package mavsdk.rpc.mission_raw_server

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Acts as a vehicle and receives incoming missions from GCS (in raw MAVLINK format). Provides current mission item state, so the server can progress through missions.

• rpc SetCurrentItemComplete (SetCurrentItemCompleteRequest, SetCurrentItemCompleteResponse)

  mission_raw_server.proto:26

  Set Current item as completed

  message SetCurrentItemCompleteRequest

  mission_raw_server.proto:50

  (message has no fields)

  message SetCurrentItemCompleteResponse

  mission_raw_server.proto:51

  (message has no fields)

• rpc SubscribeClearAll (SubscribeClearAllRequest, stream ClearAllResponse)

  mission_raw_server.proto:31

  Subscribe when a MISSION_CLEAR_ALL is received

  message SubscribeClearAllRequest

  mission_raw_server.proto:45

  (message has no fields)

  message ClearAllResponse

  mission_raw_server.proto:46

  • uint32 clear_type = 1

• rpc SubscribeCurrentItemChanged (SubscribeCurrentItemChangedRequest, stream CurrentItemChangedResponse)

  mission_raw_server.proto:21

  Subscribe to when a new current item is set

  message SubscribeCurrentItemChangedRequest

  mission_raw_server.proto:40

  (message has no fields)

  message CurrentItemChangedResponse

  mission_raw_server.proto:41

  • optional MissionItem mission_item = 1

• rpc SubscribeIncomingMission (SubscribeIncomingMissionRequest, stream IncomingMissionResponse)

  mission_raw_server.proto:16

  Subscribe to when a new mission is uploaded (asynchronous).

  message SubscribeIncomingMissionRequest

  mission_raw_server.proto:34

  (message has no fields)

  message IncomingMissionResponse

  mission_raw_server.proto:35

  • optional MissionRawServerResult mission_raw_server_result = 1

  • optional MissionPlan mission_plan = 2

    The mission plan

Mission item exactly identical to MAVLink MISSION_ITEM_INT.

Used in: CurrentItemChangedResponse, MissionPlan

• uint32 seq = 1

  Sequence (uint16_t)

• uint32 frame = 2

  The coordinate system of the waypoint (actually uint8_t)

• uint32 command = 3

  The scheduled action for the waypoint (actually uint16_t)

• uint32 current = 4

  false:0, true:1 (actually uint8_t)

• uint32 autocontinue = 5

  Autocontinue to next waypoint (actually uint8_t)

• float param1 = 6

  PARAM1, see MAV_CMD enum

• float param2 = 7

  PARAM2, see MAV_CMD enum

• float param3 = 8

  PARAM3, see MAV_CMD enum

• float param4 = 9

  PARAM4, see MAV_CMD enum

• int32 x = 10

  PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7

• int32 y = 11

  PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7

• float z = 12

  PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)

• uint32 mission_type = 13

  Mission type (actually uint8_t)

Mission plan type

Used in: IncomingMissionResponse

• repeated MissionItem mission_items = 1

  The mission items

Mission progress type.

• 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: IncomingMissionResponse

• MissionRawServerResult.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: MissionRawServerResult

• 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 or instructions on the next steps