavsdk.rpc.mission.MissionResult\"\x83\x05\n\x0bMissionItem\x12(\n\x0clatitude_deg\x18\x01 \x01(\x01\x42\x12\x82\xb5\x18\x03NaN\x89\xb5\x18H\xaf\xbc\x9a\xf2\xd7z>\x12)\n\rlongitude_deg\x18\x02 \x01(\x01\x42\x12\x82\xb5\x18\x03NaN\x89\xb5\x18H\xaf\xbc\x9a\xf2\xd7z>\x12$\n\x13relative_altitude_m\x18\x03 \x01(\x02\x42\x07\x82\xb5\x18\x03NaN\x12\x1a\n\tspeed_m_s\x18\x04 \x01(\x02\x42\x07\x82\xb5\x18\x03NaN\x12!\n\x0eis_fly_through\x18\x05 \x01(\x08\x42\t\x82\xb5\x18\x05\x66\x61lse\x12,\n\x10gimbal_pitch_deg\x18\x06 \x01(\x02\x42\x12\x82\xb5\x18\x03NaN\x89\xb5\x18-C\x1c\xeb\xe2\x36\x1a?\x12*\n\x0egimbal_yaw_deg\x18\x07 \x01(\x02\x42\x12\x82\xb5\x18\x03NaN\x89\xb5\x18-C\x1c\xeb\xe2\x36\x1a?\x12\x43\n\rcamera_action\x18\x08 \x01(\x0e\x32,.mavsdk.rpc.mission.MissionItem.CameraAction\x12\x1e\n\rloiter_time_s\x18\t \x01(\x02\x42\x07\x82\xb5\x18\x03NaN\x12(\n\x17\x63\x61mera_photo_interval_s\x18\n \x01(\x01\x42\x07\x82\xb5\x18\x03\x31.0\"\xd0\x01\n\x0c\x43\x61meraAction\x12\x16\n\x12\x43\x41MERA_ACTION_NONE\x10\x00\x12\x1c\n\x18\x43\x41MERA_ACTION_TAKE_PHOTO\x10\x01\x12&\n\"CAMERA_ACTION_START_PHOTO_INTERVAL\x10\x02\x12%\n!CAMERA_ACTION_STOP_PHOTO_INTERVAL\x10\x03\x12\x1d\n\x19\x43\x41MERA_ACTION_START_VIDEO\x10\x04\x12\x1c\n\x18\x43\x41MERA_ACTION_STOP_VIDEO\x10\x05\"E\n\x0bMissionPlan\x12\x36\n\rmission_items\x18\x01 \x03(\x0b\x32\x1f.mavsdk.rpc.mission.MissionItem\"1\n\x0fMissionProgress\x12\x0f\n\x07\x63urrent\x18\x01 \x01(\x05\x12\r\n\x05total\x18\x02 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\x01(\t\"\xa3\x02\n\x06Result\x12\x12\n\x0eRESULT_UNKNOWN\x10\x00\x12\x12\n\x0eRESULT_SUCCESS\x10\x01\x12\x10\n\x0cRESULT_ERROR\x10\x02\x12!\n\x1dRESULT_TOO_MANY_MISSION_ITEMS\x10\x03\x12\x0f\n\x0bRESULT_BUSY\x10\x04\x12\x12\n\x0eRESULT_TIMEOUT\x10\x05\x12\x1b\n\x17RESULT_INVALID_ARGUMENT\x10\x06\x12\x16\n\x12RESULT_UNSUPPORTED\x10\x07\x12\x1f\n\x1bRESULT_NO_MISSION_AVAILABLE\x10\x08\x12\"\n\x1eRESULT_UNSUPPORTED_MISSION_CMD\x10\x0b\x12\x1d\n\x19RESULT_TRANSFER_CANCELLED\x10\x0c\x32\xcd\x0b\n\x0eMissionService\x12\x66\n\rUploadMission\x12(.mavsdk.rpc.mission.UploadMissionRequest\x1a).mavsdk.rpc.mission.UploadMissionResponse\"\x00\x12|\n\x13\x43\x61ncelMissionUpload\x12..mavsdk.rpc.mission.CancelMissionUploadRequest\x1a/.mavsdk.rpc.mission.CancelMissionUploadResponse\"\x04\x80\xb5\x18\x01\x12l\n\x0f\x44ownloadMission\x12*.mavsdk.rpc.mission.DownloadMissionRequest\x1a+.mavsdk.rpc.mission.DownloadMissionResponse\"\x00\x12\x82\x01\n\x15\x43\x61ncelMissionDownload\x12\x30.mavsdk.rpc.mission.CancelMissionDownloadRequest\x1a\x31.mavsdk.rpc.mission.CancelMissionDownloadResponse\"\x04\x80\xb5\x18\x01\x12\x63\n\x0cStartMission\x12\'.mavsdk.rpc.mission.StartMissionRequest\x1a(.mavsdk.rpc.mission.StartMissionResponse\"\x00\x12\x63\n\x0cPauseMission\x12\'.mavsdk.rpc.mission.PauseMissionRequest\x1a(.mavsdk.rpc.mission.PauseMissionResponse\"\x00\x12\x63\n\x0c\x43learMission\x12\'.mavsdk.rpc.mission.ClearMissionRequest\x1a(.mavsdk.rpc.mission.ClearMissionResponse\"\x00\x12~\n\x15SetCurrentMissionItem\x12\x30.mavsdk.rpc.mission.SetCurrentMissionItemRequest\x1a\x31.mavsdk.rpc.mission.SetCurrentMissionItemResponse\"\x00\x12v\n\x11IsMissionFinished\x12,.mavsdk.rpc.mission.IsMissionFinishedRequest\x1a-.mavsdk.rpc.mission.IsMissionFinishedResponse\"\x04\x80\xb5\x18\x01\x12\x80\x01\n\x18SubscribeMissionProgress\x12\x33.mavsdk.rpc.mission.SubscribeMissionProgressRequest\x1a+.mavsdk.rpc.mission.MissionProgressResponse\"\x00\x30\x01\x12\x9a\x01\n\x1dGetReturnToLaunchAfterMission\x12\x38.mavsdk.rpc.mission.GetReturnToLaunchAfterMissionRequest\x1a\x39.mavsdk.rpc.mission.GetReturnToLaunchAfterMissionResponse\"\x04\x80\xb5\x18\x01\x12\x9a\x01\n\x1dSetReturnToLaunchAfterMission\x12\x38.mavsdk.rpc.mission.SetReturnToLaunchAfterMissionRequest\x1a\x39.mavsdk.rpc.mission.SetReturnToLaunchAfterMissionResponse\"\x04\x80\xb5\x18\x01\x42!\n\x11io.mavsdk.missionB\x0cMissionProtob\x06proto3' , dependencies=[mavsdk__options__pb2.DESCRIPTOR,]) @@ -66,8 +66,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=2324, - serialized_end=2532, + serialized_start=2109, + serialized_end=2317, ) _sym_db.RegisterEnumDescriptor(_MISSIONITEM_CAMERAACTION) @@ -124,30 +124,20 @@ type=None, create_key=_descriptor._internal_create_key), _descriptor.EnumValueDescriptor( - name='RESULT_FAILED_TO_OPEN_QGC_PLAN', index=9, number=9, + name='RESULT_UNSUPPORTED_MISSION_CMD', index=9, number=11, serialized_options=None, type=None, create_key=_descriptor._internal_create_key), _descriptor.EnumValueDescriptor( - name='RESULT_FAILED_TO_PARSE_QGC_PLAN', index=10, number=10, - serialized_options=None, - type=None, - create_key=_descriptor._internal_create_key), - _descriptor.EnumValueDescriptor( - name='RESULT_UNSUPPORTED_MISSION_CMD', index=11, number=11, - serialized_options=None, - type=None, - create_key=_descriptor._internal_create_key), - _descriptor.EnumValueDescriptor( - name='RESULT_TRANSFER_CANCELLED', index=12, number=12, + name='RESULT_TRANSFER_CANCELLED', index=10, number=12, serialized_options=None, type=None, create_key=_descriptor._internal_create_key), ], containing_type=None, serialized_options=None, - serialized_start=2753, - serialized_end=3117, + serialized_start=2538, + serialized_end=2829, ) _sym_db.RegisterEnumDescriptor(_MISSIONRESULT_RESULT) @@ -878,77 +868,6 @@ ) -_IMPORTQGROUNDCONTROLMISSIONREQUEST = _descriptor.Descriptor( - name='ImportQgroundcontrolMissionRequest', - full_name='mavsdk.rpc.mission.ImportQgroundcontrolMissionRequest', - filename=None, - file=DESCRIPTOR, - containing_type=None, - create_key=_descriptor._internal_create_key, - fields=[ - _descriptor.FieldDescriptor( - name='qgc_plan_path', full_name='mavsdk.rpc.mission.ImportQgroundcontrolMissionRequest.qgc_plan_path', index=0, - number=1, type=9, cpp_type=9, label=1, - has_default_value=False, default_value=b"".decode('utf-8'), - message_type=None, enum_type=None, containing_type=None, - is_extension=False, extension_scope=None, - serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), - ], - extensions=[ - ], - nested_types=[], - enum_types=[ - ], - serialized_options=None, - is_extendable=False, - syntax='proto3', - extension_ranges=[], - oneofs=[ - ], - serialized_start=1673, - serialized_end=1732, -) - - -_IMPORTQGROUNDCONTROLMISSIONRESPONSE = _descriptor.Descriptor( - name='ImportQgroundcontrolMissionResponse', - full_name='mavsdk.rpc.mission.ImportQgroundcontrolMissionResponse', - filename=None, - file=DESCRIPTOR, - containing_type=None, - create_key=_descriptor._internal_create_key, - fields=[ - _descriptor.FieldDescriptor( - name='mission_result', full_name='mavsdk.rpc.mission.ImportQgroundcontrolMissionResponse.mission_result', index=0, - number=1, type=11, cpp_type=10, label=1, - has_default_value=False, default_value=None, - message_type=None, enum_type=None, containing_type=None, - is_extension=False, extension_scope=None, - serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), - _descriptor.FieldDescriptor( - name='mission_plan', full_name='mavsdk.rpc.mission.ImportQgroundcontrolMissionResponse.mission_plan', index=1, - number=2, type=11, cpp_type=10, label=1, - has_default_value=False, default_value=None, - message_type=None, enum_type=None, containing_type=None, - is_extension=False, extension_scope=None, - serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), - ], - extensions=[ - ], - nested_types=[], - enum_types=[ - ], - serialized_options=None, - is_extendable=False, - syntax='proto3', - extension_ranges=[], - oneofs=[ - ], - serialized_start=1735, - serialized_end=1886, -) - - _MISSIONITEM = _descriptor.Descriptor( name='MissionItem', full_name='mavsdk.rpc.mission.MissionItem', @@ -1040,8 +959,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1889, - serialized_end=2532, + serialized_start=1674, + serialized_end=2317, ) @@ -1072,8 +991,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2534, - serialized_end=2603, + serialized_start=2319, + serialized_end=2388, ) @@ -1111,8 +1030,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2605, - serialized_end=2654, + serialized_start=2390, + serialized_end=2439, ) @@ -1151,8 +1070,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2657, - serialized_end=3117, + serialized_start=2442, + serialized_end=2829, ) _UPLOADMISSIONREQUEST.fields_by_name['mission_plan'].message_type = _MISSIONPLAN @@ -1169,8 +1088,6 @@ _MISSIONPROGRESSRESPONSE.fields_by_name['mission_progress'].message_type = _MISSIONPROGRESS _GETRETURNTOLAUNCHAFTERMISSIONRESPONSE.fields_by_name['mission_result'].message_type = _MISSIONRESULT _SETRETURNTOLAUNCHAFTERMISSIONRESPONSE.fields_by_name['mission_result'].message_type = _MISSIONRESULT -_IMPORTQGROUNDCONTROLMISSIONRESPONSE.fields_by_name['mission_result'].message_type = _MISSIONRESULT -_IMPORTQGROUNDCONTROLMISSIONRESPONSE.fields_by_name['mission_plan'].message_type = _MISSIONPLAN _MISSIONITEM.fields_by_name['camera_action'].enum_type = _MISSIONITEM_CAMERAACTION _MISSIONITEM_CAMERAACTION.containing_type = _MISSIONITEM _MISSIONPLAN.fields_by_name['mission_items'].message_type = _MISSIONITEM @@ -1200,8 +1117,6 @@ DESCRIPTOR.message_types_by_name['GetReturnToLaunchAfterMissionResponse'] = _GETRETURNTOLAUNCHAFTERMISSIONRESPONSE DESCRIPTOR.message_types_by_name['SetReturnToLaunchAfterMissionRequest'] = _SETRETURNTOLAUNCHAFTERMISSIONREQUEST DESCRIPTOR.message_types_by_name['SetReturnToLaunchAfterMissionResponse'] = _SETRETURNTOLAUNCHAFTERMISSIONRESPONSE -DESCRIPTOR.message_types_by_name['ImportQgroundcontrolMissionRequest'] = _IMPORTQGROUNDCONTROLMISSIONREQUEST -DESCRIPTOR.message_types_by_name['ImportQgroundcontrolMissionResponse'] = _IMPORTQGROUNDCONTROLMISSIONRESPONSE DESCRIPTOR.message_types_by_name['MissionItem'] = _MISSIONITEM DESCRIPTOR.message_types_by_name['MissionPlan'] = _MISSIONPLAN DESCRIPTOR.message_types_by_name['MissionProgress'] = _MISSIONPROGRESS @@ -1376,20 +1291,6 @@ }) _sym_db.RegisterMessage(SetReturnToLaunchAfterMissionResponse) -ImportQgroundcontrolMissionRequest = _reflection.GeneratedProtocolMessageType('ImportQgroundcontrolMissionRequest', (_message.Message,), { - 'DESCRIPTOR' : _IMPORTQGROUNDCONTROLMISSIONREQUEST, - '__module__' : 'mission.mission_pb2' - # @@protoc_insertion_point(class_scope:mavsdk.rpc.mission.ImportQgroundcontrolMissionRequest) - }) -_sym_db.RegisterMessage(ImportQgroundcontrolMissionRequest) - -ImportQgroundcontrolMissionResponse = _reflection.GeneratedProtocolMessageType('ImportQgroundcontrolMissionResponse', (_message.Message,), { - 'DESCRIPTOR' : _IMPORTQGROUNDCONTROLMISSIONRESPONSE, - '__module__' : 'mission.mission_pb2' - # @@protoc_insertion_point(class_scope:mavsdk.rpc.mission.ImportQgroundcontrolMissionResponse) - }) -_sym_db.RegisterMessage(ImportQgroundcontrolMissionResponse) - MissionItem = _reflection.GeneratedProtocolMessageType('MissionItem', (_message.Message,), { 'DESCRIPTOR' : _MISSIONITEM, '__module__' : 'mission.mission_pb2' @@ -1437,8 +1338,8 @@ index=0, serialized_options=None, create_key=_descriptor._internal_create_key, - serialized_start=3120, - serialized_end=4752, + serialized_start=2832, + serialized_end=4317, methods=[ _descriptor.MethodDescriptor( name='UploadMission', @@ -1560,16 +1461,6 @@ serialized_options=b'\200\265\030\001', create_key=_descriptor._internal_create_key, ), - _descriptor.MethodDescriptor( - name='ImportQgroundcontrolMission', - full_name='mavsdk.rpc.mission.MissionService.ImportQgroundcontrolMission', - index=12, - containing_service=None, - input_type=_IMPORTQGROUNDCONTROLMISSIONREQUEST, - output_type=_IMPORTQGROUNDCONTROLMISSIONRESPONSE, - serialized_options=None, - create_key=_descriptor._internal_create_key, - ), ]) _sym_db.RegisterServiceDescriptor(_MISSIONSERVICE) diff --git a/mavsdk/mission_pb2_grpc.py b/mavsdk/mission_pb2_grpc.py index d41d85d8..8f67c8da 100644 --- a/mavsdk/mission_pb2_grpc.py +++ b/mavsdk/mission_pb2_grpc.py @@ -75,11 +75,6 @@ def __init__(self, channel): request_serializer=mission_dot_mission__pb2.SetReturnToLaunchAfterMissionRequest.SerializeToString, response_deserializer=mission_dot_mission__pb2.SetReturnToLaunchAfterMissionResponse.FromString, ) - self.ImportQgroundcontrolMission = channel.unary_unary( - '/mavsdk.rpc.mission.MissionService/ImportQgroundcontrolMission', - request_serializer=mission_dot_mission__pb2.ImportQgroundcontrolMissionRequest.SerializeToString, - response_deserializer=mission_dot_mission__pb2.ImportQgroundcontrolMissionResponse.FromString, - ) class MissionServiceServicer(object): @@ -207,17 +202,6 @@ def SetReturnToLaunchAfterMission(self, request, context): context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') - def ImportQgroundcontrolMission(self, request, context): - """ - Import a QGroundControl (QGC) mission plan. - - The method will fail if any of the imported mission items are not supported - by the MAVSDK API. - """ - context.set_code(grpc.StatusCode.UNIMPLEMENTED) - context.set_details('Method not implemented!') - raise NotImplementedError('Method not implemented!') - def add_MissionServiceServicer_to_server(servicer, server): rpc_method_handlers = { @@ -281,11 +265,6 @@ def add_MissionServiceServicer_to_server(servicer, server): request_deserializer=mission_dot_mission__pb2.SetReturnToLaunchAfterMissionRequest.FromString, response_serializer=mission_dot_mission__pb2.SetReturnToLaunchAfterMissionResponse.SerializeToString, ), - 'ImportQgroundcontrolMission': grpc.unary_unary_rpc_method_handler( - servicer.ImportQgroundcontrolMission, - request_deserializer=mission_dot_mission__pb2.ImportQgroundcontrolMissionRequest.FromString, - response_serializer=mission_dot_mission__pb2.ImportQgroundcontrolMissionResponse.SerializeToString, - ), } generic_handler = grpc.method_handlers_generic_handler( 'mavsdk.rpc.mission.MissionService', rpc_method_handlers) @@ -500,20 +479,3 @@ def SetReturnToLaunchAfterMission(request, mission_dot_mission__pb2.SetReturnToLaunchAfterMissionResponse.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata) - - @staticmethod - def ImportQgroundcontrolMission(request, - target, - options=(), - channel_credentials=None, - call_credentials=None, - insecure=False, - compression=None, - wait_for_ready=None, - timeout=None, - metadata=None): - return grpc.experimental.unary_unary(request, target, '/mavsdk.rpc.mission.MissionService/ImportQgroundcontrolMission', - mission_dot_mission__pb2.ImportQgroundcontrolMissionRequest.SerializeToString, - mission_dot_mission__pb2.ImportQgroundcontrolMissionResponse.FromString, - options, channel_credentials, - insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/mavsdk/mission_raw.py b/mavsdk/mission_raw.py index 85ed4e7c..049bf510 100644 --- a/mavsdk/mission_raw.py +++ b/mavsdk/mission_raw.py @@ -123,7 +123,7 @@ class MissionItem: PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame) mission_type : uint32_t - @brief Mission type (actually uint8_t) + Mission type (actually uint8_t) """ @@ -330,6 +330,117 @@ def translate_to_rpc(self, rpcMissionItem): +class MissionImportData: + """ + Mission import data + + Parameters + ---------- + mission_items : [MissionItem] + Mission items + + geofence_items : [MissionItem] + Geofence items + + rally_items : [MissionItem] + Rally items + + """ + + + + def __init__( + self, + mission_items, + geofence_items, + rally_items): + """ Initializes the MissionImportData object """ + self.mission_items = mission_items + self.geofence_items = geofence_items + self.rally_items = rally_items + + def __equals__(self, to_compare): + """ Checks if two MissionImportData are the same """ + try: + # Try to compare - this likely fails when it is compared to a non + # MissionImportData object + return \ + (self.mission_items == to_compare.mission_items) and \ + (self.geofence_items == to_compare.geofence_items) and \ + (self.rally_items == to_compare.rally_items) + + except AttributeError: + return False + + def __str__(self): + """ MissionImportData in string representation """ + struct_repr = ", ".join([ + "mission_items: " + str(self.mission_items), + "geofence_items: " + str(self.geofence_items), + "rally_items: " + str(self.rally_items) + ]) + + return f"MissionImportData: [{struct_repr}]" + + @staticmethod + def translate_from_rpc(rpcMissionImportData): + """ Translates a gRPC struct to the SDK equivalent """ + return MissionImportData( + + list(map(lambda elem: MissionItem.translate_from_rpc(elem), rpcMissionImportData.mission_items)), + + + list(map(lambda elem: MissionItem.translate_from_rpc(elem), rpcMissionImportData.geofence_items)), + + + list(map(lambda elem: MissionItem.translate_from_rpc(elem), rpcMissionImportData.rally_items)) + ) + + def translate_to_rpc(self, rpcMissionImportData): + """ Translates this SDK object into its gRPC equivalent """ + + + + + rpc_elems_list = [] + for elem in self.mission_items: + + rpc_elem = mission_raw_pb2.MissionItem() + elem.translate_to_rpc(rpc_elem) + rpc_elems_list.append(rpc_elem) + + rpcMissionImportData.mission_items.extend(rpc_elems_list) + + + + + + rpc_elems_list = [] + for elem in self.geofence_items: + + rpc_elem = mission_raw_pb2.MissionItem() + elem.translate_to_rpc(rpc_elem) + rpc_elems_list.append(rpc_elem) + + rpcMissionImportData.geofence_items.extend(rpc_elems_list) + + + + + + rpc_elems_list = [] + for elem in self.rally_items: + + rpc_elem = mission_raw_pb2.MissionItem() + elem.translate_to_rpc(rpc_elem) + rpc_elems_list.append(rpc_elem) + + rpcMissionImportData.rally_items.extend(rpc_elems_list) + + + + + class MissionRawResult: """ Result type. @@ -382,6 +493,12 @@ class Result(Enum): TRANSFER_CANCELLED Mission transfer (upload or download) has been cancelled + FAILED_TO_OPEN_QGC_PLAN + Failed to open the QGroundControl plan + + FAILED_TO_PARSE_QGC_PLAN + Failed to parse the QGroundControl plan + """ @@ -395,6 +512,8 @@ class Result(Enum): UNSUPPORTED = 7 NO_MISSION_AVAILABLE = 8 TRANSFER_CANCELLED = 9 + FAILED_TO_OPEN_QGC_PLAN = 10 + FAILED_TO_PARSE_QGC_PLAN = 11 def translate_to_rpc(self): if self == MissionRawResult.Result.UNKNOWN: @@ -417,6 +536,10 @@ def translate_to_rpc(self): return mission_raw_pb2.MissionRawResult.RESULT_NO_MISSION_AVAILABLE if self == MissionRawResult.Result.TRANSFER_CANCELLED: return mission_raw_pb2.MissionRawResult.RESULT_TRANSFER_CANCELLED + if self == MissionRawResult.Result.FAILED_TO_OPEN_QGC_PLAN: + return mission_raw_pb2.MissionRawResult.RESULT_FAILED_TO_OPEN_QGC_PLAN + if self == MissionRawResult.Result.FAILED_TO_PARSE_QGC_PLAN: + return mission_raw_pb2.MissionRawResult.RESULT_FAILED_TO_PARSE_QGC_PLAN @staticmethod def translate_from_rpc(rpc_enum_value): @@ -441,6 +564,10 @@ def translate_from_rpc(rpc_enum_value): return MissionRawResult.Result.NO_MISSION_AVAILABLE if rpc_enum_value == mission_raw_pb2.MissionRawResult.RESULT_TRANSFER_CANCELLED: return MissionRawResult.Result.TRANSFER_CANCELLED + if rpc_enum_value == mission_raw_pb2.MissionRawResult.RESULT_FAILED_TO_OPEN_QGC_PLAN: + return MissionRawResult.Result.FAILED_TO_OPEN_QGC_PLAN + if rpc_enum_value == mission_raw_pb2.MissionRawResult.RESULT_FAILED_TO_PARSE_QGC_PLAN: + return MissionRawResult.Result.FAILED_TO_PARSE_QGC_PLAN def __str__(self): return self.name @@ -796,4 +923,47 @@ async def mission_changed(self): yield response.mission_changed finally: - mission_changed_stream.cancel() \ No newline at end of file + mission_changed_stream.cancel() + + async def import_qgroundcontrol_mission(self, qgc_plan_path): + """ + Import a QGroundControl missions in JSON .plan format. + + Supported: + - Waypoints + - Survey + Not supported: + - Structure Scan + + Parameters + ---------- + qgc_plan_path : std::string + File path of the QGC plan + + Returns + ------- + mission_import_data : MissionImportData + The imported mission data + + Raises + ------ + MissionRawError + If the request fails. The error contains the reason for the failure. + """ + + request = mission_raw_pb2.ImportQgroundcontrolMissionRequest() + + + request.qgc_plan_path = qgc_plan_path + + response = await self._stub.ImportQgroundcontrolMission(request) + + + result = self._extract_result(response) + + if result.result is not MissionRawResult.Result.SUCCESS: + raise MissionRawError(result, "import_qgroundcontrol_mission()", qgc_plan_path) + + + return MissionImportData.translate_from_rpc(response.mission_import_data) + \ No newline at end of file diff --git a/mavsdk/mission_raw_pb2.py b/mavsdk/mission_raw_pb2.py index 7f286b7b..9afae0cb 100644 --- a/mavsdk/mission_raw_pb2.py +++ b/mavsdk/mission_raw_pb2.py @@ -20,7 +20,7 @@ syntax='proto3', serialized_options=b'\n\025io.mavsdk.mission_rawB\017MissionRawProto', create_key=_descriptor._internal_create_key, - 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+ serialized_pb=b'\n\x1dmission_raw/mission_raw.proto\x12\x16mavsdk.rpc.mission_raw\x1a\x14mavsdk_options.proto\"R\n\x14UploadMissionRequest\x12:\n\rmission_items\x18\x01 \x03(\x0b\x32#.mavsdk.rpc.mission_raw.MissionItem\"]\n\x15UploadMissionResponse\x12\x44\n\x12mission_raw_result\x18\x01 \x01(\x0b\x32(.mavsdk.rpc.mission_raw.MissionRawResult\"\x1c\n\x1a\x43\x61ncelMissionUploadRequest\"c\n\x1b\x43\x61ncelMissionUploadResponse\x12\x44\n\x12mission_raw_result\x18\x01 \x01(\x0b\x32(.mavsdk.rpc.mission_raw.MissionRawResult\"\x18\n\x16\x44ownloadMissionRequest\"\x9b\x01\n\x17\x44ownloadMissionResponse\x12\x44\n\x12mission_raw_result\x18\x01 \x01(\x0b\x32(.mavsdk.rpc.mission_raw.MissionRawResult\x12:\n\rmission_items\x18\x02 \x03(\x0b\x32#.mavsdk.rpc.mission_raw.MissionItem\"\x1e\n\x1c\x43\x61ncelMissionDownloadRequest\"e\n\x1d\x43\x61ncelMissionDownloadResponse\x12\x44\n\x12mission_raw_result\x18\x01 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\n\x1eSubscribeMissionChangedRequest\"1\n\x16MissionChangedResponse\x12\x17\n\x0fmission_changed\x18\x01 \x01(\x08\";\n\"ImportQgroundcontrolMissionRequest\x12\x15\n\rqgc_plan_path\x18\x01 \x01(\t\"\xb3\x01\n#ImportQgroundcontrolMissionResponse\x12\x44\n\x12mission_raw_result\x18\x01 \x01(\x0b\x32(.mavsdk.rpc.mission_raw.MissionRawResult\x12\x46\n\x13mission_import_data\x18\x02 \x01(\x0b\x32).mavsdk.rpc.mission_raw.MissionImportData\"1\n\x0fMissionProgress\x12\x0f\n\x07\x63urrent\x18\x01 \x01(\x05\x12\r\n\x05total\x18\x02 \x01(\x05\"\xd8\x01\n\x0bMissionItem\x12\x0b\n\x03seq\x18\x01 \x01(\r\x12\r\n\x05\x66rame\x18\x02 \x01(\r\x12\x0f\n\x07\x63ommand\x18\x03 \x01(\r\x12\x0f\n\x07\x63urrent\x18\x04 \x01(\r\x12\x14\n\x0c\x61utocontinue\x18\x05 \x01(\r\x12\x0e\n\x06param1\x18\x06 \x01(\x02\x12\x0e\n\x06param2\x18\x07 \x01(\x02\x12\x0e\n\x06param3\x18\x08 \x01(\x02\x12\x0e\n\x06param4\x18\t \x01(\x02\x12\t\n\x01x\x18\n \x01(\x05\x12\t\n\x01y\x18\x0b \x01(\x05\x12\t\n\x01z\x18\x0c \x01(\x02\x12\x14\n\x0cmission_type\x18\r \x01(\r\"\xc6\x01\n\x11MissionImportData\x12:\n\rmission_items\x18\x01 \x03(\x0b\x32#.mavsdk.rpc.mission_raw.MissionItem\x12;\n\x0egeofence_items\x18\x02 \x03(\x0b\x32#.mavsdk.rpc.mission_raw.MissionItem\x12\x38\n\x0brally_items\x18\x03 \x03(\x0b\x32#.mavsdk.rpc.mission_raw.MissionItem\"\xb2\x03\n\x10MissionRawResult\x12?\n\x06result\x18\x01 \x01(\x0e\x32/.mavsdk.rpc.mission_raw.MissionRawResult.Result\x12\x12\n\nresult_str\x18\x02 \x01(\t\"\xc8\x02\n\x06Result\x12\x12\n\x0eRESULT_UNKNOWN\x10\x00\x12\x12\n\x0eRESULT_SUCCESS\x10\x01\x12\x10\n\x0cRESULT_ERROR\x10\x02\x12!\n\x1dRESULT_TOO_MANY_MISSION_ITEMS\x10\x03\x12\x0f\n\x0bRESULT_BUSY\x10\x04\x12\x12\n\x0eRESULT_TIMEOUT\x10\x05\x12\x1b\n\x17RESULT_INVALID_ARGUMENT\x10\x06\x12\x16\n\x12RESULT_UNSUPPORTED\x10\x07\x12\x1f\n\x1bRESULT_NO_MISSION_AVAILABLE\x10\x08\x12\x1d\n\x19RESULT_TRANSFER_CANCELLED\x10\t\x12\"\n\x1eRESULT_FAILED_TO_OPEN_QGC_PLAN\x10\n\x12#\n\x1fRESULT_FAILED_TO_PARSE_QGC_PLAN\x10\x0b\x32\x93\x0b\n\x11MissionRawService\x12n\n\rUploadMission\x12,.mavsdk.rpc.mission_raw.UploadMissionRequest\x1a-.mavsdk.rpc.mission_raw.UploadMissionResponse\"\x00\x12\x84\x01\n\x13\x43\x61ncelMissionUpload\x12\x32.mavsdk.rpc.mission_raw.CancelMissionUploadRequest\x1a\x33.mavsdk.rpc.mission_raw.CancelMissionUploadResponse\"\x04\x80\xb5\x18\x01\x12t\n\x0f\x44ownloadMission\x12..mavsdk.rpc.mission_raw.DownloadMissionRequest\x1a/.mavsdk.rpc.mission_raw.DownloadMissionResponse\"\x00\x12\x8a\x01\n\x15\x43\x61ncelMissionDownload\x12\x34.mavsdk.rpc.mission_raw.CancelMissionDownloadRequest\x1a\x35.mavsdk.rpc.mission_raw.CancelMissionDownloadResponse\"\x04\x80\xb5\x18\x01\x12k\n\x0cStartMission\x12+.mavsdk.rpc.mission_raw.StartMissionRequest\x1a,.mavsdk.rpc.mission_raw.StartMissionResponse\"\x00\x12k\n\x0cPauseMission\x12+.mavsdk.rpc.mission_raw.PauseMissionRequest\x1a,.mavsdk.rpc.mission_raw.PauseMissionResponse\"\x00\x12k\n\x0c\x43learMission\x12+.mavsdk.rpc.mission_raw.ClearMissionRequest\x1a,.mavsdk.rpc.mission_raw.ClearMissionResponse\"\x00\x12\x86\x01\n\x15SetCurrentMissionItem\x12\x34.mavsdk.rpc.mission_raw.SetCurrentMissionItemRequest\x1a\x35.mavsdk.rpc.mission_raw.SetCurrentMissionItemResponse\"\x00\x12\x88\x01\n\x18SubscribeMissionProgress\x12\x37.mavsdk.rpc.mission_raw.SubscribeMissionProgressRequest\x1a/.mavsdk.rpc.mission_raw.MissionProgressResponse\"\x00\x30\x01\x12\x89\x01\n\x17SubscribeMissionChanged\x12\x36.mavsdk.rpc.mission_raw.SubscribeMissionChangedRequest\x1a..mavsdk.rpc.mission_raw.MissionChangedResponse\"\x04\x80\xb5\x18\x00\x30\x01\x12\x9c\x01\n\x1bImportQgroundcontrolMission\x12:.mavsdk.rpc.mission_raw.ImportQgroundcontrolMissionRequest\x1a;.mavsdk.rpc.mission_raw.ImportQgroundcontrolMissionResponse\"\x04\x80\xb5\x18\x01\x42(\n\x15io.mavsdk.mission_rawB\x0fMissionRawProtob\x06proto3' , dependencies=[mavsdk__options__pb2.DESCRIPTOR,]) @@ -83,11 +83,21 @@ serialized_options=None, type=None, create_key=_descriptor._internal_create_key), + _descriptor.EnumValueDescriptor( + name='RESULT_FAILED_TO_OPEN_QGC_PLAN', index=10, number=10, + serialized_options=None, + type=None, + create_key=_descriptor._internal_create_key), + _descriptor.EnumValueDescriptor( + name='RESULT_FAILED_TO_PARSE_QGC_PLAN', index=11, number=11, + serialized_options=None, + type=None, + create_key=_descriptor._internal_create_key), ], containing_type=None, serialized_options=None, - serialized_start=1800, - serialized_end=2055, + serialized_start=2244, + serialized_end=2572, ) _sym_db.RegisterEnumDescriptor(_MISSIONRAWRESULT_RESULT) @@ -683,6 +693,77 @@ ) +_IMPORTQGROUNDCONTROLMISSIONREQUEST = _descriptor.Descriptor( + name='ImportQgroundcontrolMissionRequest', + full_name='mavsdk.rpc.mission_raw.ImportQgroundcontrolMissionRequest', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='qgc_plan_path', full_name='mavsdk.rpc.mission_raw.ImportQgroundcontrolMissionRequest.qgc_plan_path', index=0, + number=1, type=9, cpp_type=9, label=1, + has_default_value=False, default_value=b"".decode('utf-8'), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=1423, + serialized_end=1482, +) + + +_IMPORTQGROUNDCONTROLMISSIONRESPONSE = _descriptor.Descriptor( + name='ImportQgroundcontrolMissionResponse', + full_name='mavsdk.rpc.mission_raw.ImportQgroundcontrolMissionResponse', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mission_raw_result', full_name='mavsdk.rpc.mission_raw.ImportQgroundcontrolMissionResponse.mission_raw_result', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='mission_import_data', full_name='mavsdk.rpc.mission_raw.ImportQgroundcontrolMissionResponse.mission_import_data', index=1, + number=2, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=1485, + serialized_end=1664, +) + + _MISSIONPROGRESS = _descriptor.Descriptor( name='MissionProgress', full_name='mavsdk.rpc.mission_raw.MissionProgress', @@ -717,8 +798,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1423, - serialized_end=1472, + serialized_start=1666, + serialized_end=1715, ) @@ -833,8 +914,54 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1475, - serialized_end=1691, + serialized_start=1718, + serialized_end=1934, +) + + +_MISSIONIMPORTDATA = _descriptor.Descriptor( + name='MissionImportData', + full_name='mavsdk.rpc.mission_raw.MissionImportData', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mission_items', full_name='mavsdk.rpc.mission_raw.MissionImportData.mission_items', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='geofence_items', full_name='mavsdk.rpc.mission_raw.MissionImportData.geofence_items', index=1, + number=2, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='rally_items', full_name='mavsdk.rpc.mission_raw.MissionImportData.rally_items', index=2, + number=3, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=1937, + serialized_end=2135, ) @@ -873,8 +1000,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1694, - serialized_end=2055, + serialized_start=2138, + serialized_end=2572, ) _UPLOADMISSIONREQUEST.fields_by_name['mission_items'].message_type = _MISSIONITEM @@ -888,6 +1015,11 @@ _CLEARMISSIONRESPONSE.fields_by_name['mission_raw_result'].message_type = _MISSIONRAWRESULT _SETCURRENTMISSIONITEMRESPONSE.fields_by_name['mission_raw_result'].message_type = _MISSIONRAWRESULT _MISSIONPROGRESSRESPONSE.fields_by_name['mission_progress'].message_type = _MISSIONPROGRESS +_IMPORTQGROUNDCONTROLMISSIONRESPONSE.fields_by_name['mission_raw_result'].message_type = _MISSIONRAWRESULT +_IMPORTQGROUNDCONTROLMISSIONRESPONSE.fields_by_name['mission_import_data'].message_type = _MISSIONIMPORTDATA +_MISSIONIMPORTDATA.fields_by_name['mission_items'].message_type = _MISSIONITEM +_MISSIONIMPORTDATA.fields_by_name['geofence_items'].message_type = _MISSIONITEM +_MISSIONIMPORTDATA.fields_by_name['rally_items'].message_type = _MISSIONITEM _MISSIONRAWRESULT.fields_by_name['result'].enum_type = _MISSIONRAWRESULT_RESULT _MISSIONRAWRESULT_RESULT.containing_type = _MISSIONRAWRESULT DESCRIPTOR.message_types_by_name['UploadMissionRequest'] = _UPLOADMISSIONREQUEST @@ -910,8 +1042,11 @@ DESCRIPTOR.message_types_by_name['MissionProgressResponse'] = _MISSIONPROGRESSRESPONSE DESCRIPTOR.message_types_by_name['SubscribeMissionChangedRequest'] = _SUBSCRIBEMISSIONCHANGEDREQUEST DESCRIPTOR.message_types_by_name['MissionChangedResponse'] = _MISSIONCHANGEDRESPONSE +DESCRIPTOR.message_types_by_name['ImportQgroundcontrolMissionRequest'] = _IMPORTQGROUNDCONTROLMISSIONREQUEST +DESCRIPTOR.message_types_by_name['ImportQgroundcontrolMissionResponse'] = _IMPORTQGROUNDCONTROLMISSIONRESPONSE DESCRIPTOR.message_types_by_name['MissionProgress'] = _MISSIONPROGRESS DESCRIPTOR.message_types_by_name['MissionItem'] = _MISSIONITEM +DESCRIPTOR.message_types_by_name['MissionImportData'] = _MISSIONIMPORTDATA DESCRIPTOR.message_types_by_name['MissionRawResult'] = _MISSIONRAWRESULT _sym_db.RegisterFileDescriptor(DESCRIPTOR) @@ -1055,6 +1190,20 @@ }) _sym_db.RegisterMessage(MissionChangedResponse) +ImportQgroundcontrolMissionRequest = _reflection.GeneratedProtocolMessageType('ImportQgroundcontrolMissionRequest', (_message.Message,), { + 'DESCRIPTOR' : _IMPORTQGROUNDCONTROLMISSIONREQUEST, + '__module__' : 'mission_raw.mission_raw_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.mission_raw.ImportQgroundcontrolMissionRequest) + }) +_sym_db.RegisterMessage(ImportQgroundcontrolMissionRequest) + +ImportQgroundcontrolMissionResponse = _reflection.GeneratedProtocolMessageType('ImportQgroundcontrolMissionResponse', (_message.Message,), { + 'DESCRIPTOR' : _IMPORTQGROUNDCONTROLMISSIONRESPONSE, + '__module__' : 'mission_raw.mission_raw_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.mission_raw.ImportQgroundcontrolMissionResponse) + }) +_sym_db.RegisterMessage(ImportQgroundcontrolMissionResponse) + MissionProgress = _reflection.GeneratedProtocolMessageType('MissionProgress', (_message.Message,), { 'DESCRIPTOR' : _MISSIONPROGRESS, '__module__' : 'mission_raw.mission_raw_pb2' @@ -1069,6 +1218,13 @@ }) _sym_db.RegisterMessage(MissionItem) +MissionImportData = _reflection.GeneratedProtocolMessageType('MissionImportData', (_message.Message,), { + 'DESCRIPTOR' : _MISSIONIMPORTDATA, + '__module__' : 'mission_raw.mission_raw_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.mission_raw.MissionImportData) + }) +_sym_db.RegisterMessage(MissionImportData) + MissionRawResult = _reflection.GeneratedProtocolMessageType('MissionRawResult', (_message.Message,), { 'DESCRIPTOR' : _MISSIONRAWRESULT, '__module__' : 'mission_raw.mission_raw_pb2' @@ -1086,8 +1242,8 @@ index=0, serialized_options=None, create_key=_descriptor._internal_create_key, - serialized_start=2058, - serialized_end=3326, + serialized_start=2575, + serialized_end=4002, methods=[ _descriptor.MethodDescriptor( name='UploadMission', @@ -1189,6 +1345,16 @@ serialized_options=b'\200\265\030\000', create_key=_descriptor._internal_create_key, ), + _descriptor.MethodDescriptor( + name='ImportQgroundcontrolMission', + full_name='mavsdk.rpc.mission_raw.MissionRawService.ImportQgroundcontrolMission', + index=10, + containing_service=None, + input_type=_IMPORTQGROUNDCONTROLMISSIONREQUEST, + output_type=_IMPORTQGROUNDCONTROLMISSIONRESPONSE, + serialized_options=b'\200\265\030\001', + create_key=_descriptor._internal_create_key, + ), ]) _sym_db.RegisterServiceDescriptor(_MISSIONRAWSERVICE) diff --git a/mavsdk/mission_raw_pb2_grpc.py b/mavsdk/mission_raw_pb2_grpc.py index cbd7bf28..1d82b029 100644 --- a/mavsdk/mission_raw_pb2_grpc.py +++ b/mavsdk/mission_raw_pb2_grpc.py @@ -65,6 +65,11 @@ def __init__(self, channel): request_serializer=mission__raw_dot_mission__raw__pb2.SubscribeMissionChangedRequest.SerializeToString, response_deserializer=mission__raw_dot_mission__raw__pb2.MissionChangedResponse.FromString, ) + self.ImportQgroundcontrolMission = channel.unary_unary( + '/mavsdk.rpc.mission_raw.MissionRawService/ImportQgroundcontrolMission', + request_serializer=mission__raw_dot_mission__raw__pb2.ImportQgroundcontrolMissionRequest.SerializeToString, + response_deserializer=mission__raw_dot_mission__raw__pb2.ImportQgroundcontrolMissionResponse.FromString, + ) class MissionRawServiceServicer(object): @@ -169,6 +174,20 @@ def SubscribeMissionChanged(self, request, context): context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') + def ImportQgroundcontrolMission(self, request, context): + """ + Import a QGroundControl missions in JSON .plan format. + + Supported: + - Waypoints + - Survey + Not supported: + - Structure Scan + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + def add_MissionRawServiceServicer_to_server(servicer, server): rpc_method_handlers = { @@ -222,6 +241,11 @@ def add_MissionRawServiceServicer_to_server(servicer, server): request_deserializer=mission__raw_dot_mission__raw__pb2.SubscribeMissionChangedRequest.FromString, response_serializer=mission__raw_dot_mission__raw__pb2.MissionChangedResponse.SerializeToString, ), + 'ImportQgroundcontrolMission': grpc.unary_unary_rpc_method_handler( + servicer.ImportQgroundcontrolMission, + request_deserializer=mission__raw_dot_mission__raw__pb2.ImportQgroundcontrolMissionRequest.FromString, + response_serializer=mission__raw_dot_mission__raw__pb2.ImportQgroundcontrolMissionResponse.SerializeToString, + ), } generic_handler = grpc.method_handlers_generic_handler( 'mavsdk.rpc.mission_raw.MissionRawService', rpc_method_handlers) @@ -402,3 +426,20 @@ def SubscribeMissionChanged(request, mission__raw_dot_mission__raw__pb2.MissionChangedResponse.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def ImportQgroundcontrolMission(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/mavsdk.rpc.mission_raw.MissionRawService/ImportQgroundcontrolMission', + mission__raw_dot_mission__raw__pb2.ImportQgroundcontrolMissionRequest.SerializeToString, + mission__raw_dot_mission__raw__pb2.ImportQgroundcontrolMissionResponse.