package mavsdk.rpc.telemetry_server

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Allow users to provide vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates.

• rpc PublishAttitude (PublishAttitudeRequest, PublishAttitudeResponse)

  telemetry_server.proto:46

  Publish to "attitude" updates.

  message PublishAttitudeRequest

  telemetry_server.proto:132

  • optional EulerAngle angle = 1

    roll/pitch/yaw body angles

  • optional AngularVelocityBody angular_velocity = 2

    roll/pitch/yaw angular velocities

  message PublishAttitudeResponse

  telemetry_server.proto:203

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishBattery (PublishBatteryRequest, PublishBatteryResponse)

  telemetry_server.proto:26

  Publish to 'battery' updates.

  message PublishBatteryRequest

  telemetry_server.proto:88

  • optional Battery battery = 1

    The next 'battery' state

  message PublishBatteryResponse

  telemetry_server.proto:161

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishDistanceSensor (PublishDistanceSensorRequest, PublishDistanceSensorResponse)

  telemetry_server.proto:44

  Publish to "distance sensor" updates.

  message PublishDistanceSensorRequest

  telemetry_server.proto:128

  • optional DistanceSensor distance_sensor = 1

    The next 'Distance Sensor' status

  message PublishDistanceSensorResponse

  telemetry_server.proto:199

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishExtendedSysState (PublishExtendedSysStateRequest, PublishExtendedSysStateResponse)

  telemetry_server.proto:22

  Publish 'extended sys state' updates.

  message PublishExtendedSysStateRequest

  telemetry_server.proto:70

  • VtolState vtol_state = 1

  • LandedState landed_state = 2

  message PublishExtendedSysStateResponse

  telemetry_server.proto:153

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishGroundTruth (PublishGroundTruthRequest, PublishGroundTruthResponse)

  telemetry_server.proto:34

  Publish to 'ground truth' updates.

  message PublishGroundTruthRequest

  telemetry_server.proto:108

  • optional GroundTruth ground_truth = 1

    Ground truth position information available in simulation

  message PublishGroundTruthResponse

  telemetry_server.proto:178

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishHome (PublishHomeRequest, PublishHomeResponse)

  telemetry_server.proto:18

  Publish to 'home position' updates.

  message PublishHomeRequest

  telemetry_server.proto:57

  • optional Position home = 1

    The next home position

  message PublishHomeResponse

  telemetry_server.proto:145

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishImu (PublishImuRequest, PublishImuResponse)

  telemetry_server.proto:36

  Publish to 'IMU' updates (in SI units in NED body frame).

  message PublishImuRequest

  telemetry_server.proto:112

  • optional Imu imu = 1

    The next IMU status

  message PublishImuResponse

  telemetry_server.proto:182

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishOdometry (PublishOdometryRequest, PublishOdometryResponse)

  telemetry_server.proto:30

  Publish to 'odometry' updates.

  message PublishOdometryRequest

  telemetry_server.proto:100

  • optional Odometry odometry = 1

    The next odometry status

  message PublishOdometryResponse

  telemetry_server.proto:170

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishPosition (PublishPositionRequest, PublishPositionResponse)

  telemetry_server.proto:16

  Publish to 'position' updates.

  message PublishPositionRequest

  telemetry_server.proto:51

  • optional Position position = 1

    The next position

  • optional VelocityNed velocity_ned = 2

    The next velocity (NED)

  • optional Heading heading = 3

    Heading (yaw) in degrees

  message PublishPositionResponse

  telemetry_server.proto:141

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishPositionVelocityNed (PublishPositionVelocityNedRequest, PublishPositionVelocityNedResponse)

  telemetry_server.proto:32

  Publish to 'position velocity' updates.

  message PublishPositionVelocityNedRequest

  telemetry_server.proto:104

  • optional PositionVelocityNed position_velocity_ned = 1

    The next position and velocity status

  message PublishPositionVelocityNedResponse

  telemetry_server.proto:174

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishRawGps (PublishRawGpsRequest, PublishRawGpsResponse)

  telemetry_server.proto:24

  Publish to 'Raw GPS' updates.

  message PublishRawGpsRequest

  telemetry_server.proto:83

  • optional RawGps raw_gps = 1

    The next 'Raw GPS' state. Warning: this is an advanced feature, use `Position` updates to get the location of the drone!

