added pos,vel,acc offboard (#314)

* added pos,vel,acc offboard * Update protos/offboard/offboard.proto Co-authored-by: Julian Oes <[email protected]> --------- Co-authored-by: Julian Oes <[email protected]>
mavlink · May 29, 2023 · 6b0cc8f · 6b0cc8f
1 parent 82e8540
commit 6b0cc8f
Showing 1 changed file with 17 additions and 0 deletions.
diff --git a/protos/offboard/offboard.proto b/protos/offboard/offboard.proto
@@ -70,6 +70,12 @@ service OffboardService {
     * Set the position in NED coordinates, with the velocity to be used as feed-forward.
     */
     rpc SetPositionVelocityNed(SetPositionVelocityNedRequest) returns(SetPositionVelocityNedResponse) { option (mavsdk.options.async_type) = SYNC; }
+
+    /*
+    * Set the position, velocity and acceleration in NED coordinates, with velocity and acceleration used as feed-forward.
+    */
+    rpc SetPositionVelocityAccelerationNed(SetPositionVelocityAccelerationNedRequest) returns(SetPositionVelocityAccelerationNedResponse) { option (mavsdk.options.async_type) = SYNC; }
+
     /*
     * Set the acceleration in NED coordinates.
     */
@@ -144,10 +150,21 @@ message SetPositionVelocityNedRequest {
     PositionNedYaw position_ned_yaw = 1; // Position and yaw
     VelocityNedYaw velocity_ned_yaw = 2; // Velocity and yaw
 }
+
+message SetPositionVelocityAccelerationNedRequest {
+    PositionNedYaw position_ned_yaw = 1; // Position and yaw
+    VelocityNedYaw velocity_ned_yaw = 2; // Velocity and yaw
+    AccelerationNed acceleration_ned = 3; // Acceleration
+}
+
 message SetPositionVelocityNedResponse {
     OffboardResult offboard_result = 1;
 }
 
+message SetPositionVelocityAccelerationNedResponse {
+    OffboardResult offboard_result = 1;
+}
+
 message SetAccelerationNedRequest {
     AccelerationNed acceleration_ned = 1; // Acceleration
 }