# Protocol Documentation
<a name="top"></a>

## Table of Contents

- [common.proto](#common-proto)
    - [Ack](#common-Ack)
    - [Attitude](#common-Attitude)
    - [CameraMode](#common-CameraMode)
    - [CameraSettings](#common-CameraSettings)
    - [Circle](#common-Circle)
    - [ClientData](#common-ClientData)
    - [ClientDataList](#common-ClientDataList)
    - [ClientSession](#common-ClientSession)
    - [Command](#common-Command)
    - [CommandList](#common-CommandList)
    - [ConfigureRtk](#common-ConfigureRtk)
    - [Coordinates](#common-Coordinates)
    - [DownloadMedia](#common-DownloadMedia)
    - [DroneCapabilities](#common-DroneCapabilities)
    - [DroneCapabilities.ResolutionAndFrameRate](#common-DroneCapabilities-ResolutionAndFrameRate)
    - [DroneData](#common-DroneData)
    - [DroneSession](#common-DroneSession)
    - [Empty](#common-Empty)
    - [Error](#common-Error)
    - [FlightPlan](#common-FlightPlan)
    - [FlightPlanList](#common-FlightPlanList)
    - [FlightPlanRequest](#common-FlightPlanRequest)
    - [FlightPlanStatus](#common-FlightPlanStatus)
    - [Hover](#common-Hover)
    - [Land](#common-Land)
    - [Log](#common-Log)
    - [ManualControl](#common-ManualControl)
    - [Media](#common-Media)
    - [MediaUpload](#common-MediaUpload)
    - [MediaUpload.Request](#common-MediaUpload-Request)
    - [MediaUpload.Result](#common-MediaUpload-Result)
    - [MediaUploadResponse](#common-MediaUploadResponse)
    - [Metrics](#common-Metrics)
    - [MoveAltitude](#common-MoveAltitude)
    - [MoveGPS](#common-MoveGPS)
    - [MoveSpeed](#common-MoveSpeed)
    - [Movement](#common-Movement)
    - [ObstacleAvoidanceMode](#common-ObstacleAvoidanceMode)
    - [ReturnHome](#common-ReturnHome)
    - [Rotate](#common-Rotate)
    - [StartRecording](#common-StartRecording)
    - [StartStream](#common-StartStream)
    - [Stop](#common-Stop)
    - [StopCamera](#common-StopCamera)
    - [StopRecording](#common-StopRecording)
    - [StopStream](#common-StopStream)
    - [TakePhoto](#common-TakePhoto)
    - [Takeoff](#common-Takeoff)
    - [TiltCamera](#common-TiltCamera)
    - [Velocity](#common-Velocity)
  
    - [CameraMode.Mode](#common-CameraMode-Mode)
    - [CameraSettings.CameraType](#common-CameraSettings-CameraType)
    - [CameraSettings.MediaResolution](#common-CameraSettings-MediaResolution)
    - [CameraSettings.PhotoCaptureMode](#common-CameraSettings-PhotoCaptureMode)
    - [CameraSettings.PhotoFormat](#common-CameraSettings-PhotoFormat)
    - [CameraSettings.PhotoMode](#common-CameraSettings-PhotoMode)
    - [CameraSettings.StreamMode](#common-CameraSettings-StreamMode)
    - [CameraSettings.StreamQuality](#common-CameraSettings-StreamQuality)
    - [CameraSettings.VideoCaptureMode](#common-CameraSettings-VideoCaptureMode)
    - [CameraSettings.VideoFormat](#common-CameraSettings-VideoFormat)
    - [CameraSettings.VideoFrameRate](#common-CameraSettings-VideoFrameRate)
    - [CameraSettings.VideoMode](#common-CameraSettings-VideoMode)
    - [Command.CommandCode](#common-Command-CommandCode)
    - [DownloadMedia.CameraType](#common-DownloadMedia-CameraType)
    - [DownloadMedia.MediaType](#common-DownloadMedia-MediaType)
    - [Error.Code](#common-Error-Code)
    - [FlightPlanStatus.Status](#common-FlightPlanStatus-Status)
    - [Log.Level](#common-Log-Level)
    - [Media.ContentType](#common-Media-ContentType)
    - [MediaUpload.Result.ResultCode](#common-MediaUpload-Result-ResultCode)
    - [Metrics.CameraState](#common-Metrics-CameraState)
    - [Metrics.Capability](#common-Metrics-Capability)
    - [Metrics.GPSLevel](#common-Metrics-GPSLevel)
    - [Metrics.LiveStreamState](#common-Metrics-LiveStreamState)
    - [Metrics.RTKState](#common-Metrics-RTKState)
    - [Metrics.SignalLevel](#common-Metrics-SignalLevel)
    - [Metrics.State](#common-Metrics-State)
    - [Movement.Direction](#common-Movement-Direction)
    - [Movement.Speed](#common-Movement-Speed)
    - [ObstacleAvoidanceMode.Mode](#common-ObstacleAvoidanceMode-Mode)
  
- [Scalar Value Types](#scalar-value-types)



<a name="common-proto"></a>
<p align="right"><a href="#top">Top</a></p>

## common.proto



<a name="common-Ack"></a>

### Ack
DEPRECATED. Represents an &#34;ack&#34; message informing the drone application that
a media part has been correctly received. Generated by the backend server.
The drone application should *always* wait to receive an ack before sending
the next media part.


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| media_id | [int64](#int64) |  | media ID of the received part |






<a name="common-Attitude"></a>

### Attitude
Represents the attitude of a drone&#39;s gimbal


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| roll | [float](#float) |  | Z axis: gimbal rotates |
| pitch | [float](#float) |  | X axis: gimbal moves up (&#43;) or down (-) |
| yaw | [float](#float) |  | Y axis: gimbal moves right (&#43;) or left (-) |
| has_roll | [bool](#bool) |  | tells if the &#34;roll&#34; parameter should be used |
| has_pitch | [bool](#bool) |  | tells if the &#34;pitch&#34; parameter should be used |
| has_yaw | [bool](#bool) |  | tells if the &#34;yaw&#34; parameter should be used |






<a name="common-CameraMode"></a>

### CameraMode
Represents a command to set the camera mode


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| camera_type | [CameraSettings.CameraType](#common-CameraSettings-CameraType) |  | camera type |
| mode | [CameraMode.Mode](#common-CameraMode-Mode) |  | camera mode |






