package mavsdk.rpc.arm_authorizer_server

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Use arm authorization.

• rpc AcceptArmAuthorization (AcceptArmAuthorizationRequest, AcceptArmAuthorizationResponse)

  arm_authorizer_server.proto:16

  Authorize arm for the specific time

  message AcceptArmAuthorizationRequest

  arm_authorizer_server.proto:29

  Messages for RespondArmAuthorization

  • int32 valid_time_s = 1

    Time in seconds for which this authorization is valid

  message AcceptArmAuthorizationResponse

  arm_authorizer_server.proto:34

  Result type

  • optional ArmAuthorizerServerResult arm_authorizer_server_result = 1

    Result enum value

• rpc RejectArmAuthorization (RejectArmAuthorizationRequest, RejectArmAuthorizationResponse)

  arm_authorizer_server.proto:19

  Reject arm authorization request

  message RejectArmAuthorizationRequest

  arm_authorizer_server.proto:39

  Messages for RespondArmAuthorization

  • bool temporarily = 1

    True if the answer should be TEMPORARILY_REJECTED, false for DENIED

  • RejectionReason reason = 2

    Reason for the arm to be rejected

  • int32 extra_info = 3

    Extra information specific to the rejection reason (see https://mavlink.io/en/services/arm_authorization.html)

  message RejectArmAuthorizationResponse

  arm_authorizer_server.proto:46

  Result type

  • optional ArmAuthorizerServerResult arm_authorizer_server_result = 1

    Result enum value

• rpc SubscribeArmAuthorization (SubscribeArmAuthorizationRequest, stream ArmAuthorizationResponse)

  arm_authorizer_server.proto:13

  Subscribe to arm authorization request messages. Each request received should respond to using RespondArmAuthorization

  message SubscribeArmAuthorizationRequest

  arm_authorizer_server.proto:23

  Messages for SubscribeArmAuthorization

  (message has no fields)

  message ArmAuthorizationResponse

  arm_authorizer_server.proto:24

  • uint32 system_id = 1

    vehicle system id

Used in: AcceptArmAuthorizationResponse, RejectArmAuthorizationResponse

• ArmAuthorizerServerResult.Result result = 1

  Result enum value

• string result_str = 2

  Human-readable English string describing the result

The result

Used in: ArmAuthorizerServerResult

• RESULT_UNKNOWN = 0

  Unknown result

• RESULT_SUCCESS = 1

  Command accepted

• RESULT_FAILED = 2

  Command failed

The rejection reason

Used in: RejectArmAuthorizationRequest

• REJECTION_REASON_GENERIC = 0

  Not a specific reason

• REJECTION_REASON_NONE = 1

  Authorizer will send the error as string to GCS

• REJECTION_REASON_INVALID_WAYPOINT = 2

  At least one waypoint have a invalid value

• REJECTION_REASON_TIMEOUT = 3

  Timeout in the authorizer process(in case it depends on network)

• REJECTION_REASON_AIRSPACE_IN_USE = 4

  Airspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.

• REJECTION_REASON_BAD_WEATHER = 5

  Weather is not good to fly