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telemetry

enum MotionStatus​

Information about the motion of the vehicle.

Fields​

field  MOTORS_OFF  (0) — motors of the vehicle are off

field  RAMPING_UP  (1) — motors of the vehicle are ramping

field  IDLE  (2) — the vehicle is on but idle

field  IN_TRANSIT  (3) — the vehicle is in motion

field  RAMPING_DOWN  (4) — motors of the vehicle are ramping down

enum ImagingSensorType​

Imaging sensor types.

Fields​

field  RGB  (0) — RGB camera

field  STEREO  (1) — stereo camera

field  THERMAL  (2) — thermal camera

field  NIGHT  (3) — night vision camera

field  LIDAR  (4) — LIDAR sensor

field  RGBD  (5) — RGB-Depth camera

field  TOF  (6) — ToF (time of flight) camera

field  RADAR  (7) — RADAR sensor

enum BatteryWarning​

Battery warnings and alerts.

Fields​

field  NONE  (0) — the vehicle is above 30% battery

field  LOW  (1) — the vehicle is below 30% battery

field  CRITICAL  (2) — the vehicle is below 15% battery

enum GPSWarning​

GPS fix warnings and alerts.

Fields​

field  NO_GPS_WARNING  (0) — GPS readings are nominal and a fix has been achieved

field  WEAK_SIGNAL  (1) — weak GPS fix, expect errant global position data

field  NO_FIX  (2) — no GPS fix

enum MagnetometerWarning​

Magnetometer warnings and alerts.

Fields​

field  NO_MAGNETOMETER_WARNING  (0) — magnetometer readings are nominal

field  PERTURBATION  (1) — the vehicle is experiencing magnetic perturbations

enum ConnectionWarning​

Connection warnings and alerts.

Fields​

field  NO_CONNECTION_WARNING  (0) — connection to remote server is nominal

field  DISCONNECTED  (1) — contact has been lost with the remote server

field  WEAK_CONNECTION  (2) — connection is experiencing interference or is weak

enum CompassWarning​

Compass warnings and alerts.

Fields​

field  NO_COMPASS_WARNING  (0) — absolute heading is nominal

field  WEAK_HEADING_LOCK  (1) — absolute heading is available but may be incorrect

field  NO_HEADING_LOCK  (2) — no absolute heading available from the vehicle

enum MissionExecState​

Execution state of the current mission.

Fields​

field  READY  (0) — mission is ready to be executed

field  IN_PROGRESS  (1) — mission is in progress

field  PAUSED  (2) — mission is paused

field  COMPLETED  (3) — mission has been completed

field  CANCELED  (4) — mission was cancelled

message TelemetryStreamInfo​

Information about the telemetry stream.

Fields​

field  current_frequency  (uint32) — current frequency of telemetry messages [Hz]

field  max_frequency  (uint32) — maximum frequency of telemetry messages [Hz]

field  uptime  (/google/protobuf/Duration) — uptime of the stream

message BatteryInfo​

Information about the vehicle battery.

Fields​

field  percentage  (uint32) — battery level [0-100]%

message GPSInfo​

Information about the vehicle GPS fix.

Fields​

field  satellites  (uint32) — number of satellites used in GPS fix

message CommsInfo​

Future: information about the vehicle's communication links.

message VehicleInfo​

Information about the vehicle.

This includes the name, make, model and its current status (battery, GPS, comms, motion).

Fields​

field  name  (string) — the vehicle that this telemetry corresponds to

field  model  (string) — model of the vehicle

field  manufacturer  (string) — manufacturer of the vehicle

field  motion_status  (MotionStatus) — current status of the vehicle

field  battery_info  (BatteryInfo) — battery info for the vehicle

field  gps_info  (GPSInfo) — GPS sensor info for the vehicle

field  comms_info  (CommsInfo) — communications info for the vehicle

message SetpointInfo​

Information about the current setpoint.

Provides the current setpoint for the vehicle. A setpoint is a position or velocity target that the vehicle is currently moving towards. By default, when the vehicle is idle, this setpoint is a position_body_sp object set to all zeros. The frame of reference for each setpoint is implied by the name; e.g. velocity_neu_sp uses the NEU (North, East, Up) reference frame and velocity_body_sp uses the body (forward, right, up) reference frame.

Fields​

field  position_body_sp  (Position) — default all zeros idle setpoint

field  position_neu_sp  (Position) — NEU (North, East, Up) position setpoint

field  global_sp  (Location) — global setpoint

field  velocity_body_sp  (Velocity) — body (forward, right, up) velocity setpoint

field  velocity_neu_sp  (Velocity) — NEU (North, East, Up) velocity setpoint

message PositionInfo​

Information about the vehicle position.

Includes home position, global position (only valid with a GPS fix), relative position (only available on some vehicles), current velocity, and the current setpoint.

Fields​

field  home  (Location) — global position that will be used when returning home

field  global_position  (Location) — current global position of the vehicle

field  relative_position  (Position) — current local position of the vehicle in the global NEU (North, East, Up) coordinate frame, relative to start position

field  velocity_neu  (Velocity) — current velocity of the vehicle in the global NEU (North, East, Up) coordinate frame

field  velocity_body  (Velocity) — current velocity of the vehicle in the body (forward, right, up) coordinate frame

field  setpoint_info  (SetpointInfo) — info on the current vehicle setpoint

message GimbalStatus​

Status of a gimbal.