<a name="common-CameraSettings"></a>

### CameraSettings
Represents the camera settings that the user can get/set


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| camera_type | [CameraSettings.CameraType](#common-CameraSettings-CameraType) |  | camera type |
| stream_quality | [CameraSettings.StreamQuality](#common-CameraSettings-StreamQuality) |  | quality of stream |
| media_resolution | [CameraSettings.MediaResolution](#common-CameraSettings-MediaResolution) |  | resolution of media (photos and videos) |
| video_frame_rate | [CameraSettings.VideoFrameRate](#common-CameraSettings-VideoFrameRate) |  | frame rate for videos |
| photo_format | [CameraSettings.PhotoFormat](#common-CameraSettings-PhotoFormat) |  | format of photos to be taken by the drone (JPEG, RAW, etc.) |
| video_format | [CameraSettings.VideoFormat](#common-CameraSettings-VideoFormat) |  | format of videos to be taken by the drone (MP4, MOV, etc.) |
| photo_mode | [CameraSettings.PhotoMode](#common-CameraSettings-PhotoMode) |  | mode of photos to be taken by the drone (single, interval, etc.) |
| video_mode | [CameraSettings.VideoMode](#common-CameraSettings-VideoMode) |  | mode of videos to be taken by the drone (normal, slow motion, etc.) |
| photo_count | [int32](#int32) |  | number of photos to take. 0: unknown/unchanged. -1: unlimited. Only used with PHOTO_MODE_INTERVAL, PHOTO_MODE_BURST, and PHOTO_MODE_AEB |
| photo_interval | [uint32](#uint32) |  | interval between photos, in seconds. 0: unknown/unchanged. Only used with PHOTO_MODE_INTERVAL and PHOTO_MODE_TIME_LAPSE (default: 2) |
| photo_duration | [int32](#int32) |  | duration of the command, in seconds. 0: unknown/unchanged. -1: unlimited. Only used with PHOTO_MODE_TIME_LAPSE |
| photo_capture_mode | [CameraSettings.PhotoCaptureMode](#common-CameraSettings-PhotoCaptureMode) |  | capture mode of photos to be taken by the drone (RGB, MS, etc.) |
| video_capture_mode | [CameraSettings.VideoCaptureMode](#common-CameraSettings-VideoCaptureMode) |  | capture mode of videos to be taken by the drone (RGB, NDVI, etc.) |
| stream_mode | [CameraSettings.StreamMode](#common-CameraSettings-StreamMode) |  | mode of stream (RGB, NDVI, thermal, etc.) |






<a name="common-Circle"></a>

### Circle
Represents a command to make the drone make a circle around a GPS coordinate


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| speed | [Movement](#common-Movement) |  | speed of movement |
| duration | [uint64](#uint64) |  | duration of circle, in **milliseconds** |
| degrees | [int64](#int64) |  | number of degrees to circle |
| radius | [float](#float) |  | distance between drone and center, in meters |
| position | [Coordinates](#common-Coordinates) |  | GPS coordinates of center |






<a name="common-ClientData"></a>

### ClientData
Represents the generic data object that is sent from client to drone.
Each ClientData message *must* contain the current session, and *only one*
of the other parameters.


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| session | [ClientSession](#common-ClientSession) |  | current session |
| error | [Error](#common-Error) |  | notifies when an error occurred |
| command | [Command](#common-Command) |  | contains a command for the drone |
| flight_plan | [FlightPlan](#common-FlightPlan) |  | **Deprecated.** contains a flight plan. Deprecated: use the `flight_plans` parameter |
| ack | [Ack](#common-Ack) |  | **Deprecated.** informs the drone application that a media part has been received. **sent by backend** |
| heartbeat | [Empty](#common-Empty) |  | (optionally) used to keep the connection alive |
| media_upload_response | [MediaUploadResponse](#common-MediaUploadResponse) |  | contains the URL to upload a media to |
| flight_plans | [FlightPlanList](#common-FlightPlanList) |  | contains a list of flight plans to run |






<a name="common-ClientDataList"></a>

### ClientDataList



| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| data | [ClientData](#common-ClientData) | repeated |  |






<a name="common-ClientSession"></a>

### ClientSession
Represents a session between a client and the server


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| id | [string](#string) |  |  |
| droneId | [string](#string) |  |  |






<a name="common-Command"></a>

### Command
Represents a command that can be sent to the drone


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| id | [Command.CommandCode](#common-Command-CommandCode) |  | command ID |
| blocking | [bool](#bool) |  | if true, the drone will not accept any other command until this one is completed |
| empty | [Empty](#common-Empty) |  | some commands do not require parameters |
| return_home | [ReturnHome](#common-ReturnHome) |  | used by RETURN_HOME |
| hover | [Hover](#common-Hover) |  | used by HOVER |
| move_speed | [MoveSpeed](#common-MoveSpeed) |  | used by MOVE_SPEED |
| move_gps | [MoveGPS](#common-MoveGPS) |  | used by MOVE_GPS |
| circle | [Circle](#common-Circle) |  | used by CIRCLE |
| rotate | [Rotate](#common-Rotate) |  | used by ROTATE |
| tilt_camera | [TiltCamera](#common-TiltCamera) |  | used by TILT_CAMERA |
| land | [Land](#common-Land) |  | used by LAND |
| stop | [Stop](#common-Stop) |  | used by STOP_MOVEMENT, STOP_FLIGHT_PLAN, STOP_ALL |
| start_stream | [StartStream](#common-StartStream) |  | used by START_STREAM |
| stop_stream | [StopStream](#common-StopStream) |  | used by STOP_STREAM |
| take_photo | [TakePhoto](#common-TakePhoto) |  | used by TAKE_PHOTO |
| start_recording | [StartRecording](#common-StartRecording) |  | used by START_RECORDING |
| stop_recording | [StopRecording](#common-StopRecording) |  | used by STOP_RECORDING |
| manual_control | [ManualControl](#common-ManualControl) |  | used by MANUAL_CONTROL |
| move_altitude | [MoveAltitude](#common-MoveAltitude) |  | used by MOVE_ALTITUDE |
| download_media | [DownloadMedia](#common-DownloadMedia) |  | used by DOWNLOAD_MEDIA |
| stop_camera | [StopCamera](#common-StopCamera) |  | used by STOP_CAMERA |
| takeoff | [Takeoff](#common-Takeoff) |  | used by TAKEOFF |
| camera_settings | [CameraSettings](#common-CameraSettings) |  | used by UPDATE_CAMERA_SETTINGS, CALIBRATE_GIMBAL |
| camera_mode | [CameraMode](#common-CameraMode) |  | used by SET_CAMERA_MODE |
| obstacle_avoidance_mode | [ObstacleAvoidanceMode](#common-ObstacleAvoidanceMode) |  | used by SET_OBSTACLE_AVOIDANCE_MODE |
| configure_rtk | [ConfigureRtk](#common-ConfigureRtk) |  | used by CONFIGURE_RTK |






<a name="common-CommandList"></a>

### CommandList
Represents a list of commands that can be sent to the drone


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| commands | [Command](#common-Command) | repeated |  |






<a name="common-ConfigureRtk"></a>

### ConfigureRtk
Represents a command to configure the RTK module


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| enable | [bool](#bool) |  |  |






<a name="common-Coordinates"></a>

### Coordinates
Represents a coordinate system


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| latitude | [float](#float) |  | GPS latitude |
| longitude | [float](#float) |  | GPS longitude |
| altitude | [float](#float) |  | relative altitude (default: 1.0) |
| heading | [float](#float) |  | heading in degrees [-180,180]. 0 means north, 90 east |






<a name="common-DownloadMedia"></a>

### DownloadMedia
Represents a command to make the drone download media from the SD card


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| media_type | [DownloadMedia.MediaType](#common-DownloadMedia-MediaType) |  | type of media to download |
| camera_type | [DownloadMedia.CameraType](#common-DownloadMedia-CameraType) |  | type of camera to download media from |
| not_before | [uint64](#uint64) |  | download media taken after this time. A value of zero means unrestricted (i.e. no lower bound) |
| not_after | [uint64](#uint64) |  | download media taken before this time. A value of zero means unrestricted (i.e. no upper bound) |
| max_downloads | [uint32](#uint32) |  | maximum number of media to download. A value of zero means unlimited |
| upload_to_client | [bool](#bool) |  | if true, the media will not be stored on the server. Instead, the client will be responsible for processing `MediaUpload` requests and providing the upload URLs in `MediaUploadResponse` |






<a name="common-DroneCapabilities"></a>

### DroneCapabilities
Represents the drone&#39;s capabilities.


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| stream_qualities | [CameraSettings.StreamQuality](#common-CameraSettings-StreamQuality) | repeated | supported stream qualities |
| video_resolutions_framerates | [DroneCapabilities.ResolutionAndFrameRate](#common-DroneCapabilities-ResolutionAndFrameRate) | repeated | supported video resolutions and frame rates |
| photo_formats | [CameraSettings.PhotoFormat](#common-CameraSettings-PhotoFormat) | repeated | supported photo formats |
| video_formats | [CameraSettings.VideoFormat](#common-CameraSettings-VideoFormat) | repeated | supported video formats |
| photo_modes | [CameraSettings.PhotoMode](#common-CameraSettings-PhotoMode) | repeated | supported photo modes |
| video_modes | [CameraSettings.VideoMode](#common-CameraSettings-VideoMode) | repeated | supported video modes |
| photo_capture_modes | [CameraSettings.PhotoCaptureMode](#common-CameraSettings-PhotoCaptureMode) | repeated | supported photo capture modes |
| video_capture_modes | [CameraSettings.VideoCaptureMode](#common-CameraSettings-VideoCaptureMode) | repeated | supported video capture modes |
| stream_modes | [CameraSettings.StreamMode](#common-CameraSettings-StreamMode) | repeated | supported stream modes |
| obstacle_avoidance_modes | [ObstacleAvoidanceMode.Mode](#common-ObstacleAvoidanceMode-Mode) | repeated | supported obstacle avoidance modes |






<a name="common-DroneCapabilities-ResolutionAndFrameRate"></a>

### DroneCapabilities.ResolutionAndFrameRate



| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| resolution | [CameraSettings.MediaResolution](#common-CameraSettings-MediaResolution) |  | resolution |
| frame_rate | [CameraSettings.VideoFrameRate](#common-CameraSettings-VideoFrameRate) |  | frame rate |






<a name="common-DroneData"></a>

### DroneData
Represents the generic data object that is sent from drone to client.
Each DroneData message *must* contain the current session, and *only one*
of the other parameters.


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| session | [DroneSession](#common-DroneSession) |  | current session |
| error | [Error](#common-Error) |  | notifies when an error occurred |
| media | [Media](#common-Media) |  | **Deprecated.** contains either a media part, or notifies update abortion |
| metrics | [Metrics](#common-Metrics) |  | contains the current state of the drone |
| command | [Command](#common-Command) |  | (optionally) used to notify about drone&#39;s current action |
| heartbeat | [Empty](#common-Empty) |  | (optionally) used to keep the connection alive |
| log | [Log](#common-Log) |  | contains a log message |
| flight_plan_status | [FlightPlanStatus](#common-FlightPlanStatus) |  | contains info about the latest flight plan executed |
| media_upload | [MediaUpload](#common-MediaUpload) |  | contains a request to upload a media |
| flight_plan_request | [FlightPlanRequest](#common-FlightPlanRequest) |  | contains a request for flight plans |






<a name="common-DroneSession"></a>

### DroneSession
Represents a session between a drone and the server


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| id | [string](#string) |  |  |
| droneId | [string](#string) |  | **Deprecated.**  |






<a name="common-Empty"></a>

### Empty
Represents an empty message






<a name="common-Error"></a>

### Error
Represents an error message


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| code | [Error.Code](#common-Error-Code) |  | error code |
| description | [string](#string) |  | textual description |






<a name="common-FlightPlan"></a>

### FlightPlan
Represents a flight plan that can be executed by the drone
A flight plan can be referenced by ID if previously created from web app.
Otherwise, a list of commands can be directly specified in this message, either
as list of Command objects or in JSON format.


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| id | [string](#string) |  | ID of flight plan |
| commands | [CommandList](#common-CommandList) |  | list of commands contained in the flight plan |
| json | [bytes](#bytes) |  | JSON representation of flight plan |
| empty | [Empty](#common-Empty) |  | use default flight plan assigned to drone in web app |
| fp_id | [string](#string) |  | (optional) a custom identifier that can be used to keep track of which flight plan is running at a certain time. The drone application will use this value in `Metrics` and `FlightPlanStatus` messages |
| auto_home | [bool](#bool) |  | (optional) if true, the drone will return home after executing the flight plan, or if an error occurs |
| command_index | [uint32](#uint32) |  | (optional) command index to start from (default: 0) |






<a name="common-FlightPlanList"></a>

### FlightPlanList
Represents a list of FlightPlan objects


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| flight_plans | [FlightPlan](#common-FlightPlan) | repeated | list of flight plans |
| store | [bool](#bool) |  | (optional) indicates if the flight plans will be executed immediately (if false) or if they will be stored on the device for later use (if true) |
| sync | [bool](#bool) |  | (optional) indicates if a time sync between device and drone will happen before running the flight plan |






<a name="common-FlightPlanRequest"></a>

### FlightPlanRequest
Represents a message asking for one or more flight plans. This message is sent 
from the drone to the server. The server will respond with a corresponding 
FlightPlan message, containing the flight plans associated to the IDs specified
in this message.


