Position client

To work with the Position microservice from a client, request the IPositionClient from the device instance:

var position = device.GetMicroservice<IPositionClient>()
?? throw new Exception("No position client found");

After that, you can subscribe to various position-related observables. For example, current global position:

var subscription = position.GlobalPosition.Subscribe(payload =>
{
    if (payload == null) return;
    Console.WriteLine($"Lat: {payload.Lat}, Lon: {payload.Lon}, Alt: {payload.Alt}");
});

Or the current altitude:

var subscription = position.Altitude.Subscribe(alt =>
{
    if (alt == null) return;
    Console.WriteLine($"Altitude: {alt.Value} m");
});

IPositionClient (source)

Represents a client that accesses position-related data.

Property	Type	Description
`GlobalPosition`	`ReadOnlyReactiveProperty<GlobalPositionIntPayload?>`	Gets the RX value for GlobalPosition of type GlobalPositionIntPayload.
`Home`	`ReadOnlyReactiveProperty<HomePositionPayload?>`	Gets the home position of the property Home.
`Target`	`ReadOnlyReactiveProperty<PositionTargetGlobalIntPayload?>`	Gets the target position value.
`Altitude`	`ReadOnlyReactiveProperty<AltitudePayload?>`	Gets the observable altitude value.
`VfrHud`	`ReadOnlyReactiveProperty<VfrHudPayload?>`	The VfrHud property provides access to an ReadOnlyReactiveProperty interface for VfrHudPayload, which represents the information received from a VFR (Visual Flight Rules) Heads-Up Display (HUD).
`Imu`	`ReadOnlyReactiveProperty<HighresImuPayload?>`	Gets the reactive value representing the high resolution IMU payload.
`Attitude`	`ReadOnlyReactiveProperty<AttitudePayload?>`	Gets the RX value of the current Attitude payload.

Method	Return Type	Description
`SetTargetGlobalInt(uint timeBootMs, MavFrame coordinateFrame, int latInt, int lonInt, float alt, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yawRate, PositionTargetTypemask typeMask, CancellationToken cancel)`	`ValueTask`	Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS 84). Used by an external controller to command the vehicle (manual controller or other system).
`SetPositionTargetLocalNed(uint timeBootMs, MavFrame coordinateFrame, PositionTargetTypemask typeMask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yawRate, CancellationToken cancel)`	`ValueTask`	Set vehicle target in local NED coordinates.

`IPositionClient.SetTargetGlobalInt`

Parameter	Type	Description
`timeBootMs`	`uint`	Timestamp (time since system boot).
`coordinateFrame`	`MavFrame`	Frame: global, relative alt, or terrain alt.
`latInt`	`int`	Latitude in WGS 84 frame.
`lonInt`	`int`	Longitude in WGS 84 frame.
`alt`	`float`	Altitude (MSL, relative, or AGL).
`vx`	`float`	X velocity in NED frame.
`vy`	`float`	Y velocity in NED frame.
`vz`	`float`	Z velocity in NED frame.
`afx`	`float`	X acceleration/force in NED frame.
`afy`	`float`	Y acceleration/force in NED frame.
`afz`	`float`	Z acceleration/force in NED frame.
`yaw`	`float`	Yaw setpoint.
`yawRate`	`float`	Yaw rate setpoint.
`typeMask`	`PositionTargetTypemask`	Bitmap indicating which dimensions to ignore.
`cancel`	`CancellationToken`	Optional cancellation token.

`IPositionClient.SetPositionTargetLocalNed`

Parameter	Type	Description
`timeBootMs`	`uint`	Timestamp (time since system boot).
`coordinateFrame`	`MavFrame`	Frame: local NED, body, or offset.
`typeMask`	`PositionTargetTypemask`	Bitmap indicating which dimensions to ignore.
`x`	`float`	X position in NED frame.
`y`	`float`	Y position in NED frame.
`z`	`float`	Z position in NED frame (altitude negative).
`vx`	`float`	X velocity in NED frame.
`vy`	`float`	Y velocity in NED frame.
`vz`	`float`	Z velocity in NED frame.
`afx`	`float`	X acceleration/force in NED frame.
`afy`	`float`	Y acceleration/force in NED frame.
`afz`	`float`	Z acceleration/force in NED frame.
`yaw`	`float`	Yaw setpoint.
`yawRate`	`float`	Yaw rate setpoint.
`cancel`	`CancellationToken`	Optional cancellation token.

Last modified: 09 October 2025