From 3e9e09431048ad2c57c38b7133d5d8899edc6f19 Mon Sep 17 00:00:00 2001
From: Juan Ruiz <juan.ruiz@parrot.com>
Date: Wed, 24 Apr 2024 11:22:49 +0200
Subject: [PATCH 1/3] action: add set_gps_origin

---
 protos/action/action.proto | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/protos/action/action.proto b/protos/action/action.proto
index 3ac5b9ab..37fe9a5f 100644
--- a/protos/action/action.proto
+++ b/protos/action/action.proto
@@ -160,6 +160,12 @@ service ActionService {
      * It is ephemeral, so not stored on the drone and does not survive a reboot.
      */
      rpc SetCurrentSpeed(SetCurrentSpeedRequest) returns(SetCurrentSpeedResponse) {}
+     /*
+     * Set GPS Global Origin.
+     *
+     * Sets the GPS coordinates of the vehicle local origin (0,0,0) position.
+     */
+     rpc SetGpsGlobalOrigin(SetGpsGlobalOriginRequest) returns(SetGpsGlobalOriginResponse) {}
 }
 
 message ArmRequest {}
@@ -312,6 +318,15 @@ message SetCurrentSpeedResponse {
     ActionResult action_result = 1;
 }
 
+message SetGpsGlobalOriginRequest {
+    double latitude_deg = 1; // Latitude (in degrees)
+    double longitude_deg = 2; // Longitude (in degrees)
+    float absolute_altitude_m = 3; // Altitude AMSL (in meters)
+}
+message SetGpsGlobalOriginResponse {
+    ActionResult action_result = 1;
+}
+
 // Result type.
 message ActionResult {
     // Possible results returned for action requests.

From 95f03ae3768c7e763152eac38e16f9d1fff6eb3b Mon Sep 17 00:00:00 2001
From: Juan Ruiz <juan.ruiz@parrot.com>
Date: Wed, 24 Apr 2024 11:22:49 +0200
Subject: [PATCH 2/3] action: add set_gps_origin

---
 protos/action/action.proto | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/protos/action/action.proto b/protos/action/action.proto
index 37fe9a5f..f0afd2ea 100644
--- a/protos/action/action.proto
+++ b/protos/action/action.proto
@@ -165,7 +165,11 @@ service ActionService {
      *
      * Sets the GPS coordinates of the vehicle local origin (0,0,0) position.
      */
+<<<<<<< HEAD
      rpc SetGpsGlobalOrigin(SetGpsGlobalOriginRequest) returns(SetGpsGlobalOriginResponse) {}
+=======
+     rpc SetGpsGlobalOrigin(SetGpsGlobalOriginRequest) returns(SetGpsGlobalOriginResponse) { option (mavsdk.options.async_type) = SYNC; }
+>>>>>>> action: add set_gps_origin
 }
 
 message ArmRequest {}

From 928d68a475f67bf9a8e88b9ef5ed77a2908e7e27 Mon Sep 17 00:00:00 2001
From: Juan Ruiz <juan.ruiz@parrot.com>
Date: Wed, 24 Apr 2024 17:02:37 +0200
Subject: [PATCH 3/3] action.proto: fix unresolved conflict

render SetGpsGlobalOrigin sync to match message definition
---
 protos/action/action.proto | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/protos/action/action.proto b/protos/action/action.proto
index f0afd2ea..7d3c00af 100644
--- a/protos/action/action.proto
+++ b/protos/action/action.proto
@@ -165,11 +165,7 @@ service ActionService {
      *
      * Sets the GPS coordinates of the vehicle local origin (0,0,0) position.
      */
-<<<<<<< HEAD
-     rpc SetGpsGlobalOrigin(SetGpsGlobalOriginRequest) returns(SetGpsGlobalOriginResponse) {}
-=======
      rpc SetGpsGlobalOrigin(SetGpsGlobalOriginRequest) returns(SetGpsGlobalOriginResponse) { option (mavsdk.options.async_type) = SYNC; }
->>>>>>> action: add set_gps_origin
 }
 
 message ArmRequest {}