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| fp_ids | [string](#string) | repeated | (optional) identifiers of the flight plans that the drone wants to run. If not specified, the server will send the flight plan currently linked to the drone. |
| store | [bool](#bool) |  | (optional) the drone indicates if the flight plans will be ran immediately (if false) or stored on the device (if true). The server&#39;s reply should set the corresponding parameter to the same value in `FlightPlanList` |






<a name="common-FlightPlanStatus"></a>

### FlightPlanStatus
Represents a message containing information about a flight plan


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| fp_id | [string](#string) |  | identifier of the flight plan, as provided in the `FlightPlan` message |
| status | [FlightPlanStatus.Status](#common-FlightPlanStatus-Status) |  | current status of flight plan |
| current_command | [uint32](#uint32) |  | index of the command currently executing |
| timestamp | [uint64](#uint64) |  | timestamp (in milliseconds) of the message |






<a name="common-Hover"></a>

### Hover
Represents a command to make the drone hover in place


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| duration | [uint64](#uint64) |  | duration of hover, in seconds |






<a name="common-Land"></a>

### Land
Represents a land command


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| force | [bool](#bool) |  | force landing if sensor is off or ground is unstable |






<a name="common-Log"></a>

### Log
Represents a log message


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| timestamp | [uint64](#uint64) |  | timestamp (in milliseconds) of the generated log |
| level | [Log.Level](#common-Log-Level) |  | log level |
| tag | [string](#string) |  | can be used to give a specific context on the log |
| message | [string](#string) |  | actual mesaage |






<a name="common-ManualControl"></a>

### ManualControl
Represents a command to make the drone enable/disable manual control


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| enable | [bool](#bool) |  | true: enable manual control, false: disable manual control |






<a name="common-Media"></a>

### Media
DEPRECATED. Represents a media object, containing either a (part of) media 
being uploaded by the drone, or notifies the server that the upload has been
aborted


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| data | [bytes](#bytes) |  | raw data |
| format | [string](#string) |  | **Deprecated.**  |
| persist | [bool](#bool) |  | informs the server that there may be multiple parts |
| size | [int64](#int64) |  | total size of the media being uploaded |
| part_number | [int64](#int64) |  | index of the current part |
| total_parts | [int64](#int64) |  | total number of parts |
| content_type | [Media.ContentType](#common-Media-ContentType) |  | type of media being uploaded |
| id | [int64](#int64) |  | unique per-session ID of the media |
| abort | [bool](#bool) |  | notifies the server that upload has been aborted |






<a name="common-MediaUpload"></a>

### MediaUpload
Represents a request or a result for a media upload


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| request | [MediaUpload.Request](#common-MediaUpload-Request) |  | request to upload a media |
| result | [MediaUpload.Result](#common-MediaUpload-Result) |  | result of an upload |






<a name="common-MediaUpload-Request"></a>

### MediaUpload.Request
Represents a request to upload a media


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| size | [int64](#int64) |  | total size of the media being uploaded |
| photo_format | [CameraSettings.PhotoFormat](#common-CameraSettings-PhotoFormat) |  | format of photos to be uploaded by the drone (JPEG, RAW, etc.) |
| video_format | [CameraSettings.VideoFormat](#common-CameraSettings-VideoFormat) |  | format of videos to be uploaded by the drone (MP4, MOV, etc.) |
| upload_to_client | [bool](#bool) |  | specifies if the client will handle the upload of this media. This variable should contain the same value as in the `DownloadMedia` message previously received |
| group_id | [string](#string) |  | (optional) Group ID of the media. Multiple media can be grouped by using the same ID (e.g., multispectral images). Empty string means that the media is not part of a group |
| download_index | [uint32](#uint32) |  | (optional) index of the media in the list of media to download. |
| download_count | [uint32](#uint32) |  | (optional) total number of media to download |
| flight_id | [string](#string) |  | (optional) a unique identifier of the flight. Used when uploading media from a folder (usually, this is a randomly-generated string) |
| flight_name | [string](#string) |  | (optional) a (non-unique) name of the flight. Used when uploading media from a folder (usually, this is the folder name) |






<a name="common-MediaUpload-Result"></a>

### MediaUpload.Result
Represents a result of a media upload


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| id | [string](#string) |  | unique ID of the media |
| result_code | [MediaUpload.Result.ResultCode](#common-MediaUpload-Result-ResultCode) |  | result of the upload |
| description | [string](#string) |  | (optional) additional information regarding the upload (e.g., if an error occurred) |






<a name="common-MediaUploadResponse"></a>

### MediaUploadResponse
Represents a response to a media upload request


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| id | [string](#string) |  | unique ID of the media |
| url | [string](#string) |  | URL to upload the media to with an HTTP PUT request |






<a name="common-Metrics"></a>

### Metrics
Represents the current drone&#39;s state. All fields are *optional*


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| timestamp | [uint64](#uint64) |  | timestamp (in milliseconds) of the drone state |
| battery | [uint32](#uint32) |  | battery percentage [0,100] |
| state | [Metrics.State](#common-Metrics-State) |  | current state |
| position | [Coordinates](#common-Coordinates) |  | current position |
| gps_level | [Metrics.GPSLevel](#common-Metrics-GPSLevel) |  | current GPS level |
| uplink_level | [Metrics.SignalLevel](#common-Metrics-SignalLevel) |  | level of uplink signal |
| downlink_level | [Metrics.SignalLevel](#common-Metrics-SignalLevel) |  | level of downlink signal |
| gimbal_attitude | [Attitude](#common-Attitude) |  | attitude of primary gimbal |
| flight_plan_id | [string](#string) |  | if state is `FLIGHT_PLAN`, identifier of the current flight plan as provided in the `FlightPlan` message |
| thermal_gimbal_attitude | [Attitude](#common-Attitude) |  | attitude of thermal camera&#39;s gimbal |
| camera_state | [Metrics.CameraState](#common-Metrics-CameraState) |  | state of primary camera |
| thermal_camera_state | [Metrics.CameraState](#common-Metrics-CameraState) |  | state of thermal camera |
| home_position | [Coordinates](#common-Coordinates) |  | home (i.e., takeoff) position |
| drone_type | [string](#string) |  | drone model |
| client_type | [string](#string) |  | client (e.g., smartphone) model |
| capabilities | [Metrics.Capability](#common-Metrics-Capability) | repeated | **Deprecated.** capabilities of drone |
| velocity | [Velocity](#common-Velocity) |  | velocity of drone |
| controller_position | [Coordinates](#common-Coordinates) |  | position of controller |
| controller_battery | [uint32](#uint32) |  | battery percentage of controller [0,100] |
| live_stream_state | [Metrics.LiveStreamState](#common-Metrics-LiveStreamState) |  | state of live streaming |
| available_storage | [uint64](#uint64) |  | available storage, in bytes |
| recording_time | [uint32](#uint32) |  | current video&#39;s recording time of primary camera, in seconds |
| camera_settings | [CameraSettings](#common-CameraSettings) |  | current camera settings of the drone |
| drone_capabilities | [DroneCapabilities](#common-DroneCapabilities) |  | drone capabilities |
| camera_mode | [CameraMode.Mode](#common-CameraMode-Mode) |  | mode of primary camera |
| gps_satellite_count | [uint32](#uint32) |  | number of satellites |
| upgradable_components | [string](#string) |  | components that can be upgraded |
| obstacle_avoidance_mode | [ObstacleAvoidanceMode.Mode](#common-ObstacleAvoidanceMode-Mode) |  | obstacle avoidance type |
| rtk_state | [Metrics.RTKState](#common-Metrics-RTKState) |  | RTK state |






<a name="common-MoveAltitude"></a>

### MoveAltitude
Represents a command to make the drone move to a specific altitude


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| altitude | [float](#float) |  | altitude to move to, in meters (default: 1.0) |
| speed | [Movement](#common-Movement) |  | speed of movement |
| constant_speed | [bool](#bool) |  | (optional) if true, drone does not decelerate while approaching destination |






