Proto commits in mavlink/MAVSDK-Proto

These commits are when the Protocol Buffers files have changed: (only the last 100 relevant commits are shown)

2026-06-22

mavlink_direct_server: add SubscribeMessage Add SubscribeMessage so the server plugin can also receive MAVLink messages, reaching parity with the MavlinkDirect (client) plugin. Unlike the client, the server receive path is not scoped to a single system.

Add mavlink_direct_server plugin Mirror the mavlink_direct plugin as a server plugin so messages can be sent (broadcast) from a server component without first discovering a system. For now this exposes SendMessage and LoadCustomXml; SubscribeMessage will be added subsequently.

2026-06-02

ftp: add ls with time (#413)

The documentation is generated from this commit.

2026-05-25

info: remove GetFlightInformation for 4.0.0 (#411) GetFlightInformation conflicts with SubscribeFlightInformation during Java code generation, requiring a workaround in MAVSDK-Java templates. Removing it as a breaking change for v4.0.0 allows that workaround to be undone. Closes #389

Action: Add setHome (#397)

2026-05-22

Revert "telemetry: add energy_consumed_wh to Battery (#408)" (#409) This reverts commit 50f6a618f1b6a6fc20f24ef7f8ac3c2c755e4c4c.

telemetry: add energy_consumed_wh to Battery (#408) Exposes the energy_consumed field from BATTERY_STATUS MAVLink message as a new float field in Watt-hours. Sentinel value -1 maps to NaN. Companion PR: mavlink/MAVSDK#2882

2026-05-18

Reorder message declaration (#407)

Add upload mission with progress RPC (#406)

2026-04-06

Move HomePosition after Quaternion in telemetry proto (#405) HomePosition references the Quaternion type. The C++ code generator preserves proto message order, so HomePosition must appear after Quaternion to avoid a forward-dependency compile error in the generated header.

Add HomePosition message with full HOME_POSITION fields (#399) * Add HomePosition message with full HOME_POSITION fields Add a new HomePosition message to telemetry.proto that exposes all fields from the MAVLink HOME_POSITION message (#242): - Global GPS position (lat/lon/alt) - Local NED position (x/y/z) - Surface quaternion (q[4]) - Approach vector (approach_x/y/z) - Timestamp (time_usec) Change HomeResponse to return HomePosition instead of Position. Fixes https://github.com/mavlink/MAVSDK/issues/2310 * Address review: rename NED fields, move timestamp first - Rename local_x/y/z_m to local_north/east/down_m for clarity - Move timestamp_us to first field position * Rename approach vector fields to NED convention

2026-03-31

mocap: add reset_counter and estimator fields to mocap messages (#404) * mocap: add ekf fields to mocap messages * mocap: tighten mocap proto docs --------- Co-authored-by: alireza787b <alireza787b@gmail.com>

2026-03-30

Add DownloadGeofence RPC to geofence proto (#400) Add DownloadGeofence RPC with DownloadGeofenceRequest/Response messages to enable downloading polygon and circular geofences from the vehicle. Fixes https://github.com/mavlink/MAVSDK/issues/2403

telemetry: add SetRateRawGps RPC (#403) Add SetRateRawGps / SetRateRawGpsResponse alongside the existing SetRateGpsInfo so users can control the GPS_RAW_INT message rate when subscribing to RawGps data. The SetRateRawGpsRequest message already existed; this adds the missing response message and RPC method. Co-authored-by: BanSiesta <bansiesta@users.noreply.github.com> Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-29

Add timestamp_us to Altitude and GroundTruth messages (#398) Add time_usec field (uint64) to Altitude and GroundTruth proto messages in both telemetry and telemetry_server protos. This exposes the timestamp already present in the underlying MAVLink messages (ALTITUDE and HIL_STATE_QUATERNION), enabling time-series analysis and log correlation. Fixes https://github.com/mavlink/MAVSDK/issues/2391

Revert "mocap: add reset_counter, quality, estimator_type to odometry messages (#395)" (#402) This reverts commit 8c683371c001ee9a244a7da13e37b5625bebde7f.

mocap: add reset_counter, quality, estimator_type to odometry messages (#395) * mocap: add reset_counter, quality, estimator_type to odometry messages Add fields that PX4's EKF2 uses for better sensor fusion but were previously hardcoded in the C++ implementation: - reset_counter: EKF2 uses this to detect estimator re-initialization and perform state resets (currently hardcoded to 0, with FIXME in C++) - estimator_type: Allows distinguishing VIO from MOCAP estimators (currently hardcoded to MAV_ESTIMATOR_TYPE_MOCAP) - quality: Confidence metric (0-100%) that EKF2 can use to scale measurement noise (currently hardcoded to 0) Also adds MavEstimatorType enum matching MAVLink's MAV_ESTIMATOR_TYPE, and reset_counter to VisionPositionEstimate. All new fields use proto3 defaults (0), preserving backward compatibility. * mocap: rename quality to quality_percent (int32, -1 for unknown) Apply review feedback: rename quality to quality_percent with unit in name, change type to int32 so -1 can indicate invalid/unknown. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com> --------- Co-authored-by: alireza787b <alireza787b@gmail.com> Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>

