Update to MAVSDK v3.15.0

MAVSDK_SERVER_VERSION

@@ -1 +1 @@
-v3.10.2
+v3.15.0

mavsdk/action.py

@@ -65,6 +65,41 @@ def __str__(self):
         return self.name
 
 
+class RelayCommand(Enum):
+    """
+    Commanded values for relays
+
+    Values
+    ------
+    ON
+         Turn the relay off
+
+    OFF
+         Turn the relay on.
+
+    """
+
+    ON = 0
+    OFF = 1
+
+    def translate_to_rpc(self):
+        if self == RelayCommand.ON:
+            return action_pb2.RELAY_COMMAND_ON
+        if self == RelayCommand.OFF:
+            return action_pb2.RELAY_COMMAND_OFF
+
+    @staticmethod
+    def translate_from_rpc(rpc_enum_value):
+        """Parses a gRPC response"""
+        if rpc_enum_value == action_pb2.RELAY_COMMAND_ON:
+            return RelayCommand.ON
+        if rpc_enum_value == action_pb2.RELAY_COMMAND_OFF:
+            return RelayCommand.OFF
+
+    def __str__(self):
+        return self.name
+
+
 class ActionResult:
     """
     Result type.
@@ -684,6 +719,39 @@ async def set_actuator(self, index, value):
         if result.result != ActionResult.Result.SUCCESS:
             raise ActionError(result, "set_actuator()", index, value)
 
+    async def set_relay(self, index, setting):
+        """
+        Send command to set the value of a relay.
+
+        The index of the relay starts at 0.
+        For the relay value, 1=on, 0=off, others possible depending on system hardware
+
+        Parameters
+        ----------
+        index : int32_t
+             Index of relay (starting with 0)
+
+        setting : RelayCommand
+             Value to set the relay to
+
+        Raises
+        ------
+        ActionError
+            If the request fails. The error contains the reason for the failure.
+        """
+
+        request = action_pb2.SetRelayRequest()
+        request.index = index
+
+        request.setting = setting.translate_to_rpc()
+
+        response = await self._stub.SetRelay(request)
+
+        result = self._extract_result(response)
+
+        if result.result != ActionResult.Result.SUCCESS:
+            raise ActionError(result, "set_relay()", index, setting)
+
     async def transition_to_fixedwing(self):
         """
         Send command to transition the drone to fixedwing.
@@ -854,3 +922,45 @@ async def set_current_speed(self, speed_m_s):
 
         if result.result != ActionResult.Result.SUCCESS:
             raise ActionError(result, "set_current_speed()", speed_m_s)
+
+    async def set_gps_global_origin(
+        self, latitude_deg, longitude_deg, absolute_altitude_m
+    ):
+        """
+        Set GPS Global Origin.
+
+        Sets the GPS coordinates of the vehicle local origin (0,0,0) position.
+
+        Parameters
+        ----------
+        latitude_deg : double
+             Latitude (in degrees)
+
+        longitude_deg : double
+             Longitude (in degrees)
+
+        absolute_altitude_m : float
+             Altitude AMSL (in meters)
+
+        Raises
+        ------
+        ActionError
+            If the request fails. The error contains the reason for the failure.
+        """
+
+        request = action_pb2.SetGpsGlobalOriginRequest()
+        request.latitude_deg = latitude_deg
+        request.longitude_deg = longitude_deg
+        request.absolute_altitude_m = absolute_altitude_m
+        response = await self._stub.SetGpsGlobalOrigin(request)
+
+        result = self._extract_result(response)
+
+        if result.result != ActionResult.Result.SUCCESS:
+            raise ActionError(
+                result,
+                "set_gps_global_origin()",
+                latitude_deg,
+                longitude_deg,
+                absolute_altitude_m,
+            )

mavsdk/action_pb2_grpc.py

@@ -122,6 +122,12 @@ def __init__(self, channel):
             response_deserializer=action_dot_action__pb2.SetActuatorResponse.FromString,
             _registered_method=True,
         )
+        self.SetRelay = channel.unary_unary(
+            "/mavsdk.rpc.action.ActionService/SetRelay",
+            request_serializer=action_dot_action__pb2.SetRelayRequest.SerializeToString,
+            response_deserializer=action_dot_action__pb2.SetRelayResponse.FromString,
+            _registered_method=True,
+        )
         self.TransitionToFixedwing = channel.unary_unary(
             "/mavsdk.rpc.action.ActionService/TransitionToFixedwing",
             request_serializer=action_dot_action__pb2.TransitionToFixedwingRequest.SerializeToString,
@@ -164,6 +170,12 @@ def __init__(self, channel):
             response_deserializer=action_dot_action__pb2.SetCurrentSpeedResponse.FromString,
             _registered_method=True,
         )
+        self.SetGpsGlobalOrigin = channel.unary_unary(
+            "/mavsdk.rpc.action.ActionService/SetGpsGlobalOrigin",
+            request_serializer=action_dot_action__pb2.SetGpsGlobalOriginRequest.SerializeToString,
+            response_deserializer=action_dot_action__pb2.SetGpsGlobalOriginResponse.FromString,
+            _registered_method=True,
+        )
 