<a name="common-MoveGPS"></a>

### MoveGPS
Represents a command to make the drone move to a specific GPS coordinate


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| position | [Coordinates](#common-Coordinates) |  | GPS coordinates of destination |
| speed | [Movement](#common-Movement) |  | speed of movement |
| auto_heading | [bool](#bool) |  | if true, heading is towards the destination |
| constant_speed | [bool](#bool) |  | (optional) if true, drone does not decelerate while approaching destination |
| heading_speed | [Movement](#common-Movement) |  | (optional) speed of heading. If not specified, drone will use the `speed` parameter |
| up_speed | [Movement](#common-Movement) |  | (optional) speed of up/down. If not specified, drone will use the `speed` parameter |






<a name="common-MoveSpeed"></a>

### MoveSpeed
Represents a command to make the drone move in a specific direction, relative
to the drone itself


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| forward | [Movement](#common-Movement) |  | forward/backward movement |
| right | [Movement](#common-Movement) |  | right/left movement |
| up | [Movement](#common-Movement) |  | up/down movement |
| rotate | [Movement](#common-Movement) |  | clockwise/counter-clockwise rotation |
| duration | [uint64](#uint64) |  | duration of movement, in **milliseconds** (default: 10000) |






<a name="common-Movement"></a>

### Movement
Represents a movement command that can be sent to the drone


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| speed | [Movement.Speed](#common-Movement-Speed) |  | speed of movement (default: 1) |
| reversed | [bool](#bool) |  | **Deprecated.** (deprecated) |
| direction | [Movement.Direction](#common-Movement-Direction) |  | direction of movement |
| absolute_speed | [float](#float) |  | (optional) absolute speed value, either in m/s (for movement) or deg/s (for rotation). If non-zero, the `speed` value is ignored and this is used instead |






<a name="common-ObstacleAvoidanceMode"></a>

### ObstacleAvoidanceMode
Represents a command to set the obstacle avoidance mode


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| mode | [ObstacleAvoidanceMode.Mode](#common-ObstacleAvoidanceMode-Mode) |  |  |






<a name="common-ReturnHome"></a>

### ReturnHome
Represents a command to make the drone return to its takeoff point and land


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| altitude | [float](#float) |  | altitude (relative to takeoff point) to return to, in meters (default: 20.0) |
| force_land | [bool](#bool) |  | force landing if sensor is off or ground is unstable |
| return_to_controller | [bool](#bool) |  | (optional) return to controller position |






<a name="common-Rotate"></a>

### Rotate
Represents a command to make the drone rotate in place


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| heading | [float](#float) |  | heading to rotate to, in degrees |
| speed | [Movement](#common-Movement) |  | speed of rotation |
| relative_heading | [bool](#bool) |  | if true: &#34;heading&#34; is relative to current heading. If false: heading is relative to the north |
| forward | [Movement](#common-Movement) |  | optional forward movement used to make the drone do an arc |
| right | [Movement](#common-Movement) |  | optional right movement used to make the drone do a &#34;reverse&#34; arc |
| up | [Movement](#common-Movement) |  | optional up movement to make the drone go up or down |
| constant_speed | [bool](#bool) |  | (optional) if true, drone does not decelerate while approaching destination |






<a name="common-StartRecording"></a>

### StartRecording
Represents a command to make the drone start recording a video


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| camera_settings | [CameraSettings](#common-CameraSettings) |  | camera settings to use |






<a name="common-StartStream"></a>

### StartStream
Represents a command to make the drone start a live stream video to a specific URL


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| camera_settings | [CameraSettings](#common-CameraSettings) |  | camera settings to use |
| url | [string](#string) |  | URL to stream to |






<a name="common-Stop"></a>

### Stop
Represents a command to make the drone stop doing whatever it&#39;s doing


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| go_home | [bool](#bool) |  | if true, drone will automatically return to takeoff point and land |






<a name="common-StopCamera"></a>

### StopCamera
Represents a command to make the drone stop taking photos and videos, and
also stops any gimbal movements


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| camera_settings | [CameraSettings](#common-CameraSettings) |  | camera settings to use |






<a name="common-StopRecording"></a>

### StopRecording
Represents a command to make the drone stop recording a video


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| camera_settings | [CameraSettings](#common-CameraSettings) |  | camera settings to use |






<a name="common-StopStream"></a>

### StopStream
Represents a command to make the drone stop streaming video


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| camera_settings | [CameraSettings](#common-CameraSettings) |  | camera settings to use |






<a name="common-TakePhoto"></a>

### TakePhoto
Represents a command to make the drone take a photo


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| camera_settings | [CameraSettings](#common-CameraSettings) |  | camera settings to use |
| count | [uint32](#uint32) |  | **Deprecated.** number of photos to take. 0: unlimited. Only used with PHOTO_MODE_INTERVAL, PHOTO_MODE_BURST, and PHOTO_MODE_AEB |
| interval | [uint32](#uint32) |  | **Deprecated.** interval between photos, in seconds. Only used with PHOTO_MODE_INTERVAL and PHOTO_MODE_TIME_LAPSE (default: 2) |
| duration | [uint32](#uint32) |  | **Deprecated.** duration of the command, in seconds. 0: unlimited. Only used with PHOTO_MODE_TIME_LAPSE |






<a name="common-Takeoff"></a>

### Takeoff
Represents a takeoff command


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| altitude | [float](#float) |  | altitude to reach, in meters (default: 1.0) |
| speed | [Movement](#common-Movement) |  | speed to reach the desired altitude |






<a name="common-TiltCamera"></a>

### TiltCamera
Represents a command to make the camera&#39;s gimbal tilt


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| yaw | [float](#float) |  | **Deprecated.** yaw to tilt to, in degrees |
| pitch | [float](#float) |  | **Deprecated.** pitch to tilt to, in degrees |
| roll | [float](#float) |  | **Deprecated.** roll to tilt to, in degrees |
| speed | [Movement](#common-Movement) |  | speed of movement |
| camera_settings | [CameraSettings](#common-CameraSettings) |  | camera settings to use |
| attitude | [Attitude](#common-Attitude) |  | gimbal attitude |






<a name="common-Velocity"></a>

### Velocity
Represents a velocity vector using the NED coordinate system


| Field | Type | Label | Description |
| ----- | ---- | ----- | ----------- |
| x | [float](#float) |  | velocity in north direction, in m/s |
| y | [float](#float) |  | velocity in east direction, in m/s |
| z | [float](#float) |  | velocity in down direction, in m/s |





 


<a name="common-CameraMode-Mode"></a>

### CameraMode.Mode


| Name | Number | Description |
| ---- | ------ | ----------- |
| MODE_UNKNOWN | 0 | unknown mode |
| MODE_PHOTO | 1 | photo mode |
| MODE_VIDEO | 2 | video mode |



<a name="common-CameraSettings-CameraType"></a>

### CameraSettings.CameraType


| Name | Number | Description |
| ---- | ------ | ----------- |
| CAMERA_PRIMARY | 0 | drone&#39;s primary camera (e.g., RGB) |
| CAMERA_SECONDARY | 1 | drone&#39;s secondary camera (e.g., thermal) |