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/mavsdk/offboard.py b/mavsdk/offboard.py index 4a872fb7..68ecc880 100644 --- a/mavsdk/offboard.py +++ b/mavsdk/offboard.py @@ -675,6 +675,96 @@ def translate_to_rpc(self, rpcVelocityNedYaw): +class AccelerationNed: + """ + Type for acceleration commands in NED (North East Down) coordinates. + + Parameters + ---------- + north_m_s2 : float + Acceleration North (in metres/second^2) + + east_m_s2 : float + Acceleration East (in metres/second^2) + + down_m_s2 : float + Acceleration Down (in metres/second^2) + + """ + + + + def __init__( + self, + north_m_s2, + east_m_s2, + down_m_s2): + """ Initializes the AccelerationNed object """ + self.north_m_s2 = north_m_s2 + self.east_m_s2 = east_m_s2 + self.down_m_s2 = down_m_s2 + + def __equals__(self, to_compare): + """ Checks if two AccelerationNed are the same """ + try: + # Try to compare - this likely fails when it is compared to a non + # AccelerationNed object + return \ + (self.north_m_s2 == to_compare.north_m_s2) and \ + (self.east_m_s2 == to_compare.east_m_s2) and \ + (self.down_m_s2 == to_compare.down_m_s2) + + except AttributeError: + return False + + def __str__(self): + """ AccelerationNed in string representation """ + struct_repr = ", ".join([ + "north_m_s2: " + str(self.north_m_s2), + "east_m_s2: " + str(self.east_m_s2), + "down_m_s2: " + str(self.down_m_s2) + ]) + + return f"AccelerationNed: [{struct_repr}]" + + @staticmethod + def translate_from_rpc(rpcAccelerationNed): + """ Translates a gRPC struct to the SDK equivalent """ + return AccelerationNed( + + rpcAccelerationNed.north_m_s2, + + + rpcAccelerationNed.east_m_s2, + + + rpcAccelerationNed.down_m_s2 + ) + + def translate_to_rpc(self, rpcAccelerationNed): + """ Translates this SDK object into its gRPC equivalent """ + + + + + rpcAccelerationNed.north_m_s2 = self.north_m_s2 + + + + + + rpcAccelerationNed.east_m_s2 = self.east_m_s2 + + + + + + rpcAccelerationNed.down_m_s2 = self.down_m_s2 + + + + + class OffboardResult: """ Result type. @@ -1150,4 +1240,33 @@ async def set_position_velocity_ned(self, position_ned_yaw, velocity_ned_yaw): if result.result is not OffboardResult.Result.SUCCESS: raise OffboardError(result, "set_position_velocity_ned()", position_ned_yaw, velocity_ned_yaw) + + + async def set_acceleration_ned(self, acceleration_ned): + """ + Set the acceleration in NED coordinates. + + Parameters + ---------- + acceleration_ned : AccelerationNed + Acceleration + + Raises + ------ + OffboardError + If the request fails. The error contains the reason for the failure. + """ + + request = offboard_pb2.SetAccelerationNedRequest() + + acceleration_ned.translate_to_rpc(request.acceleration_ned) + + + response = await self._stub.SetAccelerationNed(request) + + + result = self._extract_result(response) + + if result.result is not OffboardResult.Result.SUCCESS: + raise OffboardError(result, "set_acceleration_ned()", acceleration_ned) \ No newline at end of file diff --git a/mavsdk/offboard_pb2.py b/mavsdk/offboard_pb2.py index 5fe7d57d..a365c6cb 100644 --- a/mavsdk/offboard_pb2.py +++ b/mavsdk/offboard_pb2.py @@ -20,7 +20,7 @@ syntax='proto3', serialized_options=b'\n\022io.mavsdk.offboardB\rOffboardProto', create_key=_descriptor._internal_create_key, - serialized_pb=b'\n\x17offboard/offboard.proto\x12\x13mavsdk.rpc.offboard\x1a\x14mavsdk_options.proto\"\x0e\n\x0cStartRequest\"M\n\rStartResponse\x12<\n\x0foffboard_result\x18\x01 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, dependencies=[mavsdk__options__pb2.DESCRIPTOR,]) @@ -76,8 +76,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=2314, - serialized_end=2505, + serialized_start=2576, + serialized_end=2767, ) _sym_db.RegisterEnumDescriptor(_OFFBOARDRESULT_RESULT) @@ -708,6 +708,70 @@ ) +_SETACCELERATIONNEDREQUEST = _descriptor.Descriptor( + name='SetAccelerationNedRequest', + full_name='mavsdk.rpc.offboard.SetAccelerationNedRequest', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='acceleration_ned', full_name='mavsdk.rpc.offboard.SetAccelerationNedRequest.acceleration_ned', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=1628, + serialized_end=1719, +) + + +_SETACCELERATIONNEDRESPONSE = _descriptor.Descriptor( + name='SetAccelerationNedResponse', + full_name='mavsdk.rpc.offboard.SetAccelerationNedResponse', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='offboard_result', full_name='mavsdk.rpc.offboard.SetAccelerationNedResponse.offboard_result', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=1721, + serialized_end=1811, +) + + _ATTITUDE = _descriptor.Descriptor( name='Attitude', full_name='mavsdk.rpc.offboard.Attitude', @@ -756,8 +820,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1628, - serialized_end=1714, + serialized_start=1813, + serialized_end=1899, ) @@ -788,8 +852,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1716, - serialized_end=1756, + serialized_start=1901, + serialized_end=1941, ) @@ -820,8 +884,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1758, - serialized_end=1834, + serialized_start=1943, + serialized_end=2019, ) @@ -873,8 +937,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1836, - serialized_end=1932, + serialized_start=2021, + serialized_end=2117, ) @@ -926,8 +990,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1934, - serialized_end=2016, + serialized_start=2119, + serialized_end=2201, ) @@ -979,8 +1043,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2018, - serialized_end=2122, + serialized_start=2203, + serialized_end=2307, ) @@ -1032,8 +1096,54 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2124, - serialized_end=2212, + serialized_start=2309, + serialized_end=2397, +) + + +_ACCELERATIONNED = _descriptor.Descriptor( + name='AccelerationNed', + full_name='mavsdk.rpc.offboard.AccelerationNed', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='north_m_s2', full_name='mavsdk.rpc.offboard.AccelerationNed.north_m_s2', index=0, + number=1, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='east_m_s2', full_name='mavsdk.rpc.offboard.AccelerationNed.east_m_s2', index=1, + number=2, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='down_m_s2', full_name='mavsdk.rpc.offboard.AccelerationNed.down_m_s2', index=2, + number=3, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=2399, + serialized_end=2474, ) @@ -1072,8 +1182,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2215, - serialized_end=2505, + serialized_start=2477, + serialized_end=2767, ) _STARTRESPONSE.fields_by_name['offboard_result'].message_type = _OFFBOARDRESULT @@ -1093,6 +1203,8 @@ _SETPOSITIONVELOCITYNEDREQUEST.fields_by_name['position_ned_yaw'].message_type = _POSITIONNEDYAW _SETPOSITIONVELOCITYNEDREQUEST.fields_by_name['velocity_ned_yaw'].message_type = _VELOCITYNEDYAW _SETPOSITIONVELOCITYNEDRESPONSE.fields_by_name['offboard_result'].message_type = _OFFBOARDRESULT +_SETACCELERATIONNEDREQUEST.fields_by_name['acceleration_ned'].message_type = _ACCELERATIONNED +_SETACCELERATIONNEDRESPONSE.fields_by_name['offboard_result'].message_type = _OFFBOARDRESULT _ACTUATORCONTROL.fields_by_name['groups'].message_type = _ACTUATORCONTROLGROUP _OFFBOARDRESULT.fields_by_name['result'].enum_type = _OFFBOARDRESULT_RESULT _OFFBOARDRESULT_RESULT.containing_type = _OFFBOARDRESULT @@ -1116,6 +1228,8 @@ DESCRIPTOR.message_types_by_name['SetVelocityNedResponse'] = _SETVELOCITYNEDRESPONSE DESCRIPTOR.message_types_by_name['SetPositionVelocityNedRequest'] = _SETPOSITIONVELOCITYNEDREQUEST DESCRIPTOR.message_types_by_name['SetPositionVelocityNedResponse'] = _SETPOSITIONVELOCITYNEDRESPONSE +DESCRIPTOR.message_types_by_name['SetAccelerationNedRequest'] = _SETACCELERATIONNEDREQUEST +DESCRIPTOR.message_types_by_name['SetAccelerationNedResponse'] = _SETACCELERATIONNEDRESPONSE DESCRIPTOR.message_types_by_name['Attitude'] = _ATTITUDE DESCRIPTOR.message_types_by_name['ActuatorControlGroup'] = _ACTUATORCONTROLGROUP DESCRIPTOR.message_types_by_name['ActuatorControl'] = _ACTUATORCONTROL @@ -1123,6 +1237,7 @@ DESCRIPTOR.message_types_by_name['PositionNedYaw'] = _POSITIONNEDYAW DESCRIPTOR.message_types_by_name['VelocityBodyYawspeed'] = _VELOCITYBODYYAWSPEED DESCRIPTOR.message_types_by_name['VelocityNedYaw'] = _VELOCITYNEDYAW +DESCRIPTOR.message_types_by_name['AccelerationNed'] = _ACCELERATIONNED DESCRIPTOR.message_types_by_name['OffboardResult'] = _OFFBOARDRESULT _sym_db.RegisterFileDescriptor(DESCRIPTOR) @@ -1266,6 +1381,20 @@ }) _sym_db.RegisterMessage(SetPositionVelocityNedResponse) +SetAccelerationNedRequest = _reflection.GeneratedProtocolMessageType('SetAccelerationNedRequest', (_message.Message,), { + 'DESCRIPTOR' : _SETACCELERATIONNEDREQUEST, + '__module__' : 'offboard.offboard_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.offboard.SetAccelerationNedRequest) + }) +_sym_db.RegisterMessage(SetAccelerationNedRequest) + +SetAccelerationNedResponse = _reflection.GeneratedProtocolMessageType('SetAccelerationNedResponse', (_message.Message,), { + 'DESCRIPTOR' : _SETACCELERATIONNEDRESPONSE, + '__module__' : 'offboard.offboard_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.offboard.SetAccelerationNedResponse) + }) +_sym_db.RegisterMessage(SetAccelerationNedResponse) + Attitude = _reflection.GeneratedProtocolMessageType('Attitude', (_message.Message,), { 'DESCRIPTOR' : _ATTITUDE, '__module__' : 'offboard.offboard_pb2' @@ -1315,6 +1444,13 @@ }) _sym_db.RegisterMessage(VelocityNedYaw) +AccelerationNed = _reflection.GeneratedProtocolMessageType('AccelerationNed', (_message.Message,), { + 'DESCRIPTOR' : _ACCELERATIONNED, + '__module__' : 'offboard.offboard_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.offboard.AccelerationNed) + }) +_sym_db.RegisterMessage(AccelerationNed) + OffboardResult = _reflection.GeneratedProtocolMessageType('OffboardResult', (_message.Message,), { 'DESCRIPTOR' : _OFFBOARDRESULT, '__module__' : 'offboard.offboard_pb2' @@ -1332,8 +1468,8 @@ index=0, serialized_options=None, create_key=_descriptor._internal_create_key, - serialized_start=2508, - serialized_end=3606, + serialized_start=2770, + serialized_end=3993, methods=[ _descriptor.MethodDescriptor( name='Start', @@ -1435,6 +1571,16 @@ serialized_options=b'\200\265\030\001', create_key=_descriptor._internal_create_key, ), + _descriptor.MethodDescriptor( + name='SetAccelerationNed', + full_name='mavsdk.rpc.offboard.OffboardService.SetAccelerationNed', + index=10, + containing_service=None, + input_type=_SETACCELERATIONNEDREQUEST, + output_type=_SETACCELERATIONNEDRESPONSE, + serialized_options=b'\200\265\030\001', + create_key=_descriptor._internal_create_key, + ), ]) _sym_db.RegisterServiceDescriptor(_OFFBOARDSERVICE) diff --git a/mavsdk/offboard_pb2_grpc.py b/mavsdk/offboard_pb2_grpc.py index e75b9309..a783e15c 100644 --- a/mavsdk/offboard_pb2_grpc.py +++ b/mavsdk/offboard_pb2_grpc.py @@ -73,6 +73,11 @@ def __init__(self, channel): request_serializer=offboard_dot_offboard__pb2.SetPositionVelocityNedRequest.SerializeToString, response_deserializer=offboard_dot_offboard__pb2.SetPositionVelocityNedResponse.FromString, ) + self.SetAccelerationNed = channel.unary_unary( + '/mavsdk.rpc.offboard.OffboardService/SetAccelerationNed', + request_serializer=offboard_dot_offboard__pb2.SetAccelerationNedRequest.SerializeToString, + response_deserializer=offboard_dot_offboard__pb2.SetAccelerationNedResponse.FromString, + ) class OffboardServiceServicer(object): @@ -175,6 +180,14 @@ def SetPositionVelocityNed(self, request, context): context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') + def SetAccelerationNed(self, request, context): + """ + Set the acceleration in NED coordinates. + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + def add_OffboardServiceServicer_to_server(servicer, server): rpc_method_handlers = { @@ -228,6 +241,11 @@ def add_OffboardServiceServicer_to_server(servicer, server): request_deserializer=offboard_dot_offboard__pb2.SetPositionVelocityNedRequest.FromString, response_serializer=offboard_dot_offboard__pb2.SetPositionVelocityNedResponse.SerializeToString, ), + 'SetAccelerationNed': grpc.unary_unary_rpc_method_handler( + servicer.SetAccelerationNed, + request_deserializer=offboard_dot_offboard__pb2.SetAccelerationNedRequest.FromString, + response_serializer=offboard_dot_offboard__pb2.SetAccelerationNedResponse.SerializeToString, + ), } generic_handler = grpc.method_handlers_generic_handler( 'mavsdk.rpc.offboard.OffboardService', rpc_method_handlers) @@ -416,3 +434,20 @@ def SetPositionVelocityNed(request, offboard_dot_offboard__pb2.SetPositionVelocityNedResponse.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SetAccelerationNed(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/mavsdk.rpc.offboard.OffboardService/SetAccelerationNed', + offboard_dot_offboard__pb2.SetAccelerationNedRequest.SerializeToString, + offboard_dot_offboard__pb2.SetAccelerationNedResponse.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/mavsdk/telemetry.py b/mavsdk/telemetry.py index e76c0120..e3efd130 100644 --- a/mavsdk/telemetry.py +++ b/mavsdk/telemetry.py @@ -879,6 +879,275 @@ def translate_to_rpc(self, rpcGpsInfo): +class RawGps: + """ + Raw GPS information type. + + Warning: this is an advanced type! If you want the location of the drone, use + the position instead. This message exposes the raw values of the GNSS sensor. + + Parameters + ---------- + timestamp_us : uint64_t + Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred) + + latitude_deg : double + Latitude in degrees (WGS84, EGM96 ellipsoid) + + longitude_deg : double + Longitude in degrees (WGS84, EGM96 ellipsoid) + + absolute_altitude_m : float + Altitude AMSL (above mean sea level) in metres + + hdop : float + GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN + + vdop : float + GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN + + velocity_m_s : float + Ground velocity in metres per second + + cog_deg : float + Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN + + altitude_ellipsoid_m : float + Altitude in metres (above WGS84, EGM96 ellipsoid) + + horizontal_uncertainty_m : float + Position uncertainty in metres + + vertical_uncertainty_m : float + Altitude uncertainty in metres + + velocity_uncertainty_m_s : float + Velocity uncertainty in metres per second + + heading_uncertainty_deg : float + Heading uncertainty in degrees + + yaw_deg : float + Yaw in earth frame from north. + + """ + + + + def __init__( + self, + timestamp_us, + latitude_deg, + longitude_deg, + absolute_altitude_m, + hdop, + vdop, + velocity_m_s, + cog_deg, + altitude_ellipsoid_m, + horizontal_uncertainty_m, + vertical_uncertainty_m, + velocity_uncertainty_m_s, + heading_uncertainty_deg, + yaw_deg): + """ Initializes the RawGps object """ + self.timestamp_us = timestamp_us + self.latitude_deg = latitude_deg + self.longitude_deg = longitude_deg + self.absolute_altitude_m = absolute_altitude_m + self.hdop = hdop + self.vdop = vdop + self.velocity_m_s = velocity_m_s + self.cog_deg = cog_deg + self.altitude_ellipsoid_m = altitude_ellipsoid_m + self.horizontal_uncertainty_m = horizontal_uncertainty_m + self.vertical_uncertainty_m = vertical_uncertainty_m + self.velocity_uncertainty_m_s = velocity_uncertainty_m_s + self.heading_uncertainty_deg = heading_uncertainty_deg + self.yaw_deg = yaw_deg + + def __equals__(self, to_compare): + """ Checks if two RawGps are the same """ + try: + # Try to compare - this likely fails when it is compared to a non + # RawGps object + return \ + (self.timestamp_us == to_compare.timestamp_us) and \ + (self.latitude_deg == to_compare.latitude_deg) and \ + (self.longitude_deg == to_compare.longitude_deg) and \ + (self.absolute_altitude_m == to_compare.absolute_altitude_m) and \ + (self.hdop == to_compare.hdop) and \ + (self.vdop == to_compare.vdop) and \ + (self.velocity_m_s == to_compare.velocity_m_s) and \ + (self.cog_deg == to_compare.cog_deg) and \ + (self.altitude_ellipsoid_m == to_compare.altitude_ellipsoid_m) and \ + (self.horizontal_uncertainty_m == to_compare.horizontal_uncertainty_m) and \ + (self.vertical_uncertainty_m == to_compare.vertical_uncertainty_m) and \ + (self.velocity_uncertainty_m_s == to_compare.velocity_uncertainty_m_s) and \ + (self.heading_uncertainty_deg == to_compare.heading_uncertainty_deg) and \ + (self.yaw_deg == to_compare.yaw_deg) + + except AttributeError: + return False + + def __str__(self): + """ RawGps in string representation """ + struct_repr = ", ".join([ + "timestamp_us: " + str(self.timestamp_us), + "latitude_deg: " + str(self.latitude_deg), + "longitude_deg: " + str(self.longitude_deg), + "absolute_altitude_m: " + str(self.absolute_altitude_m), + "hdop: " + str(self.hdop), + "vdop: " + str(self.vdop), + "velocity_m_s: " + str(self.velocity_m_s), + "cog_deg: " + str(self.cog_deg), + "altitude_ellipsoid_m: " + str(self.altitude_ellipsoid_m), + "horizontal_uncertainty_m: " + str(self.horizontal_uncertainty_m), + "vertical_uncertainty_m: " + str(self.vertical_uncertainty_m), + "velocity_uncertainty_m_s: " + str(self.velocity_uncertainty_m_s), + "heading_uncertainty_deg: " + str(self.heading_uncertainty_deg), + "yaw_deg: " + str(self.yaw_deg) + ]) + + return f"RawGps: [{struct_repr}]" + + @staticmethod + def translate_from_rpc(rpcRawGps): + """ Translates a gRPC struct to the SDK equivalent """ + return RawGps( + + rpcRawGps.timestamp_us, + + + rpcRawGps.latitude_deg, + + + rpcRawGps.longitude_deg, + + + rpcRawGps.absolute_altitude_m, + + + rpcRawGps.hdop, + + + rpcRawGps.vdop, + + + rpcRawGps.velocity_m_s, + + + rpcRawGps.cog_deg, + + + rpcRawGps.altitude_ellipsoid_m, + + + rpcRawGps.horizontal_uncertainty_m, + + + rpcRawGps.vertical_uncertainty_m, + + + rpcRawGps.velocity_uncertainty_m_s, + + + rpcRawGps.heading_uncertainty_deg, + + + rpcRawGps.yaw_deg + ) + + def translate_to_rpc(self, rpcRawGps): + """ Translates this SDK object into its gRPC equivalent """ + + + + + rpcRawGps.timestamp_us = self.timestamp_us + + + + + + rpcRawGps.latitude_deg = self.latitude_deg + + + + + + rpcRawGps.longitude_deg = self.longitude_deg + + + + + + rpcRawGps.absolute_altitude_m = self.absolute_altitude_m + + + + + + rpcRawGps.hdop = self.hdop + + + + + + rpcRawGps.vdop = self.vdop + + + + + + rpcRawGps.velocity_m_s = self.velocity_m_s + + + + + + rpcRawGps.cog_deg = self.cog_deg + + + + + + rpcRawGps.altitude_ellipsoid_m = self.altitude_ellipsoid_m + + + + + + rpcRawGps.horizontal_uncertainty_m = self.horizontal_uncertainty_m + + + + + + rpcRawGps.vertical_uncertainty_m = self.vertical_uncertainty_m + + + + + + rpcRawGps.velocity_uncertainty_m_s = self.velocity_uncertainty_m_s + + + + + + rpcRawGps.heading_uncertainty_deg = self.heading_uncertainty_deg + + + + + + rpcRawGps.yaw_deg = self.yaw_deg + + + + + class Battery: """ Battery type. @@ -1992,6 +2261,128 @@ def translate_to_rpc(self, rpcDistanceSensor): +class ScaledPressure: + """ + Scaled Pressure message type. + + Parameters + ---------- + timestamp_us : uint64_t + Timestamp (time since system boot) + + absolute_pressure_hpa : float + Absolute pressure in hPa + + differential_pressure_hpa : float + Differential pressure 1 in hPa + + temperature_deg : float + Absolute pressure temperature (in celcius) + + differential_pressure_temperature_deg : float + Differential pressure temperature (in celcius, 0 if not available) + + """ + + + + def __init__( + self, + timestamp_us, + absolute_pressure_hpa, + differential_pressure_hpa, + temperature_deg, + differential_pressure_temperature_deg): + """ Initializes the ScaledPressure object """ + self.timestamp_us = timestamp_us + self.absolute_pressure_hpa = absolute_pressure_hpa + self.differential_pressure_hpa = differential_pressure_hpa + self.temperature_deg = temperature_deg + self.differential_pressure_temperature_deg = differential_pressure_temperature_deg + + def __equals__(self, to_compare): + """ Checks if two ScaledPressure are the same """ + try: + # Try to compare - this likely fails when it is compared to a non + # ScaledPressure object + return \ + (self.timestamp_us == to_compare.timestamp_us) and \ + (self.absolute_pressure_hpa == to_compare.absolute_pressure_hpa) and \ + (self.differential_pressure_hpa == to_compare.differential_pressure_hpa) and \ + (self.temperature_deg == to_compare.temperature_deg) and \ + (self.differential_pressure_temperature_deg == to_compare.differential_pressure_temperature_deg) + + except AttributeError: + return False + + def __str__(self): + """ ScaledPressure in string representation """ + struct_repr = ", ".join([ + "timestamp_us: " + str(self.timestamp_us), + "absolute_pressure_hpa: " + str(self.absolute_pressure_hpa), + "differential_pressure_hpa: " + str(self.differential_pressure_hpa), + "temperature_deg: " + str(self.temperature_deg), + "differential_pressure_temperature_deg: " + str(self.differential_pressure_temperature_deg) + ]) + + return f"ScaledPressure: [{struct_repr}]" + + @staticmethod + def translate_from_rpc(rpcScaledPressure): + """ Translates a gRPC struct to the SDK equivalent """ + return ScaledPressure( + + rpcScaledPressure.timestamp_us, + + + rpcScaledPressure.absolute_pressure_hpa, + + + rpcScaledPressure.differential_pressure_hpa, + + + rpcScaledPressure.temperature_deg, + + + rpcScaledPressure.differential_pressure_temperature_deg + ) + + def translate_to_rpc(self, rpcScaledPressure): + """ Translates this SDK object into its gRPC equivalent """ + + + + + rpcScaledPressure.timestamp_us = self.timestamp_us + + + + + + rpcScaledPressure.absolute_pressure_hpa = self.absolute_pressure_hpa + + + + + + rpcScaledPressure.differential_pressure_hpa = self.differential_pressure_hpa + + + + + + rpcScaledPressure.temperature_deg = self.temperature_deg + + + + + + rpcScaledPressure.differential_pressure_temperature_deg = self.differential_pressure_temperature_deg + + + + + class PositionNed: """ PositionNed message type. @@ -2714,6 +3105,9 @@ class Imu: temperature_degc : float Temperature + timestamp_us : uint64_t + Timestamp in microseconds + """ @@ -2723,12 +3117,14 @@ def __init__( acceleration_frd, angular_velocity_frd, magnetic_field_frd, - temperature_degc): + temperature_degc, + timestamp_us): """ Initializes the Imu object """ self.acceleration_frd = acceleration_frd self.angular_velocity_frd = angular_velocity_frd self.magnetic_field_frd = magnetic_field_frd self.temperature_degc = temperature_degc + self.timestamp_us = timestamp_us def __equals__(self, to_compare): """ Checks if two Imu are the same """ @@ -2739,7 +3135,8 @@ def __equals__(self, to_compare): (self.acceleration_frd == to_compare.acceleration_frd) and \ (self.angular_velocity_frd == to_compare.angular_velocity_frd) and \ (self.magnetic_field_frd == to_compare.magnetic_field_frd) and \ - (self.temperature_degc == to_compare.temperature_degc) + (self.temperature_degc == to_compare.temperature_degc) and \ + (self.timestamp_us == to_compare.timestamp_us) except AttributeError: return False @@ -2750,7 +3147,8 @@ def __str__(self): "acceleration_frd: " + str(self.acceleration_frd), "angular_velocity_frd: " + str(self.angular_velocity_frd), "magnetic_field_frd: " + str(self.magnetic_field_frd), - "temperature_degc: " + str(self.temperature_degc) + "temperature_degc: " + str(self.temperature_degc), + "timestamp_us: " + str(self.timestamp_us) ]) return f"Imu: [{struct_repr}]" @@ -2769,7 +3167,10 @@ def translate_from_rpc(rpcImu): MagneticFieldFrd.translate_from_rpc(rpcImu.magnetic_field_frd), - rpcImu.temperature_degc + rpcImu.temperature_degc, + + + rpcImu.timestamp_us ) def translate_to_rpc(self, rpcImu): @@ -2800,6 +3201,12 @@ def translate_to_rpc(self, rpcImu): + + + rpcImu.timestamp_us = self.timestamp_us + + + class GpsGlobalOrigin: @@ -3364,6 +3771,30 @@ async def gps_info(self): finally: gps_info_stream.cancel() + async def raw_gps(self): + """ + Subscribe to 'Raw GPS' updates. + + Yields + ------- + raw_gps : RawGps + The next 'Raw GPS' state. Warning: this is an advanced feature, use `Position` updates to get the location of the drone! + + + """ + + request = telemetry_pb2.SubscribeRawGpsRequest() + raw_gps_stream = self._stub.SubscribeRawGps(request) + + try: + async for response in raw_gps_stream: + + + + yield RawGps.translate_from_rpc(response.raw_gps) + finally: + raw_gps_stream.cancel() + async def battery(self): """ Subscribe to 'battery' updates. @@ -3630,7 +4061,7 @@ async def fixedwing_metrics(self): async def imu(self): """ - Subscribe to 'IMU' updates. + Subscribe to 'IMU' updates (in SI units in NED body frame). Yields ------- @@ -3652,6 +4083,54 @@ async def imu(self): finally: imu_stream.cancel() + async def scaled_imu(self): + """ + Subscribe to 'Scaled IMU' updates. + + Yields + ------- + imu : Imu + The next scaled IMU status + + + """ + + request = telemetry_pb2.SubscribeScaledImuRequest() + scaled_imu_stream = self._stub.SubscribeScaledImu(request) + + try: + async for response in scaled_imu_stream: + + + + yield Imu.translate_from_rpc(response.imu) + finally: + scaled_imu_stream.cancel() + + async def raw_imu(self): + """ + Subscribe to 'Raw IMU' updates. + + Yields + ------- + imu : Imu + The next raw IMU status + + + """ + + request = telemetry_pb2.SubscribeRawImuRequest() + raw_imu_stream = self._stub.SubscribeRawImu(request) + + try: + async for response in raw_imu_stream: + + + + yield Imu.translate_from_rpc(response.imu) + finally: + raw_imu_stream.cancel() + async def health_all_ok(self): """ Subscribe to 'HealthAllOk' updates. @@ -3724,6 +4203,30 @@ async def distance_sensor(self): finally: distance_sensor_stream.cancel() + async def scaled_pressure(self): + """ + Subscribe to 'Scaled Pressure' updates. + + Yields + ------- + scaled_pressure : ScaledPressure + The next Scaled Pressure status + + + """ + + request = telemetry_pb2.SubscribeScaledPressureRequest() + scaled_pressure_stream = self._stub.SubscribeScaledPressure(request) + + try: + async for response in scaled_pressure_stream: + + + + yield ScaledPressure.translate_from_rpc(response.scaled_pressure) + finally: + scaled_pressure_stream.cancel() + async def set_rate_position(self, rate_hz): """ Set rate to 'position' updates. @@ -4166,6 +4669,58 @@ async def set_rate_imu(self, rate_hz): raise TelemetryError(result, "set_rate_imu()", rate_hz) + async def set_rate_scaled_imu(self, rate_hz): + """ + Set rate to 'Scaled IMU' updates. + + Parameters + ---------- + rate_hz : double + The requested rate (in Hertz) + + Raises + ------ + TelemetryError + If the request fails. The error contains the reason for the failure. + """ + + request = telemetry_pb2.SetRateScaledImuRequest() + request.rate_hz = rate_hz + response = await self._stub.SetRateScaledImu(request) + + + result = self._extract_result(response) + + if result.result is not TelemetryResult.Result.SUCCESS: + raise TelemetryError(result, "set_rate_scaled_imu()", rate_hz) + + + async def set_rate_raw_imu(self, rate_hz): + """ + Set rate to 'Raw IMU' updates. + + Parameters + ---------- + rate_hz : double + The requested rate (in Hertz) + + Raises + ------ + TelemetryError + If the request fails. The error contains the reason for the failure. + """ + + request = telemetry_pb2.SetRateRawImuRequest() + request.rate_hz = rate_hz + response = await self._stub.SetRateRawImu(request) + + + result = self._extract_result(response) + + if result.result is not TelemetryResult.Result.SUCCESS: + raise TelemetryError(result, "set_rate_raw_imu()", rate_hz) + + async def set_rate_unix_epoch_time(self, rate_hz): """ Set rate to 'unix epoch time' updates. diff --git a/mavsdk/telemetry_pb2.py b/mavsdk/telemetry_pb2.py index 1a25dd92..424a8000 100644 --- a/mavsdk/telemetry_pb2.py +++ b/mavsdk/telemetry_pb2.py @@ -21,7 +21,7 @@ syntax='proto3', serialized_options=b'\n\023io.mavsdk.telemetryB\016TelemetryProto', create_key=_descriptor._internal_create_key, - serialized_pb=b'\n\x19telemetry/telemetry.proto\x12\x14mavsdk.rpc.telemetry\x1a\x14mavsdk_options.proto\"\x1a\n\x18SubscribePositionRequest\"D\n\x10PositionResponse\x12\x30\n\x08position\x18\x01 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, dependencies=[mavsdk__options__pb2.DESCRIPTOR,]) @@ -70,8 +70,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=9947, - serialized_end=10111, + serialized_start=11199, + serialized_end=11363, ) _sym_db.RegisterEnumDescriptor(_FIXTYPE) @@ -161,8 +161,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=10114, - serialized_end=10504, + serialized_start=11366, + serialized_end=11756, ) _sym_db.RegisterEnumDescriptor(_FLIGHTMODE) @@ -217,8 +217,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=10507, - serialized_end=10756, + serialized_start=11759, + serialized_end=12008, ) _sym_db.RegisterEnumDescriptor(_STATUSTEXTTYPE) @@ -258,8 +258,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=10759, - serialized_end=10906, + serialized_start=12011, + serialized_end=12158, ) _sym_db.RegisterEnumDescriptor(_LANDEDSTATE) @@ -331,8 +331,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=8223, - serialized_end=8329, + serialized_start=9274, + serialized_end=9380, ) _sym_db.RegisterEnumDescriptor(_ODOMETRY_MAVFRAME) @@ -381,8 +381,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=9781, - serialized_end=9944, + serialized_start=11033, + serialized_end=11196, ) _sym_db.RegisterEnumDescriptor(_TELEMETRYRESULT_RESULT) @@ -1071,6 +1071,63 @@ ) +_SUBSCRIBERAWGPSREQUEST = _descriptor.Descriptor( + name='SubscribeRawGpsRequest', + full_name='mavsdk.rpc.telemetry.SubscribeRawGpsRequest', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=1382, + serialized_end=1406, +) + + +_RAWGPSRESPONSE = _descriptor.Descriptor( + name='RawGpsResponse', + full_name='mavsdk.rpc.telemetry.RawGpsResponse', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='raw_gps', full_name='mavsdk.rpc.telemetry.RawGpsResponse.raw_gps', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=1408, + serialized_end=1471, +) + + _SUBSCRIBEBATTERYREQUEST = _descriptor.Descriptor( name='SubscribeBatteryRequest', full_name='mavsdk.rpc.telemetry.SubscribeBatteryRequest', @@ -1091,8 +1148,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1382, - serialized_end=1407, + serialized_start=1473, + serialized_end=1498, ) @@ -1123,8 +1180,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1409, - serialized_end=1474, + serialized_start=1500, + serialized_end=1565, ) @@ -1148,8 +1205,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1476, - serialized_end=1504, + serialized_start=1567, + serialized_end=1595, ) @@ -1180,8 +1237,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1506, - serialized_end=1581, + serialized_start=1597, + serialized_end=1672, ) @@ -1205,8 +1262,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1583, - serialized_end=1607, + serialized_start=1674, + serialized_end=1698, ) @@ -1237,8 +1294,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1609, - serialized_end=1671, + serialized_start=1700, + serialized_end=1762, ) @@ -1262,8 +1319,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1673, - serialized_end=1699, + serialized_start=1764, + serialized_end=1790, ) @@ -1294,8 +1351,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1701, - serialized_end=1770, + serialized_start=1792, + serialized_end=1861, ) @@ -1319,8 +1376,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1772, - serialized_end=1800, + serialized_start=1863, + serialized_end=1891, ) @@ -1351,8 +1408,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1802, - serialized_end=1877, + serialized_start=1893, + serialized_end=1968, ) @@ -1376,8 +1433,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1879, - serialized_end=1918, + serialized_start=1970, + serialized_end=2009, ) @@ -1408,8 +1465,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1920, - serialized_end=2029, + serialized_start=2011, + serialized_end=2120, ) @@ -1433,8 +1490,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2031, - serialized_end=2069, + serialized_start=2122, + serialized_end=2160, ) @@ -1465,8 +1522,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2071, - serialized_end=2177, + serialized_start=2162, + serialized_end=2268, ) @@ -1490,8 +1547,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2179, - serialized_end=2205, + serialized_start=2270, + serialized_end=2296, ) @@ -1522,8 +1579,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2207, - serialized_end=2275, + serialized_start=2298, + serialized_end=2366, ) @@ -1547,8 +1604,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2277, - serialized_end=2314, + serialized_start=2368, + serialized_end=2405, ) @@ -1579,8 +1636,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2316, - serialized_end=2419, + serialized_start=2407, + serialized_end=2510, ) @@ -1604,8 +1661,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2421, - serialized_end=2450, + serialized_start=2512, + serialized_end=2541, ) @@ -1636,8 +1693,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2452, - serialized_end=2530, + serialized_start=2543, + serialized_end=2621, ) @@ -1661,8 +1718,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2532, - serialized_end=2566, + serialized_start=2623, + serialized_end=2657, ) @@ -1693,8 +1750,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2568, - serialized_end=2661, + serialized_start=2659, + serialized_end=2752, ) @@ -1718,8 +1775,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2663, - serialized_end=2684, + serialized_start=2754, + serialized_end=2775, ) @@ -1750,8 +1807,122 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2686, - serialized_end=2739, + serialized_start=2777, + serialized_end=2830, +) + + +_SUBSCRIBESCALEDIMUREQUEST = _descriptor.Descriptor( + name='SubscribeScaledImuRequest', + full_name='mavsdk.rpc.telemetry.SubscribeScaledImuRequest', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=2832, + serialized_end=2859, +) + + +_SCALEDIMURESPONSE = _descriptor.Descriptor( + name='ScaledImuResponse', + full_name='mavsdk.rpc.telemetry.ScaledImuResponse', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='imu', full_name='mavsdk.rpc.telemetry.ScaledImuResponse.imu', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=2861, + serialized_end=2920, +) + + +_SUBSCRIBERAWIMUREQUEST = _descriptor.Descriptor( + name='SubscribeRawImuRequest', + full_name='mavsdk.rpc.telemetry.SubscribeRawImuRequest', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=2922, + serialized_end=2946, +) + + +_RAWIMURESPONSE = _descriptor.Descriptor( + name='RawImuResponse', + full_name='mavsdk.rpc.telemetry.RawImuResponse', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='imu', full_name='mavsdk.rpc.telemetry.RawImuResponse.imu', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=2948, + serialized_end=3004, ) @@ -1775,8 +1946,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2741, - serialized_end=2770, + serialized_start=3006, + serialized_end=3035, ) @@ -1807,8 +1978,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2772, - serialized_end=2819, + serialized_start=3037, + serialized_end=3084, ) @@ -1832,8 +2003,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2821, - serialized_end=2852, + serialized_start=3086, + serialized_end=3117, ) @@ -1864,8 +2035,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2854, - serialized_end=2894, + serialized_start=3119, + serialized_end=3159, ) @@ -1889,8 +2060,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2896, - serialized_end=2928, + serialized_start=3161, + serialized_end=3193, ) @@ -1921,8 +2092,65 @@ extension_ranges=[], oneofs=[ ], - serialized_start=2930, - serialized_end=3017, + serialized_start=3195, + serialized_end=3282, +) + + +_SUBSCRIBESCALEDPRESSUREREQUEST = _descriptor.Descriptor( + name='SubscribeScaledPressureRequest', + full_name='mavsdk.rpc.telemetry.SubscribeScaledPressureRequest', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=3284, + serialized_end=3316, +) + + +_SCALEDPRESSURERESPONSE = _descriptor.Descriptor( + name='ScaledPressureResponse', + full_name='mavsdk.rpc.telemetry.ScaledPressureResponse', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='scaled_pressure', full_name='mavsdk.rpc.telemetry.ScaledPressureResponse.scaled_pressure', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=3318, + serialized_end=3405, ) @@ -1953,8 +2181,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3019, - serialized_end=3060, + serialized_start=3407, + serialized_end=3448, ) @@ -1985,8 +2213,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3062, - serialized_end=3152, + serialized_start=3450, + serialized_end=3540, ) @@ -2017,8 +2245,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3154, - serialized_end=3191, + serialized_start=3542, + serialized_end=3579, ) @@ -2049,8 +2277,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3193, - serialized_end=3279, + serialized_start=3581, + serialized_end=3667, ) @@ -2081,8 +2309,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3281, - serialized_end=3319, + serialized_start=3669, + serialized_end=3707, ) @@ -2113,8 +2341,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3321, - serialized_end=3408, + serialized_start=3709, + serialized_end=3796, ) @@ -2145,8 +2373,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3410, - serialized_end=3454, + serialized_start=3798, + serialized_end=3842, ) @@ -2177,8 +2405,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3456, - serialized_end=3549, + serialized_start=3844, + serialized_end=3937, ) @@ -2209,8 +2437,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3551, - serialized_end=3592, + serialized_start=3939, + serialized_end=3980, ) @@ -2241,8 +2469,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3594, - serialized_end=3684, + serialized_start=3982, + serialized_end=4072, ) @@ -2273,8 +2501,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3686, - serialized_end=3746, + serialized_start=4074, + serialized_end=4134, ) @@ -2305,8 +2533,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3748, - serialized_end=3857, + serialized_start=4136, + serialized_end=4245, ) @@ -2337,8 +2565,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3859, - serialized_end=3916, + serialized_start=4247, + serialized_end=4304, ) @@ -2369,8 +2597,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=3918, - serialized_end=4024, + serialized_start=4306, + serialized_end=4412, ) @@ -2401,8 +2629,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4026, - serialized_end=4073, + serialized_start=4414, + serialized_end=4461, ) @@ -2433,8 +2661,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4075, - serialized_end=4171, + serialized_start=4463, + serialized_end=4559, ) @@ -2465,8 +2693,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4173, - serialized_end=4217, + serialized_start=4561, + serialized_end=4605, ) @@ -2497,8 +2725,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4219, - serialized_end=4312, + serialized_start=4607, + serialized_end=4700, ) @@ -2529,8 +2757,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4314, - serialized_end=4354, + serialized_start=4702, + serialized_end=4742, ) @@ -2561,8 +2789,40 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4356, - serialized_end=4445, + serialized_start=4744, + serialized_end=4833, +) + + +_SETRATERAWGPSREQUEST = _descriptor.Descriptor( + name='SetRateRawGpsRequest', + full_name='mavsdk.rpc.telemetry.SetRateRawGpsRequest', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='rate_hz', full_name='mavsdk.rpc.telemetry.SetRateRawGpsRequest.rate_hz', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=4835, + serialized_end=4874, ) @@ -2593,8 +2853,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4447, - serialized_end=4487, + serialized_start=4876, + serialized_end=4916, ) @@ -2625,8 +2885,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4489, - serialized_end=4578, + serialized_start=4918, + serialized_end=5007, ) @@ -2657,8 +2917,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4580, - serialized_end=4621, + serialized_start=5009, + serialized_end=5050, ) @@ -2689,8 +2949,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4623, - serialized_end=4713, + serialized_start=5052, + serialized_end=5142, ) @@ -2721,8 +2981,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4715, - serialized_end=4769, + serialized_start=5144, + serialized_end=5198, ) @@ -2753,8 +3013,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4771, - serialized_end=4874, + serialized_start=5200, + serialized_end=5303, ) @@ -2785,8 +3045,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4876, - serialized_end=4929, + serialized_start=5305, + serialized_end=5358, ) @@ -2817,8 +3077,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=4931, - serialized_end=5033, + serialized_start=5360, + serialized_end=5462, ) @@ -2849,8 +3109,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5035, - serialized_end=5076, + serialized_start=5464, + serialized_end=5505, ) @@ -2881,8 +3141,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5078, - serialized_end=5168, + serialized_start=5507, + serialized_end=5597, ) @@ -2913,8 +3173,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5170, - serialized_end=5222, + serialized_start=5599, + serialized_end=5651, ) @@ -2945,8 +3205,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5224, - serialized_end=5325, + serialized_start=5653, + serialized_end=5754, ) @@ -2977,8 +3237,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5327, - serialized_end=5371, + serialized_start=5756, + serialized_end=5800, ) @@ -3009,8 +3269,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5373, - serialized_end=5466, + serialized_start=5802, + serialized_end=5895, ) @@ -3041,8 +3301,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5468, - serialized_end=5517, + serialized_start=5897, + serialized_end=5946, ) @@ -3073,8 +3333,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5519, - serialized_end=5617, + serialized_start=5948, + serialized_end=6046, ) @@ -3105,8 +3365,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5619, - serialized_end=5655, + serialized_start=6048, + serialized_end=6084, ) @@ -3137,21 +3397,21 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5657, - serialized_end=5742, + serialized_start=6086, + serialized_end=6171, ) -_SETRATEUNIXEPOCHTIMEREQUEST = _descriptor.Descriptor( - name='SetRateUnixEpochTimeRequest', - full_name='mavsdk.rpc.telemetry.SetRateUnixEpochTimeRequest', +_SETRATESCALEDIMUREQUEST = _descriptor.Descriptor( + name='SetRateScaledImuRequest', + full_name='mavsdk.rpc.telemetry.SetRateScaledImuRequest', filename=None, file=DESCRIPTOR, containing_type=None, create_key=_descriptor._internal_create_key, fields=[ _descriptor.FieldDescriptor( - name='rate_hz', full_name='mavsdk.rpc.telemetry.SetRateUnixEpochTimeRequest.rate_hz', index=0, + name='rate_hz', full_name='mavsdk.rpc.telemetry.SetRateScaledImuRequest.rate_hz', index=0, number=1, type=1, cpp_type=5, label=1, has_default_value=False, default_value=float(0), message_type=None, enum_type=None, containing_type=None, @@ -3169,21 +3429,21 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5744, - serialized_end=5790, + serialized_start=6173, + serialized_end=6215, ) -_SETRATEUNIXEPOCHTIMERESPONSE = _descriptor.Descriptor( - name='SetRateUnixEpochTimeResponse', - full_name='mavsdk.rpc.telemetry.SetRateUnixEpochTimeResponse', +_SETRATESCALEDIMURESPONSE = _descriptor.Descriptor( + name='SetRateScaledImuResponse', + full_name='mavsdk.rpc.telemetry.SetRateScaledImuResponse', filename=None, file=DESCRIPTOR, containing_type=None, create_key=_descriptor._internal_create_key, fields=[ _descriptor.FieldDescriptor( - name='telemetry_result', full_name='mavsdk.rpc.telemetry.SetRateUnixEpochTimeResponse.telemetry_result', index=0, + name='telemetry_result', full_name='mavsdk.rpc.telemetry.SetRateScaledImuResponse.telemetry_result', index=0, number=1, type=11, cpp_type=10, label=1, has_default_value=False, default_value=None, message_type=None, enum_type=None, containing_type=None, @@ -3201,21 +3461,21 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5792, - serialized_end=5887, + serialized_start=6217, + serialized_end=6308, ) -_SETRATEDISTANCESENSORREQUEST = _descriptor.Descriptor( - name='SetRateDistanceSensorRequest', - full_name='mavsdk.rpc.telemetry.SetRateDistanceSensorRequest', +_SETRATERAWIMUREQUEST = _descriptor.Descriptor( + name='SetRateRawImuRequest', + full_name='mavsdk.rpc.telemetry.SetRateRawImuRequest', filename=None, file=DESCRIPTOR, containing_type=None, create_key=_descriptor._internal_create_key, fields=[ _descriptor.FieldDescriptor( - name='rate_hz', full_name='mavsdk.rpc.telemetry.SetRateDistanceSensorRequest.rate_hz', index=0, + name='rate_hz', full_name='mavsdk.rpc.telemetry.SetRateRawImuRequest.rate_hz', index=0, number=1, type=1, cpp_type=5, label=1, has_default_value=False, default_value=float(0), message_type=None, enum_type=None, containing_type=None, @@ -3233,21 +3493,21 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5889, - serialized_end=5936, + serialized_start=6310, + serialized_end=6349, ) -_SETRATEDISTANCESENSORRESPONSE = _descriptor.Descriptor( - name='SetRateDistanceSensorResponse', - full_name='mavsdk.rpc.telemetry.SetRateDistanceSensorResponse', +_SETRATERAWIMURESPONSE = _descriptor.Descriptor( + name='SetRateRawImuResponse', + full_name='mavsdk.rpc.telemetry.SetRateRawImuResponse', filename=None, file=DESCRIPTOR, containing_type=None, create_key=_descriptor._internal_create_key, fields=[ _descriptor.FieldDescriptor( - name='telemetry_result', full_name='mavsdk.rpc.telemetry.SetRateDistanceSensorResponse.telemetry_result', index=0, + name='telemetry_result', full_name='mavsdk.rpc.telemetry.SetRateRawImuResponse.telemetry_result', index=0, number=1, type=11, cpp_type=10, label=1, has_default_value=False, default_value=None, message_type=None, enum_type=None, containing_type=None, @@ -3265,19 +3525,26 @@ extension_ranges=[], oneofs=[ ], - serialized_start=5938, - serialized_end=6034, + serialized_start=6351, + serialized_end=6439, ) -_GETGPSGLOBALORIGINREQUEST = _descriptor.Descriptor( - name='GetGpsGlobalOriginRequest', - full_name='mavsdk.rpc.telemetry.GetGpsGlobalOriginRequest', +_SETRATEUNIXEPOCHTIMEREQUEST = _descriptor.Descriptor( + name='SetRateUnixEpochTimeRequest', + full_name='mavsdk.rpc.telemetry.SetRateUnixEpochTimeRequest', filename=None, file=DESCRIPTOR, containing_type=None, create_key=_descriptor._internal_create_key, fields=[ + _descriptor.FieldDescriptor( + name='rate_hz', full_name='mavsdk.rpc.telemetry.SetRateUnixEpochTimeRequest.rate_hz', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), ], extensions=[ ], @@ -3290,28 +3557,149 @@ extension_ranges=[], oneofs=[ ], - serialized_start=6036, - serialized_end=6063, + serialized_start=6441, + serialized_end=6487, ) -_GETGPSGLOBALORIGINRESPONSE = _descriptor.Descriptor( - name='GetGpsGlobalOriginResponse', - full_name='mavsdk.rpc.telemetry.GetGpsGlobalOriginResponse', +_SETRATEUNIXEPOCHTIMERESPONSE = _descriptor.Descriptor( + name='SetRateUnixEpochTimeResponse', + full_name='mavsdk.rpc.telemetry.SetRateUnixEpochTimeResponse', filename=None, file=DESCRIPTOR, containing_type=None, create_key=_descriptor._internal_create_key, fields=[ _descriptor.FieldDescriptor( - name='telemetry_result', full_name='mavsdk.rpc.telemetry.GetGpsGlobalOriginResponse.telemetry_result', index=0, + name='telemetry_result', full_name='mavsdk.rpc.telemetry.SetRateUnixEpochTimeResponse.telemetry_result', index=0, number=1, type=11, cpp_type=10, label=1, has_default_value=False, default_value=None, message_type=None, enum_type=None, containing_type=None, is_extension=False, extension_scope=None, serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), - _descriptor.FieldDescriptor( - name='gps_global_origin', full_name='mavsdk.rpc.telemetry.GetGpsGlobalOriginResponse.gps_global_origin', index=1, + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=6489, + serialized_end=6584, +) + + +_SETRATEDISTANCESENSORREQUEST = _descriptor.Descriptor( + name='SetRateDistanceSensorRequest', + full_name='mavsdk.rpc.telemetry.SetRateDistanceSensorRequest', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='rate_hz', full_name='mavsdk.rpc.telemetry.SetRateDistanceSensorRequest.rate_hz', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=6586, + serialized_end=6633, +) + + +_SETRATEDISTANCESENSORRESPONSE = _descriptor.Descriptor( + name='SetRateDistanceSensorResponse', + full_name='mavsdk.rpc.telemetry.SetRateDistanceSensorResponse', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='telemetry_result', full_name='mavsdk.rpc.telemetry.SetRateDistanceSensorResponse.telemetry_result', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=6635, + serialized_end=6731, +) + + +_GETGPSGLOBALORIGINREQUEST = _descriptor.Descriptor( + name='GetGpsGlobalOriginRequest', + full_name='mavsdk.rpc.telemetry.GetGpsGlobalOriginRequest', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=6733, + serialized_end=6760, +) + + +_GETGPSGLOBALORIGINRESPONSE = _descriptor.Descriptor( + name='GetGpsGlobalOriginResponse', + full_name='mavsdk.rpc.telemetry.GetGpsGlobalOriginResponse', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='telemetry_result', full_name='mavsdk.rpc.telemetry.GetGpsGlobalOriginResponse.telemetry_result', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='gps_global_origin', full_name='mavsdk.rpc.telemetry.GetGpsGlobalOriginResponse.gps_global_origin', index=1, number=2, type=11, cpp_type=10, label=1, has_default_value=False, default_value=None, message_type=None, enum_type=None, containing_type=None, @@ -3329,8 +3717,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=6066, - serialized_end=6225, + serialized_start=6763, + serialized_end=6922, ) @@ -3382,8 +3770,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=6228, - serialized_end=6377, + serialized_start=6925, + serialized_end=7074, ) @@ -3442,8 +3830,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=6379, - serialized_end=6493, + serialized_start=7076, + serialized_end=7190, ) @@ -3495,8 +3883,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=6495, - serialized_end=6610, + serialized_start=7192, + serialized_end=7307, ) @@ -3541,8 +3929,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=6612, - serialized_end=6720, + serialized_start=7309, + serialized_end=7417, ) @@ -3580,8 +3968,131 @@ extension_ranges=[], oneofs=[ ], - serialized_start=6722, - serialized_end=6811, + serialized_start=7419, + serialized_end=7508, +) + + +_RAWGPS = _descriptor.Descriptor( + name='RawGps', + full_name='mavsdk.rpc.telemetry.RawGps', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='timestamp_us', full_name='mavsdk.rpc.telemetry.RawGps.timestamp_us', index=0, + number=1, type=4, cpp_type=4, label=1, + has_default_value=False, default_value=0, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='latitude_deg', full_name='mavsdk.rpc.telemetry.RawGps.latitude_deg', index=1, + number=2, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='longitude_deg', full_name='mavsdk.rpc.telemetry.RawGps.longitude_deg', index=2, + number=3, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='absolute_altitude_m', full_name='mavsdk.rpc.telemetry.RawGps.absolute_altitude_m', index=3, + number=4, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='hdop', full_name='mavsdk.rpc.telemetry.RawGps.hdop', index=4, + number=5, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='vdop', full_name='mavsdk.rpc.telemetry.RawGps.vdop', index=5, + number=6, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='velocity_m_s', full_name='mavsdk.rpc.telemetry.RawGps.velocity_m_s', index=6, + number=7, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='cog_deg', full_name='mavsdk.rpc.telemetry.RawGps.cog_deg', index=7, + number=8, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='altitude_ellipsoid_m', full_name='mavsdk.rpc.telemetry.RawGps.altitude_ellipsoid_m', index=8, + number=9, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='horizontal_uncertainty_m', full_name='mavsdk.rpc.telemetry.RawGps.horizontal_uncertainty_m', index=9, + number=10, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='vertical_uncertainty_m', full_name='mavsdk.rpc.telemetry.RawGps.vertical_uncertainty_m', index=10, + number=11, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='velocity_uncertainty_m_s', full_name='mavsdk.rpc.telemetry.RawGps.velocity_uncertainty_m_s', index=11, + number=12, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='heading_uncertainty_deg', full_name='mavsdk.rpc.telemetry.RawGps.heading_uncertainty_deg', index=12, + number=13, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='yaw_deg', full_name='mavsdk.rpc.telemetry.RawGps.yaw_deg', index=13, + number=14, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=7511, + serialized_end=7862, ) @@ -3619,8 +4130,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=6813, - serialized_end=6886, + serialized_start=7864, + serialized_end=7937, ) @@ -3693,8 +4204,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=6889, - serialized_end=7215, + serialized_start=7940, + serialized_end=8266, ) @@ -3739,8 +4250,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=7217, - serialized_end=7339, + serialized_start=8268, + serialized_end=8390, ) @@ -3778,8 +4289,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=7341, - serialized_end=7419, + serialized_start=8392, + serialized_end=8470, ) @@ -3817,8 +4328,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=7421, - serialized_end=7484, + serialized_start=8472, + serialized_end=8535, ) @@ -3856,8 +4367,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=7486, - serialized_end=7549, + serialized_start=8537, + serialized_end=8600, ) @@ -3888,8 +4399,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=7551, - serialized_end=7590, + serialized_start=8602, + serialized_end=8641, ) @@ -3934,8 +4445,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=7592, - serialized_end=7651, + serialized_start=8643, + serialized_end=8702, ) @@ -3980,8 +4491,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=7653, - serialized_end=7706, + serialized_start=8704, + serialized_end=8757, ) @@ -4069,8 +4580,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=7709, - serialized_end=8329, + serialized_start=8760, + serialized_end=9380, ) @@ -4115,8 +4626,68 @@ extension_ranges=[], oneofs=[ ], - serialized_start=8331, - serialized_end=8458, + serialized_start=9382, + serialized_end=9509, +) + + +_SCALEDPRESSURE = _descriptor.Descriptor( + name='ScaledPressure', + full_name='mavsdk.rpc.telemetry.ScaledPressure', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='timestamp_us', full_name='mavsdk.rpc.telemetry.ScaledPressure.timestamp_us', index=0, + number=1, type=4, cpp_type=4, label=1, + has_default_value=False, default_value=0, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='absolute_pressure_hpa', full_name='mavsdk.rpc.telemetry.ScaledPressure.absolute_pressure_hpa', index=1, + number=2, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='differential_pressure_hpa', full_name='mavsdk.rpc.telemetry.ScaledPressure.differential_pressure_hpa', index=2, + number=3, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='temperature_deg', full_name='mavsdk.rpc.telemetry.ScaledPressure.temperature_deg', index=3, + number=4, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='differential_pressure_temperature_deg', full_name='mavsdk.rpc.telemetry.ScaledPressure.differential_pressure_temperature_deg', index=4, + number=5, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=9512, + serialized_end=9688, ) @@ -4161,8 +4732,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=8460, - serialized_end=8549, + serialized_start=9690, + serialized_end=9779, ) @@ -4207,8 +4778,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=8551, - serialized_end=8619, + serialized_start=9781, + serialized_end=9849, ) @@ -4246,8 +4817,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=8621, - serialized_end=8748, + serialized_start=9851, + serialized_end=9978, ) @@ -4292,8 +4863,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=8750, - serialized_end=8864, + serialized_start=9980, + serialized_end=10094, ) @@ -4338,8 +4909,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=8866, - serialized_end=8986, + serialized_start=10096, + serialized_end=10216, ) @@ -4384,8 +4955,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=8988, - serialized_end=9093, + serialized_start=10218, + serialized_end=10323, ) @@ -4430,8 +5001,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=9095, - serialized_end=9206, + serialized_start=10325, + serialized_end=10436, ) @@ -4476,8 +5047,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=9208, - serialized_end=9317, + serialized_start=10438, + serialized_end=10547, ) @@ -4517,6 +5088,13 @@ message_type=None, enum_type=None, containing_type=None, is_extension=False, extension_scope=None, serialized_options=b'\202\265\030\003NaN', file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='timestamp_us', full_name='mavsdk.rpc.telemetry.Imu.timestamp_us', index=4, + number=5, type=4, cpp_type=4, label=1, + has_default_value=False, default_value=0, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), ], extensions=[ ], @@ -4529,8 +5107,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=9320, - serialized_end=9565, + serialized_start=10550, + serialized_end=10817, ) @@ -4575,8 +5153,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=9567, - serialized_end=9676, + serialized_start=10819, + serialized_end=10928, ) @@ -4615,8 +5193,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=9679, - serialized_end=9944, + serialized_start=10931, + serialized_end=11196, ) _POSITIONRESPONSE.fields_by_name['position'].message_type = _POSITION @@ -4629,6 +5207,7 @@ _CAMERAATTITUDEEULERRESPONSE.fields_by_name['attitude_euler'].message_type = _EULERANGLE _VELOCITYNEDRESPONSE.fields_by_name['velocity_ned'].message_type = _VELOCITYNED _GPSINFORESPONSE.fields_by_name['gps_info'].message_type = _GPSINFO +_RAWGPSRESPONSE.fields_by_name['raw_gps'].message_type = _RAWGPS _BATTERYRESPONSE.fields_by_name['battery'].message_type = _BATTERY _FLIGHTMODERESPONSE.fields_by_name['flight_mode'].enum_type = _FLIGHTMODE _HEALTHRESPONSE.fields_by_name['health'].message_type = _HEALTH @@ -4641,7 +5220,10 @@ _GROUNDTRUTHRESPONSE.fields_by_name['ground_truth'].message_type = _GROUNDTRUTH _FIXEDWINGMETRICSRESPONSE.fields_by_name['fixedwing_metrics'].message_type = _FIXEDWINGMETRICS _IMURESPONSE.fields_by_name['imu'].message_type = _IMU +_SCALEDIMURESPONSE.fields_by_name['imu'].message_type = _IMU +_RAWIMURESPONSE.fields_by_name['imu'].message_type = _IMU _DISTANCESENSORRESPONSE.fields_by_name['distance_sensor'].message_type = _DISTANCESENSOR +_SCALEDPRESSURERESPONSE.fields_by_name['scaled_pressure'].message_type = _SCALEDPRESSURE _SETRATEPOSITIONRESPONSE.fields_by_name['telemetry_result'].message_type = _TELEMETRYRESULT _SETRATEHOMERESPONSE.fields_by_name['telemetry_result'].message_type = _TELEMETRYRESULT _SETRATEINAIRRESPONSE.fields_by_name['telemetry_result'].message_type = _TELEMETRYRESULT @@ -4661,6 +5243,8 @@ _SETRATEGROUNDTRUTHRESPONSE.fields_by_name['telemetry_result'].message_type = _TELEMETRYRESULT _SETRATEFIXEDWINGMETRICSRESPONSE.fields_by_name['telemetry_result'].message_type = _TELEMETRYRESULT _SETRATEIMURESPONSE.fields_by_name['telemetry_result'].message_type = _TELEMETRYRESULT +_SETRATESCALEDIMURESPONSE.fields_by_name['telemetry_result'].message_type = _TELEMETRYRESULT +_SETRATERAWIMURESPONSE.fields_by_name['telemetry_result'].message_type = _TELEMETRYRESULT _SETRATEUNIXEPOCHTIMERESPONSE.fields_by_name['telemetry_result'].message_type = _TELEMETRYRESULT _SETRATEDISTANCESENSORRESPONSE.fields_by_name['telemetry_result'].message_type = _TELEMETRYRESULT _GETGPSGLOBALORIGINRESPONSE.fields_by_name['telemetry_result'].message_type = _TELEMETRYRESULT @@ -4707,6 +5291,8 @@ DESCRIPTOR.message_types_by_name['VelocityNedResponse'] = _VELOCITYNEDRESPONSE DESCRIPTOR.message_types_by_name['SubscribeGpsInfoRequest'] = _SUBSCRIBEGPSINFOREQUEST DESCRIPTOR.message_types_by_name['GpsInfoResponse'] = _GPSINFORESPONSE +DESCRIPTOR.message_types_by_name['SubscribeRawGpsRequest'] = _SUBSCRIBERAWGPSREQUEST +DESCRIPTOR.message_types_by_name['RawGpsResponse'] = _RAWGPSRESPONSE DESCRIPTOR.message_types_by_name['SubscribeBatteryRequest'] = _SUBSCRIBEBATTERYREQUEST DESCRIPTOR.message_types_by_name['BatteryResponse'] = _BATTERYRESPONSE DESCRIPTOR.message_types_by_name['SubscribeFlightModeRequest'] = _SUBSCRIBEFLIGHTMODEREQUEST @@ -4731,12 +5317,18 @@ DESCRIPTOR.message_types_by_name['FixedwingMetricsResponse'] = _FIXEDWINGMETRICSRESPONSE DESCRIPTOR.message_types_by_name['SubscribeImuRequest'] = _SUBSCRIBEIMUREQUEST DESCRIPTOR.message_types_by_name['ImuResponse'] = _IMURESPONSE +DESCRIPTOR.message_types_by_name['SubscribeScaledImuRequest'] = _SUBSCRIBESCALEDIMUREQUEST +DESCRIPTOR.message_types_by_name['ScaledImuResponse'] = _SCALEDIMURESPONSE +DESCRIPTOR.message_types_by_name['SubscribeRawImuRequest'] = _SUBSCRIBERAWIMUREQUEST +DESCRIPTOR.message_types_by_name['RawImuResponse'] = _RAWIMURESPONSE DESCRIPTOR.message_types_by_name['SubscribeHealthAllOkRequest'] = _SUBSCRIBEHEALTHALLOKREQUEST DESCRIPTOR.message_types_by_name['HealthAllOkResponse'] = _HEALTHALLOKRESPONSE DESCRIPTOR.message_types_by_name['SubscribeUnixEpochTimeRequest'] = _SUBSCRIBEUNIXEPOCHTIMEREQUEST DESCRIPTOR.message_types_by_name['UnixEpochTimeResponse'] = _UNIXEPOCHTIMERESPONSE DESCRIPTOR.message_types_by_name['SubscribeDistanceSensorRequest'] = _SUBSCRIBEDISTANCESENSORREQUEST DESCRIPTOR.message_types_by_name['DistanceSensorResponse'] = _DISTANCESENSORRESPONSE +DESCRIPTOR.message_types_by_name['SubscribeScaledPressureRequest'] = _SUBSCRIBESCALEDPRESSUREREQUEST +DESCRIPTOR.message_types_by_name['ScaledPressureResponse'] = _SCALEDPRESSURERESPONSE DESCRIPTOR.message_types_by_name['SetRatePositionRequest'] = _SETRATEPOSITIONREQUEST DESCRIPTOR.message_types_by_name['SetRatePositionResponse'] = _SETRATEPOSITIONRESPONSE DESCRIPTOR.message_types_by_name['SetRateHomeRequest'] = _SETRATEHOMEREQUEST @@ -4757,6 +5349,7 @@ DESCRIPTOR.message_types_by_name['SetRateVelocityNedResponse'] = _SETRATEVELOCITYNEDRESPONSE DESCRIPTOR.message_types_by_name['SetRateGpsInfoRequest'] = _SETRATEGPSINFOREQUEST DESCRIPTOR.message_types_by_name['SetRateGpsInfoResponse'] = _SETRATEGPSINFORESPONSE +DESCRIPTOR.message_types_by_name['SetRateRawGpsRequest'] = _SETRATERAWGPSREQUEST DESCRIPTOR.message_types_by_name['SetRateBatteryRequest'] = _SETRATEBATTERYREQUEST DESCRIPTOR.message_types_by_name['SetRateBatteryResponse'] = _SETRATEBATTERYRESPONSE DESCRIPTOR.message_types_by_name['SetRateRcStatusRequest'] = _SETRATERCSTATUSREQUEST @@ -4775,6 +5368,10 @@ DESCRIPTOR.message_types_by_name['SetRateFixedwingMetricsResponse'] = _SETRATEFIXEDWINGMETRICSRESPONSE DESCRIPTOR.message_types_by_name['SetRateImuRequest'] = _SETRATEIMUREQUEST DESCRIPTOR.message_types_by_name['SetRateImuResponse'] = _SETRATEIMURESPONSE +DESCRIPTOR.message_types_by_name['SetRateScaledImuRequest'] = _SETRATESCALEDIMUREQUEST +DESCRIPTOR.message_types_by_name['SetRateScaledImuResponse'] = _SETRATESCALEDIMURESPONSE +DESCRIPTOR.message_types_by_name['SetRateRawImuRequest'] = _SETRATERAWIMUREQUEST +DESCRIPTOR.message_types_by_name['SetRateRawImuResponse'] = _SETRATERAWIMURESPONSE DESCRIPTOR.message_types_by_name['SetRateUnixEpochTimeRequest'] = _SETRATEUNIXEPOCHTIMEREQUEST DESCRIPTOR.message_types_by_name['SetRateUnixEpochTimeResponse'] = _SETRATEUNIXEPOCHTIMERESPONSE DESCRIPTOR.message_types_by_name['SetRateDistanceSensorRequest'] = _SETRATEDISTANCESENSORREQUEST @@ -4786,6 +5383,7 @@ DESCRIPTOR.message_types_by_name['EulerAngle'] = _EULERANGLE DESCRIPTOR.message_types_by_name['AngularVelocityBody'] = _ANGULARVELOCITYBODY DESCRIPTOR.message_types_by_name['GpsInfo'] = _GPSINFO +DESCRIPTOR.message_types_by_name['RawGps'] = _RAWGPS DESCRIPTOR.message_types_by_name['Battery'] = _BATTERY DESCRIPTOR.message_types_by_name['Health'] = _HEALTH DESCRIPTOR.message_types_by_name['RcStatus'] = _RCSTATUS @@ -4797,6 +5395,7 @@ DESCRIPTOR.message_types_by_name['PositionBody'] = _POSITIONBODY DESCRIPTOR.message_types_by_name['Odometry'] = _ODOMETRY DESCRIPTOR.message_types_by_name['DistanceSensor'] = _DISTANCESENSOR +DESCRIPTOR.message_types_by_name['ScaledPressure'] = _SCALEDPRESSURE DESCRIPTOR.message_types_by_name['PositionNed'] = _POSITIONNED DESCRIPTOR.message_types_by_name['VelocityNed'] = _VELOCITYNED DESCRIPTOR.message_types_by_name['PositionVelocityNed'] = _POSITIONVELOCITYNED @@ -4982,6 +5581,20 @@ }) _sym_db.RegisterMessage(GpsInfoResponse) +SubscribeRawGpsRequest = _reflection.GeneratedProtocolMessageType('SubscribeRawGpsRequest', (_message.Message,), { + 'DESCRIPTOR' : _SUBSCRIBERAWGPSREQUEST, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.SubscribeRawGpsRequest) + }) +_sym_db.RegisterMessage(SubscribeRawGpsRequest) + +RawGpsResponse = _reflection.GeneratedProtocolMessageType('RawGpsResponse', (_message.Message,), { + 'DESCRIPTOR' : _RAWGPSRESPONSE, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.RawGpsResponse) + }) +_sym_db.RegisterMessage(RawGpsResponse) + SubscribeBatteryRequest = _reflection.GeneratedProtocolMessageType('SubscribeBatteryRequest', (_message.Message,), { 'DESCRIPTOR' : _SUBSCRIBEBATTERYREQUEST, '__module__' : 'telemetry.telemetry_pb2' @@ -5150,6 +5763,34 @@ }) _sym_db.RegisterMessage(ImuResponse) +SubscribeScaledImuRequest = _reflection.GeneratedProtocolMessageType('SubscribeScaledImuRequest', (_message.Message,), { + 'DESCRIPTOR' : _SUBSCRIBESCALEDIMUREQUEST, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.SubscribeScaledImuRequest) + }) +_sym_db.RegisterMessage(SubscribeScaledImuRequest) + +ScaledImuResponse = _reflection.GeneratedProtocolMessageType('ScaledImuResponse', (_message.Message,), { + 'DESCRIPTOR' : _SCALEDIMURESPONSE, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.ScaledImuResponse) + }) +_sym_db.RegisterMessage(ScaledImuResponse) + +SubscribeRawImuRequest = _reflection.GeneratedProtocolMessageType('SubscribeRawImuRequest', (_message.Message,), { + 'DESCRIPTOR' : _SUBSCRIBERAWIMUREQUEST, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.SubscribeRawImuRequest) + }) +_sym_db.RegisterMessage(SubscribeRawImuRequest) + +RawImuResponse = _reflection.GeneratedProtocolMessageType('RawImuResponse', (_message.Message,), { + 'DESCRIPTOR' : _RAWIMURESPONSE, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.RawImuResponse) + }) +_sym_db.RegisterMessage(RawImuResponse) + SubscribeHealthAllOkRequest = _reflection.GeneratedProtocolMessageType('SubscribeHealthAllOkRequest', (_message.Message,), { 'DESCRIPTOR' : _SUBSCRIBEHEALTHALLOKREQUEST, '__module__' : 'telemetry.telemetry_pb2' @@ -5192,6 +5833,20 @@ }) _sym_db.RegisterMessage(DistanceSensorResponse) +SubscribeScaledPressureRequest = _reflection.GeneratedProtocolMessageType('SubscribeScaledPressureRequest', (_message.Message,), { + 'DESCRIPTOR' : _SUBSCRIBESCALEDPRESSUREREQUEST, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.SubscribeScaledPressureRequest) + }) +_sym_db.RegisterMessage(SubscribeScaledPressureRequest) + +ScaledPressureResponse = _reflection.GeneratedProtocolMessageType('ScaledPressureResponse', (_message.Message,), { + 'DESCRIPTOR' : _SCALEDPRESSURERESPONSE, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.ScaledPressureResponse) + }) +_sym_db.RegisterMessage(ScaledPressureResponse) + SetRatePositionRequest = _reflection.GeneratedProtocolMessageType('SetRatePositionRequest', (_message.Message,), { 'DESCRIPTOR' : _SETRATEPOSITIONREQUEST, '__module__' : 'telemetry.telemetry_pb2' @@ -5332,6 +5987,13 @@ }) _sym_db.RegisterMessage(SetRateGpsInfoResponse) +SetRateRawGpsRequest = _reflection.GeneratedProtocolMessageType('SetRateRawGpsRequest', (_message.Message,), { + 'DESCRIPTOR' : _SETRATERAWGPSREQUEST, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.SetRateRawGpsRequest) + }) +_sym_db.RegisterMessage(SetRateRawGpsRequest) + SetRateBatteryRequest = _reflection.GeneratedProtocolMessageType('SetRateBatteryRequest', (_message.Message,), { 'DESCRIPTOR' : _SETRATEBATTERYREQUEST, '__module__' : 'telemetry.telemetry_pb2' @@ -5458,6 +6120,34 @@ }) _sym_db.RegisterMessage(SetRateImuResponse) +SetRateScaledImuRequest = _reflection.GeneratedProtocolMessageType('SetRateScaledImuRequest', (_message.Message,), { + 'DESCRIPTOR' : _SETRATESCALEDIMUREQUEST, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.SetRateScaledImuRequest) + }) +_sym_db.RegisterMessage(SetRateScaledImuRequest) + +SetRateScaledImuResponse = _reflection.GeneratedProtocolMessageType('SetRateScaledImuResponse', (_message.Message,), { + 'DESCRIPTOR' : _SETRATESCALEDIMURESPONSE, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.SetRateScaledImuResponse) + }) +_sym_db.RegisterMessage(SetRateScaledImuResponse) + +SetRateRawImuRequest = _reflection.GeneratedProtocolMessageType('SetRateRawImuRequest', (_message.Message,), { + 'DESCRIPTOR' : _SETRATERAWIMUREQUEST, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.SetRateRawImuRequest) + }) +_sym_db.RegisterMessage(SetRateRawImuRequest) + +SetRateRawImuResponse = _reflection.GeneratedProtocolMessageType('SetRateRawImuResponse', (_message.Message,), { + 'DESCRIPTOR' : _SETRATERAWIMURESPONSE, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.SetRateRawImuResponse) + }) +_sym_db.RegisterMessage(SetRateRawImuResponse) + SetRateUnixEpochTimeRequest = _reflection.GeneratedProtocolMessageType('SetRateUnixEpochTimeRequest', (_message.Message,), { 'DESCRIPTOR' : _SETRATEUNIXEPOCHTIMEREQUEST, '__module__' : 'telemetry.telemetry_pb2' @@ -5535,6 +6225,13 @@ }) _sym_db.RegisterMessage(GpsInfo) +RawGps = _reflection.GeneratedProtocolMessageType('RawGps', (_message.Message,), { + 'DESCRIPTOR' : _RAWGPS, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.RawGps) + }) +_sym_db.RegisterMessage(RawGps) + Battery = _reflection.GeneratedProtocolMessageType('Battery', (_message.Message,), { 'DESCRIPTOR' : _BATTERY, '__module__' : 'telemetry.telemetry_pb2' @@ -5612,6 +6309,13 @@ }) _sym_db.RegisterMessage(DistanceSensor) +ScaledPressure = _reflection.GeneratedProtocolMessageType('ScaledPressure', (_message.Message,), { + 'DESCRIPTOR' : _SCALEDPRESSURE, + '__module__' : 'telemetry.telemetry_pb2' + # @@protoc_insertion_point(class_scope:mavsdk.rpc.telemetry.ScaledPressure) + }) +_sym_db.RegisterMessage(ScaledPressure) + PositionNed = _reflection.GeneratedProtocolMessageType('PositionNed', (_message.Message,), { 'DESCRIPTOR' : _POSITIONNED, '__module__' : 'telemetry.telemetry_pb2' @@ -5753,8 +6457,8 @@ index=0, serialized_options=None, create_key=_descriptor._internal_create_key, - serialized_start=10909, - serialized_end=16789, + serialized_start=12161, + serialized_end=18728, methods=[ _descriptor.MethodDescriptor( name='SubscribePosition', @@ -5876,10 +6580,20 @@ serialized_options=None, create_key=_descriptor._internal_create_key, ), + _descriptor.MethodDescriptor( + name='SubscribeRawGps', + full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeRawGps', + index=12, + containing_service=None, + input_type=_SUBSCRIBERAWGPSREQUEST, + output_type=_RAWGPSRESPONSE, + serialized_options=None, + create_key=_descriptor._internal_create_key, + ), _descriptor.MethodDescriptor( name='SubscribeBattery', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeBattery', - index=12, + index=13, containing_service=None, input_type=_SUBSCRIBEBATTERYREQUEST, output_type=_BATTERYRESPONSE, @@ -5889,7 +6603,7 @@ _descriptor.MethodDescriptor( name='SubscribeFlightMode', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeFlightMode', - index=13, + index=14, containing_service=None, input_type=_SUBSCRIBEFLIGHTMODEREQUEST, output_type=_FLIGHTMODERESPONSE, @@ -5899,7 +6613,7 @@ _descriptor.MethodDescriptor( name='SubscribeHealth', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeHealth', - index=14, + index=15, containing_service=None, input_type=_SUBSCRIBEHEALTHREQUEST, output_type=_HEALTHRESPONSE, @@ -5909,7 +6623,7 @@ _descriptor.MethodDescriptor( name='SubscribeRcStatus', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeRcStatus', - index=15, + index=16, containing_service=None, input_type=_SUBSCRIBERCSTATUSREQUEST, output_type=_RCSTATUSRESPONSE, @@ -5919,7 +6633,7 @@ _descriptor.MethodDescriptor( name='SubscribeStatusText', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeStatusText', - index=16, + index=17, containing_service=None, input_type=_SUBSCRIBESTATUSTEXTREQUEST, output_type=_STATUSTEXTRESPONSE, @@ -5929,7 +6643,7 @@ _descriptor.MethodDescriptor( name='SubscribeActuatorControlTarget', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeActuatorControlTarget', - index=17, + index=18, containing_service=None, input_type=_SUBSCRIBEACTUATORCONTROLTARGETREQUEST, output_type=_ACTUATORCONTROLTARGETRESPONSE, @@ -5939,7 +6653,7 @@ _descriptor.MethodDescriptor( name='SubscribeActuatorOutputStatus', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeActuatorOutputStatus', - index=18, + index=19, containing_service=None, input_type=_SUBSCRIBEACTUATOROUTPUTSTATUSREQUEST, output_type=_ACTUATOROUTPUTSTATUSRESPONSE, @@ -5949,7 +6663,7 @@ _descriptor.MethodDescriptor( name='SubscribeOdometry', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeOdometry', - index=19, + index=20, containing_service=None, input_type=_SUBSCRIBEODOMETRYREQUEST, output_type=_ODOMETRYRESPONSE, @@ -5959,7 +6673,7 @@ _descriptor.MethodDescriptor( name='SubscribePositionVelocityNed', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribePositionVelocityNed', - index=20, + index=21, containing_service=None, input_type=_SUBSCRIBEPOSITIONVELOCITYNEDREQUEST, output_type=_POSITIONVELOCITYNEDRESPONSE, @@ -5969,7 +6683,7 @@ _descriptor.MethodDescriptor( name='SubscribeGroundTruth', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeGroundTruth', - index=21, + index=22, containing_service=None, input_type=_SUBSCRIBEGROUNDTRUTHREQUEST, output_type=_GROUNDTRUTHRESPONSE, @@ -5979,7 +6693,7 @@ _descriptor.MethodDescriptor( name='SubscribeFixedwingMetrics', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeFixedwingMetrics', - index=22, + index=23, containing_service=None, input_type=_SUBSCRIBEFIXEDWINGMETRICSREQUEST, output_type=_FIXEDWINGMETRICSRESPONSE, @@ -5989,17 +6703,37 @@ _descriptor.MethodDescriptor( name='SubscribeImu', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeImu', - index=23, + index=24, containing_service=None, input_type=_SUBSCRIBEIMUREQUEST, output_type=_IMURESPONSE, serialized_options=None, create_key=_descriptor._internal_create_key, ), + _descriptor.MethodDescriptor( + name='SubscribeScaledImu', + full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeScaledImu', + index=25, + containing_service=None, + input_type=_SUBSCRIBESCALEDIMUREQUEST, + output_type=_SCALEDIMURESPONSE, + serialized_options=None, + create_key=_descriptor._internal_create_key, + ), + _descriptor.MethodDescriptor( + name='SubscribeRawImu', + full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeRawImu', + index=26, + containing_service=None, + input_type=_SUBSCRIBERAWIMUREQUEST, + output_type=_RAWIMURESPONSE, + serialized_options=None, + create_key=_descriptor._internal_create_key, + ), _descriptor.MethodDescriptor( name='SubscribeHealthAllOk', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeHealthAllOk', - index=24, + index=27, containing_service=None, input_type=_SUBSCRIBEHEALTHALLOKREQUEST, output_type=_HEALTHALLOKRESPONSE, @@ -6009,7 +6743,7 @@ _descriptor.MethodDescriptor( name='SubscribeUnixEpochTime', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeUnixEpochTime', - index=25, + index=28, containing_service=None, input_type=_SUBSCRIBEUNIXEPOCHTIMEREQUEST, output_type=_UNIXEPOCHTIMERESPONSE, @@ -6019,17 +6753,27 @@ _descriptor.MethodDescriptor( name='SubscribeDistanceSensor', full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeDistanceSensor', - index=26, + index=29, containing_service=None, input_type=_SUBSCRIBEDISTANCESENSORREQUEST, output_type=_DISTANCESENSORRESPONSE, serialized_options=None, create_key=_descriptor._internal_create_key, ), + _descriptor.MethodDescriptor( + name='SubscribeScaledPressure', + full_name='mavsdk.rpc.telemetry.TelemetryService.SubscribeScaledPressure', + index=30, + containing_service=None, + input_type=_SUBSCRIBESCALEDPRESSUREREQUEST, + output_type=_SCALEDPRESSURERESPONSE, + serialized_options=None, + create_key=_descriptor._internal_create_key, + ), _descriptor.MethodDescriptor( name='SetRatePosition', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRatePosition', - index=27, + index=31, containing_service=None, input_type=_SETRATEPOSITIONREQUEST, output_type=_SETRATEPOSITIONRESPONSE, @@ -6039,7 +6783,7 @@ _descriptor.MethodDescriptor( name='SetRateHome', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateHome', - index=28, + index=32, containing_service=None, input_type=_SETRATEHOMEREQUEST, output_type=_SETRATEHOMERESPONSE, @@ -6049,7 +6793,7 @@ _descriptor.MethodDescriptor( name='SetRateInAir', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateInAir', - index=29, + index=33, containing_service=None, input_type=_SETRATEINAIRREQUEST, output_type=_SETRATEINAIRRESPONSE, @@ -6059,7 +6803,7 @@ _descriptor.MethodDescriptor( name='SetRateLandedState', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateLandedState', - index=30, + index=34, containing_service=None, input_type=_SETRATELANDEDSTATEREQUEST, output_type=_SETRATELANDEDSTATERESPONSE, @@ -6069,7 +6813,7 @@ _descriptor.MethodDescriptor( name='SetRateAttitude', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateAttitude', - index=31, + index=35, containing_service=None, input_type=_SETRATEATTITUDEREQUEST, output_type=_SETRATEATTITUDERESPONSE, @@ -6079,7 +6823,7 @@ _descriptor.MethodDescriptor( name='SetRateCameraAttitude', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateCameraAttitude', - index=32, + index=36, containing_service=None, input_type=_SETRATECAMERAATTITUDEREQUEST, output_type=_SETRATECAMERAATTITUDERESPONSE, @@ -6089,7 +6833,7 @@ _descriptor.MethodDescriptor( name='SetRateVelocityNed', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateVelocityNed', - index=33, + index=37, containing_service=None, input_type=_SETRATEVELOCITYNEDREQUEST, output_type=_SETRATEVELOCITYNEDRESPONSE, @@ -6099,7 +6843,7 @@ _descriptor.MethodDescriptor( name='SetRateGpsInfo', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateGpsInfo', - index=34, + index=38, containing_service=None, input_type=_SETRATEGPSINFOREQUEST, output_type=_SETRATEGPSINFORESPONSE, @@ -6109,7 +6853,7 @@ _descriptor.MethodDescriptor( name='SetRateBattery', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateBattery', - index=35, + index=39, containing_service=None, input_type=_SETRATEBATTERYREQUEST, output_type=_SETRATEBATTERYRESPONSE, @@ -6119,7 +6863,7 @@ _descriptor.MethodDescriptor( name='SetRateRcStatus', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateRcStatus', - index=36, + index=40, containing_service=None, input_type=_SETRATERCSTATUSREQUEST, output_type=_SETRATERCSTATUSRESPONSE, @@ -6129,7 +6873,7 @@ _descriptor.MethodDescriptor( name='SetRateActuatorControlTarget', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateActuatorControlTarget', - index=37, + index=41, containing_service=None, input_type=_SETRATEACTUATORCONTROLTARGETREQUEST, output_type=_SETRATEACTUATORCONTROLTARGETRESPONSE, @@ -6139,7 +6883,7 @@ _descriptor.MethodDescriptor( name='SetRateActuatorOutputStatus', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateActuatorOutputStatus', - index=38, + index=42, containing_service=None, input_type=_SETRATEACTUATOROUTPUTSTATUSREQUEST, output_type=_SETRATEACTUATOROUTPUTSTATUSRESPONSE, @@ -6149,7 +6893,7 @@ _descriptor.MethodDescriptor( name='SetRateOdometry', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateOdometry', - index=39, + index=43, containing_service=None, input_type=_SETRATEODOMETRYREQUEST, output_type=_SETRATEODOMETRYRESPONSE, @@ -6159,7 +6903,7 @@ _descriptor.MethodDescriptor( name='SetRatePositionVelocityNed', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRatePositionVelocityNed', - index=40, + index=44, containing_service=None, input_type=_SETRATEPOSITIONVELOCITYNEDREQUEST, output_type=_SETRATEPOSITIONVELOCITYNEDRESPONSE, @@ -6169,7 +6913,7 @@ _descriptor.MethodDescriptor( name='SetRateGroundTruth', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateGroundTruth', - index=41, + index=45, containing_service=None, input_type=_SETRATEGROUNDTRUTHREQUEST, output_type=_SETRATEGROUNDTRUTHRESPONSE, @@ -6179,7 +6923,7 @@ _descriptor.MethodDescriptor( name='SetRateFixedwingMetrics', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateFixedwingMetrics', - index=42, + index=46, containing_service=None, input_type=_SETRATEFIXEDWINGMETRICSREQUEST, output_type=_SETRATEFIXEDWINGMETRICSRESPONSE, @@ -6189,17 +6933,37 @@ _descriptor.MethodDescriptor( name='SetRateImu', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateImu', - index=43, + index=47, containing_service=None, input_type=_SETRATEIMUREQUEST, output_type=_SETRATEIMURESPONSE, serialized_options=None, create_key=_descriptor._internal_create_key, ), + _descriptor.MethodDescriptor( + name='SetRateScaledImu', + full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateScaledImu', + index=48, + containing_service=None, + input_type=_SETRATESCALEDIMUREQUEST, + output_type=_SETRATESCALEDIMURESPONSE, + serialized_options=None, + create_key=_descriptor._internal_create_key, + ), + _descriptor.MethodDescriptor( + name='SetRateRawImu', + full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateRawImu', + index=49, + containing_service=None, + input_type=_SETRATERAWIMUREQUEST, + output_type=_SETRATERAWIMURESPONSE, + serialized_options=None, + create_key=_descriptor._internal_create_key, + ), _descriptor.MethodDescriptor( name='SetRateUnixEpochTime', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateUnixEpochTime', - index=44, + index=50, containing_service=None, input_type=_SETRATEUNIXEPOCHTIMEREQUEST, output_type=_SETRATEUNIXEPOCHTIMERESPONSE, @@ -6209,7 +6973,7 @@ _descriptor.MethodDescriptor( name='SetRateDistanceSensor', full_name='mavsdk.rpc.telemetry.TelemetryService.SetRateDistanceSensor', - index=45, + index=51, containing_service=None, input_type=_SETRATEDISTANCESENSORREQUEST, output_type=_SETRATEDISTANCESENSORRESPONSE, @@ -6219,7 +6983,7 @@ _descriptor.MethodDescriptor( name='GetGpsGlobalOrigin', full_name='mavsdk.rpc.telemetry.TelemetryService.GetGpsGlobalOrigin', - index=46, + index=52, containing_service=None, input_type=_GETGPSGLOBALORIGINREQUEST, output_type=_GETGPSGLOBALORIGINRESPONSE, diff --git a/mavsdk/telemetry_pb2_grpc.py b/mavsdk/telemetry_pb2_grpc.py index a890764a..5a63ca5a 100644 --- a/mavsdk/telemetry_pb2_grpc.py +++ b/mavsdk/telemetry_pb2_grpc.py @@ -77,6 +77,11 @@ def __init__(self, channel): request_serializer=telemetry_dot_telemetry__pb2.SubscribeGpsInfoRequest.SerializeToString, response_deserializer=telemetry_dot_telemetry__pb2.GpsInfoResponse.FromString, ) + self.SubscribeRawGps = channel.unary_stream( + '/mavsdk.rpc.telemetry.TelemetryService/SubscribeRawGps', + request_serializer=telemetry_dot_telemetry__pb2.SubscribeRawGpsRequest.SerializeToString, + response_deserializer=telemetry_dot_telemetry__pb2.RawGpsResponse.FromString, + ) self.SubscribeBattery = channel.unary_stream( '/mavsdk.rpc.telemetry.TelemetryService/SubscribeBattery', request_serializer=telemetry_dot_telemetry__pb2.SubscribeBatteryRequest.SerializeToString, @@ -137,6 +142,16 @@ def __init__(self, channel): request_serializer=telemetry_dot_telemetry__pb2.SubscribeImuRequest.SerializeToString, response_deserializer=telemetry_dot_telemetry__pb2.ImuResponse.FromString, ) + self.SubscribeScaledImu = channel.unary_stream( + '/mavsdk.rpc.telemetry.TelemetryService/SubscribeScaledImu', + request_serializer=telemetry_dot_telemetry__pb2.SubscribeScaledImuRequest.SerializeToString, + response_deserializer=telemetry_dot_telemetry__pb2.ScaledImuResponse.FromString, + ) + self.SubscribeRawImu = channel.unary_stream( + '/mavsdk.rpc.telemetry.TelemetryService/SubscribeRawImu', + request_serializer=telemetry_dot_telemetry__pb2.SubscribeRawImuRequest.SerializeToString, + response_deserializer=telemetry_dot_telemetry__pb2.RawImuResponse.FromString, + ) self.SubscribeHealthAllOk = channel.unary_stream( '/mavsdk.rpc.telemetry.TelemetryService/SubscribeHealthAllOk', request_serializer=telemetry_dot_telemetry__pb2.SubscribeHealthAllOkRequest.SerializeToString, @@ -152,6 +167,11 @@ def __init__(self, channel): request_serializer=telemetry_dot_telemetry__pb2.SubscribeDistanceSensorRequest.SerializeToString, response_deserializer=telemetry_dot_telemetry__pb2.DistanceSensorResponse.FromString, ) + self.SubscribeScaledPressure = channel.unary_stream( + '/mavsdk.rpc.telemetry.TelemetryService/SubscribeScaledPressure', + request_serializer=telemetry_dot_telemetry__pb2.SubscribeScaledPressureRequest.SerializeToString, + response_deserializer=telemetry_dot_telemetry__pb2.ScaledPressureResponse.FromString, + ) self.SetRatePosition = channel.unary_unary( '/mavsdk.rpc.telemetry.TelemetryService/SetRatePosition', request_serializer=telemetry_dot_telemetry__pb2.SetRatePositionRequest.SerializeToString, @@ -237,6 +257,16 @@ def __init__(self, channel): request_serializer=telemetry_dot_telemetry__pb2.SetRateImuRequest.SerializeToString, response_deserializer=telemetry_dot_telemetry__pb2.SetRateImuResponse.FromString, ) + self.SetRateScaledImu = channel.unary_unary( + '/mavsdk.rpc.telemetry.TelemetryService/SetRateScaledImu', + request_serializer=telemetry_dot_telemetry__pb2.SetRateScaledImuRequest.SerializeToString, + response_deserializer=telemetry_dot_telemetry__pb2.SetRateScaledImuResponse.FromString, + ) + self.SetRateRawImu = channel.unary_unary( + '/mavsdk.rpc.telemetry.TelemetryService/SetRateRawImu', + request_serializer=telemetry_dot_telemetry__pb2.SetRateRawImuRequest.SerializeToString, + response_deserializer=telemetry_dot_telemetry__pb2.SetRateRawImuResponse.FromString, + ) self.SetRateUnixEpochTime = channel.unary_unary( '/mavsdk.rpc.telemetry.TelemetryService/SetRateUnixEpochTime', request_serializer=telemetry_dot_telemetry__pb2.SetRateUnixEpochTimeRequest.SerializeToString, @@ -344,6 +374,13 @@ def SubscribeGpsInfo(self, request, context): context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') + def SubscribeRawGps(self, request, context): + """Subscribe to 'Raw GPS' updates. + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + def SubscribeBattery(self, request, context): """Subscribe to 'battery' updates. """ @@ -422,7 +459,21 @@ def SubscribeFixedwingMetrics(self, request, context): raise NotImplementedError('Method not implemented!') def SubscribeImu(self, request, context): - """Subscribe to 'IMU' updates. + """Subscribe to 'IMU' updates (in SI units in NED body frame). + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SubscribeScaledImu(self, request, context): + """Subscribe to 'Scaled IMU' updates. + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SubscribeRawImu(self, request, context): + """Subscribe to 'Raw IMU' updates. """ context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') @@ -449,6 +500,13 @@ def SubscribeDistanceSensor(self, request, context): context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') + def SubscribeScaledPressure(self, request, context): + """Subscribe to 'Scaled Pressure' updates. + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + def SetRatePosition(self, request, context): """Set rate to 'position' updates. """ @@ -568,6 +626,20 @@ def SetRateImu(self, request, context): context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') + def SetRateScaledImu(self, request, context): + """Set rate to 'Scaled IMU' updates. + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SetRateRawImu(self, request, context): + """Set rate to 'Raw IMU' updates. + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + def SetRateUnixEpochTime(self, request, context): """Set rate to 'unix epoch time' updates. """ @@ -652,6 +724,11 @@ def add_TelemetryServiceServicer_to_server(servicer, server): request_deserializer=telemetry_dot_telemetry__pb2.SubscribeGpsInfoRequest.FromString, response_serializer=telemetry_dot_telemetry__pb2.GpsInfoResponse.SerializeToString, ), + 'SubscribeRawGps': grpc.unary_stream_rpc_method_handler( + servicer.SubscribeRawGps, + request_deserializer=telemetry_dot_telemetry__pb2.SubscribeRawGpsRequest.FromString, + response_serializer=telemetry_dot_telemetry__pb2.RawGpsResponse.SerializeToString, + ), 'SubscribeBattery': grpc.unary_stream_rpc_method_handler( servicer.SubscribeBattery, request_deserializer=telemetry_dot_telemetry__pb2.SubscribeBatteryRequest.FromString, @@ -712,6 +789,16 @@ def add_TelemetryServiceServicer_to_server(servicer, server): request_deserializer=telemetry_dot_telemetry__pb2.SubscribeImuRequest.FromString, response_serializer=telemetry_dot_telemetry__pb2.ImuResponse.SerializeToString, ), + 'SubscribeScaledImu': grpc.unary_stream_rpc_method_handler( + servicer.SubscribeScaledImu, + request_deserializer=telemetry_dot_telemetry__pb2.SubscribeScaledImuRequest.FromString, + response_serializer=telemetry_dot_telemetry__pb2.ScaledImuResponse.SerializeToString, + ), + 'SubscribeRawImu': grpc.unary_stream_rpc_method_handler( + servicer.SubscribeRawImu, + request_deserializer=telemetry_dot_telemetry__pb2.SubscribeRawImuRequest.FromString, + response_serializer=telemetry_dot_telemetry__pb2.RawImuResponse.SerializeToString, + ), 'SubscribeHealthAllOk': grpc.unary_stream_rpc_method_handler( servicer.SubscribeHealthAllOk, request_deserializer=telemetry_dot_telemetry__pb2.SubscribeHealthAllOkRequest.FromString, @@ -727,6 +814,11 @@ def add_TelemetryServiceServicer_to_server(servicer, server): request_deserializer=telemetry_dot_telemetry__pb2.SubscribeDistanceSensorRequest.FromString, response_serializer=telemetry_dot_telemetry__pb2.DistanceSensorResponse.SerializeToString, ), + 'SubscribeScaledPressure': grpc.unary_stream_rpc_method_handler( + servicer.SubscribeScaledPressure, + request_deserializer=telemetry_dot_telemetry__pb2.SubscribeScaledPressureRequest.FromString, + response_serializer=telemetry_dot_telemetry__pb2.ScaledPressureResponse.SerializeToString, + ), 'SetRatePosition': grpc.unary_unary_rpc_method_handler( servicer.SetRatePosition, request_deserializer=telemetry_dot_telemetry__pb2.SetRatePositionRequest.FromString, @@ -812,6 +904,16 @@ def add_TelemetryServiceServicer_to_server(servicer, server): request_deserializer=telemetry_dot_telemetry__pb2.SetRateImuRequest.FromString, response_serializer=telemetry_dot_telemetry__pb2.SetRateImuResponse.SerializeToString, ), + 'SetRateScaledImu': grpc.unary_unary_rpc_method_handler( + servicer.SetRateScaledImu, + request_deserializer=telemetry_dot_telemetry__pb2.SetRateScaledImuRequest.FromString, + response_serializer=telemetry_dot_telemetry__pb2.SetRateScaledImuResponse.SerializeToString, + ), + 'SetRateRawImu': grpc.unary_unary_rpc_method_handler( + servicer.SetRateRawImu, + request_deserializer=telemetry_dot_telemetry__pb2.SetRateRawImuRequest.FromString, + response_serializer=telemetry_dot_telemetry__pb2.SetRateRawImuResponse.SerializeToString, + ), 'SetRateUnixEpochTime': grpc.unary_unary_rpc_method_handler( servicer.SetRateUnixEpochTime, request_deserializer=telemetry_dot_telemetry__pb2.SetRateUnixEpochTimeRequest.FromString, @@ -1044,6 +1146,23 @@ def SubscribeGpsInfo(request, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + @staticmethod + def SubscribeRawGps(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_stream(request, target, '/mavsdk.rpc.telemetry.TelemetryService/SubscribeRawGps', + telemetry_dot_telemetry__pb2.SubscribeRawGpsRequest.SerializeToString, + telemetry_dot_telemetry__pb2.RawGpsResponse.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + @staticmethod def SubscribeBattery(request, target, @@ -1248,6 +1367,40 @@ def SubscribeImu(request, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + @staticmethod + def SubscribeScaledImu(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_stream(request, target, '/mavsdk.rpc.telemetry.TelemetryService/SubscribeScaledImu', + telemetry_dot_telemetry__pb2.SubscribeScaledImuRequest.SerializeToString, + telemetry_dot_telemetry__pb2.ScaledImuResponse.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SubscribeRawImu(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_stream(request, target, '/mavsdk.rpc.telemetry.TelemetryService/SubscribeRawImu', + telemetry_dot_telemetry__pb2.SubscribeRawImuRequest.SerializeToString, + telemetry_dot_telemetry__pb2.RawImuResponse.