2026-02-12

Docs: Fix links to old references (#393)

2026-02-03

Expand flight mode options (#391) * Expand flight mode options * SetFlightModeInternal needs its own dedicated input/output types * Restart CI --------- Co-authored-by: Jon Reeves <jon.reeves@elroyair.com>

2026-01-19

Add relay API (#390) * Add relay API Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> * Switch to enum for relay command Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> * action: fixup relay enum --------- Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Co-authored-by: Julian Oes <julian@oes.ch>

2025-12-22

param_server: add result for late provided params (#388)

2025-12-14

action: add set_gps_origin (#342) * action: add set_gps_origin * action: add set_gps_origin * action.proto: fix unresolved conflict render SetGpsGlobalOrigin sync to match message definition --------- Co-authored-by: Juan Ruiz <juan.ruiz@parrot.com>

2025-12-13

remote_id: merge calls for location and location accuracy

2025-12-11

remote_id: open drone id plugin interface

2025-11-03

param: add additional error results (#384) These are possible with the added PARAM_ERROR message.

2025-08-19

Added a comment about GPS fix requirements to get position and velocity_ned (#382) Seems like many people encountered a similar problem throughout the years: https://github.com/mavlink/MAVSDK-Python/issues/176 This comment is a heads up to be aware of this.

2025-08-15

mavlink_direct: use _id consistently (#381)

2025-08-01

telemetry: add comment regarding RawImu units (#380) These are - by the MAVLink spec - just raw, without unit. Our types are misleading and wrong. The least we can do is to flag this as incorrect. For the next release we should probably remove this debug telemetry feature.

2025-07-23

protos: Add MavlinkDirect (#379) * protos: Add MavlinkDirect This is a new plugin to bring something like MavlinkPassthrough to the language wrappers. * mavlink_direct: combine similar subscriptions This didn't make much sense. We can just use the empty string for all messages. * mavlink_direct: add method to load XML at runtime

2025-07-07

mission_raw: add mission planner mission import (#378) This adds the capability to import a mission exported in MissionPlanner.

2025-06-13

mission_raw: add check if mission is finished (#377) We already have this for mission, so it makes sense to mirror it for mission_raw.

2025-05-13

telemetry: add set rate health (#374)

2025-05-06

add battery time_remaining and function (#372)

2025-04-11

mocap: add SetVisionSpeedEstimate (#361) Co-authored-by: miodine <48156138+miodine@users.noreply.github.com>

2025-03-17

Add Wind proto (#371) * Add WindCov proto * change WindCov to Wind * Rename variable for clarity Co-authored-by: Julian Oes <julian@oes.ch> * Rename variable for clarity Co-authored-by: Julian Oes <julian@oes.ch> * Rename variable for clarity Co-authored-by: Julian Oes <julian@oes.ch> * Rename variable for clarity * change naming style * Clear all of WindCov to Wind * fix wrong comment Co-authored-by: Julian Oes <julian@oes.ch> --------- Co-authored-by: Julian Oes <julian@oes.ch>

2025-03-12

ActionServer: allow direct setting of arm/disarm state and vehicle flight mode (#370) * Allow armed state and flight mode to be set directly * docstring for setting flight mode --------- Co-authored-by: Jon Reeves <jon.reeves@elroyair.com>

2025-02-18

Add missing docstrings (#369)

Fix comment syntax (#368) The double asteriks become a list in documentation and cause trouble there.

2025-02-12

Telemetry and TelemetryServer improvements (#364) * Updated FixedwingMetrics, added attitude and VFR_HUD publishers to the TelemetryServer * Re-order fields for backward compatibility * PR feedback: altitude_msl -> absolute_altitude_m --------- Co-authored-by: Jon Reeves <jon.reeves@elroyair.com>

2024-12-18

mission_raw_server: made subscribe_incoming, subscribe_current_item_complete, and subscribe_clear_all all strictly ASYNC

2024-12-17

Revert "Added API for receiving status notifications on outgoing mission requests" This reverts commit c6089e77eb621ceee89a7d528444bd19de6983ec.

