Trait mav_sdk::grpc::offboard::offboard_service_server::OffboardService

pub trait OffboardService: Send + Sync + 'static {
    fn start<'life0, 'async_trait>(
        &'life0 self, 
        request: Request<StartRequest>
    ) -> Pin<Box<dyn Future<Output = Result<Response<StartResponse>, Status>> + Send + 'async_trait>>
    where
        'life0: 'async_trait,
        Self: 'async_trait;
    fn stop<'life0, 'async_trait>(
        &'life0 self, 
        request: Request<StopRequest>
    ) -> Pin<Box<dyn Future<Output = Result<Response<StopResponse>, Status>> + Send + 'async_trait>>
    where
        'life0: 'async_trait,
        Self: 'async_trait;
    fn is_active<'life0, 'async_trait>(
        &'life0 self, 
        request: Request<IsActiveRequest>
    ) -> Pin<Box<dyn Future<Output = Result<Response<IsActiveResponse>, Status>> + Send + 'async_trait>>
    where
        'life0: 'async_trait,
        Self: 'async_trait;
    fn set_attitude<'life0, 'async_trait>(
        &'life0 self, 
        request: Request<SetAttitudeRequest>
    ) -> Pin<Box<dyn Future<Output = Result<Response<SetAttitudeResponse>, Status>> + Send + 'async_trait>>
    where
        'life0: 'async_trait,
        Self: 'async_trait;
    fn set_actuator_control<'life0, 'async_trait>(
        &'life0 self, 
        request: Request<SetActuatorControlRequest>
    ) -> Pin<Box<dyn Future<Output = Result<Response<SetActuatorControlResponse>, Status>> + Send + 'async_trait>>
    where
        'life0: 'async_trait,
        Self: 'async_trait;
    fn set_attitude_rate<'life0, 'async_trait>(
        &'life0 self, 
        request: Request<SetAttitudeRateRequest>
    ) -> Pin<Box<dyn Future<Output = Result<Response<SetAttitudeRateResponse>, Status>> + Send + 'async_trait>>
    where
        'life0: 'async_trait,
        Self: 'async_trait;
    fn set_position_ned<'life0, 'async_trait>(
        &'life0 self, 
        request: Request<SetPositionNedRequest>
    ) -> Pin<Box<dyn Future<Output = Result<Response<SetPositionNedResponse>, Status>> + Send + 'async_trait>>
    where
        'life0: 'async_trait,
        Self: 'async_trait;
    fn set_velocity_body<'life0, 'async_trait>(
        &'life0 self, 
        request: Request<SetVelocityBodyRequest>
    ) -> Pin<Box<dyn Future<Output = Result<Response<SetVelocityBodyResponse>, Status>> + Send + 'async_trait>>
    where
        'life0: 'async_trait,
        Self: 'async_trait;
    fn set_velocity_ned<'life0, 'async_trait>(
        &'life0 self, 
        request: Request<SetVelocityNedRequest>
    ) -> Pin<Box<dyn Future<Output = Result<Response<SetVelocityNedResponse>, Status>> + Send + 'async_trait>>
    where
        'life0: 'async_trait,
        Self: 'async_trait;
    fn set_position_velocity_ned<'life0, 'async_trait>(
        &'life0 self, 
        request: Request<SetPositionVelocityNedRequest>
    ) -> Pin<Box<dyn Future<Output = Result<Response<SetPositionVelocityNedResponse>, Status>> + Send + 'async_trait>>
    where
        'life0: 'async_trait,
        Self: 'async_trait;
}

Generated trait containing gRPC methods that should be implemented for use with OffboardServiceServer.

Required methods

fn start<'life0, 'async_trait>(
    &'life0 self,
    request: Request<StartRequest>
) -> Pin<Box<dyn Future<Output = Result<Response<StartResponse>, Status>> + Send + 'async_trait>> where
    'life0: 'async_trait,
    Self: 'async_trait, 

Start offboard control.

fn stop<'life0, 'async_trait>(
    &'life0 self,
    request: Request<StopRequest>
) -> Pin<Box<dyn Future<Output = Result<Response<StopResponse>, Status>> + Send + 'async_trait>> where
    'life0: 'async_trait,
    Self: 'async_trait, 

Stop offboard control.

The vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html

fn is_active<'life0, 'async_trait>(
    &'life0 self,
    request: Request<IsActiveRequest>
) -> Pin<Box<dyn Future<Output = Result<Response<IsActiveResponse>, Status>> + Send + 'async_trait>> where
    'life0: 'async_trait,
    Self: 'async_trait, 

Check if offboard control is active.

True means that the vehicle is in offboard mode and we are actively sending setpoints.

fn set_attitude<'life0, 'async_trait>(
    &'life0 self,
    request: Request<SetAttitudeRequest>
) -> Pin<Box<dyn Future<Output = Result<Response<SetAttitudeResponse>, Status>> + Send + 'async_trait>> where
    'life0: 'async_trait,
    Self: 'async_trait, 

Set the attitude in terms of roll, pitch and yaw in degrees with thrust.

fn set_actuator_control<'life0, 'async_trait>(
    &'life0 self,
    request: Request<SetActuatorControlRequest>
) -> Pin<Box<dyn Future<Output = Result<Response<SetActuatorControlResponse>, Status>> + Send + 'async_trait>> where
    'life0: 'async_trait,
    Self: 'async_trait, 

Set direct actuator control values to groups #0 and #1.

First 8 controls will go to control group 0, the following 8 controls to control group 1 (if actuator_control.num_controls more than 8).

fn set_attitude_rate<'life0, 'async_trait>(
    &'life0 self,
    request: Request<SetAttitudeRateRequest>
) -> Pin<Box<dyn Future<Output = Result<Response<SetAttitudeRateResponse>, Status>> + Send + 'async_trait>> where
    'life0: 'async_trait,
    Self: 'async_trait, 

Set the attitude rate in terms of pitch, roll and yaw angular rate along with thrust.

fn set_position_ned<'life0, 'async_trait>(
    &'life0 self,
    request: Request<SetPositionNedRequest>
) -> Pin<Box<dyn Future<Output = Result<Response<SetPositionNedResponse>, Status>> + Send + 'async_trait>> where
    'life0: 'async_trait,
    Self: 'async_trait, 

Set the position in NED coordinates and yaw.

fn set_velocity_body<'life0, 'async_trait>(
    &'life0 self,
    request: Request<SetVelocityBodyRequest>
) -> Pin<Box<dyn Future<Output = Result<Response<SetVelocityBodyResponse>, Status>> + Send + 'async_trait>> where
    'life0: 'async_trait,
    Self: 'async_trait, 

Set the velocity in body coordinates and yaw angular rate. Not available for fixed-wing aircraft.

fn set_velocity_ned<'life0, 'async_trait>(
    &'life0 self,
    request: Request<SetVelocityNedRequest>
) -> Pin<Box<dyn Future<Output = Result<Response<SetVelocityNedResponse>, Status>> + Send + 'async_trait>> where
    'life0: 'async_trait,
    Self: 'async_trait, 

Set the velocity in NED coordinates and yaw. Not available for fixed-wing aircraft.

fn set_position_velocity_ned<'life0, 'async_trait>(
    &'life0 self,
    request: Request<SetPositionVelocityNedRequest>
) -> Pin<Box<dyn Future<Output = Result<Response<SetPositionVelocityNedResponse>, Status>> + Send + 'async_trait>> where
    'life0: 'async_trait,
    Self: 'async_trait, 

Set the position in NED coordinates, with the velocity to be used as feed-forward.

Implementors