package mavsdk.rpc.mission

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Enable waypoint missions.

• rpc CancelMissionDownload (CancelMissionDownloadRequest, CancelMissionDownloadResponse)

  mission.proto:53

  Cancel an ongoing mission download.

  message CancelMissionDownloadRequest

  mission.proto:139

  (message has no fields)

  message CancelMissionDownloadResponse

  mission.proto:140

  • optional MissionResult mission_result = 1

• rpc CancelMissionUpload (CancelMissionUploadRequest, CancelMissionUploadResponse)

  mission.proto:32

  Cancel an ongoing mission upload.

  message CancelMissionUploadRequest

  mission.proto:122

  (message has no fields)

  message CancelMissionUploadResponse

  mission.proto:123

  • optional MissionResult mission_result = 1

• rpc ClearMission (ClearMissionRequest, ClearMissionResponse)

  mission.proto:72

  Clear the mission saved on the vehicle.

  message ClearMissionRequest

  mission.proto:154

  (message has no fields)

  message ClearMissionResponse

  mission.proto:155

  • optional MissionResult mission_result = 1

• rpc DownloadMission (DownloadMissionRequest, DownloadMissionResponse)

  mission.proto:39

  Download a list of mission items from the system (asynchronous). Will fail if any of the downloaded mission items are not supported by the MAVSDK API.

  message DownloadMissionRequest

  mission.proto:127

  (message has no fields)

  message DownloadMissionResponse

  mission.proto:128

  • optional MissionResult mission_result = 1

  • optional MissionPlan mission_plan = 2

    The mission plan

• rpc GetReturnToLaunchAfterMission (GetReturnToLaunchAfterMissionRequest, GetReturnToLaunchAfterMissionResponse)

  mission.proto:97

  Get whether to trigger Return-to-Launch (RTL) after mission is complete. Before getting this option, it needs to be set, or a mission needs to be downloaded.

  message GetReturnToLaunchAfterMissionRequest

  mission.proto:177

  (message has no fields)

  message GetReturnToLaunchAfterMissionResponse

  mission.proto:178

  • optional MissionResult mission_result = 1

  • bool enable = 2

    If true, trigger an RTL at the end of the mission

• rpc IsMissionFinished (IsMissionFinishedRequest, IsMissionFinishedResponse)

  mission.proto:86

  Check if the mission has been finished.

  message IsMissionFinishedRequest

  mission.proto:166

  (message has no fields)

  message IsMissionFinishedResponse

  mission.proto:167

  • optional MissionResult mission_result = 1

  • bool is_finished = 2

    True if the mission is finished and the last mission item has been reached

• rpc PauseMission (PauseMissionRequest, PauseMissionResponse)

  mission.proto:68

  Pause the mission. Pausing the mission puts the vehicle into [HOLD mode](https://docs.px4.io/en/flight_modes/hold.html). A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.

  message PauseMissionRequest

  mission.proto:149

  (message has no fields)

  message PauseMissionResponse

  mission.proto:150

  • optional MissionResult mission_result = 1

• rpc SetCurrentMissionItem (SetCurrentMissionItemRequest, SetCurrentMissionItemResponse)

  mission.proto:82

  Sets the mission item index to go to. By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a mission item, the mission will be set to this item. Note that this is not necessarily true for general missions using MAVLink if loop counters are used.

  message SetCurrentMissionItemRequest

  mission.proto:159

  • int32 index = 1

    Index of the mission item to be set as the next one (0-based)

  message SetCurrentMissionItemResponse

  mission.proto:162

  • optional MissionResult mission_result = 1

• rpc SetReturnToLaunchAfterMission (SetReturnToLaunchAfterMissionRequest, SetReturnToLaunchAfterMissionResponse)

  mission.proto:104

  Set whether to trigger Return-to-Launch (RTL) after the mission is complete. This will only take effect for the next mission upload, meaning that the mission may have to be uploaded again.

