Go to version v4.0.5

MAVSDK_SERVER_VERSION

@@ -1 +1 @@
-v3.17.4
+v4.0.5

mavsdk/action.py

@@ -532,7 +532,7 @@ async def return_to_launch(self):
         """
         Send command to return to the launch (takeoff) position and land.
 
-        This switches the drone into [Return mode](https://docs.px4.io/master/en/flight_modes/return.html) which
+        This switches the drone into [Return mode](https://docs.px4.io/main/en/flight_modes_mc/return.html) which
         generally means it will rise up to a certain altitude to clear any obstacles before heading
         back to the launch (takeoff) position and land there.
 
@@ -600,6 +600,60 @@ async def goto_location(
                 yaw_deg,
             )
 
+    async def goto_location_fixedwing(
+        self, latitude_deg, longitude_deg, absolute_altitude_m, loiter_radius_m
+    ):
+        """
+        Send command to the drone to fly to a location for fixed-wing aircraft.
+
+        This sends a MAV_CMD_DO_REPOSITION command with a loiter radius.
+
+        The latitude and longitude are given in degrees (WGS84 frame) and the altitude
+        in meters AMSL (above mean sea level).
+
+        The loiter radius defines the radius of the loiter circle in meters, and its sign
+        controls the direction: positive is clockwise, negative is counter-clockwise.
+        A value of 0 is ignored by the autopilot.
+
+        Parameters
+        ----------
+        latitude_deg : double
+             Latitude (in degrees)
+
+        longitude_deg : double
+             Longitude (in degrees)
+
+        absolute_altitude_m : float
+             Altitude AMSL (in meters)
+
+        loiter_radius_m : float
+             Loiter radius (in meters). Positive: clockwise, negative: counter-clockwise, 0: ignored.
+
+        Raises
+        ------
+        ActionError
+            If the request fails. The error contains the reason for the failure.
+        """
+
+        request = action_pb2.GotoLocationFixedwingRequest()
+        request.latitude_deg = latitude_deg
+        request.longitude_deg = longitude_deg
+        request.absolute_altitude_m = absolute_altitude_m
+        request.loiter_radius_m = loiter_radius_m
+        response = await self._stub.GotoLocationFixedwing(request)
+
+        result = self._extract_result(response)
+
+        if result.result != ActionResult.Result.SUCCESS:
+            raise ActionError(
+                result,
+                "goto_location_fixedwing()",
+                latitude_deg,
+                longitude_deg,
+                absolute_altitude_m,
+                loiter_radius_m,
+            )
+
     async def do_orbit(
         self,
         radius_m,
@@ -964,3 +1018,50 @@ async def set_gps_global_origin(
                 longitude_deg,
                 absolute_altitude_m,
             )
+
+    async def set_home(
+        self, use_current_location, latitude_deg, longitude_deg, absolute_altitude_m
+    ):
+        """
+        Set home.
+
+        Sets the home position.
+
+        Parameters
+        ----------
+        use_current_location : bool
+             Use current location
+
+        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.SetHomeRequest()
+        request.use_current_location = use_current_location
+        request.latitude_deg = latitude_deg
+        request.longitude_deg = longitude_deg
+        request.absolute_altitude_m = absolute_altitude_m
+        response = await self._stub.SetHome(request)
+
+        result = self._extract_result(response)
+
+        if result.result != ActionResult.Result.SUCCESS:
+            raise ActionError(
+                result,
+                "set_home()",
+                use_current_location,
+                latitude_deg,
+                longitude_deg,
+                absolute_altitude_m,
+            )

mavsdk/action_pb2_grpc.py

@@ -104,6 +104,12 @@ def __init__(self, channel):
             response_deserializer=action_dot_action__pb2.GotoLocationResponse.FromString,
             _registered_method=True,
         )
+        self.GotoLocationFixedwing = channel.unary_unary(
+            "/mavsdk.rpc.action.ActionService/GotoLocationFixedwing",
+            request_serializer=action_dot_action__pb2.GotoLocationFixedwingRequest.SerializeToString,
+            response_deserializer=action_dot_action__pb2.GotoLocationFixedwingResponse.FromString,
+            _registered_method=True,
+        )
         self.DoOrbit = channel.unary_unary(
             "/mavsdk.rpc.action.ActionService/DoOrbit",
             request_serializer=action_dot_action__pb2.DoOrbitRequest.SerializeToString,
@@ -176,6 +182,12 @@ def __init__(self, channel):
             response_deserializer=action_dot_action__pb2.SetGpsGlobalOriginResponse.FromString,
             _registered_method=True,
         )
+        self.SetHome = channel.unary_unary(
+            "/mavsdk.rpc.action.ActionService/SetHome",
+            request_serializer=action_dot_action__pb2.SetHomeRequest.SerializeToString,
+            response_deserializer=action_dot_action__pb2.SetHomeResponse.FromString,
+            _registered_method=True,
+        )
 
 
 class ActionServiceServicer(object):
@@ -286,7 +298,7 @@ def ReturnToLaunch(self, request, context):
         """
         Send command to return to the launch (takeoff) position and land.
 
-        This switches the drone into [Return mode](https://docs.px4.io/master/en/flight_modes/return.html) which
+        This switches the drone into [Return mode](https://docs.px4.io/main/en/flight_modes_mc/return.html) which
         generally means it will rise up to a certain altitude to clear any obstacles before heading
         back to the launch (takeoff) position and land there.
         """
@@ -307,6 +319,23 @@ def GotoLocation(self, request, context):
         context.set_details("Method not implemented!")
         raise NotImplementedError("Method not implemented!")
 
+    def GotoLocationFixedwing(self, request, context):
+        """
+        Send command to the drone to fly to a location for fixed-wing aircraft.
+
+        This sends a MAV_CMD_DO_REPOSITION command with a loiter radius.
+
+        The latitude and longitude are given in degrees (WGS84 frame) and the altitude
+        in meters AMSL (above mean sea level).
+
+        The loiter radius defines the radius of the loiter circle in meters, and its sign
+        controls the direction: positive is clockwise, negative is counter-clockwise.
+        A value of 0 is ignored by the autopilot.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details("Method not implemented!")
+        raise NotImplementedError("Method not implemented!")
+
     def DoOrbit(self, request, context):
         """
         Send command do orbit to the drone.
@@ -429,6 +458,16 @@ def SetGpsGlobalOrigin(self, request, context):
         context.set_details("Method not implemented!")
         raise NotImplementedError("Method not implemented!")
 
+    def SetHome(self, request, context):
+        """
+        Set home.
+
+        Sets the home 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 = {
@@ -487,6 +526,11 @@ def add_ActionServiceServicer_to_server(servicer, server):
             request_deserializer=action_dot_action__pb2.GotoLocationRequest.FromString,
             response_serializer=action_dot_action__pb2.GotoLocationResponse.SerializeToString,
         ),
+        "GotoLocationFixedwing": grpc.unary_unary_rpc_method_handler(
+            servicer.GotoLocationFixedwing,
+            request_deserializer=action_dot_action__pb2.GotoLocationFixedwingRequest.FromString,
+            response_serializer=action_dot_action__pb2.GotoLocationFixedwingResponse.SerializeToString,
+        ),
         "DoOrbit": grpc.unary_unary_rpc_method_handler(
             servicer.DoOrbit,
             request_deserializer=action_dot_action__pb2.DoOrbitRequest.FromString,
@@ -547,6 +591,11 @@ def add_ActionServiceServicer_to_server(servicer, server):
             request_deserializer=action_dot_action__pb2.SetGpsGlobalOriginRequest.FromString,
             response_serializer=action_dot_action__pb2.SetGpsGlobalOriginResponse.SerializeToString,
         ),
+        "SetHome": grpc.unary_unary_rpc_method_handler(
+            servicer.SetHome,
+            request_deserializer=action_dot_action__pb2.SetHomeRequest.FromString,
+            response_serializer=action_dot_action__pb2.SetHomeResponse.SerializeToString,
+        ),
     }
     generic_handler = grpc.method_handlers_generic_handler(
         "mavsdk.rpc.action.ActionService", rpc_method_handlers
@@ -891,6 +940,36 @@ def GotoLocation(
             _registered_method=True,
         )
 
+    @staticmethod
+    def GotoLocationFixedwing(
+        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/GotoLocationFixedwing",
+            action_dot_action__pb2.GotoLocationFixedwingRequest.SerializeToString,
+            action_dot_action__pb2.GotoLocationFixedwingResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True,
+        )
+
     @staticmethod
     def DoOrbit(
         request,
@@ -1250,3 +1329,33 @@ def SetGpsGlobalOrigin(
             metadata,
             _registered_method=True,
         )
+
+    @staticmethod
+    def SetHome(
+        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/SetHome",
+            action_dot_action__pb2.SetHomeRequest.SerializeToString,
+            action_dot_action__pb2.SetHomeResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True,
+        )