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Telemetry and TelemetryServer improvements #364

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merged 4 commits into from
Feb 12, 2025
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Merged

Telemetry and TelemetryServer improvements #364

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f48eb4f
Updated FixedwingMetrics, added attitude and VFR_HUD publishers to th…
Feb 5, 2025
0015ceb
Re-order fields for backward compatibility
Feb 7, 2025
15c1a10
PR feedback: altitude_msl -> absolute_altitude_m
Feb 8, 2025
f817d51
Merge remote-tracking branch 'upstream/main' into feature/attitude-an…
Feb 12, 2025
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3 changes: 3 additions & 0 deletions protos/telemetry/telemetry.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -757,6 +757,9 @@ message FixedwingMetrics {
float airspeed_m_s = 1 [(mavsdk.options.default_value)="NaN"]; // Current indicated airspeed (IAS) in metres per second
float throttle_percentage = 2 [(mavsdk.options.default_value)="NaN"]; // Current throttle setting (0 to 100)
float climb_rate_m_s = 3 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
float groundspeed_m_s = 4 [(mavsdk.options.default_value)="NaN"]; // Current groundspeed metres per second
float heading_deg = 5 [(mavsdk.options.default_value)="NaN"]; // Current heading in compass units (0-360, 0=north)
float absolute_altitude_m = 6 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
}

// AccelerationFrd message type.
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24 changes: 24 additions & 0 deletions protos/telemetry_server/telemetry_server.proto
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Expand Up @@ -42,6 +42,10 @@ service TelemetryServerService {
rpc PublishUnixEpochTime(PublishUnixEpochTimeRequest) returns(PublishUnixEpochTimeResponse) { option (mavsdk.options.async_type) = SYNC; }
// Publish to "distance sensor" updates.
rpc PublishDistanceSensor(PublishDistanceSensorRequest) returns(PublishDistanceSensorResponse) { option (mavsdk.options.async_type) = SYNC; }
// Publish to "attitude" updates.
rpc PublishAttitude(PublishAttitudeRequest) returns(PublishAttitudeResponse) { option (mavsdk.options.async_type) = SYNC; }
// Publish to "Visual Flight Rules HUD" updates.
rpc PublishVisualFlightRulesHud(PublishVisualFlightRulesHudRequest) returns(PublishVisualFlightRulesHudResponse) { option (mavsdk.options.async_type) = SYNC; }
}

message PublishPositionRequest {
Expand Down Expand Up @@ -125,6 +129,15 @@ message PublishDistanceSensorRequest {
DistanceSensor distance_sensor = 1; // The next 'Distance Sensor' status
}

message PublishAttitudeRequest {
EulerAngle angle = 1; // roll/pitch/yaw body angles
AngularVelocityBody angular_velocity = 2; // roll/pitch/yaw angular velocities
}

message PublishVisualFlightRulesHudRequest {
FixedwingMetrics fixed_wing_metrics = 1;
}

message PublishPositionResponse {
TelemetryServerResult telemetry_server_result = 1;
}
Expand Down Expand Up @@ -187,6 +200,14 @@ message PublishDistanceSensorResponse {
TelemetryServerResult telemetry_server_result = 1;
}

message PublishAttitudeResponse {
TelemetryServerResult telemetry_server_result = 1;
}

message PublishVisualFlightRulesHudResponse {
TelemetryServerResult telemetry_server_result = 1;
}

// Position type in global coordinates.
message Position {
double latitude_deg = 1 [(mavsdk.options.default_value)="NaN"]; // Latitude in degrees (range: -90 to +90)
Expand Down Expand Up @@ -437,6 +458,9 @@ message FixedwingMetrics {
float airspeed_m_s = 1 [(mavsdk.options.default_value)="NaN"]; // Current indicated airspeed (IAS) in metres per second
float throttle_percentage = 2 [(mavsdk.options.default_value)="NaN"]; // Current throttle setting (0 to 100)
float climb_rate_m_s = 3 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
float groundspeed_m_s = 4 [(mavsdk.options.default_value)="NaN"]; // Current groundspeed metres per second
float heading_deg = 5 [(mavsdk.options.default_value)="NaN"]; // Current heading in compass units (0-360, 0=north)
float absolute_altitude_m = 6 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
}

// AccelerationFrd message type.
Expand Down