Fields​

field  id  (uint32) — ID of the gimbal

field  pose_body  (Pose) — current pose in the body (forward, right, up) reference frame

field  pose_neu  (Pose) — current pose in the NEU (North, East, Up) reference frame

message GimbalInfo​

Info of all attached gimbals.

Fields​

field  num_gimbals  (uint32) — number of connected gimbals

field  gimbals  (GimbalStatus) — list of connected gimbals

message ImagingSensorStatus​

Status of an imaging sensor.

Includes information about its type and resolution/stream settings.

Fields​

field  id  (uint32) — ID of the imaging sensor

field  type  (ImagingSensorType) — type of the imaging sensor

field  active  (bool) — indicates whether the imaging sensor is currently streaming

field  supports_secondary  (bool) — indicates whether the imaging sensor supports background streaming

field  current_fps  (uint32) — current streaming frames per second

field  max_fps  (uint32) — maximum streaming frames per second

field  h_res  (uint32) — horizontal resolution

field  v_res  (uint32) — vertical resolution

field  channels  (uint32) — number of image channels

field  h_fov  (uint32) — horizontal FOV

field  v_fov  (uint32) — vertical FOV

field  gimbal_mounted  (bool) — indicates if imaging sensor is gimbal mounted

field  gimbal_id  (uint32) — indicates which gimbal the imaging sensor is mounted on

message ImagingSensorStreamStatus​

Information about all imaging sensor streams.

Fields​

field  stream_capacity  (uint32) — the total number of allowed simultaneously streaming cameras

field  num_streams  (uint32) — the total number of currently streaming cameras

field  primary_cam  (uint32) — ID of the primary camera

field  secondary_cams  (uint32) — IDs of the secondary active cameras

message ImagingSensorInfo​

Information about all attached imaging sensors.

Fields​

field  stream_status  (ImagingSensorStreamStatus) — status of current imaging sensor streams

field  sensors  (ImagingSensorStatus) — list of connected imaging sensors

message AlertInfo​

Information about all vehicle warning and alerts.

Fields​

field  battery_warning  (BatteryWarning) — battery warnings

field  gps_warning  (GPSWarning) — GPS warnings

field  magnetometer_warning  (MagnetometerWarning) — magnetometer warnings

field  connection_warning  (ConnectionWarning) — connection warnings

field  compass_warning  (CompassWarning) — compass warnings

message DriverTelemetry​

Telemetry message for the vehicle, originating from the driver module.

This message outlines all the current information about the vehicle. It is one of three messages (DriverTelemetry, Frame, MissionTelemetry) that is broadcast to attached compute services.

Fields​

field  timestamp  (/google/protobuf/Timestamp) — timestamp of message

field  telemetry_stream_info  (TelemetryStreamInfo) — info about current telemetry stream

field  vehicle_info  (VehicleInfo) — the vehicle that this telemetry corresponds to

field  position_info  (PositionInfo) — positional info about the vehicle

field  gimbal_info  (GimbalInfo) — status on attached gimbals and their orientations

field  imaging_sensor_info  (ImagingSensorInfo) — information about the vehicle imaging sensors

field  alert_info  (AlertInfo) — enumeration of vehicle warnings

message Frame​

Imaging sensor frames, originating from the driver module.

This message provides frame data from currently streaming imaging sensors. It is one of three messages (DriverTelemetry, Frame, MissionTelemetry) that is broadcast to attached compute services.

Fields​

field  timestamp  (/google/protobuf/Timestamp) — capture timestamp of the frame

field  data  (bytes) — raw bytes representing the frame

field  h_res  (uint64) — horizontal frame resolution in pixels

field  v_res  (uint64) — vertical frame resolution in pixels

field  d_res  (uint64) — depth resolution in pixels

field  channels  (uint64) — number of channels

field  id  (uint64) — frame ID for future correlation

field  vehicle_info  (VehicleInfo) — the vehicle that this telemetry corresponds to

field  position_info  (PositionInfo) — positional info about the vehicle

field  gimbal_info  (GimbalInfo) — status on attached gimbals and their orientations

field  imaging_sensor_info  (ImagingSensorInfo) — information about the vehicle imaging sensors

message MissionInfo​

Information about the current mission.

Fields​

field  name  (string) — mission name

field  hash  (int64) — mission hash to establish version uniqueness

field  age  (/google/protobuf/Timestamp) — timestamp of upload

field  exec_state  (MissionExecState) — execution state of the mission

field  task_state  (string) — task state of the mission (plaintext), if active

message MissionTelemetry​

Telemetry message for the mission, originating from the mission module.

This message outlines all current information about the mission. It is one of three messages (DriverTelemetry, Frame, MissionTelemetry) that is broadcast to attached compute services.

Fields​

field  timestamp  (/google/protobuf/Timestamp) — timestamp of message

field  telemetry_stream_info  (TelemetryStreamInfo) — info about the current telemetry stream

field  mission_info  (MissionInfo) — info about the current mission states