Merge pull request #358 from mavlink/pr-multiple-cameras-2 camera: enable list photos again

2024-12-13

camera: enable list photos again

2024-12-09

Added API for receiving status notifications on outgoing mission requests

2024-10-30

param_server: add setting for extended

camera: change API to support multiple cameras This changes the API to support more than one camera within one camera plugin instance. This will enable multiple cameras in language wrappers instead of just C++ as it is now. We also rename the status to storage because that's what it really is.

2024-10-29

action: remove max speed settings (#355) This API is confusing as it only works for PX4 quads but not PX4 fixedwing or anything ArduPilot based. The reason is that this just sets a PX4 parameter that is not standardized via MAVLink. Therefore, I suggest to remove the API and instead recommend to use the param plugin to set the specific params specifically.

2024-09-30

added download function for geofence and rallypoints (#353) * added download function for geofence and rallypoints

2024-08-13

camera-server: Add ability to support taking image in video mode and video in image mode (#349) * camera-server: Add ability to support taking image in photo mode and photo in image mode * Made image in video mode and video in image mode support definable in set_information

2024-08-06

Gimbal API redesign (support more than one gimbal, support streams and commands) (#351) * gimbal: improve API This aims at improving the API by: - Adding an argument for send mode (either command or message stream) - Includes the mode into the setter because that's when it's sent. Otherwise, the set_mode call itself doesn't have any effect which is not very intuitive. * gimbal: extend to multiple gimbals This will allow multiple gimbals to be controlled from just the one gimbal plugin instance. The goal is not to have multiple instances like it is (currently) done for cameras. * gimbal: model, not product

2024-07-29

telemetry: remove camera attitude (#350) This was always confusing. The data should instead be queried from the gimbal plugin.

2024-07-16

log_streaming: make base64 format clearer (#345) This way it's harder to miss this.

2024-07-15

add events plugin (#346)

rtk: encode RTCM data in base64 (#344) This makes it possible to use this via other languages like Python where binary data in a string is not an option.

ftp: split list_directory response (#343) This way we get a clear list of files and folders instead of an odd list with F or D prefixes.

2024-04-26

protos: add component_metadata and component_metadata_server (#338)

2024-04-25

Add log_streaming (#339) * Add log_streaming

2024-04-16

info: add subscription for flight information (#341) This allows to get the flight information update once per second. Signed-off-by: Julian Oes <julian@oes.ch>

2024-04-15

info: add arming and flight time (#340) Signed-off-by: Julian Oes <julian@oes.ch>

2024-04-12

action: add force-arming (#337) Signed-off-by: Julian Oes <julian@oes.ch>

2024-04-06

arm_authorizer_server: fixup package names (#336) * arm_authorizer_server: fixup package names Signed-off-by: Julian Oes <julian@oes.ch> * Autorizer -> Authorizer Signed-off-by: Julian Oes <julian@oes.ch> * arm_authorizer_server: we need an unknown result Signed-off-by: Julian Oes <julian@oes.ch> * arm_authorizer_server: fixup subscription naming Signed-off-by: Julian Oes <julian@oes.ch> --------- Signed-off-by: Julian Oes <julian@oes.ch>

2024-04-05

Action: add InvalidArgument (#335) * action: add InvalidArgument result Required for set_actuator. Signed-off-by: Julian Oes <julian@oes.ch> * action: note about set_actuator args Signed-off-by: Julian Oes <julian@oes.ch> --------- Signed-off-by: Julian Oes <julian@oes.ch>

Added arm authorization server functionality (#334) * Added arm authorization server functionality * Changed arm_authorizer_server respond functions reutrn types * Updates RejectionReason enum names in arm_authorizer_server Co-authored-by: Julian Oes <julian@oes.ch> --------- Co-authored-by: Julian Oes <julian@oes.ch>

2024-04-03

Capability flags in camera information (#329) * Capability flags in camera information * Modified camera cap flags setting format from uint32 to a separate message * Merged tracking_server plugin into camera_server

2024-03-24

camera_server: implement zoom (#333) This implements continuous and range zooming. Signed-off-by: Julian Oes <julian@oes.ch>

2024-03-18

feature zoom focus tracking (#322) * feature zoom focus tracking * camera: add a pass to zoom and focus Signed-off-by: Julian Oes <julian@oes.ch> --------- Signed-off-by: Julian Oes <julian@oes.ch> Co-authored-by: Pannapat Chirathanyanon <PannapatC@arv.co.th> Co-authored-by: Julian Oes <julian@oes.ch>

2024-03-13

gimbal: add current attitude (#331) Signed-off-by: Julian Oes <julian@oes.ch>

2024-01-23

Full gimbal angle control (#328) * Added gimbal function SetAngles * Fixed typo * Changed order of angles to MAVLink order --------- Co-authored-by: Adrian Dummermuth <adrian.dummermuth@ost.ch>