<a name="common-CameraSettings-MediaResolution"></a>

### CameraSettings.MediaResolution


| Name | Number | Description |
| ---- | ------ | ----------- |
| RESOLUTION_NONE | 0 | unknown (if get) / unchanged (if set) |
| RESOLUTION_DEFAULT | 1 | use default resolution |
| RESOLUTION_720P | 2 | use 720p resolution |
| RESOLUTION_1080P | 3 | use 1080p resolution |
| RESOLUTION_1440P | 4 | use 1440p resolution |
| RESOLUTION_2160P | 5 | use 2160p resolution |



<a name="common-CameraSettings-PhotoCaptureMode"></a>

### CameraSettings.PhotoCaptureMode


| Name | Number | Description |
| ---- | ------ | ----------- |
| PHOTO_CAPTURE_MODE_NONE | 0 | unknown (if get) / unchanged (if set) |
| PHOTO_CAPTURE_MODE_DEFAULT | 1 | use default capture mode |
| PHOTO_CAPTURE_MODE_RGB | 2 | capture only RGB |
| PHOTO_CAPTURE_MODE_RGB_MS | 3 | capture RGB and multispectral |
| PHOTO_CAPTURE_MODE_INFRARED | 4 | capture infrared |



<a name="common-CameraSettings-PhotoFormat"></a>

### CameraSettings.PhotoFormat


| Name | Number | Description |
| ---- | ------ | ----------- |
| PHOTO_FORMAT_NONE | 0 | unknown (if get) / unchanged (if set) |
| PHOTO_FORMAT_DEFAULT | 1 | use default photo format |
| PHOTO_FORMAT_JPEG | 2 | use JPEG photo format |
| PHOTO_FORMAT_RAW | 3 | use RAW photo format |
| PHOTO_FORMAT_RAW_AND_JPEG | 4 | use RAW and JPEG photo format |
| PHOTO_FORMAT_TIFF | 5 | use TIFF photo format |



<a name="common-CameraSettings-PhotoMode"></a>

### CameraSettings.PhotoMode


| Name | Number | Description |
| ---- | ------ | ----------- |
| PHOTO_MODE_NONE | 0 | unknown (if get) / unchanged (if set) |
| PHOTO_MODE_SINGLE | 1 | shoot a single photo |
| PHOTO_MODE_INTERVAL | 2 | shoot photos in sequence, with a specific interval |
| PHOTO_MODE_BURST | 3 | shoot photos in rapid succession |
| PHOTO_MODE_HDR | 4 | HDR mode |
| PHOTO_MODE_EHDR | 5 | Enhanced HDR mode |
| PHOTO_MODE_HYPER_LIGHT | 6 | HyperLight mode for low-light environments |
| PHOTO_MODE_AEB | 7 | Automatic Exposure Bracketing mode. Shoot multiple photos at different exposures |
| PHOTO_MODE_TIME_LAPSE | 8 | Time-Lapse mode. Takes a series of photos with specific interval, then outputs a video |
| PHOTO_MODE_PANORAMA | 9 | Takes a series of photos for panorama mode |
| PHOTO_MODE_HIGH_RESOLUTION | 10 | High-Resolution mode |



<a name="common-CameraSettings-StreamMode"></a>

### CameraSettings.StreamMode


| Name | Number | Description |
| ---- | ------ | ----------- |
| STREAM_MODE_NONE | 0 | unknown (if get) / unchanged (if set) |
| STREAM_MODE_DEFAULT | 1 | use default stream type |
| STREAM_MODE_RGB | 2 | use RGB stream |
| STREAM_MODE_NDVI | 3 | use NDVI stream |
| STREAM_MODE_INFRARED | 4 | use infrared stream |



<a name="common-CameraSettings-StreamQuality"></a>

### CameraSettings.StreamQuality


| Name | Number | Description |
| ---- | ------ | ----------- |
| STREAM_QUALITY_NONE | 0 | unknown (if get) / unchanged (if set) |
| STREAM_QUALITY_NORMAL | 1 | use normal stream quality |
| STREAM_QUALITY_HIGH | 2 | use high stream quality |
| STREAM_QUALITY_LOW | 3 | use low stream quality |



<a name="common-CameraSettings-VideoCaptureMode"></a>

### CameraSettings.VideoCaptureMode


| Name | Number | Description |
| ---- | ------ | ----------- |
| VIDEO_CAPTURE_MODE_NONE | 0 | unknown (if get) / unchanged (if set) |
| VIDEO_CAPTURE_MODE_DEFAULT | 1 | use default capture mode |
| VIDEO_CAPTURE_MODE_RGB | 2 | capture only RGB |
| VIDEO_CAPTURE_MODE_RGB_NDVI | 3 | capture both RGB and NDVI |
| VIDEO_CAPTURE_MODE_INFRARED | 4 | capture infrared |



<a name="common-CameraSettings-VideoFormat"></a>

### CameraSettings.VideoFormat


| Name | Number | Description |
| ---- | ------ | ----------- |
| VIDEO_FORMAT_NONE | 0 | unknown (if get) / unchanged (if set) |
| VIDEO_FORMAT_DEFAULT | 1 | use default video format |
| VIDEO_FORMAT_MP4 | 2 | use MP4 video format |
| VIDEO_FORMAT_MOV | 3 | use MOV video format |
| VIDEO_FORMAT_TIFF_SEQ | 4 | use TIFF sequence video format |
| VIDEO_FORMAT_SEQ | 5 | use sequence video format |



<a name="common-CameraSettings-VideoFrameRate"></a>

### CameraSettings.VideoFrameRate


| Name | Number | Description |
| ---- | ------ | ----------- |
| FRAME_RATE_NONE | 0 | unknown (if get) / unchanged (if set) |
| FRAME_RATE_DEFAULT | 1 | use default frame rate |
| FRAME_RATE_24FPS | 2 | use 24 fps frame rate |
| FRAME_RATE_30FPS | 3 | use 30 fps frame rate |
| FRAME_RATE_48FPS | 4 | use 48 fps frame rate |
| FRAME_RATE_60FPS | 5 | use 60 fps frame rate |
| FRAME_RATE_120FPS | 6 | use 120 fps frame rate |



<a name="common-CameraSettings-VideoMode"></a>

### CameraSettings.VideoMode


| Name | Number | Description |
| ---- | ------ | ----------- |
| VIDEO_MODE_NONE | 0 | unknown (if get) / unchanged (if set) |
| VIDEO_MODE_NORMAL | 1 | normal video mode |
| VIDEO_MODE_SLOW_MOTION | 2 | slow motion mode |
| VIDEO_MODE_HDR | 3 | HDR video mode |



<a name="common-Command-CommandCode"></a>

### Command.CommandCode


| Name | Number | Description |
| ---- | ------ | ----------- |
| NONE | 0 | default invalid value |
| TAKEOFF | 1 |  |
| LAND | 2 | drone lands |
| RETURN_HOME | 3 | drone returns to home position and lands |
| HOVER | 4 | wait for a specified amount of time |
| SET_OBSTACLE_AVOIDANCE_MODE | 10 |  |
| CONFIGURE_RTK | 11 | configure RTK |
| MOVE_SPEED | 20 |  |
| MOVE_GPS | 21 | move to a specific GPS location |
| STOP_MOVEMENT | 22 | stop all current movements |
| STOP_FLIGHT_PLAN | 23 | stop current flight plan |
| CIRCLE | 24 | performs a circle around a fixed GPS location |
| ROTATE | 25 | rotate drone while hovering |
| MOVE_ALTITUDE | 26 | move drone up or down |
| START_STREAM | 30 |  |
| STOP_STREAM | 31 | stop streaming |
| TAKE_PHOTO | 32 | take one or more photos |
| START_RECORDING | 33 | start recording |
| STOP_RECORDING | 34 | stop recording |
| TILT_CAMERA | 35 | move camera&#39;s gimbal |
| STOP_CAMERA | 36 | stops all operations on camera |
| UPDATE_CAMERA_SETTINGS | 37 | update camera settings |
| SET_CAMERA_MODE | 38 | set camera mode |
| DELETE_ALL_MEDIA | 50 |  |
| REBOOT_DRONE | 51 | reboot drone |
| CALIBRATE_COMPASS | 52 | calibrate drone&#39;s compass |
| MANUAL_CONTROL | 53 | (optional) force enabling manual control |
| DOWNLOAD_MEDIA | 54 | download some or all medias from drone&#39;s storage |
| STOP_ALL | 55 | stop all current operations (movements, camera, flight plan) |
| TIME_SYNC | 56 | synchronizes the drone time with the device time |
| CALIBRATE_GIMBAL | 57 | calibrate drone&#39;s gimbal |



<a name="common-DownloadMedia-CameraType"></a>

### DownloadMedia.CameraType


| Name | Number | Description |
| ---- | ------ | ----------- |
| CAMERA_TYPE_ALL | 0 |  |
| CAMERA_TYPE_NORMAL | 1 |  |
| CAMERA_TYPE_THERMAL | 2 |  |



<a name="common-DownloadMedia-MediaType"></a>

### DownloadMedia.MediaType


| Name | Number | Description |
| ---- | ------ | ----------- |
| MEDIA_TYPE_ALL | 0 |  |
| MEDIA_TYPE_PHOTO | 1 |  |
| MEDIA_TYPE_VIDEO | 2 |  |



<a name="common-Error-Code"></a>

### Error.Code


| Name | Number | Description |
| ---- | ------ | ----------- |
| UNKNOWN | 0 |  |
| DRONE | 100 | 1xx: Drone |
| DRONE_NOT_CONNECTED | 101 |  |
| DRONE_NOT_READY | 102 |  |
| DRONE_NOT_CALIBRATED | 103 |  |
| DRONE_CONNECTION_ERROR | 104 |  |
| DRONE_STATE_NOT_LANDED | 110 |  |
| DRONE_STATE_NOT_HOVERING | 111 |  |
| DRONE_STATE_NOT_FLYING | 112 |  |
| DRONE_STATE_NOT_FLIGHT_PLAN | 113 |  |
| DRONE_STATE_NOT_DOWNLOADING | 114 |  |
| DRONE_STATE_NOT_IDLE | 115 | either landed or hovering |
| DRONE_STATE_NOT_IN_AIR | 116 | either hovering or flying |
| DRONE_NO_SENSOR_INFO | 117 |  |
| DRONE_LOW_BATTERY | 118 |  |
| DRONE_BAD_SIGNAL | 119 |  |
| DRONE_BAD_GPS | 120 |  |
| DRONE_COMMAND_BAD_PARAMETERS | 140 |  |
| DRONE_COMMAND_FAILED_TO_EXECUTE | 141 |  |
| DRONE_LANDING_NEED_CONFIRMATION | 142 |  |
| DRONE_DISTANCE_TOO_FAR | 143 |  |
| DRONE_CAMERA_NOT_FOUND | 160 |  |
| DRONE_CAMERA_NOT_IDLE | 161 |  |
| DRONE_CAMERA_NOT_RECORDING | 162 |  |
| DRONE_STREAM_START_FAILED | 163 |  |
| DRONE_FLIGHT_PLAN_PARSING_ERROR | 170 |  |
| DRONE_FLIGHT_PLAN_IN_PROGRESS | 171 |  |
| DRONE_FLIGHT_PLAN_FAILED | 172 |  |
| DRONE_DOWNLOAD_ERROR | 180 |  |
| DRONE_MEDIA_DELETE_FAILED | 181 |  |
| DRONE_MEDIA_NOT_FOUND | 182 |  |
| DRONE_FEATURE_NOT_IMPLEMENTED | 190 |  |
| DRONE_FEATURE_NOT_SUPPORTED | 191 |  |
| DRONE_UNEXPECTED_ERROR | 192 |  |
| CLIENT | 200 | 2xx: Client |
| BAD_REQUEST | 201 |  |
| UNKNOWN_REQUEST | 202 |  |
| AUTHENTICATION_ERROR | 300 | 3xx: Backend |
| DB_ERROR | 301 |  |



<a name="common-FlightPlanStatus-Status"></a>

### FlightPlanStatus.Status


| Name | Number | Description |
| ---- | ------ | ----------- |
| UNKNOWN | 0 | flight plan has not started or no info has been received from the drone yet |
| STARTED | 1 | flight plan has started |
| COMPLETED | 2 | flight plan has completed successfully |
| FAILED | 3 | flight plan has failed |



<a name="common-Log-Level"></a>

### Log.Level


| Name | Number | Description |
| ---- | ------ | ----------- |
| CRITICAL | 0 |  |
| ERROR | 1 |  |
| WARNING | 2 |  |
| INFO | 3 |  |
| DEBUG | 4 |  |
| TRACE | 5 |  |



<a name="common-Media-ContentType"></a>

### Media.ContentType


| Name | Number | Description |
| ---- | ------ | ----------- |
| UNKNOWN | 0 |  |
| VIDEO_MP4 | 10 |  |
| VIDEO_RAW | 11 |  |
| PHOTO_JPEG | 20 |  |
| PHOTO_PNG | 21 |  |
| PHOTO_RAW | 22 |  |



<a name="common-MediaUpload-Result-ResultCode"></a>

### MediaUpload.Result.ResultCode


| Name | Number | Description |
| ---- | ------ | ----------- |
| SUCCESS | 0 | media uploaded successfully |
| ERROR_GENERIC | 1 | generic error |
| ERROR_DOWNLOAD | 2 | failed to download the media from the drone |
| ERROR_UPLOAD | 3 | failed to upload the media to the specified URL |



