package mavsdk.rpc.action
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View/edit binary Protocol Buffers messages
service ActionService
action.proto:11Enable simple actions such as arming, taking off, and landing.
rpc Arm (, )
action.proto:18Send command to arm the drone. Arming a drone normally causes motors to spin at idle. Before arming take all safety precautions and stand clear of the drone!
message
action.proto:176(message has no fields)
message
action.proto:177optional action_result = 1
rpc ArmForce (, )
action.proto:27Send command to force-arm the drone without any checks. Attention: this is not to be used for normal flying but only bench tests! Arming a drone normally causes motors to spin at idle. Before arming take all safety precautions and stand clear of the drone!
message
action.proto:181(message has no fields)
message
action.proto:182optional action_result = 1
rpc Disarm (, )
action.proto:34Send command to disarm the drone. This will disarm a drone that considers itself landed. If flying, the drone should reject the disarm command. Disarming means that all motors will stop.
message
action.proto:186(message has no fields)
message
action.proto:187optional action_result = 1
rpc DoOrbit (, )
action.proto:99Send command do orbit to the drone. This will run the orbit routine with the given parameters.
message
action.proto:245float radius_m = 1
Radius of circle (in meters)
float velocity_ms = 2
Tangential velocity (in m/s)
OrbitYawBehavior yaw_behavior = 3
Yaw behavior of vehicle (ORBIT_YAW_BEHAVIOUR)
double latitude_deg = 5
Center point latitude in degrees. NAN: use current latitude for center
double longitude_deg = 6
Center point longitude in degrees. NAN: use current longitude for center
double absolute_altitude_m = 7
Center point altitude in meters. NAN: use current altitude for center
message
action.proto:253optional action_result = 1
Get the return to launch minimum return altitude (in meters).
message
action.proto:306(message has no fields)
message
action.proto:307optional action_result = 1
float relative_altitude_m = 2
Return altitude relative to takeoff location (in meters)
rpc GetTakeoffAltitude (, )
action.proto:142Get the takeoff altitude (in meters above ground).
message
action.proto:293(message has no fields)
message
action.proto:294optional action_result = 1
float altitude = 2
Takeoff altitude relative to ground/takeoff location (in meters)
rpc GotoLocation (, )
action.proto:93Send command to move the vehicle to a specific global position. The latitude and longitude are given in degrees (WGS84 frame) and the altitude in meters AMSL (above mean sea level). The yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).
message
action.proto:226double latitude_deg = 1
Latitude (in degrees)
double longitude_deg = 2
Longitude (in degrees)
float absolute_altitude_m = 3
Altitude AMSL (in meters)
float yaw_deg = 4
Yaw angle (in degrees, frame is NED, 0 is North, positive is clockwise)
message
action.proto:232optional action_result = 1
rpc Hold (, )
action.proto:109Send command to hold position (a.k.a. "Loiter"). Sends a command to drone to change to Hold flight mode, causing the vehicle to stop and maintain its current GPS position and altitude. Note: this command is specific to the PX4 Autopilot flight stack as it implies a change to a PX4-specific mode.
message
action.proto:257(message has no fields)
message
action.proto:258optional action_result = 1
rpc Kill (, )
action.proto:76Send command to kill the drone. This will disarm a drone irrespective of whether it is landed or flying. Note that the drone will fall out of the sky if this command is used while flying.
message
action.proto:216(message has no fields)
message
action.proto:217optional action_result = 1
rpc Land (, )
action.proto:49Send command to land at the current position. This switches the drone to 'Land' flight mode.
message
action.proto:196(message has no fields)
message
action.proto:197optional action_result = 1
rpc Reboot (, )
action.proto:55Send command to reboot the drone components. This will reboot the autopilot, companion computer, camera and gimbal.
message
action.proto:201(message has no fields)
message
action.proto:202optional action_result = 1
rpc ReturnToLaunch (, )
action.proto:84Send command to return to the launch (takeoff) position and land. This switches the drone into [Return mode](https://docs.px4.io/master/en/flight_modes/return.html) which generally means it will rise up to a certain altitude to clear any obstacles before heading back to the launch (takeoff) position and land there.
message
action.proto:221(message has no fields)
message
action.proto:222optional action_result = 1
rpc SetActuator (, )
action.proto:115Send command to set the value of an actuator. Note that the index of the actuator starts at 1 and that the value goes from -1 to 1.
message
action.proto:262int32 index = 1
Index of actuator (starting with 1)
float value = 2
Value to set the actuator to (normalized from [-1..1])
message
action.proto:266optional action_result = 1
rpc SetCurrentSpeed (, )
action.proto:161Set current speed. This will set the speed during a mission, reposition, and similar. It is ephemeral, so not stored on the drone and does not survive a reboot.
