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action: add set_gps_origin #342

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action: add set_gps_origin #342

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3e9e094
action: add set_gps_origin
Apr 24, 2024
95f03ae
action: add set_gps_origin
Apr 24, 2024
928d68a
action.proto: fix unresolved conflict
Apr 24, 2024
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15 changes: 15 additions & 0 deletions protos/action/action.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -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) { option (mavsdk.options.async_type) = SYNC; }
}

message ArmRequest {}
Expand Down Expand Up @@ -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.
Expand Down