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+# Protocol Documentation
+## control.proto
+Control
+
+These messages define control messages accepted by the Blueye drone.
+
+
+<a name="blueye-protocol-ActivateGuestPortsCtrl"></a>
+
+### ActivateGuestPortsCtrl
+Activated the guest port power
+
+
+
+
+
+
+<a name="blueye-protocol-AutoAltitudeCtrl"></a>
+
+### AutoAltitudeCtrl
+Issue a command to set auto altitude to a desired state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| state | [AutoAltitudeState](#blueye-protocol-AutoAltitudeState) |  | State of the altitude controller |
+
+
+
+
+
+
+<a name="blueye-protocol-AutoDepthCtrl"></a>
+
+### AutoDepthCtrl
+Issue a command to set auto depth to a desired state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| state | [AutoDepthState](#blueye-protocol-AutoDepthState) |  | State of the depth controller |
+
+
+
+
+
+
+<a name="blueye-protocol-AutoHeadingCtrl"></a>
+
+### AutoHeadingCtrl
+Issue a command to set auto heading to a desired state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| state | [AutoHeadingState](#blueye-protocol-AutoHeadingState) |  | State of the heading controller |
+
+
+
+
+
+
+<a name="blueye-protocol-CancelCalibrationCtrl"></a>
+
+### CancelCalibrationCtrl
+Issue a command to cancel compass calibration.
+
+
+
+
+
+
+<a name="blueye-protocol-DeactivateGuestPortsCtrl"></a>
+
+### DeactivateGuestPortsCtrl
+Deactivate the guest port power
+
+
+
+
+
+
+<a name="blueye-protocol-FinishCalibrationCtrl"></a>
+
+### FinishCalibrationCtrl
+Issue a command to finish compass calibration.
+
+
+
+
+
+
+<a name="blueye-protocol-GenericServoCtrl"></a>
+
+### GenericServoCtrl
+Issue a command to set a generic servo value.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| servo | [GenericServo](#blueye-protocol-GenericServo) |  | Message with the desired servo value. |
+
+
+
+
+
+
+<a name="blueye-protocol-GripperCtrl"></a>
+
+### GripperCtrl
+Issue a command to control the gripper.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| gripper_velocities | [GripperVelocities](#blueye-protocol-GripperVelocities) |  | The desired gripping and rotation velocity. |
+
+
+
+
+
+
+<a name="blueye-protocol-GuestportLightsCtrl"></a>
+
+### GuestportLightsCtrl
+Issue a command to set the guest port light intensity.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| lights | [Lights](#blueye-protocol-Lights) |  | Message with the desired light intensity. |
+
+
+
+
+
+
+<a name="blueye-protocol-LaserCtrl"></a>
+
+### LaserCtrl
+Issue a command to set the laser intensity.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| laser | [Laser](#blueye-protocol-Laser) |  | Message with the desired laser intensity. |
+
+
+
+
+
+
+<a name="blueye-protocol-LightsCtrl"></a>
+
+### LightsCtrl
+Issue a command to set the main light intensity.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| lights | [Lights](#blueye-protocol-Lights) |  | Message with the desired light intensity. |
+
+
+
+
+
+
+<a name="blueye-protocol-MotionInputCtrl"></a>
+
+### MotionInputCtrl
+Issue a command to move the drone in the surge, sway, heave, or yaw direction.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| motion_input | [MotionInput](#blueye-protocol-MotionInput) |  | Message with the desired movement in each direction. |
+
+
+
+
+
+
+<a name="blueye-protocol-MultibeamServoCtrl"></a>
+
+### MultibeamServoCtrl
+Issue a command to set multibeam servo angle.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| servo | [MultibeamServo](#blueye-protocol-MultibeamServo) |  | Message with the desired servo angle. |
+
+
+
+
+
+
+<a name="blueye-protocol-PilotGPSPositionCtrl"></a>
+
+### PilotGPSPositionCtrl
+Issue a command with the GPS position of the pilot.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| position | [LatLongPosition](#blueye-protocol-LatLongPosition) |  | The GPS position of the pilot. |
+
+
+
+
+
+
+<a name="blueye-protocol-PingerConfigurationCtrl"></a>
+
+### PingerConfigurationCtrl
+Issue a command to set the pinger configuration.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| configuration | [PingerConfiguration](#blueye-protocol-PingerConfiguration) |  | Message with the pinger configuration to set. |
+
+
+
+
+
+
+<a name="blueye-protocol-RecordCtrl"></a>
+
+### RecordCtrl
+Issue a command to start video recording.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| record_on | [RecordOn](#blueye-protocol-RecordOn) |  | Message specifying which cameras to record. |
+
+
+
+
+
+
+<a name="blueye-protocol-ResetOdometerCtrl"></a>
+
+### ResetOdometerCtrl
+Issue a command to reset the odometer.
