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Added new vehicle action into MissionItem message template #226

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merged 4 commits into from
May 28, 2021
Merged

Added new vehicle action into MissionItem message template #226

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b71248f
Added new vehicle action into MissionItem message template
Apr 29, 2021
b44aee7
Added comments, removed Arm, Disarm actions, change name of PlaneActi…
Apr 29, 2021
d890f46
Edited comments
Apr 29, 2021
80a32ed
Added comment to VehicleAction
May 7, 2021
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10 changes: 10 additions & 0 deletions protos/mission/mission.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -173,6 +173,7 @@ message MissionItem {
float loiter_time_s = 9 [(mavsdk.options.default_value)="NaN"]; // Loiter time (in seconds)
double camera_photo_interval_s = 10 [(mavsdk.options.default_value)="1.0"]; // Camera photo interval to use after this mission item (in seconds)
float acceptance_radius_m = 11 [(mavsdk.options.default_value)="NaN"]; // Radius for completing a mission item (in metres)
VehicleAction vehicle_action = 12; // Vehicle action to trigger at this mission item.

// Possible camera actions at a mission item.
enum CameraAction {
Expand All @@ -183,6 +184,15 @@ message MissionItem {
CAMERA_ACTION_START_VIDEO = 4; // Start capturing video
CAMERA_ACTION_STOP_VIDEO = 5; // Stop capturing video
}

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// Possible vehicle actions at a mission item
enum VehicleAction {
VEHICLE_ACTION_NONE = 0; // No action
VEHICLE_ACTION_TAKEOFF = 1; // Vehicle will takeoff and go to defined waypoint
VEHICLE_ACTION_LAND = 2; // When a waypoint is reached vehicle will land at current position
VEHICLE_ACTION_TRANSITION_TO_FW = 3; // When a waypoint is reached vehicle will transition to fixed-wing mode
VEHICLE_ACTION_TRANSITION_TO_MC = 4; // When a waypoint is reached vehicle will transition to multi-copter mode
}
}

// Mission plan type
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