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + @staticmethod def SubscribeHealthAllOk(request, target, @@ -1299,6 +1452,23 @@ def SubscribeDistanceSensor(request, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + @staticmethod + def SubscribeScaledPressure(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_stream(request, target, '/mavsdk.rpc.telemetry.TelemetryService/SubscribeScaledPressure', + telemetry_dot_telemetry__pb2.SubscribeScaledPressureRequest.SerializeToString, + telemetry_dot_telemetry__pb2.ScaledPressureResponse.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + @staticmethod def SetRatePosition(request, target, @@ -1588,6 +1758,40 @@ def SetRateImu(request, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + @staticmethod + def SetRateScaledImu(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/mavsdk.rpc.telemetry.TelemetryService/SetRateScaledImu', + telemetry_dot_telemetry__pb2.SetRateScaledImuRequest.SerializeToString, + telemetry_dot_telemetry__pb2.SetRateScaledImuResponse.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SetRateRawImu(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/mavsdk.rpc.telemetry.TelemetryService/SetRateRawImu', + telemetry_dot_telemetry__pb2.SetRateRawImuRequest.SerializeToString, + telemetry_dot_telemetry__pb2.SetRateRawImuResponse.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + @staticmethod def SetRateUnixEpochTime(request, target, diff --git a/mavsdk/tracking_server_pb2.py b/mavsdk/tracking_server_pb2.py index 40b86dc2..e45a5c2b 100644 --- a/mavsdk/tracking_server_pb2.py +++ b/mavsdk/tracking_server_pb2.py @@ -21,7 +21,7 @@ syntax='proto3', serialized_options=b'\n\031io.mavsdk.tracking_serverB\023TrackingServerProto', create_key=_descriptor._internal_create_key, - serialized_pb=b'\n%tracking_server/tracking_server.proto\x12\x1amavsdk.rpc.tracking_server\x1a\x14mavsdk_options.proto\"^\n\x1dSetTrackingPointStatusRequest\x12=\n\rtracked_point\x18\x01 \x01(\x0b\x32&.mavsdk.rpc.tracking_server.TrackPoint\" \n\x1eSetTrackingPointStatusResponse\"j\n!SetTrackingRectangleStatusRequest\x12\x45\n\x11tracked_rectangle\x18\x01 \x01(\x0b\x32*.mavsdk.rpc.tracking_server.TrackRectangle\"$\n\"SetTrackingRectangleStatusResponse\"\x1d\n\x1bSetTrackingOffStatusRequest\"\x1e\n\x1cSetTrackingOffStatusResponse\"&\n$SubscribeTrackingPointCommandRequest\"[\n\x1cTrackingPointCommandResponse\x12;\n\x0btrack_point\x18\x01 \x01(\x0b\x32&.mavsdk.rpc.tracking_server.TrackPoint\"*\n(SubscribeTrackingRectangleCommandRequest\"g\n TrackingRectangleCommandResponse\x12\x43\n\x0ftrack_rectangle\x18\x01 \x01(\x0b\x32*.mavsdk.rpc.tracking_server.TrackRectangle\"$\n\"SubscribeTrackingOffCommandRequest\"+\n\x1aTrackingOffCommandResponse\x12\r\n\x05\x64ummy\x18\x01 \x01(\x05\"g\n\"RespondTrackingPointCommandRequest\x12\x41\n\x0e\x63ommand_answer\x18\x01 \x01(\x0e\x32).mavsdk.rpc.tracking_server.CommandAnswer\"g\n#RespondTrackingPointCommandResponse\x12@\n\x06result\x18\x01 \x01(\x0b\x32\x30.mavsdk.rpc.tracking_server.TrackingServerResult\"k\n&RespondTrackingRectangleCommandRequest\x12\x41\n\x0e\x63ommand_answer\x18\x01 \x01(\x0e\x32).mavsdk.rpc.tracking_server.CommandAnswer\"k\n\'RespondTrackingRectangleCommandResponse\x12@\n\x06result\x18\x01 \x01(\x0b\x32\x30.mavsdk.rpc.tracking_server.TrackingServerResult\"e\n RespondTrackingOffCommandRequest\x12\x41\n\x0e\x63ommand_answer\x18\x01 \x01(\x0e\x32).mavsdk.rpc.tracking_server.CommandAnswer\"e\n!RespondTrackingOffCommandResponse\x12@\n\x06result\x18\x01 \x01(\x0b\x32\x30.mavsdk.rpc.tracking_server.TrackingServerResult\">\n\nTrackPoint\x12\x0f\n\x07point_x\x18\x01 \x01(\x02\x12\x0f\n\x07point_y\x18\x02 \x01(\x02\x12\x0e\n\x06radius\x18\x03 \x01(\x02\"\x84\x01\n\x0eTrackRectangle\x12\x19\n\x11top_left_corner_x\x18\x01 \x01(\x02\x12\x19\n\x11top_left_corner_y\x18\x02 \x01(\x02\x12\x1d\n\x15\x62ottom_right_corner_x\x18\x03 \x01(\x02\x12\x1d\n\x15\x62ottom_right_corner_y\x18\x04 \x01(\x02\"\xd8\x01\n\x14TrackingServerResult\x12G\n\x06result\x18\x01 \x01(\x0e\x32\x37.mavsdk.rpc.tracking_server.TrackingServerResult.Result\x12\x12\n\nresult_str\x18\x02 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\x01(\x05\"g\n\"RespondTrackingPointCommandRequest\x12\x41\n\x0e\x63ommand_answer\x18\x01 \x01(\x0e\x32).mavsdk.rpc.tracking_server.CommandAnswer\"w\n#RespondTrackingPointCommandResponse\x12P\n\x16tracking_server_result\x18\x01 \x01(\x0b\x32\x30.mavsdk.rpc.tracking_server.TrackingServerResult\"k\n&RespondTrackingRectangleCommandRequest\x12\x41\n\x0e\x63ommand_answer\x18\x01 \x01(\x0e\x32).mavsdk.rpc.tracking_server.CommandAnswer\"{\n\'RespondTrackingRectangleCommandResponse\x12P\n\x16tracking_server_result\x18\x01 \x01(\x0b\x32\x30.mavsdk.rpc.tracking_server.TrackingServerResult\"e\n RespondTrackingOffCommandRequest\x12\x41\n\x0e\x63ommand_answer\x18\x01 \x01(\x0e\x32).mavsdk.rpc.tracking_server.CommandAnswer\"u\n!RespondTrackingOffCommandResponse\x12P\n\x16tracking_server_result\x18\x01 \x01(\x0b\x32\x30.mavsdk.rpc.tracking_server.TrackingServerResult\">\n\nTrackPoint\x12\x0f\n\x07point_x\x18\x01 \x01(\x02\x12\x0f\n\x07point_y\x18\x02 \x01(\x02\x12\x0e\n\x06radius\x18\x03 \x01(\x02\"\x84\x01\n\x0eTrackRectangle\x12\x19\n\x11top_left_corner_x\x18\x01 \x01(\x02\x12\x19\n\x11top_left_corner_y\x18\x02 \x01(\x02\x12\x1d\n\x15\x62ottom_right_corner_x\x18\x03 \x01(\x02\x12\x1d\n\x15\x62ottom_right_corner_y\x18\x04 \x01(\x02\"\xd8\x01\n\x14TrackingServerResult\x12G\n\x06result\x18\x01 \x01(\x0e\x32\x37.mavsdk.rpc.tracking_server.TrackingServerResult.Result\x12\x12\n\nresult_str\x18\x02 \x01(\t\"c\n\x06Result\x12\x12\n\x0eRESULT_UNKNOWN\x10\x00\x12\x12\n\x0eRESULT_SUCCESS\x10\x01\x12\x14\n\x10RESULT_NO_SYSTEM\x10\x02\x12\x1b\n\x17RESULT_CONNECTION_ERROR\x10\x03*\xab\x01\n\rCommandAnswer\x12\x1b\n\x17\x43OMMAND_ANSWER_ACCEPTED\x10\x00\x12\'\n#COMMAND_ANSWER_TEMPORARILY_REJECTED\x10\x01\x12\x19\n\x15\x43OMMAND_ANSWER_DENIED\x10\x02\x12\x1e\n\x1a\x43OMMAND_ANSWER_UNSUPPORTED\x10\x03\x12\x19\n\x15\x43OMMAND_ANSWER_FAILED\x10\x04\x32\xd8\x0b\n\x15TrackingServerService\x12\x95\x01\n\x16SetTrackingPointStatus\x12\x39.mavsdk.rpc.tracking_server.SetTrackingPointStatusRequest\x1a:.mavsdk.rpc.tracking_server.SetTrackingPointStatusResponse\"\x04\x80\xb5\x18\x01\x12\xa1\x01\n\x1aSetTrackingRectangleStatus\x12=.mavsdk.rpc.tracking_server.SetTrackingRectangleStatusRequest\x1a>.mavsdk.rpc.tracking_server.SetTrackingRectangleStatusResponse\"\x04\x80\xb5\x18\x01\x12\x8f\x01\n\x14SetTrackingOffStatus\x12\x37.mavsdk.rpc.tracking_server.SetTrackingOffStatusRequest\x1a\x38.mavsdk.rpc.tracking_server.SetTrackingOffStatusResponse\"\x04\x80\xb5\x18\x01\x12\xa3\x01\n\x1dSubscribeTrackingPointCommand\x12@.mavsdk.rpc.tracking_server.SubscribeTrackingPointCommandRequest\x1a\x38.mavsdk.rpc.tracking_server.TrackingPointCommandResponse\"\x04\x80\xb5\x18\x00\x30\x01\x12\xaf\x01\n!SubscribeTrackingRectangleCommand\x12\x44.mavsdk.rpc.tracking_server.SubscribeTrackingRectangleCommandRequest\x1a<.mavsdk.rpc.tracking_server.TrackingRectangleCommandResponse\"\x04\x80\xb5\x18\x00\x30\x01\x12\x9d\x01\n\x1bSubscribeTrackingOffCommand\x12>.mavsdk.rpc.tracking_server.SubscribeTrackingOffCommandRequest\x1a\x36.mavsdk.rpc.tracking_server.TrackingOffCommandResponse\"\x04\x80\xb5\x18\x00\x30\x01\x12\xa4\x01\n\x1bRespondTrackingPointCommand\x12>.mavsdk.rpc.tracking_server.RespondTrackingPointCommandRequest\x1a?.mavsdk.rpc.tracking_server.RespondTrackingPointCommandResponse\"\x04\x80\xb5\x18\x01\x12\xb0\x01\n\x1fRespondTrackingRectangleCommand\x12\x42.mavsdk.rpc.tracking_server.RespondTrackingRectangleCommandRequest\x1a\x43.mavsdk.rpc.tracking_server.RespondTrackingRectangleCommandResponse\"\x04\x80\xb5\x18\x01\x12\x9e\x01\n\x19RespondTrackingOffCommand\x12<.mavsdk.rpc.tracking_server.RespondTrackingOffCommandRequest\x1a=.mavsdk.rpc.tracking_server.RespondTrackingOffCommandResponse\"\x04\x80\xb5\x18\x01\x42\x30\n\x19io.mavsdk.tracking_serverB\x13TrackingServerProtob\x06proto3' , dependencies=[mavsdk__options__pb2.DESCRIPTOR,]) @@ -60,8 +60,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=1848, - serialized_end=2019, + serialized_start=1896, + serialized_end=2067, ) _sym_db.RegisterEnumDescriptor(_COMMANDANSWER) @@ -103,8 +103,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=1746, - serialized_end=1845, + serialized_start=1794, + serialized_end=1893, ) _sym_db.RegisterEnumDescriptor(_TRACKINGSERVERRESULT_RESULT) @@ -485,7 +485,7 @@ create_key=_descriptor._internal_create_key, fields=[ _descriptor.FieldDescriptor( - name='result', full_name='mavsdk.rpc.tracking_server.RespondTrackingPointCommandResponse.result', index=0, + name='tracking_server_result', full_name='mavsdk.rpc.tracking_server.RespondTrackingPointCommandResponse.tracking_server_result', index=0, number=1, type=11, cpp_type=10, label=1, has_default_value=False, default_value=None, message_type=None, enum_type=None, containing_type=None, @@ -504,7 +504,7 @@ oneofs=[ ], serialized_start=900, - serialized_end=1003, + serialized_end=1019, ) @@ -535,8 +535,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1005, - serialized_end=1112, + serialized_start=1021, + serialized_end=1128, ) @@ -549,7 +549,7 @@ create_key=_descriptor._internal_create_key, fields=[ _descriptor.FieldDescriptor( - name='result', full_name='mavsdk.rpc.tracking_server.RespondTrackingRectangleCommandResponse.result', index=0, + name='tracking_server_result', full_name='mavsdk.rpc.tracking_server.RespondTrackingRectangleCommandResponse.tracking_server_result', index=0, number=1, type=11, cpp_type=10, label=1, has_default_value=False, default_value=None, message_type=None, enum_type=None, containing_type=None, @@ -567,8 +567,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1114, - serialized_end=1221, + serialized_start=1130, + serialized_end=1253, ) @@ -599,8 +599,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1223, - serialized_end=1324, + serialized_start=1255, + serialized_end=1356, ) @@ -613,7 +613,7 @@ create_key=_descriptor._internal_create_key, fields=[ _descriptor.FieldDescriptor( - name='result', full_name='mavsdk.rpc.tracking_server.RespondTrackingOffCommandResponse.result', index=0, + name='tracking_server_result', full_name='mavsdk.rpc.tracking_server.RespondTrackingOffCommandResponse.tracking_server_result', index=0, number=1, type=11, cpp_type=10, label=1, has_default_value=False, default_value=None, message_type=None, enum_type=None, containing_type=None, @@ -631,8 +631,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1326, - serialized_end=1427, + serialized_start=1358, + serialized_end=1475, ) @@ -677,8 +677,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1429, - serialized_end=1491, + serialized_start=1477, + serialized_end=1539, ) @@ -730,8 +730,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1494, - serialized_end=1626, + serialized_start=1542, + serialized_end=1674, ) @@ -770,8 +770,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=1629, - serialized_end=1845, + serialized_start=1677, + serialized_end=1893, ) _SETTRACKINGPOINTSTATUSREQUEST.fields_by_name['tracked_point'].message_type = _TRACKPOINT @@ -779,11 +779,11 @@ _TRACKINGPOINTCOMMANDRESPONSE.fields_by_name['track_point'].message_type = _TRACKPOINT _TRACKINGRECTANGLECOMMANDRESPONSE.fields_by_name['track_rectangle'].message_type = _TRACKRECTANGLE _RESPONDTRACKINGPOINTCOMMANDREQUEST.fields_by_name['command_answer'].enum_type = _COMMANDANSWER -_RESPONDTRACKINGPOINTCOMMANDRESPONSE.fields_by_name['result'].message_type = _TRACKINGSERVERRESULT +_RESPONDTRACKINGPOINTCOMMANDRESPONSE.fields_by_name['tracking_server_result'].message_type = _TRACKINGSERVERRESULT _RESPONDTRACKINGRECTANGLECOMMANDREQUEST.fields_by_name['command_answer'].enum_type = _COMMANDANSWER -_RESPONDTRACKINGRECTANGLECOMMANDRESPONSE.fields_by_name['result'].message_type = _TRACKINGSERVERRESULT +_RESPONDTRACKINGRECTANGLECOMMANDRESPONSE.fields_by_name['tracking_server_result'].message_type = _TRACKINGSERVERRESULT _RESPONDTRACKINGOFFCOMMANDREQUEST.fields_by_name['command_answer'].enum_type = _COMMANDANSWER -_RESPONDTRACKINGOFFCOMMANDRESPONSE.fields_by_name['result'].message_type = _TRACKINGSERVERRESULT +_RESPONDTRACKINGOFFCOMMANDRESPONSE.fields_by_name['tracking_server_result'].message_type = _TRACKINGSERVERRESULT _TRACKINGSERVERRESULT.fields_by_name['result'].enum_type = _TRACKINGSERVERRESULT_RESULT _TRACKINGSERVERRESULT_RESULT.containing_type = _TRACKINGSERVERRESULT DESCRIPTOR.message_types_by_name['SetTrackingPointStatusRequest'] = _SETTRACKINGPOINTSTATUSREQUEST @@ -967,8 +967,8 @@ index=0, serialized_options=None, create_key=_descriptor._internal_create_key, - serialized_start=2022, - serialized_end=3518, + serialized_start=2070, + serialized_end=3566, methods=[ _descriptor.MethodDescriptor( name='SetTrackingPointStatus', diff --git a/mavsdk/tune_pb2.py b/mavsdk/tune_pb2.py index 54956efb..ea1569a8 100644 --- a/mavsdk/tune_pb2.py +++ b/mavsdk/tune_pb2.py @@ -12,7 +12,6 @@ _sym_db = _symbol_database.Default() -from . import mavsdk_options_pb2 as mavsdk__options__pb2 DESCRIPTOR = _descriptor.FileDescriptor( @@ -21,9 +20,8 @@ syntax='proto3', serialized_options=b'\n\016io.mavsdk.tuneB\tTuneProto', create_key=_descriptor._internal_create_key, - serialized_pb=b'\n\x0ftune/tune.proto\x12\x0fmavsdk.rpc.tune\x1a\x14mavsdk_options.proto\"M\n\x0fPlayTuneRequest\x12:\n\x10tune_description\x18\x01 \x01(\x0b\x32 .mavsdk.rpc.tune.TuneDescription\"D\n\x10PlayTuneResponse\x12\x30\n\x0btune_result\x18\x01 \x01(\x0b\x32\x1b.mavsdk.rpc.tune.TuneResult\"U\n\x0fTuneDescription\x12\x33\n\rsong_elements\x18\x01 \x03(\x0e\x32\x1c.mavsdk.rpc.tune.SongElement\x12\r\n\x05tempo\x18\x02 \x01(\x05\"\xcc\x01\n\nTuneResult\x12\x32\n\x06result\x18\x01 \x01(\x0e\x32\".mavsdk.rpc.tune.TuneResult.Result\x12\x12\n\nresult_str\x18\x02 \x01(\t\"v\n\x06Result\x12\x12\n\x0eRESULT_UNKNOWN\x10\x00\x12\x12\n\x0eRESULT_SUCCESS\x10\x01\x12\x18\n\x14RESULT_INVALID_TEMPO\x10\x02\x12\x18\n\x14RESULT_TUNE_TOO_LONG\x10\x03\x12\x10\n\x0cRESULT_ERROR\x10\x04*\xd1\x04\n\x0bSongElement\x12\x1d\n\x19SONG_ELEMENT_STYLE_LEGATO\x10\x00\x12\x1d\n\x19SONG_ELEMENT_STYLE_NORMAL\x10\x01\x12\x1f\n\x1bSONG_ELEMENT_STYLE_STACCATO\x10\x02\x12\x1b\n\x17SONG_ELEMENT_DURATION_1\x10\x03\x12\x1b\n\x17SONG_ELEMENT_DURATION_2\x10\x04\x12\x1b\n\x17SONG_ELEMENT_DURATION_4\x10\x05\x12\x1b\n\x17SONG_ELEMENT_DURATION_8\x10\x06\x12\x1c\n\x18SONG_ELEMENT_DURATION_16\x10\x07\x12\x1c\n\x18SONG_ELEMENT_DURATION_32\x10\x08\x12\x17\n\x13SONG_ELEMENT_NOTE_A\x10\t\x12\x17\n\x13SONG_ELEMENT_NOTE_B\x10\n\x12\x17\n\x13SONG_ELEMENT_NOTE_C\x10\x0b\x12\x17\n\x13SONG_ELEMENT_NOTE_D\x10\x0c\x12\x17\n\x13SONG_ELEMENT_NOTE_E\x10\r\x12\x17\n\x13SONG_ELEMENT_NOTE_F\x10\x0e\x12\x17\n\x13SONG_ELEMENT_NOTE_G\x10\x0f\x12\x1b\n\x17SONG_ELEMENT_NOTE_PAUSE\x10\x10\x12\x16\n\x12SONG_ELEMENT_SHARP\x10\x11\x12\x15\n\x11SONG_ELEMENT_FLAT\x10\x12\x12\x1a\n\x16SONG_ELEMENT_OCTAVE_UP\x10\x13\x12\x1c\n\x18SONG_ELEMENT_OCTAVE_DOWN\x10\x14\x32`\n\x0bTuneService\x12Q\n\x08PlayTune\x12 .mavsdk.rpc.tune.PlayTuneRequest\x1a!.mavsdk.rpc.tune.PlayTuneResponse\"\x00\x42\x1b\n\x0eio.mavsdk.tuneB\tTuneProtob\x06proto3' - , - dependencies=[mavsdk__options__pb2.DESCRIPTOR,]) + serialized_pb=b'\n\x0ftune/tune.proto\x12\x0fmavsdk.rpc.tune\"M\n\x0fPlayTuneRequest\x12:\n\x10tune_description\x18\x01 \x01(\x0b\x32 .mavsdk.rpc.tune.TuneDescription\"D\n\x10PlayTuneResponse\x12\x30\n\x0btune_result\x18\x01 \x01(\x0b\x32\x1b.mavsdk.rpc.tune.TuneResult\"U\n\x0fTuneDescription\x12\x33\n\rsong_elements\x18\x01 \x03(\x0e\x32\x1c.mavsdk.rpc.tune.SongElement\x12\r\n\x05tempo\x18\x02 \x01(\x05\"\xcc\x01\n\nTuneResult\x12\x32\n\x06result\x18\x01 \x01(\x0e\x32\".mavsdk.rpc.tune.TuneResult.Result\x12\x12\n\nresult_str\x18\x02 \x01(\t\"v\n\x06Result\x12\x12\n\x0eRESULT_UNKNOWN\x10\x00\x12\x12\n\x0eRESULT_SUCCESS\x10\x01\x12\x18\n\x14RESULT_INVALID_TEMPO\x10\x02\x12\x18\n\x14RESULT_TUNE_TOO_LONG\x10\x03\x12\x10\n\x0cRESULT_ERROR\x10\x04*\xd1\x04\n\x0bSongElement\x12\x1d\n\x19SONG_ELEMENT_STYLE_LEGATO\x10\x00\x12\x1d\n\x19SONG_ELEMENT_STYLE_NORMAL\x10\x01\x12\x1f\n\x1bSONG_ELEMENT_STYLE_STACCATO\x10\x02\x12\x1b\n\x17SONG_ELEMENT_DURATION_1\x10\x03\x12\x1b\n\x17SONG_ELEMENT_DURATION_2\x10\x04\x12\x1b\n\x17SONG_ELEMENT_DURATION_4\x10\x05\x12\x1b\n\x17SONG_ELEMENT_DURATION_8\x10\x06\x12\x1c\n\x18SONG_ELEMENT_DURATION_16\x10\x07\x12\x1c\n\x18SONG_ELEMENT_DURATION_32\x10\x08\x12\x17\n\x13SONG_ELEMENT_NOTE_A\x10\t\x12\x17\n\x13SONG_ELEMENT_NOTE_B\x10\n\x12\x17\n\x13SONG_ELEMENT_NOTE_C\x10\x0b\x12\x17\n\x13SONG_ELEMENT_NOTE_D\x10\x0c\x12\x17\n\x13SONG_ELEMENT_NOTE_E\x10\r\x12\x17\n\x13SONG_ELEMENT_NOTE_F\x10\x0e\x12\x17\n\x13SONG_ELEMENT_NOTE_G\x10\x0f\x12\x1b\n\x17SONG_ELEMENT_NOTE_PAUSE\x10\x10\x12\x16\n\x12SONG_ELEMENT_SHARP\x10\x11\x12\x15\n\x11SONG_ELEMENT_FLAT\x10\x12\x12\x1a\n\x16SONG_ELEMENT_OCTAVE_UP\x10\x13\x12\x1c\n\x18SONG_ELEMENT_OCTAVE_DOWN\x10\x14\x32`\n\x0bTuneService\x12Q\n\x08PlayTune\x12 .mavsdk.rpc.tune.PlayTuneRequest\x1a!.mavsdk.rpc.tune.PlayTuneResponse\"\x00\x42\x1b\n\x0eio.mavsdk.tuneB\tTuneProtob\x06proto3' +) _SONGELEMENT = _descriptor.EnumDescriptor( name='SongElement', @@ -140,8 +138,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=502, - serialized_end=1095, + serialized_start=480, + serialized_end=1073, ) _sym_db.RegisterEnumDescriptor(_SONGELEMENT) @@ -204,8 +202,8 @@ ], containing_type=None, serialized_options=None, - serialized_start=381, - serialized_end=499, + serialized_start=359, + serialized_end=477, ) _sym_db.RegisterEnumDescriptor(_TUNERESULT_RESULT) @@ -237,8 +235,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=58, - serialized_end=135, + serialized_start=36, + serialized_end=113, ) @@ -269,8 +267,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=137, - serialized_end=205, + serialized_start=115, + serialized_end=183, ) @@ -308,8 +306,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=207, - serialized_end=292, + serialized_start=185, + serialized_end=270, ) @@ -348,8 +346,8 @@ extension_ranges=[], oneofs=[ ], - serialized_start=295, - serialized_end=499, + serialized_start=273, + serialized_end=477, ) _PLAYTUNEREQUEST.fields_by_name['tune_description'].message_type = _TUNEDESCRIPTION @@ -402,8 +400,8 @@ index=0, serialized_options=None, create_key=_descriptor._internal_create_key, - serialized_start=1097, - serialized_end=1193, + serialized_start=1075, + serialized_end=1171, methods=[ _descriptor.MethodDescriptor( name='PlayTune', diff --git a/proto b/proto index 631a8bac..a0d9af7b 160000 --- a/proto +++ b/proto @@ -1 +1 @@ -Subproject commit 631a8bac22a81e751ba6e34cd65574e105ec7301 +Subproject commit a0d9af7b530261535d21299ccd9dec78d88d58c2