Adding new MAVLink message to MAVSDK-Python

MAVSDK
1

Hi all,

I am trying to add a message that already exist in MAVLink messages. For example I want to add NAV_CONTROLLER_OUTPUTS messages. Because I need to read navigation controller outputs.

// Subscribe to 'nav_controller' updates.
rpc SubscribeNavController(SubscribeNavControllerRequest) returns(stream NavControllerResponse) {}

// Set rate to 'nav_controller' updates.
rpc SetRateNavController(SetRateNavControllerRequest) returns(SetRateNavControllerResponse) {}

message SubscribeNavControllerRequest {}
message NavControllerResponse {
    NavController nav_controller = 1; // nav_controller outputs
}

message SetRateNavControllerRequest {
    double rate_hz = 1; // The requested rate (in Hertz)
}

message SetRateNavControllerResponse {
    TelemetryResult telemetry_result = 1;
}

// NavController outputs
message NavController {
    float nav_roll = 1 [(mavsdk.options.default_value)="NaN"];
    float nav_pitch = 2 [(mavsdk.options.default_value)="NaN"];
    int32 nav_bearing = 3 [(mavsdk.options.default_value)="NaN"];
    int32 target_bearing = 4 [(mavsdk.options.default_value)="NaN"];
    uint32 wp_dist = 5 [(mavsdk.options.default_value)="NaN"];
    float alt_error = 6 [(mavsdk.options.default_value)="NaN"];
    float aspd_error = 7 [(mavsdk.options.default_value)="NaN"];
    float xtrack_error = 8 [(mavsdk.options.default_value)="NaN"]; 
}

I added these in telemetry.proto and I generated the proto files succesfully. NAV_CONTROLLER messages generated in telemetry.py.

What should I do next? How can I read the NAV_CONTROLLER_OUTPUTS messages in MAVSDK-Python API? I am confused a little bit :slight_smile:

Thanks for help !