Position ex-client

You can also use the higher-level IPositionClientEx, which provides convenient reactive properties and helper methods for common operations such as takeoff, landing, setting targets, and ROI management.

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

// Subscribe to current altitude above home
var subscription = positionEx.AltitudeAboveHome.Subscribe(alt =>
{
    Console.WriteLine($"Altitude above home: {alt} m");
});

// Arm the vehicle and take off
await positionEx.ArmDisarm(true);
await positionEx.TakeOff(altInMeters: 10);

IPositionClientEx

Represents a higher-level wrapper over IPositionClient providing convenient reactive properties and additional helper methods.

Property	Type	Description
`Base`	`IPositionClient`	The underlying base client.
`Pitch`	`ReadOnlyReactiveProperty<double>`	Pitch angle in degrees.
`PitchSpeed`	`ReadOnlyReactiveProperty<double>`	Pitch angular speed in radians per second.
`Roll`	`ReadOnlyReactiveProperty<double>`	Roll angle in degrees.
`RollSpeed`	`ReadOnlyReactiveProperty<double>`	Roll angular speed in radians per second.
`Yaw`	`ReadOnlyReactiveProperty<double>`	Yaw angle in degrees.
`YawSpeed`	`ReadOnlyReactiveProperty<double>`	Yaw angular speed in radians per second.
`Current`	`ReadOnlyReactiveProperty<GeoPoint>`	Current global position in degrees with MSL altitude in meters.
`Target`	`ReadOnlyReactiveProperty<GeoPoint?>`	Current global target in degrees with altitude in meters.
`Home`	`ReadOnlyReactiveProperty<GeoPoint?>`	Home position in degrees with MSL altitude in meters.
`AltitudeAboveHome`	`ReadOnlyReactiveProperty<double>`	Altitude above home in meters.
`HomeDistance`	`ReadOnlyReactiveProperty<double>`	Distance from the current position to home.
`TargetDistance`	`ReadOnlyReactiveProperty<double>`	Distance from the current position to the target.
`IsArmed`	`ReadOnlyReactiveProperty<bool>`	Represents a property that indicates whether the object is armed.
`ArmedTime`	`ReadOnlyReactiveProperty<TimeSpan>`	Gets the armed time as an observable value of type TimeSpan.
`Roi`	`ReadOnlyReactiveProperty<GeoPoint?>`	Gets the Roi property.

Method	Return Type	Description
`GetHomePosition(CancellationToken cancel)`	`Task`	Requests the vehicle to publish its home position.
`SetHomePosition(GeoPoint location, CancellationToken cancel)`	`Task`	Sets the vehicle home position.
`ArmDisarm(bool isArm, CancellationToken cancel)`	`Task`	Arms or disarms the system.
`SetRoi(GeoPoint location, CancellationToken cancel)`	`Task`	Sets the region of interest (ROI) using the specified location.
`ClearRoi(CancellationToken cancel)`	`Task`	Clears the region of interest (ROI).
`SetTarget(GeoPoint point, CancellationToken none)`	`ValueTask`	Sends a global position target to the vehicle.
`TakeOff(double altInMeters, CancellationToken cancel)`	`Task`	Initiates the takeoff process.
`QTakeOff(double altInMeters, CancellationToken cancel)`	`Task`	Initiates vertical takeoff.
`QLand(NavVtolLandOptions landOption, double approachAlt, CancellationToken cancel)`	`Task`	VTOL landing procedure.

`IPositionClientEx.GetHomePosition`

Parameter	Type	Description
`cancel`	`CancellationToken`	Optional cancellation token.

The command response confirms that the request was accepted. The position itself is received through the Home property.

`IPositionClientEx.SetHomePosition`

Parameter	Type	Description
`location`	`GeoPoint`	New home latitude, longitude, and altitude.
`cancel`	`CancellationToken`	Optional cancellation token.

`IPositionClientEx.ArmDisarm`

Parameter	Type	Description
`isArm`	`bool`	True to arm, false to disarm.
`cancel`	`CancellationToken`	Optional cancellation token.

`IPositionClientEx.SetRoi`

Parameter	Type	Description
`location`	`GeoPoint`	The geographical point representing the location of the ROI.
`cancel`	`CancellationToken`	Optional cancellation token.

`IPositionClientEx.ClearRoi`

Parameter	Type	Description
`cancel`	`CancellationToken`	Optional cancellation token.

`IPositionClientEx.SetTarget`

Parameter	Type	Description
`point`	`GeoPoint`	Target position to set.
`none`	`CancellationToken`	Cancellation token.

`IPositionClientEx.TakeOff`

Parameter	Type	Description
`altInMeters`	`double`	Target altitude in meters.
`cancel`	`CancellationToken`	Optional cancellation token.

`IPositionClientEx.QTakeOff`

Parameter	Type	Description
`altInMeters`	`double`	Target altitude in meters.
`cancel`	`CancellationToken`	Optional cancellation token.

`IPositionClientEx.QLand`

Parameter	Type	Description
`landOption`	`NavVtolLandOptions`	VTOL landing option.
`approachAlt`	`double`	Approach altitude, NaN if unspecified.
`cancel`	`CancellationToken`	Optional cancellation token.

Last modified: 16 July 2026