  message SetReturnToLaunchAfterMissionRequest

  mission.proto:183

  • bool enable = 1

    If true, trigger an RTL at the end of the mission

  message SetReturnToLaunchAfterMissionResponse

  mission.proto:186

  • optional MissionResult mission_result = 1

• rpc StartMission (StartMissionRequest, StartMissionResponse)

  mission.proto:59

  Start the mission. A mission must be uploaded to the vehicle before this can be called.

  message StartMissionRequest

  mission.proto:144

  (message has no fields)

  message StartMissionResponse

  mission.proto:145

  • optional MissionResult mission_result = 1

• rpc SubscribeDownloadMissionWithProgress (SubscribeDownloadMissionWithProgressRequest, stream DownloadMissionWithProgressResponse)

  mission.proto:46

  Download a list of mission items from the system (asynchronous) and report progress. Will fail if any of the downloaded mission items are not supported by the MAVSDK API.

  message SubscribeDownloadMissionWithProgressRequest

  mission.proto:133

  (message has no fields)

  message DownloadMissionWithProgressResponse

  mission.proto:134

  • optional MissionResult mission_result = 1

  • optional ProgressDataOrMission progress_data = 2

    The progress data, or the mission plan (when the download is finished)

• rpc SubscribeMissionProgress (SubscribeMissionProgressRequest, stream MissionProgressResponse)

  mission.proto:90

  Subscribe to mission progress updates.

  message SubscribeMissionProgressRequest

  mission.proto:172

  (message has no fields)

  message MissionProgressResponse

  mission.proto:173

  • optional MissionProgress mission_progress = 1

    Mission progress

• rpc SubscribeUploadMissionWithProgress (SubscribeUploadMissionWithProgressRequest, stream UploadMissionWithProgressResponse)

  mission.proto:25

  Upload a list of mission items to the system and report upload progress. The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

  message SubscribeUploadMissionWithProgressRequest

  mission.proto:114

  • optional MissionPlan mission_plan = 1

    The mission plan

  message UploadMissionWithProgressResponse

  mission.proto:117

  • optional MissionResult mission_result = 1

  • optional ProgressData progress_data = 2

    The progress data

• rpc UploadMission (UploadMissionRequest, UploadMissionResponse)

  mission.proto:18

  Upload a list of mission items to the system. The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

  message UploadMissionRequest

  mission.proto:107

  • optional MissionPlan mission_plan = 1

    The mission plan

  message UploadMissionResponse

  mission.proto:110

  • optional MissionResult mission_result = 1

Type representing a mission item. A MissionItem can contain a position and/or actions. Mission items are building blocks to assemble a mission, which can be sent to (or received from) a system. They cannot be used independently.

Used in: MissionPlan

• double latitude_deg = 1

  Latitude in degrees (range: -90 to +90)

• double longitude_deg = 2

  Longitude in degrees (range: -180 to +180)

• float relative_altitude_m = 3

  Altitude relative to takeoff altitude in metres

• float speed_m_s = 4

  Speed to use after this mission item (in metres/second)

• bool is_fly_through = 5

  True will make the drone fly through without stopping, while false will make the drone stop on the waypoint

• float gimbal_pitch_deg = 6

  Gimbal pitch (in degrees)

• float gimbal_yaw_deg = 7

  Gimbal yaw (in degrees)

• MissionItem.CameraAction camera_action = 8

  Camera action to trigger at this mission item

• float loiter_time_s = 9

  Loiter time (in seconds)

• double camera_photo_interval_s = 10

  Camera photo interval to use after this mission item (in seconds)

• float acceptance_radius_m = 11

  Radius for completing a mission item (in metres)

• float yaw_deg = 12

  Absolute yaw angle (in degrees)

• float camera_photo_distance_m = 13

  Camera photo distance to use after this mission item (in meters)

• MissionItem.VehicleAction vehicle_action = 14

  Vehicle action to trigger at this mission item.

Possible camera actions at a mission item.