+
+
+
+
+
+
+<a name="blueye-protocol-ResetPositionCtrl"></a>
+
+### ResetPositionCtrl
+Issue a command to reset the position estimate.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| settings | [ResetPositionSettings](#blueye-protocol-ResetPositionSettings) |  | Reset settings. |
+
+
+
+
+
+
+<a name="blueye-protocol-RestartGuestPortsCtrl"></a>
+
+### RestartGuestPortsCtrl
+Restart the guest ports by turning power on and off
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| restart_info | [GuestPortRestartInfo](#blueye-protocol-GuestPortRestartInfo) |  | Message with information about how long to keep the guest ports off. |
+
+
+
+
+
+
+<a name="blueye-protocol-StartCalibrationCtrl"></a>
+
+### StartCalibrationCtrl
+Issue a command to start compass calibration.
+
+
+
+
+
+
+<a name="blueye-protocol-StationKeepingCtrl"></a>
+
+### StationKeepingCtrl
+Issue a command to set station keeping to a desired state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| state | [StationKeepingState](#blueye-protocol-StationKeepingState) |  | State of the station keeping controller |
+
+
+
+
+
+
+<a name="blueye-protocol-SystemTimeCtrl"></a>
+
+### SystemTimeCtrl
+Issue a command to set the system time on the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| system_time | [SystemTime](#blueye-protocol-SystemTime) |  | Message with the system time to set. |
+
+
+
+
+
+
+<a name="blueye-protocol-TakePictureCtrl"></a>
+
+### TakePictureCtrl
+Issue a command to take a picture.
+
+
+
+
+
+
+<a name="blueye-protocol-TiltStabilizationCtrl"></a>
+
+### TiltStabilizationCtrl
+Issue a command to enable or disable tilt stabilization.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| state | [TiltStabilizationState](#blueye-protocol-TiltStabilizationState) |  | Message with the tilt stabilization state to set. |
+
+
+
+
+
+
+<a name="blueye-protocol-TiltVelocityCtrl"></a>
+
+### TiltVelocityCtrl
+Issue a command to tilt the drone camera.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| velocity | [TiltVelocity](#blueye-protocol-TiltVelocity) |  | Message with the desired tilt velocity (direction and speed). |
+
+
+
+
+
+
+<a name="blueye-protocol-WatchdogCtrl"></a>
+
+### WatchdogCtrl
+Issue a watchdog message to indicate that the remote client is connected and working as expected.
+
+If a watchdog message is not received every second, the drone will turn off lights and other auto
+functions to indicate that connection with the client has been lost.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| connection_duration | [ConnectionDuration](#blueye-protocol-ConnectionDuration) |  | Message with the number of seconds the client has been connected. |
+| client_id | [uint32](#uint32) |  | The ID of the client, received in the ConnectClientRep response. |
+
+
+
+
+
+
+<a name="blueye-protocol-WaterDensityCtrl"></a>
+
+### WaterDensityCtrl
+Issue a command to set the water density.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| density | [WaterDensity](#blueye-protocol-WaterDensity) |  | Message with the water density to set. |
+
+
+
+
+
+
+<a name="blueye-protocol-WeatherVaningCtrl"></a>
+
+### WeatherVaningCtrl
+Issue a command to set station keeping with weather vaning to a desired state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| state | [WeatherVaningState](#blueye-protocol-WeatherVaningState) |  | State of the weather vaning controller |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+<a name="message_formats-proto"></a>
+<p align="right"><a href="#top">Top</a></p>
+
+## message_formats.proto
+Common messages
+
+These are used for logging as well as building requests and responses.