  • optional GpsInfo gps_info = 2

    The next 'GPS info' state

  message PublishRawGpsResponse

  telemetry_server.proto:157

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishRawImu (PublishRawImuRequest, PublishRawImuResponse)

  telemetry_server.proto:40

  Publish to 'Raw IMU' updates.

  message PublishRawImuRequest

  telemetry_server.proto:120

  • optional Imu imu = 1

    The next raw IMU status

  message PublishRawImuResponse

  telemetry_server.proto:190

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishScaledImu (PublishScaledImuRequest, PublishScaledImuResponse)

  telemetry_server.proto:38

  Publish to 'Scaled IMU' updates.

  message PublishScaledImuRequest

  telemetry_server.proto:116

  • optional Imu imu = 1

    The next scaled IMU status

  message PublishScaledImuResponse

  telemetry_server.proto:186

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishStatusText (PublishStatusTextRequest, PublishStatusTextResponse)

  telemetry_server.proto:28

  Publish to 'status text' updates.

  message PublishStatusTextRequest

  telemetry_server.proto:96

  • optional StatusText status_text = 1

    The next 'status text'

  message PublishStatusTextResponse

  telemetry_server.proto:166

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishSysStatus (PublishSysStatusRequest, PublishSysStatusResponse)

  telemetry_server.proto:20

  Publish 'sys status' updates.

  message PublishSysStatusRequest

  telemetry_server.proto:61

  • optional Battery battery = 1

    The next 'battery' state

  • bool rc_receiver_status = 2

    rc receiver status

  • bool gyro_status = 3

  • bool accel_status = 4

  • bool mag_status = 5

  • bool gps_status = 6

  message PublishSysStatusResponse

  telemetry_server.proto:149

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishUnixEpochTime (PublishUnixEpochTimeRequest, PublishUnixEpochTimeResponse)

  telemetry_server.proto:42

  Publish to 'unix epoch time' updates.

  message PublishUnixEpochTimeRequest

  telemetry_server.proto:124

  • uint64 time_us = 1

    The next 'unix epoch time' status

  message PublishUnixEpochTimeResponse

  telemetry_server.proto:195

  • optional TelemetryServerResult telemetry_server_result = 1

• rpc PublishVisualFlightRulesHud (PublishVisualFlightRulesHudRequest, PublishVisualFlightRulesHudResponse)

  telemetry_server.proto:48

  Publish to "Visual Flight Rules HUD" updates.

  message PublishVisualFlightRulesHudRequest

  telemetry_server.proto:137

  • optional FixedwingMetrics fixed_wing_metrics = 1

  message PublishVisualFlightRulesHudResponse

  telemetry_server.proto:207

  • optional TelemetryServerResult telemetry_server_result = 1

AccelerationFrd message type.

Used in: Imu

• float forward_m_s2 = 1

  Acceleration in forward direction in metres per second^2

• float right_m_s2 = 2

  Acceleration in right direction in metres per second^2

• float down_m_s2 = 3

  Acceleration in down direction in metres per second^2

Actuator control target type.

• int32 group = 1

  An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.

• repeated float controls = 2

  Controls normed from -1 to 1, where 0 is neutral position.

Actuator output status type.

• uint32 active = 1

  Active outputs

• repeated float actuator = 2

  Servo/motor output values

Angular velocity type.

Used in: Odometry, PublishAttitudeRequest

• float roll_rad_s = 1

  Roll angular velocity

• float pitch_rad_s = 2

  Pitch angular velocity

• float yaw_rad_s = 3

  Yaw angular velocity

AngularVelocityFrd message type.

Used in: Imu

• float forward_rad_s = 1

  Angular velocity in forward direction in radians per second

• float right_rad_s = 2

  Angular velocity in right direction in radians per second

• float down_rad_s = 3

  Angular velocity in Down direction in radians per second

Battery type.

Used in: PublishBatteryRequest, PublishSysStatusRequest

• float voltage_v = 1

  Voltage in volts

• float remaining_percent = 2

  Estimated battery remaining (range: 0.0 to 1.0)

Covariance type. Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Set first to NaN if unknown.

Used in: Odometry

• repeated float covariance_matrix = 1

  Representation of a covariance matrix.

DistanceSensor message type.

Used in: PublishDistanceSensorRequest

• float minimum_distance_m = 1

  Minimum distance the sensor can measure, NaN if unknown.

• float maximum_distance_m = 2

  Maximum distance the sensor can measure, NaN if unknown.

• float current_distance_m = 3

  Current distance reading, NaN if unknown.

Euler angle type. All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence. For more info see https://en.wikipedia.org/wiki/Euler_angles

Used in: PublishAttitudeRequest

• float roll_deg = 1

  Roll angle in degrees, positive is banking to the right

• float pitch_deg = 2

  Pitch angle in degrees, positive is pitching nose up

• float yaw_deg = 3

  Yaw angle in degrees, positive is clock-wise seen from above

• uint64 timestamp_us = 4

  Timestamp in microseconds

GPS fix type.

Used in: GpsInfo

• FIX_TYPE_NO_GPS = 0

  No GPS connected

• FIX_TYPE_NO_FIX = 1

  No position information, GPS is connected

• FIX_TYPE_FIX_2D = 2

  2D position

• FIX_TYPE_FIX_3D = 3

  3D position

• FIX_TYPE_FIX_DGPS = 4

  DGPS/SBAS aided 3D position

• FIX_TYPE_RTK_FLOAT = 5

  RTK float, 3D position

• FIX_TYPE_RTK_FIXED = 6

  RTK Fixed, 3D position

FixedwingMetrics message type.

Used in: PublishVisualFlightRulesHudRequest

• float airspeed_m_s = 1

  Current indicated airspeed (IAS) in metres per second

• float throttle_percentage = 2

  Current throttle setting (0 to 100)

• float climb_rate_m_s = 3

  Current climb rate in metres per second

• float groundspeed_m_s = 4

  Current groundspeed metres per second

• float heading_deg = 5

  Current heading in compass units (0-360, 0=north)

• float absolute_altitude_m = 6

  Current altitude in metres (MSL)

GPS information type.

Used in: PublishRawGpsRequest

• int32 num_satellites = 1

  Number of visible satellites in use

• FixType fix_type = 2

  Fix type

GroundTruth message type.

Used in: PublishGroundTruthRequest

• double latitude_deg = 1

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

• double longitude_deg = 2

  Longitude in degrees (range: -180 to 180)

• float absolute_altitude_m = 3

  Altitude AMSL (above mean sea level) in metres

• uint64 timestamp_us = 4

  Timestamp in microseconds (since system boot)

Heading type used for global position

Used in: PublishPositionRequest

• double heading_deg = 1

  Heading in degrees (range: 0 to +360)

Imu message type.

Used in: PublishImuRequest, PublishRawImuRequest, PublishScaledImuRequest

• optional AccelerationFrd acceleration_frd = 1

  Acceleration

• optional AngularVelocityFrd angular_velocity_frd = 2

  Angular velocity

• optional MagneticFieldFrd magnetic_field_frd = 3

  Magnetic field

• float temperature_degc = 4

  Temperature

• uint64 timestamp_us = 5

  Timestamp in microseconds

Landed State enumeration.

Used in: PublishExtendedSysStateRequest, PublishLandedStateRequest

• LANDED_STATE_UNKNOWN = 0

  Landed state is unknown

• LANDED_STATE_ON_GROUND = 1

  The vehicle is on the ground

• LANDED_STATE_IN_AIR = 2

  The vehicle is in the air

• LANDED_STATE_TAKING_OFF = 3

  The vehicle is taking off

• LANDED_STATE_LANDING = 4

  The vehicle is landing

MagneticFieldFrd message type.

Used in: Imu

• float forward_gauss = 1

  Magnetic field in forward direction measured in Gauss

• float right_gauss = 2

  Magnetic field in East direction measured in Gauss

• float down_gauss = 3

  Magnetic field in Down direction measured in Gauss

Odometry message type.

Used in: PublishOdometryRequest

• uint64 time_usec = 1

  Timestamp (0 to use Backend timestamp).

• Odometry.MavFrame frame_id = 2

  Coordinate frame of reference for the pose data.

• Odometry.MavFrame child_frame_id = 3

  Coordinate frame of reference for the velocity in free space (twist) data.

• optional PositionBody position_body = 4

  Position.

• optional Quaternion q = 5

  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

• optional VelocityBody velocity_body = 6

  Linear velocity (m/s).

• optional AngularVelocityBody angular_velocity_body = 7

  Angular velocity (rad/s).

• optional Covariance pose_covariance = 8

  Pose cross-covariance matrix.

• optional Covariance velocity_covariance = 9

  Velocity cross-covariance matrix.

Mavlink frame id

Used in: Odometry

• MAV_FRAME_UNDEF = 0

  Frame is undefined.

• MAV_FRAME_BODY_NED = 8

  Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.

• MAV_FRAME_VISION_NED = 16

  Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down).

• MAV_FRAME_ESTIM_NED = 18

  Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).

Position type in global coordinates.

Used in: PublishHomeRequest, PublishPositionRequest

• double latitude_deg = 1

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

• double longitude_deg = 2

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

• float absolute_altitude_m = 3

  Altitude AMSL (above mean sea level) in metres

• float relative_altitude_m = 4

  Altitude relative to takeoff altitude in metres

Position type, represented in the Body (X Y Z) frame

Used in: Odometry

• float x_m = 1

  X Position in metres.

• float y_m = 2

  Y Position in metres.

• float z_m = 3

  Z Position in metres.

PositionNed message type.

Used in: PositionVelocityNed

• float north_m = 1

  Position along north direction in metres

• float east_m = 2

  Position along east direction in metres

• float down_m = 3

  Position along down direction in metres

PositionVelocityNed message type.

Used in: PublishPositionVelocityNedRequest

• optional PositionNed position = 1

  Position (NED)

• optional VelocityNed velocity = 2

  Velocity (NED)

• bool is_in_air = 1

  The next 'in-air' state

• LandedState landed_state = 1

  The next 'landed' state

• optional RcStatus rc_status = 1

  The next RC status

Quaternion type. All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk. For more info see: https://en.wikipedia.org/wiki/Quaternion

Used in: Odometry

• float w = 1

  Quaternion entry 0, also denoted as a

• float x = 2

  Quaternion entry 1, also denoted as b

• float y = 3

  Quaternion entry 2, also denoted as c

• float z = 4

  Quaternion entry 3, also denoted as d

• uint64 timestamp_us = 5

  Timestamp in microseconds

Raw GPS information type. Warning: this is an advanced type! If you want the location of the drone, use the position instead. This message exposes the raw values of the GNSS sensor.

Used in: PublishRawGpsRequest

• uint64 timestamp_us = 1

  Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)

• double latitude_deg = 2

  Latitude in degrees (WGS84, EGM96 ellipsoid)

• double longitude_deg = 3

  Longitude in degrees (WGS84, EGM96 ellipsoid)

• float absolute_altitude_m = 4

  Altitude AMSL (above mean sea level) in metres

• float hdop = 5

  GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN

• float vdop = 6

  GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN

• float velocity_m_s = 7

  Ground velocity in metres per second

• float cog_deg = 8

  Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN

• float altitude_ellipsoid_m = 9

  Altitude in metres (above WGS84, EGM96 ellipsoid)

• float horizontal_uncertainty_m = 10

  Position uncertainty in metres

• float vertical_uncertainty_m = 11

  Altitude uncertainty in metres

• float velocity_uncertainty_m_s = 12

  Velocity uncertainty in metres per second

• float heading_uncertainty_deg = 13

  Heading uncertainty in degrees

• float yaw_deg = 14

  Yaw in earth frame from north.

Remote control status type.

Used in: PublishRcStatusRequest

• bool was_available_once = 1

  True if an RC signal has been available once

• bool is_available = 2

  True if the RC signal is available now

• float signal_strength_percent = 3

  Signal strength (range: 0 to 100, NaN if unknown)

Scaled Pressure message type.

• uint64 timestamp_us = 1

  Timestamp (time since system boot)

• float absolute_pressure_hpa = 2

  Absolute pressure in hPa

• float differential_pressure_hpa = 3

  Differential pressure 1 in hPa

• float temperature_deg = 4

  Absolute pressure temperature (in celsius)

• float differential_pressure_temperature_deg = 5

  Differential pressure temperature (in celsius, 0 if not available)

StatusText information type.

Used in: PublishStatusTextRequest

• StatusTextType type = 1

  Message type

• string text = 2

  MAVLink status message

Status types.

Used in: StatusText

• STATUS_TEXT_TYPE_DEBUG = 0

  Debug

• STATUS_TEXT_TYPE_INFO = 1

  Information

• STATUS_TEXT_TYPE_NOTICE = 2

  Notice

• STATUS_TEXT_TYPE_WARNING = 3

  Warning

• STATUS_TEXT_TYPE_ERROR = 4

  Error

• STATUS_TEXT_TYPE_CRITICAL = 5

  Critical

• STATUS_TEXT_TYPE_ALERT = 6

  Alert

• STATUS_TEXT_TYPE_EMERGENCY = 7

  Emergency

Result type.

Used in: PublishAttitudeResponse, PublishBatteryResponse, PublishDistanceSensorResponse, PublishExtendedSysStateResponse, PublishGroundTruthResponse, PublishHomeResponse, PublishImuResponse, PublishOdometryResponse, PublishPositionResponse, PublishPositionVelocityNedResponse, PublishRawGpsResponse, PublishRawImuResponse, PublishScaledImuResponse, PublishStatusTextResponse, PublishSysStatusResponse, PublishUnixEpochTimeResponse, PublishVisualFlightRulesHudResponse

• TelemetryServerResult.Result result = 1

  Result enum value

• string result_str = 2

  Human-readable English string describing the result

Possible results returned for telemetry requests.

Used in: TelemetryServerResult

• RESULT_UNKNOWN = 0

  Unknown result

• RESULT_SUCCESS = 1

  Success: the telemetry command was accepted by the vehicle

• RESULT_NO_SYSTEM = 2

  No system connected

• RESULT_CONNECTION_ERROR = 3

  Connection error

• RESULT_BUSY = 4

  Vehicle is busy

• RESULT_COMMAND_DENIED = 5

  Command refused by vehicle

• RESULT_TIMEOUT = 6

  Request timed out

• RESULT_UNSUPPORTED = 7

  Request not supported

Velocity type, represented in the Body (X Y Z) frame and in metres/second.

Used in: Odometry

• float x_m_s = 1

  Velocity in X in metres/second

• float y_m_s = 2

  Velocity in Y in metres/second

• float z_m_s = 3

  Velocity in Z in metres/second

VelocityNed message type.

Used in: PositionVelocityNed, PublishPositionRequest

• float north_m_s = 1

  Velocity along north direction in metres per second

• float east_m_s = 2

  Velocity along east direction in metres per second

• float down_m_s = 3

  Velocity along down direction in metres per second

Maps to MAV_VTOL_STATE

Used in: PublishExtendedSysStateRequest

• VTOL_STATE_UNDEFINED = 0

  Not VTOL

• VTOL_STATE_TRANSITION_TO_FW = 1

  Transitioning to fixed-wing

• VTOL_STATE_TRANSITION_TO_MC = 2

  Transitioning to multi-copter

• VTOL_STATE_MC = 3

  Multi-copter

• VTOL_STATE_FW = 4

  Fixed-wing