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Add HomePosition message and timestamp fields to telemetry #401

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PavelGuzenfeld wants to merge 2 commits into from
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Add HomePosition message and timestamp fields to telemetry #401

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84f81cc
Add timestamp_us to Altitude and GroundTruth messages
PavelGuzenfeld Mar 21, 2026
cdbfe8c
Add HomePosition message with full HOME_POSITION fields
PavelGuzenfeld Mar 21, 2026
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25 changes: 24 additions & 1 deletion protos/telemetry/telemetry.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -143,7 +143,7 @@ message PositionResponse {

message SubscribeHomeRequest {}
message HomeResponse {
Position home = 1; // The next home position
HomePosition home = 1; // The next home position
}

message SubscribeInAirRequest {}
Expand Down Expand Up @@ -494,6 +494,27 @@ message Position {
float relative_altitude_m = 4 [(mavsdk.options.default_value)="NaN"]; // Altitude relative to takeoff altitude in metres
}

/*
* Home position type.
*
* Includes the global GPS position, local NED position, surface quaternion,
* and approach vector from the MAVLink HOME_POSITION message.
*/
message HomePosition {
double latitude_deg = 1 [(mavsdk.options.default_value)="NaN"]; // Latitude in degrees (range: -90 to +90)
double longitude_deg = 2 [(mavsdk.options.default_value)="NaN"]; // Longitude in degrees (range: -180 to +180)
float absolute_altitude_m = 3 [(mavsdk.options.default_value)="NaN"]; // Altitude AMSL (above mean sea level) in metres
float relative_altitude_m = 4 [(mavsdk.options.default_value)="NaN"]; // Altitude relative to takeoff altitude in metres
float local_x_m = 5 [(mavsdk.options.default_value)="NaN"]; // Local X position in NED frame (m)
float local_y_m = 6 [(mavsdk.options.default_value)="NaN"]; // Local Y position in NED frame (m)
float local_z_m = 7 [(mavsdk.options.default_value)="NaN"]; // Local Z position in NED frame (m, positive down)
Quaternion q = 8; // Surface quaternion (world-to-surface-normal and heading)
float approach_x_m = 9 [(mavsdk.options.default_value)="NaN"]; // Local X position of the approach vector end (m)
float approach_y_m = 10 [(mavsdk.options.default_value)="NaN"]; // Local Y position of the approach vector end (m)
float approach_z_m = 11 [(mavsdk.options.default_value)="NaN"]; // Local Z position of the approach vector end (m)
uint64 timestamp_us = 12; // Timestamp (UNIX Epoch or since system boot) in microseconds
}

// Heading type used for global position
message Heading {
double heading_deg = 1 [(mavsdk.options.default_value)="NaN"]; // Heading in degrees (range: 0 to +360)
Expand Down Expand Up @@ -779,6 +800,7 @@ message GroundTruth {
double latitude_deg = 1 [(mavsdk.options.default_value)="NaN"]; // Latitude in degrees (range: -90 to +90)
double longitude_deg = 2 [(mavsdk.options.default_value)="NaN"]; // Longitude in degrees (range: -180 to 180)
float absolute_altitude_m = 3 [(mavsdk.options.default_value)="NaN"]; // Altitude AMSL (above mean sea level) in metres
uint64 timestamp_us = 4; // Timestamp in microseconds (since system boot)
}

// FixedwingMetrics message type.
Expand Down Expand Up @@ -836,6 +858,7 @@ message Altitude {
float altitude_relative_m = 4 [(mavsdk.options.default_value)="NaN"]; // Altitude above home position in meters
float altitude_terrain_m = 5 [(mavsdk.options.default_value)="NaN"]; // Altitude above terrain in meters
float bottom_clearance_m = 6 [(mavsdk.options.default_value)="NaN"]; // This is not the altitude, but the clear space below the system according to the fused clearance estimate in meters.
uint64 timestamp_us = 7; // Timestamp in microseconds (since system boot)
}

// Wind message type
Expand Down
1 change: 1 addition & 0 deletions protos/telemetry_server/telemetry_server.proto
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Expand Up @@ -451,6 +451,7 @@ message GroundTruth {
double latitude_deg = 1 [(mavsdk.options.default_value)="NaN"]; // Latitude in degrees (range: -90 to +90)
double longitude_deg = 2 [(mavsdk.options.default_value)="NaN"]; // Longitude in degrees (range: -180 to 180)
float absolute_altitude_m = 3 [(mavsdk.options.default_value)="NaN"]; // Altitude AMSL (above mean sea level) in metres
uint64 timestamp_us = 4; // Timestamp in microseconds (since system boot)
}

// FixedwingMetrics message type.
Expand Down