Protocol Documentation

Table of Contents

• common.proto

  • Ack

  • Attitude

  • CameraMode

  • CameraSettings

  • Circle

  • ClientData

  • ClientDataList

  • ClientSession

  • Command

  • CommandList

  • ConfigureRtk

  • Coordinates

  • DownloadMedia

  • DroneCapabilities

  • DroneCapabilities.ResolutionAndFrameRate

  • DroneData

  • DroneSession

  • Empty

  • Error

  • FlightPlan

  • FlightPlanList

  • FlightPlanRequest

  • FlightPlanStatus

  • Hover

  • Land

  • Log

  • ManualControl

  • Media

  • MediaUpload

  • MediaUpload.Request

  • MediaUpload.Result

  • MediaUploadResponse

  • Metrics

  • MoveAltitude

  • MoveGPS

  • MoveSpeed

  • Movement

  • ObstacleAvoidanceMode

  • ReturnHome

  • Rotate

  • StartRecording

  • StartStream

  • Stop

  • StopCamera

  • StopRecording

  • StopStream

  • TakePhoto

  • Takeoff

  • TiltCamera

  • Velocity

  • CameraMode.Mode

  • CameraSettings.CameraType

  • CameraSettings.MediaResolution

  • CameraSettings.PhotoCaptureMode

  • CameraSettings.PhotoFormat

  • CameraSettings.PhotoMode

  • CameraSettings.StreamMode

  • CameraSettings.StreamQuality

  • CameraSettings.VideoCaptureMode

  • CameraSettings.VideoFormat

  • CameraSettings.VideoFrameRate

  • CameraSettings.VideoMode

  • Command.CommandCode

  • DownloadMedia.CameraType

  • DownloadMedia.MediaType

  • Error.Code

  • FlightPlanStatus.Status

  • Log.Level

  • Media.ContentType

  • MediaUpload.Result.ResultCode

  • Metrics.CameraState

  • Metrics.Capability

  • Metrics.GPSLevel

  • Metrics.LiveStreamState

  • Metrics.RTKState

  • Metrics.SignalLevel

  • Metrics.State

  • Movement.Direction

  • Movement.Speed

  • ObstacleAvoidanceMode.Mode

• Scalar Value Types

Top

common.proto

Ack

DEPRECATED. Represents an “ack” 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		media ID of the received part

Attitude

Represents the attitude of a drone’s gimbal

Field	Type	Label	Description
roll	float		Z axis: gimbal rotates
pitch	float		X axis: gimbal moves up (+) or down (-)
yaw	float		Y axis: gimbal moves right (+) or left (-)
has_roll	bool		tells if the “roll” parameter should be used
has_pitch	bool		tells if the “pitch” parameter should be used
has_yaw	bool		tells if the “yaw” parameter should be used

CameraMode

Represents a command to set the camera mode

Field	Type	Label	Description
camera_type	CameraSettings.CameraType		camera type
mode	CameraMode.Mode		camera mode

CameraSettings

Represents the camera settings that the user can get/set

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

Circle

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

Field	Type	Label	Description
speed	Movement		speed of movement
duration	uint64		duration of circle, in milliseconds
degrees	int64		number of degrees to circle
radius	float		distance between drone and center, in meters
position	Coordinates		GPS coordinates of center

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

ClientDataList

Field	Type	Label	Description
data	ClientData	repeated

ClientSession

Represents a session between a client and the server

Field	Type	Label	Description
id	string
droneId	string

Command

Represents a command that can be sent to the drone

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

CommandList

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

Field	Type	Label	Description
commands	Command	repeated

ConfigureRtk

Represents a command to configure the RTK module

Field	Type	Label	Description
enable	bool

Coordinates

Represents a coordinate system

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

DownloadMedia

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

Field	Type	Label	Description
media_type	DownloadMedia.MediaType		type of media to download
camera_type	DownloadMedia.CameraType		type of camera to download media from
not_before	uint64		download media taken after this time. A value of zero means unrestricted (i.e. no lower bound)
not_after	uint64		download media taken before this time. A value of zero means unrestricted (i.e. no upper bound)
max_downloads	uint32		maximum number of media to download. A value of zero means unlimited
upload_to_client	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

DroneCapabilities

Represents the drone’s capabilities.

