mavlink · julianoes · Apr 4, 2025
diff --git a/MAVSDK_SERVER_VERSION b/MAVSDK_SERVER_VERSION
@@ -1 +1 @@
-v3.0.0
+v3.2.0
diff --git a/mavsdk/action_pb2.py b/mavsdk/action_pb2.py
diff --git a/mavsdk/action_pb2_grpc.py b/mavsdk/action_pb2_grpc.py
@@ -5,10 +5,8 @@
 
 from . import action_pb2 as action_dot_action__pb2
 
-GRPC_GENERATED_VERSION = '1.63.0'
+GRPC_GENERATED_VERSION = '1.71.0'
 GRPC_VERSION = grpc.__version__
-EXPECTED_ERROR_RELEASE = '1.65.0'
-SCHEDULED_RELEASE_DATE = 'June 25, 2024'
 _version_not_supported = False
 
 try:
@@ -18,15 +16,12 @@
     _version_not_supported = True
 
 if _version_not_supported:
-    warnings.warn(
+    raise RuntimeError(
         f'The grpc package installed is at version {GRPC_VERSION},'
         + f' but the generated code in action/action_pb2_grpc.py depends on'
         + f' grpcio>={GRPC_GENERATED_VERSION}.'
         + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
         + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
-        + f' This warning will become an error in {EXPECTED_ERROR_RELEASE},'
-        + f' scheduled for release on {SCHEDULED_RELEASE_DATE}.',
-        RuntimeWarning
     )
 
 
@@ -490,6 +485,7 @@ def add_ActionServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'mavsdk.rpc.action.ActionService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('mavsdk.rpc.action.ActionService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.

diff --git a/mavsdk/action_server.py b/mavsdk/action_server.py
@@ -941,4 +941,59 @@ async def get_allowable_flight_modes(self):
 
 
         return AllowableFlightModes.translate_from_rpc(response.flight_modes)
-
+
+
+    async def set_armed_state(self, is_armed):
+        """
+         Set/override the armed/disarmed state of the vehicle directly, and notify subscribers
+
+         Parameters
+         ----------
+         is_armed : bool
+              Is armed now?
+
+         Raises
+         ------
+         ActionServerError
+             If the request fails. The error contains the reason for the failure.
+        """
+
+        request = action_server_pb2.SetArmedStateRequest()
+        request.is_armed = is_armed
+        response = await self._stub.SetArmedState(request)
+
+
+        result = self._extract_result(response)
+
+        if result.result != ActionServerResult.Result.SUCCESS:
+            raise ActionServerError(result, "set_armed_state()", is_armed)
+
+
+    async def set_flight_mode(self, flight_mode):
+        """
+         Set/override the flight mode of the vehicle directly, and notify subscribers
+
+         Parameters
+         ----------
+         flight_mode : FlightMode
+              Current vehicle flight mode, e.g. Takeoff/Mission/Land/etc.
+
+         Raises
+         ------
+         ActionServerError
+             If the request fails. The error contains the reason for the failure.
+        """
+
+        request = action_server_pb2.SetFlightModeRequest()
+
+        request.flight_mode = flight_mode.translate_to_rpc()
+
+
+        response = await self._stub.SetFlightMode(request)
+
+
+        result = self._extract_result(response)
+
+        if result.result != ActionServerResult.Result.SUCCESS:
+            raise ActionServerError(result, "set_flight_mode()", flight_mode)
+
diff --git a/mavsdk/action_server_pb2.py b/mavsdk/action_server_pb2.py
diff --git a/mavsdk/action_server_pb2_grpc.py b/mavsdk/action_server_pb2_grpc.py
@@ -5,10 +5,8 @@
 
 from . import action_server_pb2 as action__server_dot_action__server__pb2
 
-GRPC_GENERATED_VERSION = '1.63.0'
+GRPC_GENERATED_VERSION = '1.71.0'
 GRPC_VERSION = grpc.__version__
-EXPECTED_ERROR_RELEASE = '1.65.0'
-SCHEDULED_RELEASE_DATE = 'June 25, 2024'
 _version_not_supported = False
 
 try:
@@ -18,15 +16,12 @@
     _version_not_supported = True
 
 if _version_not_supported:
-    warnings.warn(
+    raise RuntimeError(
         f'The grpc package installed is at version {GRPC_VERSION},'
         + f' but the generated code in action_server/action_server_pb2_grpc.py depends on'
         + f' grpcio>={GRPC_GENERATED_VERSION}.'
         + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
         + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
-        + f' This warning will become an error in {EXPECTED_ERROR_RELEASE},'
-        + f' scheduled for release on {SCHEDULED_RELEASE_DATE}.',
-        RuntimeWarning
     )
 
 
@@ -100,6 +95,16 @@ def __init__(self, channel):
                 request_serializer=action__server_dot_action__server__pb2.GetAllowableFlightModesRequest.SerializeToString,
                 response_deserializer=action__server_dot_action__server__pb2.GetAllowableFlightModesResponse.FromString,
                 _registered_method=True)
+        self.SetArmedState = channel.unary_unary(
+                '/mavsdk.rpc.action_server.ActionServerService/SetArmedState',
+                request_serializer=action__server_dot_action__server__pb2.SetArmedStateRequest.SerializeToString,
+                response_deserializer=action__server_dot_action__server__pb2.SetArmedStateResponse.FromString,
+                _registered_method=True)
+        self.SetFlightMode = channel.unary_unary(
+                '/mavsdk.rpc.action_server.ActionServerService/SetFlightMode',
+                request_serializer=action__server_dot_action__server__pb2.SetFlightModeRequest.SerializeToString,
+                response_deserializer=action__server_dot_action__server__pb2.SetFlightModeResponse.FromString,
+                _registered_method=True)
 