message
action.proto:319float speed_m_s = 1
Speed in meters/second
message
action.proto:322optional action_result = 1
rpc SetGpsGlobalOrigin (, )
action.proto:167Set GPS Global Origin. Sets the GPS coordinates of the vehicle local origin (0,0,0) position.
message
action.proto:326double latitude_deg = 1
Latitude (in degrees)
double longitude_deg = 2
Longitude (in degrees)
float absolute_altitude_m = 3
Altitude AMSL (in meters)
message
action.proto:331optional action_result = 1
rpc SetHome (, )
action.proto:173Set home. Sets the home position.
message
action.proto:335bool use_current_location = 1
Use current location
double latitude_deg = 2
Latitude (in degrees)
double longitude_deg = 3
Longitude (in degrees)
float absolute_altitude_m = 4
Altitude AMSL (in meters)
message
action.proto:341optional action_result = 1
rpc SetRelay (, )
action.proto:122Send command to set the value of a relay. The index of the relay starts at 0. For the relay value, 1=on, 0=off, others possible depending on system hardware
message
action.proto:275int32 index = 1
Index of relay (starting with 0)
RelayCommand setting = 2
Value to set the relay to
message
action.proto:279optional action_result = 1
Set the return to launch minimum return altitude (in meters).
message
action.proto:312float relative_altitude_m = 1
Return altitude relative to takeoff location (in meters)
message
action.proto:315optional action_result = 1
rpc SetTakeoffAltitude (, )
action.proto:146Set takeoff altitude (in meters above ground).
message
action.proto:299float altitude = 1
Takeoff altitude relative to ground/takeoff location (in meters)
message
action.proto:302optional action_result = 1
rpc Shutdown (, )
action.proto:63Send command to shut down the drone components. This will shut down the autopilot, onboard computer, camera and gimbal. This command should only be used when the autopilot is disarmed and autopilots commonly reject it if they are not already ready to shut down.
message
action.proto:206(message has no fields)
message
action.proto:207optional action_result = 1
rpc Takeoff (, )
action.proto:43Send command to take off and hover. This switches the drone into position control mode and commands it to take off and hover at the takeoff altitude. Note that the vehicle must be armed before it can take off.
message
action.proto:191(message has no fields)
message
action.proto:192optional action_result = 1
rpc Terminate (, )
action.proto:69Send command to terminate the drone. This will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).
message
action.proto:211(message has no fields)
message
action.proto:212optional action_result = 1
Send command to transition the drone to fixedwing. The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in fixedwing mode.
message
action.proto:283(message has no fields)
message
action.proto:284optional action_result = 1
Send command to transition the drone to multicopter. The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in multicopter mode.
message
action.proto:288(message has no fields)
message
action.proto:289optional action_result = 1
message
action.proto:346Result type.
Used in: , , , , , , , , , , , , , , , , , , , , , , ,
ActionResult.Result result = 1
Result enum value
string result_str = 2
Human-readable English string describing the result
Possible results returned for action requests.
Used in:
RESULT_UNKNOWN = 0
Unknown result
RESULT_SUCCESS = 1
Request was successful
RESULT_NO_SYSTEM = 2
No system is connected
RESULT_CONNECTION_ERROR = 3
Connection error
RESULT_BUSY = 4
Vehicle is busy
RESULT_COMMAND_DENIED = 5
Command refused by vehicle
RESULT_COMMAND_DENIED_LANDED_STATE_UNKNOWN = 6
Command refused because landed state is unknown
RESULT_COMMAND_DENIED_NOT_LANDED = 7
Command refused because vehicle not landed
RESULT_TIMEOUT = 8
Request timed out
RESULT_VTOL_TRANSITION_SUPPORT_UNKNOWN = 9
Hybrid/VTOL transition support is unknown
RESULT_NO_VTOL_TRANSITION_SUPPORT = 10
Vehicle does not support hybrid/VTOL transitions
RESULT_PARAMETER_ERROR = 11
Error getting or setting parameter
RESULT_UNSUPPORTED = 12
Action not supported
RESULT_FAILED = 13
Action failed
RESULT_INVALID_ARGUMENT = 14
Invalid argument
Yaw behaviour during orbit flight.
Used in:
ORBIT_YAW_BEHAVIOR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
Vehicle front points to the center (default)
ORBIT_YAW_BEHAVIOR_HOLD_INITIAL_HEADING = 1
Vehicle front holds heading when message received
ORBIT_YAW_BEHAVIOR_UNCONTROLLED = 2
Yaw uncontrolled
ORBIT_YAW_BEHAVIOR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
Vehicle front follows flight path (tangential to circle)
ORBIT_YAW_BEHAVIOR_RC_CONTROLLED = 4
Yaw controlled by RC input
Commanded values for relays
Used in:
RELAY_COMMAND_ON = 0
Turn the relay off
RELAY_COMMAND_OFF = 1
Turn the relay on.