 
 class ActionServiceServicer(object):
@@ -329,6 +341,17 @@ def SetActuator(self, request, context):
         context.set_details("Method not implemented!")
         raise NotImplementedError("Method not implemented!")
 
+    def SetRelay(self, request, context):
+        """
+        Send command to set the value of a relay.
+
+        The index of the relay starts at 0.
+        For the relay value, 1=on, 0=off, others possible depending on system hardware
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details("Method not implemented!")
+        raise NotImplementedError("Method not implemented!")
+
     def TransitionToFixedwing(self, request, context):
         """
         Send command to transition the drone to fixedwing.
@@ -396,6 +419,16 @@ def SetCurrentSpeed(self, request, context):
         context.set_details("Method not implemented!")
         raise NotImplementedError("Method not implemented!")
 
+    def SetGpsGlobalOrigin(self, request, context):
+        """
+        Set GPS Global Origin.
+
+        Sets the GPS coordinates of the vehicle local origin (0,0,0) position.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details("Method not implemented!")
+        raise NotImplementedError("Method not implemented!")
+
 
 def add_ActionServiceServicer_to_server(servicer, server):
     rpc_method_handlers = {
@@ -469,6 +502,11 @@ def add_ActionServiceServicer_to_server(servicer, server):
             request_deserializer=action_dot_action__pb2.SetActuatorRequest.FromString,
             response_serializer=action_dot_action__pb2.SetActuatorResponse.SerializeToString,
         ),
+        "SetRelay": grpc.unary_unary_rpc_method_handler(
+            servicer.SetRelay,
+            request_deserializer=action_dot_action__pb2.SetRelayRequest.FromString,
+            response_serializer=action_dot_action__pb2.SetRelayResponse.SerializeToString,
+        ),
         "TransitionToFixedwing": grpc.unary_unary_rpc_method_handler(
             servicer.TransitionToFixedwing,
             request_deserializer=action_dot_action__pb2.TransitionToFixedwingRequest.FromString,
@@ -504,6 +542,11 @@ def add_ActionServiceServicer_to_server(servicer, server):
             request_deserializer=action_dot_action__pb2.SetCurrentSpeedRequest.FromString,
             response_serializer=action_dot_action__pb2.SetCurrentSpeedResponse.SerializeToString,
         ),
+        "SetGpsGlobalOrigin": grpc.unary_unary_rpc_method_handler(
+            servicer.SetGpsGlobalOrigin,
+            request_deserializer=action_dot_action__pb2.SetGpsGlobalOriginRequest.FromString,
+            response_serializer=action_dot_action__pb2.SetGpsGlobalOriginResponse.SerializeToString,
+        ),
     }
     generic_handler = grpc.method_handlers_generic_handler(
         "mavsdk.rpc.action.ActionService", rpc_method_handlers
@@ -938,6 +981,36 @@ def SetActuator(
             _registered_method=True,
         )
 
+    @staticmethod
+    def SetRelay(
+        request,
+        target,
+        options=(),
+        channel_credentials=None,
+        call_credentials=None,
+        insecure=False,
+        compression=None,
+        wait_for_ready=None,
+        timeout=None,
+        metadata=None,
+    ):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            "/mavsdk.rpc.action.ActionService/SetRelay",
+            action_dot_action__pb2.SetRelayRequest.SerializeToString,
+            action_dot_action__pb2.SetRelayResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True,
+        )
+
     @staticmethod
     def TransitionToFixedwing(
         request,
@@ -1147,3 +1220,33 @@ def SetCurrentSpeed(
             metadata,
             _registered_method=True,
         )
+
+    @staticmethod
+    def SetGpsGlobalOrigin(
+        request,
+        target,
+        options=(),
+        channel_credentials=None,
+        call_credentials=None,
+        insecure=False,
+        compression=None,
+        wait_for_ready=None,
+        timeout=None,
+        metadata=None,
+    ):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            "/mavsdk.rpc.action.ActionService/SetGpsGlobalOrigin",
+            action_dot_action__pb2.SetGpsGlobalOriginRequest.SerializeToString,
+            action_dot_action__pb2.SetGpsGlobalOriginResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True,
+        )