From ac7c9ceea69d1a4a4e033ea73e43e1ed240c4b5b Mon Sep 17 00:00:00 2001
From: Ildar Sadykov <irsdkv@gmail.com>
Date: Thu, 8 Aug 2019 16:29:01 +0300
Subject: [PATCH 1/2] Added telemetry requests.

Added:
 1. AttitudeAngularSpeed: current angular speed from ATTITUDE_QUATERNION
    message.
    See https://mavlink.io/en/messages/common.html#ATTITUDE_QUATERNION

 2. ActuatorControlTarget: current vehicle attitude and body angular
    rates.
    See https://mavlink.io/en/messages/common.html#SET_ACTUATOR_CONTROL_TARGET

 3. ActuatorOutputStatus: current raw values of the actuator outputs.
    See https://mavlink.io/en/messages/common.html#ACTUATOR_OUTPUT_STATUS
---
 protos/telemetry/telemetry.proto | 34 ++++++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/protos/telemetry/telemetry.proto b/protos/telemetry/telemetry.proto
index c450823b3..ad0202242 100644
--- a/protos/telemetry/telemetry.proto
+++ b/protos/telemetry/telemetry.proto
@@ -12,6 +12,7 @@ service TelemetryService {
     rpc SubscribeArmed(SubscribeArmedRequest) returns(stream ArmedResponse) {}
     rpc SubscribeAttitudeQuaternion(SubscribeAttitudeQuaternionRequest) returns(stream AttitudeQuaternionResponse) {}
     rpc SubscribeAttitudeEuler(SubscribeAttitudeEulerRequest) returns(stream AttitudeEulerResponse) {}
+    rpc SubscribeAttitudeAngularSpeed(SubscribeAttitudeAngularSpeedRequest) returns(stream AttitudeAngularSpeedResponse) {}
     rpc SubscribeCameraAttitudeQuaternion(SubscribeCameraAttitudeQuaternionRequest) returns(stream CameraAttitudeQuaternionResponse) {}
     rpc SubscribeCameraAttitudeEuler(SubscribeCameraAttitudeEulerRequest) returns(stream CameraAttitudeEulerResponse) {}
     rpc SubscribeGroundSpeedNed(SubscribeGroundSpeedNedRequest) returns(stream GroundSpeedNedResponse) {}
@@ -21,6 +22,8 @@ service TelemetryService {
     rpc SubscribeHealth(SubscribeHealthRequest) returns(stream HealthResponse) {}
     rpc SubscribeRcStatus(SubscribeRcStatusRequest) returns(stream RcStatusResponse) {}
     rpc SubscribeStatusText(SubscribeStatusTextRequest) returns(stream StatusTextResponse) {}
+    rpc SubscribeActuatorControlTarget(SubscribeActuatorControlTargetRequest) returns(stream ActuatorControlTargetResponse) {}
+    rpc SubscribeActuatorOutputStatus(SubscribeActuatorOutputStatusRequest) returns(stream ActuatorOutputStatusResponse) {}
 }
 
 message SubscribePositionRequest {}
@@ -53,6 +56,11 @@ message AttitudeEulerResponse {
     EulerAngle attitude_euler = 1;
 }
 
+message SubscribeAttitudeAngularSpeedRequest {}
+message AttitudeAngularSpeedResponse {
+    AngularSpeed attitude_angular_speed = 1;
+}
+
 message SubscribeCameraAttitudeQuaternionRequest {}
 message CameraAttitudeQuaternionResponse {
     Quaternion attitude_quaternion = 1;
@@ -98,6 +106,16 @@ message StatusTextResponse {
     StatusText status_text = 1;
 }
 
+message SubscribeActuatorControlTargetRequest {}
+message ActuatorControlTargetResponse {
+    ActuatorControlTarget actuator_control_target = 1;
+}
+
+message SubscribeActuatorOutputStatusRequest {}
+message ActuatorOutputStatusResponse {
+    ActuatorOutputStatus actuator_output_status = 1;
+}
+
 message Position {
     double latitude_deg = 1;
     double longitude_deg = 2;
@@ -118,6 +136,12 @@ message EulerAngle {
     float yaw_deg = 3;
 }
 
+message AngularSpeed {
+    float rollspeed = 1;
+    float pitchspeed = 2;
+    float yawspeed = 3;
+}
+
 message SpeedNed {
     float velocity_north_m_s = 1;
     float velocity_east_m_s = 2;
@@ -182,3 +206,13 @@ message StatusText {
     StatusType type = 1;
     string text = 2;
 }
+
+message ActuatorControlTarget {
+    int32 group = 1;
+    repeated float controls = 2;
+}
+
+message ActuatorOutputStatus {
+    uint32 active = 1;
+    repeated float actuator = 2;
+}

From 067c0882a020de3e6e89f142a6641fbd3dd31bb3 Mon Sep 17 00:00:00 2001
From: Ildar Sadykov <irsdkv@gmail.com>
Date: Mon, 12 Aug 2019 16:48:02 +0300
Subject: [PATCH 2/2] AngularSpeed -> AngularVelocityBody

---
 protos/telemetry/telemetry.proto | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/protos/telemetry/telemetry.proto b/protos/telemetry/telemetry.proto
index ad0202242..cabfbd26b 100644
--- a/protos/telemetry/telemetry.proto
+++ b/protos/telemetry/telemetry.proto
@@ -12,7 +12,7 @@ service TelemetryService {
     rpc SubscribeArmed(SubscribeArmedRequest) returns(stream ArmedResponse) {}
     rpc SubscribeAttitudeQuaternion(SubscribeAttitudeQuaternionRequest) returns(stream AttitudeQuaternionResponse) {}
     rpc SubscribeAttitudeEuler(SubscribeAttitudeEulerRequest) returns(stream AttitudeEulerResponse) {}
-    rpc SubscribeAttitudeAngularSpeed(SubscribeAttitudeAngularSpeedRequest) returns(stream AttitudeAngularSpeedResponse) {}
+    rpc SubscribeAttitudeAngularVelocityBody(SubscribeAttitudeAngularVelocityBodyRequest) returns(stream AttitudeAngularVelocityBodyResponse) {}
     rpc SubscribeCameraAttitudeQuaternion(SubscribeCameraAttitudeQuaternionRequest) returns(stream CameraAttitudeQuaternionResponse) {}
     rpc SubscribeCameraAttitudeEuler(SubscribeCameraAttitudeEulerRequest) returns(stream CameraAttitudeEulerResponse) {}
     rpc SubscribeGroundSpeedNed(SubscribeGroundSpeedNedRequest) returns(stream GroundSpeedNedResponse) {}
@@ -56,9 +56,9 @@ message AttitudeEulerResponse {
     EulerAngle attitude_euler = 1;
 }
 
-message SubscribeAttitudeAngularSpeedRequest {}
-message AttitudeAngularSpeedResponse {
-    AngularSpeed attitude_angular_speed = 1;
+message SubscribeAttitudeAngularVelocityBodyRequest {}
+message AttitudeAngularVelocityBodyResponse {
+    AngularVelocityBody attitude_angular_velocity_body = 1;
 }
 
 message SubscribeCameraAttitudeQuaternionRequest {}
@@ -136,10 +136,10 @@ message EulerAngle {
     float yaw_deg = 3;
 }
 
-message AngularSpeed {
-    float rollspeed = 1;
-    float pitchspeed = 2;
-    float yawspeed = 3;
+message AngularVelocityBody {
+    float roll_rad_s = 1;
+    float pitch_rad_s = 2;
+    float yaw_rad_s = 3;
 }
 
 message SpeedNed {