2023-12-24

Add more camera and camera server functionality (#320) * camera server : add start stop video subscribe (#318) * camera_server: typos Signed-off-by: Julian Oes <julian@oes.ch> * camera server: add start stop video streaming, add stream id in camera side * camera server : add subscribe camera mode * camera server: add storage information and capture stauts subscribe * add unit on image interval and available capacity * storage information : add unit on read speed and write speed * camera : add format storage and reset settings function * add storage id in camera side, and then the camera can support multi storage format. * camera server: add respond for all camera server command * camera_server: add video stream information Signed-off-by: Julian Oes <julian@oes.ch> * param_server: add subscription for changed params Signed-off-by: Julian Oes <julian@oes.ch> --------- Signed-off-by: Julian Oes <julian@oes.ch> Co-authored-by: Julian Oes <julian@oes.ch>

2023-12-17

Customizing distance sensor to add orientation for multiple sensor support (#321) * Customizing distance sensor to add orientaion for multiple sensor support * Added orientation(Euler) parameter to telemetry.distance_sensor to take advantage of the mavlink orientation parameter and receive measurements for multiple distance sensors

2023-10-14

Split Ftp plugin into Ftp and FtpServer (#319) * Add FtpServer plugin This is the part that can serve directories with files. Signed-off-by: Julian Oes <julian@oes.ch> * ftp: Set root dir, not individual files Signed-off-by: Julian Oes <julian@oes.ch> * ftp: remove reset and compid getter We shouldn't need that. Signed-off-by: Julian Oes <julian@oes.ch> * ftp: enable bulk download Signed-off-by: Julian Oes <julian@oes.ch> --------- Signed-off-by: Julian Oes <julian@oes.ch>

2023-10-13

offboard: fix typo (#325) Signed-off-by: Julian Oes <julian@oes.ch>

Revert recent camera_server additions (#324) This reverts: "camera server : add start stop video subscribe (#318)" We will add it back in shortly. This is just because the PR following this has not been merged. This reverts commit 8966cf59029ac17d81654071ca6d3d27f0d8897d.

2023-06-17

camera server : add start stop video subscribe (#318)

2023-05-29

added pos,vel,acc offboard (#314) * added pos,vel,acc offboard * Update protos/offboard/offboard.proto Co-authored-by: Julian Oes <julian@oes.ch> --------- Co-authored-by: Julian Oes <julian@oes.ch>

2023-05-20

param: add result failed Signed-off-by: Julian Oes <julian@oes.ch>

param: allow to set component ID and protocol Signed-off-by: Julian Oes <julian@oes.ch>

2023-01-31

add missing documentation for winch/gripper items

Winch and Gripper plugins (#308) * Add plugins for winch and gripper

Add PublishDistanceSensor to Telemetry Server (#310) Add PublishDistanceSensor() to Telemetry Server

2023-01-12

Merge pull request #306 from mavlink/pr-without-curl-builds camera: add result when protocol is not supported

2023-01-11

camera: add result when protocol is not supported This is required to support builds without CURL. So if CURL is not built in, then http URIs will just return ResultProtocolUnsupported. Signed-off-by: Julian Oes <julian@oes.ch>

telemetry: add battery proto status message for v1 Co-Authored-By: Julian Oes <julian@oes.ch>

2022-12-22

mission_raw: add method to import plan from string This enables to import mission plan files without having to write them to some location first.

2022-12-15

log_files: remove synchronous DownloadLogFile

2022-12-12

log_files: remove synchronous DownloadLogFile

2022-11-23

added circular geofence support to geofence plugin

2022-11-15

added bottom_clearance to altitude in telemetry

2022-11-02

Merge pull request #300 from CY-1992/add-altitude-to-telemetry Added altitude to telemetry plugin

2022-10-28

Added indentation Removed mavlink message ref link

2022-10-24

info: remove trailing whitespace

added altitude to telemetry

2022-10-22

Added Software version type to Info proto

2022-09-09

Added new vehicle action into MissionItem message template

2022-09-06

Merge pull request #293 from mavlink/pr-split-attitude telemetry: split attitude into Euler + Quaternion

2022-09-03

mission_raw: Add support for geofence and rally points

2022-08-24

gimbal: fix spelling error

mission: add missing results Instead of hiding these results behind debug messages.

mission_raw: add results Instead of hiding these results behind debug messages.

2022-08-02

telemetry: split attitude into Euler + Quaternion Before we processed whatever attitude was being sent which meant that both MAVLink messages ATTITUDE and ATTITUDE_QUATERNION would trigger both callbacks. This was often ok but can be very confusing when trying to set the rate of the messages. This commit decouples this magic and provides setters for both the rates.