package mavsdk.rpc.action_server
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Provide vehicle actions (as a server) such as arming, taking off, and landing.
Get which modes the vehicle can transition to (Manual always allowed)
message
action_server.proto:76(message has no fields)
message
action_server.proto:143optional flight_modes = 1
Can the vehicle takeoff
message
action_server.proto:45bool allow_takeoff = 1
Is takeoff allowed?
message
action_server.proto:139optional action_server_result = 1
Set which modes the vehicle can transition to (Manual always allowed)
message
action_server.proto:59optional flight_modes = 1
message
action_server.proto:135optional action_server_result = 1
rpc SetArmable (, )
action_server.proto:30Can the vehicle arm when requested
message
action_server.proto:49bool armable = 1
Is Armable now?
bool force_armable = 2
Is armable with force?
message
action_server.proto:127optional action_server_result = 1
rpc SetArmedState (, )
action_server.proto:38Set/override the armed/disarmed state of the vehicle directly, and notify subscribers
message
action_server.proto:64bool is_armed = 1
Is armed now?
message
action_server.proto:147optional action_server_result = 1
rpc SetDisarmable (, )
action_server.proto:32Can the vehicle disarm when requested
message
action_server.proto:54bool disarmable = 1
Is disarmable now?
bool force_disarmable = 2
Is disarmable with force? (Kill)
message
action_server.proto:131optional action_server_result = 1
rpc SetFlightMode (, )
action_server.proto:40Set/override the flight mode of the vehicle directly, and notify subscribers
message
action_server.proto:68FlightMode flight_mode = 1
Current vehicle flight mode, e.g. Takeoff/Mission/Land/etc.
message
action_server.proto:151optional action_server_result = 1
Set/override the flight mode of the vehicle directly, and *do not* notify subscribers
message
action_server.proto:72FlightMode flight_mode = 1
Current vehicle flight mode, e.g. Takeoff/Mission/Land/etc.
message
action_server.proto:155optional action_server_result = 1
rpc SubscribeArmDisarm (, stream )
action_server.proto:13Subscribe to ARM/DISARM commands
message
action_server.proto:78(message has no fields)
message
action_server.proto:92optional action_server_result = 1
optional arm = 2
rpc SubscribeFlightModeChange (, stream )
action_server.proto:15Subscribe to DO_SET_MODE
message
action_server.proto:80(message has no fields)
message
action_server.proto:97optional action_server_result = 1
FlightMode flight_mode = 2
rpc SubscribeLand (, stream )
action_server.proto:19Subscribe to land command
message
action_server.proto:84(message has no fields)
message
action_server.proto:107optional action_server_result = 1
bool land = 2
rpc SubscribeReboot (, stream )
action_server.proto:21Subscribe to reboot command
message
action_server.proto:86(message has no fields)
message
action_server.proto:112optional action_server_result = 1
bool reboot = 2
rpc SubscribeShutdown (, stream )
action_server.proto:23Subscribe to shutdown command
message
action_server.proto:88(message has no fields)
message
action_server.proto:117optional action_server_result = 1
bool shutdown = 2
rpc SubscribeTakeoff (, stream )
action_server.proto:17Subscribe to takeoff command
message
action_server.proto:82(message has no fields)
message
action_server.proto:102optional action_server_result = 1
bool takeoff = 2
rpc SubscribeTerminate (, stream )
action_server.proto:25Subscribe to terminate command
message
action_server.proto:90(message has no fields)
message
action_server.proto:122optional action_server_result = 1
bool terminate = 2
message
action_server.proto:201Result 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:161State 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:172Arming 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