package mavsdk.rpc.action_server
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Provide vehicle actions (as a server) such as arming, taking off, and landing. The flight mode API is deprecated, use the ModesServer plugin instead. Once ModesServer has modes set, mode change requests are left to it.
Get which modes the vehicle can transition to (Manual always allowed) (deprecated, use the ModesServer plugin instead)
message
action_server.proto:79(message has no fields)
message
action_server.proto:146optional flight_modes = 1
Can the vehicle takeoff
message
action_server.proto:48bool allow_takeoff = 1
Is takeoff allowed?
message
action_server.proto:142optional action_server_result = 1
Set which modes the vehicle can transition to (Manual always allowed) (deprecated, use the ModesServer plugin instead)
message
action_server.proto:62optional flight_modes = 1
message
action_server.proto:138optional action_server_result = 1
rpc SetArmable (, )
action_server.proto:33Can the vehicle arm when requested
message
action_server.proto:52bool armable = 1
Is Armable now?
bool force_armable = 2
Is armable with force?
message
action_server.proto:130optional action_server_result = 1
rpc SetArmedState (, )
action_server.proto:41Set/override the armed/disarmed state of the vehicle directly, and notify subscribers
message
action_server.proto:67bool is_armed = 1
Is armed now?
message
action_server.proto:150optional action_server_result = 1
rpc SetDisarmable (, )
action_server.proto:35Can the vehicle disarm when requested
message
action_server.proto:57bool disarmable = 1
Is disarmable now?
bool force_disarmable = 2
Is disarmable with force? (Kill)
message
action_server.proto:134optional action_server_result = 1
rpc SetFlightMode (, )
action_server.proto:43Set/override the flight mode of the vehicle directly, and notify subscribers (deprecated, use the ModesServer plugin instead)
message
action_server.proto:71FlightMode flight_mode = 1
Current vehicle flight mode, e.g. Takeoff/Mission/Land/etc.
message
action_server.proto:154optional action_server_result = 1
Set/override the flight mode of the vehicle directly, and *do not* notify subscribers (deprecated, use the ModesServer plugin instead)
message
action_server.proto:75FlightMode flight_mode = 1
Current vehicle flight mode, e.g. Takeoff/Mission/Land/etc.
message
action_server.proto:158optional action_server_result = 1
rpc SubscribeArmDisarm (, stream )
action_server.proto:16Subscribe to ARM/DISARM commands
message
action_server.proto:81(message has no fields)
message
action_server.proto:95optional action_server_result = 1
optional arm = 2
rpc SubscribeFlightModeChange (, stream )
action_server.proto:18Subscribe to DO_SET_MODE (deprecated, use the ModesServer plugin instead)
message
action_server.proto:83(message has no fields)
message
action_server.proto:100optional action_server_result = 1
FlightMode flight_mode = 2
rpc SubscribeLand (, stream )
action_server.proto:22Subscribe to land command
message
action_server.proto:87(message has no fields)
message
action_server.proto:110optional action_server_result = 1
bool land = 2
rpc SubscribeReboot (, stream )
action_server.proto:24Subscribe to reboot command
message
action_server.proto:89(message has no fields)
message
action_server.proto:115optional action_server_result = 1
bool reboot = 2
rpc SubscribeShutdown (, stream )
action_server.proto:26Subscribe to shutdown command
message
action_server.proto:91(message has no fields)
message
action_server.proto:120optional action_server_result = 1
bool shutdown = 2
rpc SubscribeTakeoff (, stream )
action_server.proto:20Subscribe to takeoff command
message
action_server.proto:85(message has no fields)
message
action_server.proto:105optional action_server_result = 1
bool takeoff = 2
rpc SubscribeTerminate (, stream )
action_server.proto:28Subscribe to terminate command
message
action_server.proto:93(message has no fields)
message
action_server.proto:125optional action_server_result = 1
bool terminate = 2
message
action_server.proto:204Result type.
Used in: , , , , , , , , , , , , ,
ActionServerResult.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_NEXT = 12
Intermediate message showing progress or instructions on the next steps
message
action_server.proto:164State to check if the vehicle can transition to respective flightmodes
Used in: ,
bool can_auto_mode = 1
Auto/mission mode
bool can_guided_mode = 2
Guided mode
bool can_stabilize_mode = 3
Stabilize mode
bool can_auto_rtl_mode = 4
Auto RTL mode
bool can_auto_takeoff_mode = 5
Auto takeoff mode
bool can_auto_land_mode = 6
Auto land mode
bool can_auto_loiter_mode = 7
Auto hold/loiter mode
message
action_server.proto:175Arming message type
Used in:
bool arm = 1
Should vehicle arm
bool force = 2
Should arm override pre-flight checks
Flight modes. For more information about flight modes, check out https://docs.px4.io/main/en/config/flight_mode.html.
Used in: , ,
FLIGHT_MODE_UNKNOWN = 0
Mode not known
FLIGHT_MODE_READY = 1
Armed and ready to take off
FLIGHT_MODE_TAKEOFF = 2
Taking off
FLIGHT_MODE_HOLD = 3
Holding (hovering in place (or circling for fixed-wing vehicles)
FLIGHT_MODE_MISSION = 4
In mission
FLIGHT_MODE_RETURN_TO_LAUNCH = 5
Returning to launch position (then landing)
FLIGHT_MODE_LAND = 6
Landing
FLIGHT_MODE_OFFBOARD = 7
In 'offboard' mode
FLIGHT_MODE_FOLLOW_ME = 8
In 'follow-me' mode
FLIGHT_MODE_MANUAL = 9
In 'Manual' mode
FLIGHT_MODE_ALTCTL = 10
In 'Altitude Control' mode
FLIGHT_MODE_POSCTL = 11
In 'Position Control' mode
FLIGHT_MODE_ACRO = 12
In 'Acro' mode
FLIGHT_MODE_STABILIZED = 13
In 'Stabilize' mode