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Added telemetry requests. #97

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merged 2 commits into from
Aug 14, 2019
Merged

Added telemetry requests. #97

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ac7c9ce
Added telemetry requests.
irsdkv Aug 8, 2019
067c088
AngularSpeed -> AngularVelocityBody
irsdkv Aug 12, 2019
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34 changes: 34 additions & 0 deletions protos/telemetry/telemetry.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -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 SubscribeAttitudeAngularVelocityBody(SubscribeAttitudeAngularVelocityBodyRequest) returns(stream AttitudeAngularVelocityBodyResponse) {}
rpc SubscribeCameraAttitudeQuaternion(SubscribeCameraAttitudeQuaternionRequest) returns(stream CameraAttitudeQuaternionResponse) {}
rpc SubscribeCameraAttitudeEuler(SubscribeCameraAttitudeEulerRequest) returns(stream CameraAttitudeEulerResponse) {}
rpc SubscribeGroundSpeedNed(SubscribeGroundSpeedNedRequest) returns(stream GroundSpeedNedResponse) {}
Expand All @@ -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 {}
Expand Down Expand Up @@ -53,6 +56,11 @@ message AttitudeEulerResponse {
EulerAngle attitude_euler = 1;
}

message SubscribeAttitudeAngularVelocityBodyRequest {}
message AttitudeAngularVelocityBodyResponse {
AngularVelocityBody attitude_angular_velocity_body = 1;
}

message SubscribeCameraAttitudeQuaternionRequest {}
message CameraAttitudeQuaternionResponse {
Quaternion attitude_quaternion = 1;
Expand Down Expand Up @@ -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;
Expand All @@ -118,6 +136,12 @@ message EulerAngle {
float yaw_deg = 3;
}

message AngularVelocityBody {
float roll_rad_s = 1;
float pitch_rad_s = 2;
float yaw_rad_s = 3;
}
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message SpeedNed {
float velocity_north_m_s = 1;
float velocity_east_m_s = 2;
Expand Down Expand Up @@ -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;
}