 
 class ActionServerServiceServicer(object):
@@ -190,6 +195,20 @@ def GetAllowableFlightModes(self, request, context):
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
+    def SetArmedState(self, request, context):
+        """Set/override the armed/disarmed state of the vehicle directly, and notify subscribers
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SetFlightMode(self, request, context):
+        """Set/override the flight mode of the vehicle directly, and notify subscribers
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
 
 def add_ActionServerServiceServicer_to_server(servicer, server):
     rpc_method_handlers = {
@@ -253,10 +272,21 @@ def add_ActionServerServiceServicer_to_server(servicer, server):
                     request_deserializer=action__server_dot_action__server__pb2.GetAllowableFlightModesRequest.FromString,
                     response_serializer=action__server_dot_action__server__pb2.GetAllowableFlightModesResponse.SerializeToString,
             ),
+            'SetArmedState': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetArmedState,
+                    request_deserializer=action__server_dot_action__server__pb2.SetArmedStateRequest.FromString,
+                    response_serializer=action__server_dot_action__server__pb2.SetArmedStateResponse.SerializeToString,
+            ),
+            'SetFlightMode': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetFlightMode,
+                    request_deserializer=action__server_dot_action__server__pb2.SetFlightModeRequest.FromString,
+                    response_serializer=action__server_dot_action__server__pb2.SetFlightModeResponse.SerializeToString,
+            ),
     }
     generic_handler = grpc.method_handlers_generic_handler(
             'mavsdk.rpc.action_server.ActionServerService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('mavsdk.rpc.action_server.ActionServerService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
@@ -587,3 +617,57 @@ def GetAllowableFlightModes(request,
             timeout,
             metadata,
             _registered_method=True)
+
+    @staticmethod
+    def SetArmedState(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_server.ActionServerService/SetArmedState',
+            action__server_dot_action__server__pb2.SetArmedStateRequest.SerializeToString,
+            action__server_dot_action__server__pb2.SetArmedStateResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def SetFlightMode(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_server.ActionServerService/SetFlightMode',
+            action__server_dot_action__server__pb2.SetFlightModeRequest.SerializeToString,
+            action__server_dot_action__server__pb2.SetFlightModeResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
diff --git a/mavsdk/arm_authorizer_server.py b/mavsdk/arm_authorizer_server.py
@@ -8,7 +8,7 @@
 
 class RejectionReason(Enum):
     """
-
+     The rejection reason
 
      Values
      ------
@@ -92,7 +92,7 @@ class ArmAuthorizerServerResult:
 
     class Result(Enum):
         """
-
+         The result
 
          Values
          ------
@@ -207,7 +207,7 @@ def __str__(self):
 
 class ArmAuthorizerServer(AsyncBase):
     """
-
+     Use arm authorization.
 
      Generated by dcsdkgen - MAVSDK ArmAuthorizerServer API
     """

diff --git a/mavsdk/arm_authorizer_server_pb2.py b/mavsdk/arm_authorizer_server_pb2.py
diff --git a/mavsdk/arm_authorizer_server_pb2_grpc.py b/mavsdk/arm_authorizer_server_pb2_grpc.py
@@ -5,10 +5,8 @@
 
 from . import arm_authorizer_server_pb2 as arm__authorizer__server_dot_arm__authorizer__server__pb2
 
-GRPC_GENERATED_VERSION = '1.63.0'
+GRPC_GENERATED_VERSION = '1.71.0'
 GRPC_VERSION = grpc.__version__
-EXPECTED_ERROR_RELEASE = '1.65.0'
-SCHEDULED_RELEASE_DATE = 'June 25, 2024'
 _version_not_supported = False
 
 try:
@@ -18,20 +16,18 @@
     _version_not_supported = True
 
 if _version_not_supported:
-    warnings.warn(
+    raise RuntimeError(
         f'The grpc package installed is at version {GRPC_VERSION},'
         + f' but the generated code in arm_authorizer_server/arm_authorizer_server_pb2_grpc.py depends on'
         + f' grpcio>={GRPC_GENERATED_VERSION}.'
         + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
         + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
-        + f' This warning will become an error in {EXPECTED_ERROR_RELEASE},'
-        + f' scheduled for release on {SCHEDULED_RELEASE_DATE}.',
-        RuntimeWarning
     )
 
 
 class ArmAuthorizerServerServiceStub(object):
-    """Missing associated documentation comment in .proto file."""
+    """Use arm authorization.
+    """
 
     def __init__(self, channel):
         """Constructor.
@@ -57,7 +53,8 @@ def __init__(self, channel):
 
 
 class ArmAuthorizerServerServiceServicer(object):
-    """Missing associated documentation comment in .proto file."""
+    """Use arm authorization.
+    """
 
     def SubscribeArmAuthorization(self, request, context):
         """Subscribe to arm authorization request messages. Each request received should respond to using RespondArmAuthorization
@@ -102,11 +99,13 @@ def add_ArmAuthorizerServerServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'mavsdk.rpc.arm_authorizer_server.ArmAuthorizerServerService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('mavsdk.rpc.arm_authorizer_server.ArmAuthorizerServerService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
 class ArmAuthorizerServerService(object):
-    """Missing associated documentation comment in .proto file."""
+    """Use arm authorization.
+    """
 
     @staticmethod
     def SubscribeArmAuthorization(request,