<a name="common-Metrics-CameraState"></a>

### Metrics.CameraState


| Name | Number | Description |
| ---- | ------ | ----------- |
| CAMERA_UNKNOWN | 0 | camera not available or unknown state |
| CAMERA_IDLE | 1 | camera is ready to accept commands |
| CAMERA_PHOTO | 2 | camera is shooting photo |
| CAMERA_VIDEO | 3 | camera is recording video |
| CAMERA_DOWNLOAD | 4 | camera cannot be used, download in progress |



<a name="common-Metrics-Capability"></a>

### Metrics.Capability


| Name | Number | Description |
| ---- | ------ | ----------- |
| THERMAL_CAMERA | 0 | thermal camera available |
| RESOLUTION_1440P | 1 | 2K resolution available |
| RESOLUTION_2160P | 2 | 4K resoliution available |



<a name="common-Metrics-GPSLevel"></a>

### Metrics.GPSLevel


| Name | Number | Description |
| ---- | ------ | ----------- |
| GPS_UNKNOWN | 0 | GPS level is unknown |
| BAD | 1 | bad signal, not allowed to takeoff |
| OK | 2 | takeoff allowed but position may be imprecise, use caution |
| GOOD | 3 | good signal, position is precise |



<a name="common-Metrics-LiveStreamState"></a>

### Metrics.LiveStreamState


| Name | Number | Description |
| ---- | ------ | ----------- |
| STREAM_UNKNOWN | 0 | unknown state |
| STREAM_NOT_CONNECTED | 1 | not connected (i.e., live stream is disabled) |
| STREAM_INITIALIZING | 2 | initializing |
| STREAM_INITIALIZED | 3 | initialized |
| STREAM_CONNECTION_STARTED | 4 | connection to server has started |
| STREAM_AUTHENTICATED | 5 | authenticated to server |
| STREAM_CONNECTED | 6 | connected to server (streaming is ongoing) |
| STREAM_DISCONNECTED | 7 | disconnected from server |
| STREAM_AUTHENTICATION_ERROR | 8 | authentication error |
| STREAM_CONNECTION_ERROR | 9 | connection error |
| STREAM_START_ERROR | 10 | start stream error |
| STREAM_INITIALIZATION_ERROR | 11 | initialization error |
| STREAM_RESTARTING | 12 | trying to reconnect |



<a name="common-Metrics-RTKState"></a>

### Metrics.RTKState


| Name | Number | Description |
| ---- | ------ | ----------- |
| RTK_UNKNOWN | 0 | unknown state |
| RTK_DISCONNECTED | 1 | RTK disconnected |
| RTK_CONNECTED | 2 | RTK connected |
| RTK_DISABLED | 3 | RTK module is disabled in drone |



<a name="common-Metrics-SignalLevel"></a>

### Metrics.SignalLevel


| Name | Number | Description |
| ---- | ------ | ----------- |
| SIGNAL_UNKNOWN | 0 | radio signal is unknown |
| SIGNAL_BAD | 1 | bad signal, connection unstable |
| SIGNAL_OK | 2 | connection is stable but data may be lost |
| SIGNAL_GOOD | 3 | good signal |



<a name="common-Metrics-State"></a>

### Metrics.State


| Name | Number | Description |
| ---- | ------ | ----------- |
| UNKNOWN | 0 | missing connection |
| LANDED | 1 | drone is landed |
| HOVERING | 2 | drone is in air, hovering |
| FLYING | 3 | drone is in air, moving |
| FLIGHT_PLAN | 4 | drone is executing a flight plan |
| DOWNLOADING | 5 | drone is landed, media are being downloaded |
| OTHER | 6 | other state (e.g., calibrating compass) |



<a name="common-Movement-Direction"></a>

### Movement.Direction


| Name | Number | Description |
| ---- | ------ | ----------- |
| DIRECTION_AUTO | 0 | the drone application decides the most appropriate direction |
| DIRECTION_NORMAL | 1 | either forward, right, up, or clockwise |
| DIRECTION_REVERSED | 2 | either backward, left, down, or counter-clockwise |



<a name="common-Movement-Speed"></a>

### Movement.Speed


| Name | Number | Description |
| ---- | ------ | ----------- |
| NONE | 0 |  |
| VERY_SLOW | 1 |  |
| SLOW | 2 |  |
| NORMAL | 3 |  |
| FAST | 4 |  |
| VERY_FAST | 5 |  |
| MAX_SPEED | 6 |  |



<a name="common-ObstacleAvoidanceMode-Mode"></a>

### ObstacleAvoidanceMode.Mode


| Name | Number | Description |
| ---- | ------ | ----------- |
| MODE_UNKNOWN | 0 | unknown type |
| MODE_OFF | 1 | obstacle avoidance is off |
| MODE_BRAKE | 2 | drone will brake |
| MODE_BYPASS | 3 | drone will try to avoid obstacle |


 

 

 



## Scalar Value Types

| .proto Type | Notes | C++ | Java | Python | Go | C# | PHP | Ruby |
| ----------- | ----- | --- | ---- | ------ | -- | -- | --- | ---- |
| <a name="double" /> double |  | double | double | float | float64 | double | float | Float |
| <a name="float" /> float |  | float | float | float | float32 | float | float | Float |
| <a name="int32" /> int32 | Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead. | int32 | int | int | int32 | int | integer | Bignum or Fixnum (as required) |
| <a name="int64" /> int64 | Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead. | int64 | long | int/long | int64 | long | integer/string | Bignum |
| <a name="uint32" /> uint32 | Uses variable-length encoding. | uint32 | int | int/long | uint32 | uint | integer | Bignum or Fixnum (as required) |
| <a name="uint64" /> uint64 | Uses variable-length encoding. | uint64 | long | int/long | uint64 | ulong | integer/string | Bignum or Fixnum (as required) |
| <a name="sint32" /> sint32 | Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s. | int32 | int | int | int32 | int | integer | Bignum or Fixnum (as required) |
| <a name="sint64" /> sint64 | Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s. | int64 | long | int/long | int64 | long | integer/string | Bignum |
| <a name="fixed32" /> fixed32 | Always four bytes. More efficient than uint32 if values are often greater than 2^28. | uint32 | int | int | uint32 | uint | integer | Bignum or Fixnum (as required) |
| <a name="fixed64" /> fixed64 | Always eight bytes. More efficient than uint64 if values are often greater than 2^56. | uint64 | long | int/long | uint64 | ulong | integer/string | Bignum |
| <a name="sfixed32" /> sfixed32 | Always four bytes. | int32 | int | int | int32 | int | integer | Bignum or Fixnum (as required) |
| <a name="sfixed64" /> sfixed64 | Always eight bytes. | int64 | long | int/long | int64 | long | integer/string | Bignum |
| <a name="bool" /> bool |  | bool | boolean | boolean | bool | bool | boolean | TrueClass/FalseClass |
| <a name="string" /> string | A string must always contain UTF-8 encoded or 7-bit ASCII text. | string | String | str/unicode | string | string | string | String (UTF-8) |
| <a name="bytes" /> bytes | May contain any arbitrary sequence of bytes. | string | ByteString | str | []byte | ByteString | string | String (ASCII-8BIT) |