Merge pull request #677 from mavlink/pr-mavsdk-2.8

Update to MAVSDK v2.8.0

MAVSDK_SERVER_VERSION

@@ -1 +1 @@
-v2.7.0
+v2.8.0

mavsdk/action.py

@@ -336,6 +336,31 @@ async def arm(self):
             raise ActionError(result, "arm()")
 
 
+    async def arm_force(self):
+        """
+         Send command to force-arm the drone without any checks.
+
+         Attention: this is not to be used for normal flying but only bench tests!
+
+         Arming a drone normally causes motors to spin at idle.
+         Before arming take all safety precautions and stand clear of the drone!
+
+         Raises
+         ------
+         ActionError
+             If the request fails. The error contains the reason for the failure.
+        """
+
+        request = action_pb2.ArmForceRequest()
+        response = await self._stub.ArmForce(request)
+
+
+        result = self._extract_result(response)
+
+        if result.result != ActionResult.Result.SUCCESS:
+            raise ActionError(result, "arm_force()")
+
+
     async def disarm(self):
         """
          Send command to disarm the drone.

mavsdk/action_pb2_grpc.py

@@ -20,6 +20,11 @@ def __init__(self, channel):
                 request_serializer=action_dot_action__pb2.ArmRequest.SerializeToString,
                 response_deserializer=action_dot_action__pb2.ArmResponse.FromString,
                 )
+        self.ArmForce = channel.unary_unary(
+                '/mavsdk.rpc.action.ActionService/ArmForce',
+                request_serializer=action_dot_action__pb2.ArmForceRequest.SerializeToString,
+                response_deserializer=action_dot_action__pb2.ArmForceResponse.FromString,
+                )
         self.Disarm = channel.unary_unary(
                 '/mavsdk.rpc.action.ActionService/Disarm',
                 request_serializer=action_dot_action__pb2.DisarmRequest.SerializeToString,
@@ -142,6 +147,19 @@ def Arm(self, request, context):
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
+    def ArmForce(self, request, context):
+        """
+        Send command to force-arm the drone without any checks.
+
+        Attention: this is not to be used for normal flying but only bench tests!
+
+        Arming a drone normally causes motors to spin at idle.
+        Before arming take all safety precautions and stand clear of the drone!
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
     def Disarm(self, request, context):
         """
         Send command to disarm the drone.
@@ -369,6 +387,11 @@ def add_ActionServiceServicer_to_server(servicer, server):
                     request_deserializer=action_dot_action__pb2.ArmRequest.FromString,
                     response_serializer=action_dot_action__pb2.ArmResponse.SerializeToString,
             ),
+            'ArmForce': grpc.unary_unary_rpc_method_handler(
+                    servicer.ArmForce,
+                    request_deserializer=action_dot_action__pb2.ArmForceRequest.FromString,
+                    response_serializer=action_dot_action__pb2.ArmForceResponse.SerializeToString,
+            ),
             'Disarm': grpc.unary_unary_rpc_method_handler(
                     servicer.Disarm,
                     request_deserializer=action_dot_action__pb2.DisarmRequest.FromString,
@@ -502,6 +525,23 @@ def Arm(request,
             options, channel_credentials,
             insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
 
+    @staticmethod
+    def ArmForce(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/mavsdk.rpc.action.ActionService/ArmForce',
+            action_dot_action__pb2.ArmForceRequest.SerializeToString,
+            action_dot_action__pb2.ArmForceResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
     @staticmethod
     def Disarm(request,
             target,

mavsdk/info.py

@@ -18,17 +18,27 @@ class FlightInfo:
      flight_uid : uint64_t
           Flight counter. Starts from zero, is incremented at every disarm and is never reset (even after reboot)
 
+     duration_since_arming_ms : uint32_t
+          Duration since arming in milliseconds
+
+     duration_since_takeoff_ms : uint32_t
+          Duration since takeoff in milliseconds
+
      """
 
 
 
     def __init__(
             self,
             time_boot_ms,
-            flight_uid):
+            flight_uid,
+            duration_since_arming_ms,
+            duration_since_takeoff_ms):
         """ Initializes the FlightInfo object """
         self.time_boot_ms = time_boot_ms
         self.flight_uid = flight_uid
+        self.duration_since_arming_ms = duration_since_arming_ms
+        self.duration_since_takeoff_ms = duration_since_takeoff_ms
 
     def __eq__(self, to_compare):
         """ Checks if two FlightInfo are the same """
@@ -37,7 +47,9 @@ def __eq__(self, to_compare):
             # FlightInfo object
             return \
                 (self.time_boot_ms == to_compare.time_boot_ms) and \
-                (self.flight_uid == to_compare.flight_uid)
+                (self.flight_uid == to_compare.flight_uid) and \
+                (self.duration_since_arming_ms == to_compare.duration_since_arming_ms) and \
+                (self.duration_since_takeoff_ms == to_compare.duration_since_takeoff_ms)
 
         except AttributeError:
             return False
@@ -46,7 +58,9 @@ def __str__(self):
         """ FlightInfo in string representation """
         struct_repr = ", ".join([
                 "time_boot_ms: " + str(self.time_boot_ms),
-                "flight_uid: " + str(self.flight_uid)
+                "flight_uid: " + str(self.flight_uid),
+                "duration_since_arming_ms: " + str(self.duration_since_arming_ms),
+                "duration_since_takeoff_ms: " + str(self.duration_since_takeoff_ms)
                 ])
 
         return f"FlightInfo: [{struct_repr}]"
@@ -59,7 +73,13 @@ def translate_from_rpc(rpcFlightInfo):
                 rpcFlightInfo.time_boot_ms,
 
 
-                rpcFlightInfo.flight_uid
+                rpcFlightInfo.flight_uid,
+
+
+                rpcFlightInfo.duration_since_arming_ms,
+
+
+                rpcFlightInfo.duration_since_takeoff_ms
                 )
 
     def translate_to_rpc(self, rpcFlightInfo):
@@ -78,6 +98,18 @@ def translate_to_rpc(self, rpcFlightInfo):
 
 
 
+
+
+        rpcFlightInfo.duration_since_arming_ms = self.duration_since_arming_ms
+
+
+
+
+
+        rpcFlightInfo.duration_since_takeoff_ms = self.duration_since_takeoff_ms
+
+
+
 
 
 class Identification: