@rise-maritime/keelson-js 0.5.1 → 0.5.3

package/dist/interfaces/VehicleControl.d.ts

@@ -1,7 +1,7 @@
 import { BinaryReader, BinaryWriter } from "@bufbuild/protobuf/wire";
 import { Empty } from "./google/protobuf/empty";
 export declare const protobufPackage = "";
-export interface ManualControlAxis {
+export interface ControlAxis {
     /**
      * Entity to subscribe under. Empty string => connector's own
      * --entity-id (the typical case: a companion-board joystick driver
@@ -33,8 +33,26 @@ export interface ManualControlAxis {
      */
     invert: boolean;
 }
-export interface ManualControlMapping {
+export interface ControlAxisMapping {
     /**
+     * -------------------------------------------------------------------
+     * Contract for publishers feeding these axes
+     * -------------------------------------------------------------------
+     * Publishers MUST publish continuously (on a fixed cadence, NOT
+     * on-change-only) for the entire duration they are driving an axis
+     * — including when the value isn't changing. Recommended rate:
+     * 10-20 Hz.
+     *
+     * This is load-bearing: the connector is sample-driven (one MAVLink
+     * RC_CHANNELS_OVERRIDE per arriving Zenoh sample for mavlink2keelson;
+     * equivalent framing for other actuation transports), and ArduPilot
+     * times the override out after ~3 s of no frames. Silence on the
+     * Zenoh wire is the stop signal — so an on-change-only publisher
+     * looks identical to a publisher dropout once the value stops
+     * changing. Make sure your upstream emits whether or not the value
+     * changed.
+     * -------------------------------------------------------------------
+     *
      * Per-axis subject mapping. v1 (ArduPilot Rover frame) recognizes
      * only "steering" and "throttle" — they resolve to the autopilot's
      * RCMAP_ROLL and RCMAP_THROTTLE RC channels respectively, via the
@@ -47,7 +65,7 @@ export interface ManualControlMapping {
      * ("autonomy steers, joystick controls throttle").
      */
     axes: {
-        [key: string]: ManualControlAxis;
+        [key: string]: ControlAxis;
     };
     /**
      * Minimum interval between RC_OVERRIDE emissions, in seconds.
@@ -57,37 +75,44 @@ export interface ManualControlMapping {
      */
     minIntervalS: number;
     /**
-     * If any mapped axis's last sample is older than this (in seconds,
-     * relative to wall clock) the connector skips that emission, letting
-     * the autopilot's RC override stream go silent and trip its failsafe.
-     * 0 (default) = no staleness check (last-known values are reused
-     * indefinitely; healthy producers refresh at ~10-20 Hz anyway).
+     * Dead-man: if any mapped axis's last sample is older than this
+     * (in seconds, wall clock) the connector stops emitting
+     * RC_CHANNELS_OVERRIDE, letting ArduPilot's own RC override timer
+     * expire and return control to the autopilot mode. This is what
+     * catches a Zenoh-side dropout — without it, the override would
+     * survive a network split indefinitely.
+     *
+     * 0 (unset) = use the connector default of 1.0 s, which assumes
+     * upstreams publish at >= 10 Hz (lots of headroom for jitter). Set
+     * explicitly to tighten or loosen; values above ArduPilot's
+     * RC_OVERRIDE_TIME (~3 s default) are pointless because ArduPilot
+     * would time out first. The dead-man cannot be disabled by design.
      */
     maxAxisAgeS: number;
 }
-export interface ManualControlMapping_AxesEntry {
+export interface ControlAxisMapping_AxesEntry {
     key: string;
-    value: ManualControlAxis | undefined;
+    value: ControlAxis | undefined;
 }
-export interface ManualControlMappingAck {
+export interface ControlAxisMappingAck {
 }
-export declare const ManualControlAxis: MessageFns<ManualControlAxis>;
-export declare const ManualControlMapping: MessageFns<ManualControlMapping>;
-export declare const ManualControlMapping_AxesEntry: MessageFns<ManualControlMapping_AxesEntry>;
-export declare const ManualControlMappingAck: MessageFns<ManualControlMappingAck>;
+export declare const ControlAxis: MessageFns<ControlAxis>;
+export declare const ControlAxisMapping: MessageFns<ControlAxisMapping>;
+export declare const ControlAxisMapping_AxesEntry: MessageFns<ControlAxisMapping_AxesEntry>;
+export declare const ControlAxisMappingAck: MessageFns<ControlAxisMappingAck>;
 export interface VehicleControl {
     /**
-     * Replace the active manual-control mapping atomically. An empty
-     * axes map = stop driving (undeclare every axis subscriber). Calling
-     * this RPC is the only way to make the vehicle drivable after a
-     * connector start.
+     * Replace the active control-axis mapping atomically. An empty axes
+     * map = stop driving (undeclare every axis subscriber). Calling this
+     * RPC is the only way to make the vehicle drivable after a connector
+     * start.
      */
-    set_manual_control_mapping(request: ManualControlMapping): Promise<ManualControlMappingAck>;
+    set_control_mapping(request: ControlAxisMapping): Promise<ControlAxisMappingAck>;
     /**
      * Return the currently-active mapping. Useful for operators
      * inspecting state set by another client.
      */
-    get_manual_control_mapping(request: Empty): Promise<ManualControlMapping>;
+    get_control_mapping(request: Empty): Promise<ControlAxisMapping>;
 }
 export declare const VehicleControlServiceName = "VehicleControl";
 export declare class VehicleControlClientImpl implements VehicleControl {
@@ -96,8 +121,8 @@ export declare class VehicleControlClientImpl implements VehicleControl {
     constructor(rpc: Rpc, opts?: {
         service?: string;
     });
-    set_manual_control_mapping(request: ManualControlMapping): Promise<ManualControlMappingAck>;
-    get_manual_control_mapping(request: Empty): Promise<ManualControlMapping>;
+    set_control_mapping(request: ControlAxisMapping): Promise<ControlAxisMappingAck>;
+    get_control_mapping(request: Empty): Promise<ControlAxisMapping>;
 }
 interface Rpc {
     request(service: string, method: string, data: Uint8Array): Promise<Uint8Array>;

package/dist/interfaces/VehicleControl.js

@@ -5,15 +5,15 @@
 //   protoc               v6.30.2
 // source: VehicleControl.proto
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.VehicleControlClientImpl = exports.VehicleControlServiceName = exports.ManualControlMappingAck = exports.ManualControlMapping_AxesEntry = exports.ManualControlMapping = exports.ManualControlAxis = exports.protobufPackage = void 0;
+exports.VehicleControlClientImpl = exports.VehicleControlServiceName = exports.ControlAxisMappingAck = exports.ControlAxisMapping_AxesEntry = exports.ControlAxisMapping = exports.ControlAxis = exports.protobufPackage = void 0;
 /* eslint-disable */
 const wire_1 = require("@bufbuild/protobuf/wire");
 const empty_1 = require("./google/protobuf/empty");
 exports.protobufPackage = "";
-function createBaseManualControlAxis() {
+function createBaseControlAxis() {
     return { entityId: "", subject: "", sourceId: "", unipolar: false, invert: false };
 }
-exports.ManualControlAxis = {
+exports.ControlAxis = {
     encode(message, writer = new wire_1.BinaryWriter()) {
         if (message.entityId !== "") {
             writer.uint32(10).string(message.entityId);
@@ -35,7 +35,7 @@ exports.ManualControlAxis = {
     decode(input, length) {
         const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
         let end = length === undefined ? reader.len : reader.pos + length;
-        const message = createBaseManualControlAxis();
+        const message = createBaseControlAxis();
         while (reader.pos < end) {
             const tag = reader.uint32();
             switch (tag >>> 3) {
@@ -111,10 +111,10 @@ exports.ManualControlAxis = {
         return obj;
     },
     create(base) {
-        return exports.ManualControlAxis.fromPartial(base ?? {});
+        return exports.ControlAxis.fromPartial(base ?? {});
     },
     fromPartial(object) {
-        const message = createBaseManualControlAxis();
+        const message = createBaseControlAxis();
         message.entityId = object.entityId ?? "";
         message.subject = object.subject ?? "";
         message.sourceId = object.sourceId ?? "";
@@ -123,13 +123,13 @@ exports.ManualControlAxis = {
         return message;
     },
 };
-function createBaseManualControlMapping() {
+function createBaseControlAxisMapping() {
     return { axes: {}, minIntervalS: 0, maxAxisAgeS: 0 };
 }
-exports.ManualControlMapping = {
+exports.ControlAxisMapping = {
     encode(message, writer = new wire_1.BinaryWriter()) {
         Object.entries(message.axes).forEach(([key, value]) => {
-            exports.ManualControlMapping_AxesEntry.encode({ key: key, value }, writer.uint32(10).fork()).join();
+            exports.ControlAxisMapping_AxesEntry.encode({ key: key, value }, writer.uint32(10).fork()).join();
         });
         if (message.minIntervalS !== 0) {
             writer.uint32(21).float(message.minIntervalS);
@@ -142,7 +142,7 @@ exports.ManualControlMapping = {
     decode(input, length) {
         const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
         let end = length === undefined ? reader.len : reader.pos + length;
-        const message = createBaseManualControlMapping();
+        const message = createBaseControlAxisMapping();
         while (reader.pos < end) {
             const tag = reader.uint32();
             switch (tag >>> 3) {
@@ -150,7 +150,7 @@ exports.ManualControlMapping = {
                     if (tag !== 10) {
                         break;
                     }
-                    const entry1 = exports.ManualControlMapping_AxesEntry.decode(reader, reader.uint32());
+                    const entry1 = exports.ControlAxisMapping_AxesEntry.decode(reader, reader.uint32());
                     if (entry1.value !== undefined) {
                         message.axes[entry1.key] = entry1.value;
                     }
@@ -182,7 +182,7 @@ exports.ManualControlMapping = {
         return {
             axes: isObject(object.axes)
                 ? Object.entries(object.axes).reduce((acc, [key, value]) => {
-                    acc[key] = exports.ManualControlAxis.fromJSON(value);
+                    acc[key] = exports.ControlAxis.fromJSON(value);
                     return acc;
                 }, {})
                 : {},
@@ -197,7 +197,7 @@ exports.ManualControlMapping = {
             if (entries.length > 0) {
                 obj.axes = {};
                 entries.forEach(([k, v]) => {
-                    obj.axes[k] = exports.ManualControlAxis.toJSON(v);
+                    obj.axes[k] = exports.ControlAxis.toJSON(v);
                 });
             }
         }
@@ -210,13 +210,13 @@ exports.ManualControlMapping = {
         return obj;
     },
     create(base) {
-        return exports.ManualControlMapping.fromPartial(base ?? {});
+        return exports.ControlAxisMapping.fromPartial(base ?? {});
     },
     fromPartial(object) {
-        const message = createBaseManualControlMapping();
+        const message = createBaseControlAxisMapping();
         message.axes = Object.entries(object.axes ?? {}).reduce((acc, [key, value]) => {
             if (value !== undefined) {
-                acc[key] = exports.ManualControlAxis.fromPartial(value);
+                acc[key] = exports.ControlAxis.fromPartial(value);
             }
             return acc;
         }, {});
@@ -225,23 +225,23 @@ exports.ManualControlMapping = {
         return message;
     },
 };
-function createBaseManualControlMapping_AxesEntry() {
+function createBaseControlAxisMapping_AxesEntry() {
     return { key: "", value: undefined };
 }
-exports.ManualControlMapping_AxesEntry = {
+exports.ControlAxisMapping_AxesEntry = {
     encode(message, writer = new wire_1.BinaryWriter()) {
         if (message.key !== "") {
             writer.uint32(10).string(message.key);
         }
         if (message.value !== undefined) {
-            exports.ManualControlAxis.encode(message.value, writer.uint32(18).fork()).join();
+            exports.ControlAxis.encode(message.value, writer.uint32(18).fork()).join();
         }
         return writer;
     },
     decode(input, length) {
         const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
         let end = length === undefined ? reader.len : reader.pos + length;
-        const message = createBaseManualControlMapping_AxesEntry();
+        const message = createBaseControlAxisMapping_AxesEntry();
         while (reader.pos < end) {
             const tag = reader.uint32();
             switch (tag >>> 3) {
@@ -256,7 +256,7 @@ exports.ManualControlMapping_AxesEntry = {
                     if (tag !== 18) {
                         break;
                     }
-                    message.value = exports.ManualControlAxis.decode(reader, reader.uint32());
+                    message.value = exports.ControlAxis.decode(reader, reader.uint32());
                     continue;
                 }
             }
@@ -270,7 +270,7 @@ exports.ManualControlMapping_AxesEntry = {
     fromJSON(object) {
         return {
             key: isSet(object.key) ? globalThis.String(object.key) : "",
-            value: isSet(object.value) ? exports.ManualControlAxis.fromJSON(object.value) : undefined,
+            value: isSet(object.value) ? exports.ControlAxis.fromJSON(object.value) : undefined,
         };
     },
     toJSON(message) {
@@ -279,33 +279,33 @@ exports.ManualControlMapping_AxesEntry = {
             obj.key = message.key;
         }
         if (message.value !== undefined) {
-            obj.value = exports.ManualControlAxis.toJSON(message.value);
+            obj.value = exports.ControlAxis.toJSON(message.value);
         }
         return obj;
     },
     create(base) {
-        return exports.ManualControlMapping_AxesEntry.fromPartial(base ?? {});
+        return exports.ControlAxisMapping_AxesEntry.fromPartial(base ?? {});
     },
     fromPartial(object) {
-        const message = createBaseManualControlMapping_AxesEntry();
+        const message = createBaseControlAxisMapping_AxesEntry();
         message.key = object.key ?? "";
         message.value = (object.value !== undefined && object.value !== null)
-            ? exports.ManualControlAxis.fromPartial(object.value)
+            ? exports.ControlAxis.fromPartial(object.value)
             : undefined;
         return message;
     },
 };
-function createBaseManualControlMappingAck() {
+function createBaseControlAxisMappingAck() {
     return {};
 }
-exports.ManualControlMappingAck = {
+exports.ControlAxisMappingAck = {
     encode(_, writer = new wire_1.BinaryWriter()) {
         return writer;
     },
     decode(input, length) {
         const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
         let end = length === undefined ? reader.len : reader.pos + length;
-        const message = createBaseManualControlMappingAck();
+        const message = createBaseControlAxisMappingAck();
         while (reader.pos < end) {
             const tag = reader.uint32();
             switch (tag >>> 3) {
@@ -325,10 +325,10 @@ exports.ManualControlMappingAck = {
         return obj;
     },
     create(base) {
-        return exports.ManualControlMappingAck.fromPartial(base ?? {});
+        return exports.ControlAxisMappingAck.fromPartial(base ?? {});
     },
     fromPartial(_) {
-        const message = createBaseManualControlMappingAck();
+        const message = createBaseControlAxisMappingAck();
         return message;
     },
 };
@@ -337,18 +337,18 @@ class VehicleControlClientImpl {
     constructor(rpc, opts) {
         this.service = opts?.service || exports.VehicleControlServiceName;
         this.rpc = rpc;
-        this.set_manual_control_mapping = this.set_manual_control_mapping.bind(this);
-        this.get_manual_control_mapping = this.get_manual_control_mapping.bind(this);
+        this.set_control_mapping = this.set_control_mapping.bind(this);
+        this.get_control_mapping = this.get_control_mapping.bind(this);
     }
-    set_manual_control_mapping(request) {
-        const data = exports.ManualControlMapping.encode(request).finish();
-        const promise = this.rpc.request(this.service, "set_manual_control_mapping", data);
-        return promise.then((data) => exports.ManualControlMappingAck.decode(new wire_1.BinaryReader(data)));
+    set_control_mapping(request) {
+        const data = exports.ControlAxisMapping.encode(request).finish();
+        const promise = this.rpc.request(this.service, "set_control_mapping", data);
+        return promise.then((data) => exports.ControlAxisMappingAck.decode(new wire_1.BinaryReader(data)));
     }
-    get_manual_control_mapping(request) {
+    get_control_mapping(request) {
         const data = empty_1.Empty.encode(request).finish();
-        const promise = this.rpc.request(this.service, "get_manual_control_mapping", data);
-        return promise.then((data) => exports.ManualControlMapping.decode(new wire_1.BinaryReader(data)));
+        const promise = this.rpc.request(this.service, "get_control_mapping", data);
+        return promise.then((data) => exports.ControlAxisMapping.decode(new wire_1.BinaryReader(data)));
     }
 }
 exports.VehicleControlClientImpl = VehicleControlClientImpl;

package/dist/interfaces/VehicleLifecycle.d.ts

@@ -55,36 +55,16 @@ export interface EmergencyStopResponse {
     rawAutopilotResult: number;
     detail: string;
 }
-/**
- * Persist the current in-memory parameter set to non-volatile storage.
- * Maps onto MAVLink MAV_CMD_PREFLIGHT_STORAGE.
- *
- * No-op on ArduPilot: ArduPilot persists every set_param write to
- * storage immediately, so this bulk command is redundant and the
- * autopilot returns DENIED -- an expected outcome, not a failure. The
- * RPC is meaningful for PX4-class autopilots, which do not auto-persist.
- */
-export interface SaveParamsRequest {
-    timestamp: Date | undefined;
-}
-export interface SaveParamsResponse {
-    result: CommandResult;
-    rawAutopilotResult: number;
-    detail: string;
-}
 export declare const ArmRequest: MessageFns<ArmRequest>;
 export declare const ArmResponse: MessageFns<ArmResponse>;
 export declare const SetModeRequest: MessageFns<SetModeRequest>;
 export declare const SetModeResponse: MessageFns<SetModeResponse>;
 export declare const EmergencyStopRequest: MessageFns<EmergencyStopRequest>;
 export declare const EmergencyStopResponse: MessageFns<EmergencyStopResponse>;
-export declare const SaveParamsRequest: MessageFns<SaveParamsRequest>;
-export declare const SaveParamsResponse: MessageFns<SaveParamsResponse>;
 export interface VehicleLifecycle {
     arm(request: ArmRequest): Promise<ArmResponse>;
     set_mode(request: SetModeRequest): Promise<SetModeResponse>;
     emergency_stop(request: EmergencyStopRequest): Promise<EmergencyStopResponse>;
-    save_params(request: SaveParamsRequest): Promise<SaveParamsResponse>;
 }
 export declare const VehicleLifecycleServiceName = "VehicleLifecycle";
 export declare class VehicleLifecycleClientImpl implements VehicleLifecycle {
@@ -96,7 +76,6 @@ export declare class VehicleLifecycleClientImpl implements VehicleLifecycle {
     arm(request: ArmRequest): Promise<ArmResponse>;
     set_mode(request: SetModeRequest): Promise<SetModeResponse>;
     emergency_stop(request: EmergencyStopRequest): Promise<EmergencyStopResponse>;
-    save_params(request: SaveParamsRequest): Promise<SaveParamsResponse>;
 }
 interface Rpc {
     request(service: string, method: string, data: Uint8Array): Promise<Uint8Array>;

package/dist/interfaces/VehicleLifecycle.js

@@ -5,7 +5,7 @@
 //   protoc               v6.30.2
 // source: VehicleLifecycle.proto
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.VehicleLifecycleClientImpl = exports.VehicleLifecycleServiceName = exports.SaveParamsResponse = exports.SaveParamsRequest = exports.EmergencyStopResponse = exports.EmergencyStopRequest = exports.SetModeResponse = exports.SetModeRequest = exports.ArmResponse = exports.ArmRequest = exports.protobufPackage = void 0;
+exports.VehicleLifecycleClientImpl = exports.VehicleLifecycleServiceName = exports.EmergencyStopResponse = exports.EmergencyStopRequest = exports.SetModeResponse = exports.SetModeRequest = exports.ArmResponse = exports.ArmRequest = exports.protobufPackage = void 0;
 /* eslint-disable */
 const wire_1 = require("@bufbuild/protobuf/wire");
 const VehicleCommon_1 = require("./VehicleCommon");
@@ -462,140 +462,6 @@ exports.EmergencyStopResponse = {
         return message;
     },
 };
-function createBaseSaveParamsRequest() {
-    return { timestamp: undefined };
-}
-exports.SaveParamsRequest = {
-    encode(message, writer = new wire_1.BinaryWriter()) {
-        if (message.timestamp !== undefined) {
-            timestamp_1.Timestamp.encode(toTimestamp(message.timestamp), writer.uint32(10).fork()).join();
-        }
-        return writer;
-    },
-    decode(input, length) {
-        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
-        let end = length === undefined ? reader.len : reader.pos + length;
-        const message = createBaseSaveParamsRequest();
-        while (reader.pos < end) {
-            const tag = reader.uint32();
-            switch (tag >>> 3) {
-                case 1: {
-                    if (tag !== 10) {
-                        break;
-                    }
-                    message.timestamp = fromTimestamp(timestamp_1.Timestamp.decode(reader, reader.uint32()));
-                    continue;
-                }
-            }
-            if ((tag & 7) === 4 || tag === 0) {
-                break;
-            }
-            reader.skip(tag & 7);
-        }
-        return message;
-    },
-    fromJSON(object) {
-        return { timestamp: isSet(object.timestamp) ? fromJsonTimestamp(object.timestamp) : undefined };
-    },
-    toJSON(message) {
-        const obj = {};
-        if (message.timestamp !== undefined) {
-            obj.timestamp = message.timestamp.toISOString();
-        }
-        return obj;
-    },
-    create(base) {
-        return exports.SaveParamsRequest.fromPartial(base ?? {});
-    },
-    fromPartial(object) {
-        const message = createBaseSaveParamsRequest();
-        message.timestamp = object.timestamp ?? undefined;
-        return message;
-    },
-};
-function createBaseSaveParamsResponse() {
-    return { result: 0, rawAutopilotResult: 0, detail: "" };
-}
-exports.SaveParamsResponse = {
-    encode(message, writer = new wire_1.BinaryWriter()) {
-        if (message.result !== 0) {
-            writer.uint32(8).int32(message.result);
-        }
-        if (message.rawAutopilotResult !== 0) {
-            writer.uint32(16).int32(message.rawAutopilotResult);
-        }
-        if (message.detail !== "") {
-            writer.uint32(26).string(message.detail);
-        }
-        return writer;
-    },
-    decode(input, length) {
-        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
-        let end = length === undefined ? reader.len : reader.pos + length;
-        const message = createBaseSaveParamsResponse();
-        while (reader.pos < end) {
-            const tag = reader.uint32();
-            switch (tag >>> 3) {
-                case 1: {
-                    if (tag !== 8) {
-                        break;
-                    }
-                    message.result = reader.int32();
-                    continue;
-                }
-                case 2: {
-                    if (tag !== 16) {
-                        break;
-                    }
-                    message.rawAutopilotResult = reader.int32();
-                    continue;
-                }
-                case 3: {
-                    if (tag !== 26) {
-                        break;
-                    }
-                    message.detail = reader.string();
-                    continue;
-                }
-            }
-            if ((tag & 7) === 4 || tag === 0) {
-                break;
-            }
-            reader.skip(tag & 7);
-        }
-        return message;
-    },
-    fromJSON(object) {
-        return {
-            result: isSet(object.result) ? (0, VehicleCommon_1.commandResultFromJSON)(object.result) : 0,
-            rawAutopilotResult: isSet(object.rawAutopilotResult) ? globalThis.Number(object.rawAutopilotResult) : 0,
-            detail: isSet(object.detail) ? globalThis.String(object.detail) : "",
-        };
-    },
-    toJSON(message) {
-        const obj = {};
-        if (message.result !== 0) {
-            obj.result = (0, VehicleCommon_1.commandResultToJSON)(message.result);
-        }
-        if (message.rawAutopilotResult !== 0) {
-            obj.rawAutopilotResult = Math.round(message.rawAutopilotResult);
-        }
-        if (message.detail !== "") {
-            obj.detail = message.detail;
-        }
-        return obj;
-    },
-    create(base) {
-        return exports.SaveParamsResponse.fromPartial(base ?? {});
-    },
-    fromPartial(object) {
-        const message = createBaseSaveParamsResponse();
-        message.result = object.result ?? 0;
-        message.rawAutopilotResult = object.rawAutopilotResult ?? 0;
-        message.detail = object.detail ?? "";
-        return message;
-    },
-};
 exports.VehicleLifecycleServiceName = "VehicleLifecycle";
 class VehicleLifecycleClientImpl {
     constructor(rpc, opts) {
@@ -604,7 +470,6 @@ class VehicleLifecycleClientImpl {
         this.arm = this.arm.bind(this);
         this.set_mode = this.set_mode.bind(this);
         this.emergency_stop = this.emergency_stop.bind(this);
-        this.save_params = this.save_params.bind(this);
     }
     arm(request) {
         const data = exports.ArmRequest.encode(request).finish();
@@ -621,11 +486,6 @@ class VehicleLifecycleClientImpl {
         const promise = this.rpc.request(this.service, "emergency_stop", data);
         return promise.then((data) => exports.EmergencyStopResponse.decode(new wire_1.BinaryReader(data)));
     }
-    save_params(request) {
-        const data = exports.SaveParamsRequest.encode(request).finish();
-        const promise = this.rpc.request(this.service, "save_params", data);
-        return promise.then((data) => exports.SaveParamsResponse.decode(new wire_1.BinaryReader(data)));
-    }
 }
 exports.VehicleLifecycleClientImpl = VehicleLifecycleClientImpl;
 function toTimestamp(date) {

package/dist/interfaces/VehicleParam.d.ts

@@ -1,4 +1,5 @@
 import { BinaryReader, BinaryWriter } from "@bufbuild/protobuf/wire";
+import { CommandResult } from "./VehicleCommon";
 import { Empty } from "./google/protobuf/empty";
 export declare const protobufPackage = "";
 export interface ParamGetRequest {
@@ -36,6 +37,23 @@ export interface ParamSetBulkResult {
 export interface ParamSetBulkResponse {
     results: ParamSetBulkResult[];
 }
+/**
+ * Persist the current in-memory parameter set to non-volatile storage.
+ * Maps onto MAVLink MAV_CMD_PREFLIGHT_STORAGE.
+ *
+ * No-op on ArduPilot: ArduPilot persists every set_param write to
+ * storage immediately, so this bulk command is redundant and the
+ * autopilot returns DENIED -- an expected outcome, not a failure. The
+ * RPC is meaningful for PX4-class autopilots, which do not auto-persist.
+ */
+export interface SaveParamsRequest {
+    timestamp: Date | undefined;
+}
+export interface SaveParamsResponse {
+    result: CommandResult;
+    rawAutopilotResult: number;
+    detail: string;
+}
 export declare const ParamGetRequest: MessageFns<ParamGetRequest>;
 export declare const ParamSetRequest: MessageFns<ParamSetRequest>;
 export declare const ParamValueResponse: MessageFns<ParamValueResponse>;
@@ -43,11 +61,14 @@ export declare const ParamListResponse: MessageFns<ParamListResponse>;
 export declare const ParamSetBulkRequest: MessageFns<ParamSetBulkRequest>;
 export declare const ParamSetBulkResult: MessageFns<ParamSetBulkResult>;
 export declare const ParamSetBulkResponse: MessageFns<ParamSetBulkResponse>;
+export declare const SaveParamsRequest: MessageFns<SaveParamsRequest>;
+export declare const SaveParamsResponse: MessageFns<SaveParamsResponse>;
 export interface VehicleParam {
     get_param(request: ParamGetRequest): Promise<ParamValueResponse>;
     set_param(request: ParamSetRequest): Promise<ParamValueResponse>;
     list_params(request: Empty): Promise<ParamListResponse>;
     set_params(request: ParamSetBulkRequest): Promise<ParamSetBulkResponse>;
+    save_params(request: SaveParamsRequest): Promise<SaveParamsResponse>;
 }
 export declare const VehicleParamServiceName = "VehicleParam";
 export declare class VehicleParamClientImpl implements VehicleParam {
@@ -60,6 +81,7 @@ export declare class VehicleParamClientImpl implements VehicleParam {
     set_param(request: ParamSetRequest): Promise<ParamValueResponse>;
     list_params(request: Empty): Promise<ParamListResponse>;
     set_params(request: ParamSetBulkRequest): Promise<ParamSetBulkResponse>;
+    save_params(request: SaveParamsRequest): Promise<SaveParamsResponse>;
 }
 interface Rpc {
     request(service: string, method: string, data: Uint8Array): Promise<Uint8Array>;