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

DroneCapabilities.ResolutionAndFrameRate

Field	Type	Label	Description
resolution	CameraSettings.MediaResolution		resolution
frame_rate	CameraSettings.VideoFrameRate		frame rate

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		current session
error	Error		notifies when an error occurred
media	Media		Deprecated. contains either a media part, or notifies update abortion
metrics	Metrics		contains the current state of the drone
command	Command		(optionally) used to notify about drone’s current action
heartbeat	Empty		(optionally) used to keep the connection alive
log	Log		contains a log message
flight_plan_status	FlightPlanStatus		contains info about the latest flight plan executed
media_upload	MediaUpload		contains a request to upload a media
flight_plan_request	FlightPlanRequest		contains a request for flight plans

DroneSession

Represents a session between a drone and the server

Field	Type	Label	Description
id	string
droneId	string		Deprecated.

Empty

Represents an empty message

Error

Represents an error message

Field	Type	Label	Description
code	Error.Code		error code
description	string		textual description

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		ID of flight plan
commands	CommandList		list of commands contained in the flight plan
json	bytes		JSON representation of flight plan
empty	Empty		use default flight plan assigned to drone in web app
fp_id	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		(optional) if true, the drone will return home after executing the flight plan, or if an error occurs
command_index	uint32		(optional) command index to start from (default: 0)

FlightPlanList

Represents a list of FlightPlan objects

Field	Type	Label	Description
flight_plans	FlightPlan	repeated	list of flight plans
store	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		(optional) indicates if a time sync between device and drone will happen before running the flight plan

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	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		(optional) the drone indicates if the flight plans will be ran immediately (if false) or stored on the device (if true). The server’s reply should set the corresponding parameter to the same value in FlightPlanList

FlightPlanStatus

Represents a message containing information about a flight plan

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

Hover

Represents a command to make the drone hover in place

Field	Type	Label	Description
duration	uint64		duration of hover, in seconds

Land

Represents a land command

Field	Type	Label	Description
force	bool		force landing if sensor is off or ground is unstable

Log

Represents a log message

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

ManualControl

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

Field	Type	Label	Description
enable	bool		true: enable manual control, false: disable manual control

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		raw data
format	string		Deprecated.
persist	bool		informs the server that there may be multiple parts
size	int64		total size of the media being uploaded
part_number	int64		index of the current part
total_parts	int64		total number of parts
content_type	Media.ContentType		type of media being uploaded
id	int64		unique per-session ID of the media
abort	bool		notifies the server that upload has been aborted

MediaUpload

Represents a request or a result for a media upload

Field	Type	Label	Description
request	MediaUpload.Request		request to upload a media
result	MediaUpload.Result		result of an upload

MediaUpload.Request

Represents a request to upload a media

Field	Type	Label	Description
size	int64		total size of the media being uploaded
photo_format	CameraSettings.PhotoFormat		format of photos to be uploaded by the drone (JPEG, RAW, etc.)
video_format	CameraSettings.VideoFormat		format of videos to be uploaded by the drone (MP4, MOV, etc.)
upload_to_client	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		(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		(optional) index of the media in the list of media to download.
download_count	uint32		(optional) total number of media to download
flight_id	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		(optional) a (non-unique) name of the flight. Used when uploading media from a folder (usually, this is the folder name)

MediaUpload.Result

Represents a result of a media upload

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

MediaUploadResponse

Represents a response to a media upload request

Field	Type	Label	Description
id	string		unique ID of the media
url	string		URL to upload the media to with an HTTP PUT request