Used in: MissionItem

• CAMERA_ACTION_NONE = 0

  No action

• CAMERA_ACTION_TAKE_PHOTO = 1

  Take a single photo

• CAMERA_ACTION_START_PHOTO_INTERVAL = 2

  Start capturing photos at regular intervals

• CAMERA_ACTION_STOP_PHOTO_INTERVAL = 3

  Stop capturing photos at regular intervals

• CAMERA_ACTION_START_VIDEO = 4

  Start capturing video

• CAMERA_ACTION_STOP_VIDEO = 5

  Stop capturing video

• CAMERA_ACTION_START_PHOTO_DISTANCE = 6

  Start capturing photos at regular distance

• CAMERA_ACTION_STOP_PHOTO_DISTANCE = 7

  Stop capturing photos at regular distance

Possible vehicle actions at a mission item

Used in: MissionItem

• VEHICLE_ACTION_NONE = 0

  No action

• VEHICLE_ACTION_TAKEOFF = 1

  Vehicle will takeoff and go to defined waypoint

• VEHICLE_ACTION_LAND = 2

  When a waypoint is reached vehicle will land at current position

• VEHICLE_ACTION_TRANSITION_TO_FW = 3

  When a waypoint is reached vehicle will transition to fixed-wing mode

• VEHICLE_ACTION_TRANSITION_TO_MC = 4

  When a waypoint is reached vehicle will transition to multi-copter mode

Mission plan type

Used in: DownloadMissionResponse, ProgressDataOrMission, SubscribeUploadMissionWithProgressRequest, UploadMissionRequest

• repeated MissionItem mission_items = 1

  The mission items

Mission progress type.

Used in: MissionProgressResponse

• int32 current = 1

  Current mission item index (0-based), if equal to total, the mission is finished

• int32 total = 2

  Total number of mission items

Result type.

Used in: CancelMissionDownloadResponse, CancelMissionUploadResponse, ClearMissionResponse, DownloadMissionResponse, DownloadMissionWithProgressResponse, GetReturnToLaunchAfterMissionResponse, IsMissionFinishedResponse, PauseMissionResponse, SetCurrentMissionItemResponse, SetReturnToLaunchAfterMissionResponse, StartMissionResponse, UploadMissionResponse, UploadMissionWithProgressResponse

• MissionResult.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: MissionResult

• RESULT_UNKNOWN = 0

  Unknown result

• RESULT_SUCCESS = 1

  Request succeeded

• RESULT_ERROR = 2

  Error

• RESULT_TOO_MANY_MISSION_ITEMS = 3

  Too many mission items in the mission

• RESULT_BUSY = 4

  Vehicle is busy

• RESULT_TIMEOUT = 5

  Request timed out

• RESULT_INVALID_ARGUMENT = 6

  Invalid argument

• RESULT_UNSUPPORTED = 7

  Mission downloaded from the system is not supported

• RESULT_NO_MISSION_AVAILABLE = 8

  No mission available on the system

• RESULT_UNSUPPORTED_MISSION_CMD = 11

  Unsupported mission command

• RESULT_TRANSFER_CANCELLED = 12

  Mission transfer (upload or download) has been cancelled

• RESULT_NO_SYSTEM = 13

  No system connected

• RESULT_NEXT = 14

  Intermediate message showing progress

• RESULT_DENIED = 15

  Request denied

• RESULT_PROTOCOL_ERROR = 16

  There was a protocol error

• RESULT_INT_MESSAGES_NOT_SUPPORTED = 17

  The system does not support the MISSION_INT protocol

Progress data coming from mission upload.

Used in: UploadMissionWithProgressResponse

• float progress = 1

  Progress (0..1.0)

Progress data coming from mission download, or the mission itself (if the transfer succeeds).

Used in: DownloadMissionWithProgressResponse

• bool has_progress = 1

  Whether this ProgressData contains a 'progress' status or not

• float progress = 2

  Progress (0..1.0)

• bool has_mission = 3

  Whether this ProgressData contains a 'mission_plan' or not

• optional MissionPlan mission_plan = 4

  Mission plan