Metrics

Represents the current drone’s state. All fields are optional

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

MoveAltitude

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

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

MoveGPS

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

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

MoveSpeed

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

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

Movement

Represents a movement command that can be sent to the drone

Field	Type	Label	Description
speed	Movement.Speed		speed of movement (default: 1)
reversed	bool		Deprecated. (deprecated)
direction	Movement.Direction		direction of movement
absolute_speed	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

ObstacleAvoidanceMode

Represents a command to set the obstacle avoidance mode

Field	Type	Label	Description
mode	ObstacleAvoidanceMode.Mode

ReturnHome

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

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

Rotate

Represents a command to make the drone rotate in place

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

StartRecording

Represents a command to make the drone start recording a video

Field	Type	Label	Description
camera_settings	CameraSettings		camera settings to use

StartStream

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

Field	Type	Label	Description
camera_settings	CameraSettings		camera settings to use
url	string		URL to stream to

Stop

Represents a command to make the drone stop doing whatever it’s doing

Field	Type	Label	Description
go_home	bool		if true, drone will automatically return to takeoff point and land

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		camera settings to use

StopRecording

Represents a command to make the drone stop recording a video

Field	Type	Label	Description
camera_settings	CameraSettings		camera settings to use

StopStream

Represents a command to make the drone stop streaming video

Field	Type	Label	Description
camera_settings	CameraSettings		camera settings to use

TakePhoto

Represents a command to make the drone take a photo

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

Takeoff

Represents a takeoff command

Field	Type	Label	Description
altitude	float		altitude to reach, in meters (default: 1.0)
speed	Movement		speed to reach the desired altitude

TiltCamera

Represents a command to make the camera’s gimbal tilt

Field	Type	Label	Description
yaw	float		Deprecated. yaw to tilt to, in degrees
pitch	float		Deprecated. pitch to tilt to, in degrees
roll	float		Deprecated. roll to tilt to, in degrees
speed	Movement		speed of movement
camera_settings	CameraSettings		camera settings to use
attitude	Attitude		gimbal attitude

Velocity

Represents a velocity vector using the NED coordinate system

Field	Type	Label	Description
x	float		velocity in north direction, in m/s
y	float		velocity in east direction, in m/s
z	float		velocity in down direction, in m/s

CameraMode.Mode

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

CameraSettings.CameraType

Name	Number	Description
CAMERA_PRIMARY	0	drone’s primary camera (e.g., RGB)
CAMERA_SECONDARY	1	drone’s secondary camera (e.g., thermal)

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

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

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

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

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

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

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

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

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

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

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’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’s compass
MANUAL_CONTROL	53	(optional) force enabling manual control
DOWNLOAD_MEDIA	54	download some or all medias from drone’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’s gimbal

DownloadMedia.CameraType

Name	Number	Description
CAMERA_TYPE_ALL	0
CAMERA_TYPE_NORMAL	1
CAMERA_TYPE_THERMAL	2

DownloadMedia.MediaType

Name	Number	Description
MEDIA_TYPE_ALL	0
MEDIA_TYPE_PHOTO	1
MEDIA_TYPE_VIDEO	2

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

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

Log.Level

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

Media.ContentType

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

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

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

Metrics.Capability

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

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

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

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

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

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)

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

Movement.Speed

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

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
double		double	double	float	float64	double	float	Float
float		float	float	float	float32	float	float	Float
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)
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
uint32	Uses variable-length encoding.	uint32	int	int/long	uint32	uint	integer	Bignum or Fixnum (as required)
uint64	Uses variable-length encoding.	uint64	long	int/long	uint64	ulong	integer/string	Bignum or Fixnum (as required)
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)
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
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)
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
sfixed32	Always four bytes.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
sfixed64	Always eight bytes.	int64	long	int/long	int64	long	integer/string	Bignum
bool		bool	boolean	boolean	bool	bool	boolean	TrueClass/FalseClass
string	A string must always contain UTF-8 encoded or 7-bit ASCII text.	string	String	str/unicode	string	string	string	String (UTF-8)
bytes	May contain any arbitrary sequence of bytes.	string	ByteString	str	[]byte	ByteString	string	String (ASCII-8BIT)