+
+
+<a name="blueye-protocol-Altitude"></a>
+
+### Altitude
+Drone altitude over seabed, typically obtained from a DVL.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [float](#float) |  | Drone altitude over seabed (m) |
+| is_valid | [bool](#bool) |  | If altitude is valid or not |
+
+
+
+
+
+
+<a name="blueye-protocol-Attitude"></a>
+
+### Attitude
+The attitude of the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| roll | [float](#float) |  | Roll angle (-180°..180°) |
+| pitch | [float](#float) |  | Pitch angle (-180°..180°) |
+| yaw | [float](#float) |  | Yaw angle (-180°..180°) |
+
+
+
+
+
+
+<a name="blueye-protocol-AutoAltitudeState"></a>
+
+### AutoAltitudeState
+Auto altitude state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| enabled | [bool](#bool) |  | If auto altitude is enabled |
+
+
+
+
+
+
+<a name="blueye-protocol-AutoDepthState"></a>
+
+### AutoDepthState
+Auto depth state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| enabled | [bool](#bool) |  | If auto depth is enabled |
+
+
+
+
+
+
+<a name="blueye-protocol-AutoHeadingState"></a>
+
+### AutoHeadingState
+Auto heading state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| enabled | [bool](#bool) |  | If auto heading is enabled |
+
+
+
+
+
+
+<a name="blueye-protocol-Battery"></a>
+
+### Battery
+Essential battery information.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| voltage | [float](#float) |  | Battery voltage (V) |
+| level | [float](#float) |  | Battery level (0..1) |
+| temperature | [float](#float) |  | Battery temperature (°C) |
+
+
+
+
+
+
+<a name="blueye-protocol-BatteryBQ40Z50"></a>
+
+### BatteryBQ40Z50
+Battery information message.
+
+Detailed information about all aspects of the connected Blueye Smart Battery,
+using the BQ40Z50 BMS.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| voltage | [BatteryBQ40Z50.Voltage](#blueye-protocol-BatteryBQ40Z50-Voltage) |  | Voltage of the battery cells |
+| temperature | [BatteryBQ40Z50.Temperature](#blueye-protocol-BatteryBQ40Z50-Temperature) |  | Temperature of the battery cells |
+| status | [BatteryBQ40Z50.BatteryStatus](#blueye-protocol-BatteryBQ40Z50-BatteryStatus) |  | Battery status flags |
+| current | [float](#float) |  | Current (A) |
+| average_current | [float](#float) |  | Average current (A) |
+| relative_state_of_charge | [float](#float) |  | Relative state of charge (0..1) |
+| absolute_state_of_charge | [float](#float) |  | Absolute state of charge (0..1) |
+| remaining_capacity | [float](#float) |  | Remaining capacity (Ah) |
+| full_charge_capacity | [float](#float) |  | Full charge capacity (Ah) |
+| runtime_to_empty | [uint32](#uint32) |  | Runtime to empty (s) |
+| average_time_to_empty | [uint32](#uint32) |  | Average time to empty (s) |
+| average_time_to_full | [uint32](#uint32) |  | Average time to full (s) |
+| time_to_full_at_current_rate | [uint32](#uint32) |  | Time to fully charged at current rate (s) |
+| time_to_empty_at_current_rate | [uint32](#uint32) |  | Time to empty at current rate (s) |
+| charging_current | [float](#float) |  | Charging current (A) |
+| charging_voltage | [float](#float) |  | Charging voltage (V) |
+| cycle_count | [uint32](#uint32) |  | Number of charging cycles |
+| design_capacity | [float](#float) |  | Design capacity (Ah) |
+| manufacture_date | [google.protobuf.Timestamp](#google-protobuf-Timestamp) |  | Manufacture date |
+| serial_number | [uint32](#uint32) |  | Serial number |
+| manufacturer_name | [string](#string) |  | Manufacturer name |
+| device_name | [string](#string) |  | Device name |
+| device_chemistry | [string](#string) |  | Battery chemistry |
+
+
+
+
+
+
+<a name="blueye-protocol-BatteryBQ40Z50-BatteryStatus"></a>
+
+### BatteryBQ40Z50.BatteryStatus
+Battery status from BQ40Z50 ref data sheet 0x16.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| overcharged_alarm | [bool](#bool) |  |  |
+| terminate_charge_alarm | [bool](#bool) |  |  |
+| over_temperature_alarm | [bool](#bool) |  |  |
+| terminate_discharge_alarm | [bool](#bool) |  |  |
+| remaining_capacity_alarm | [bool](#bool) |  |  |
+| remaining_time_alarm | [bool](#bool) |  |  |
+| initialization | [bool](#bool) |  |  |
+| discharging_or_relax | [bool](#bool) |  |  |
+| fully_charged | [bool](#bool) |  |  |
+| fully_discharged | [bool](#bool) |  |  |
+| error | [BatteryBQ40Z50.BatteryStatus.BatteryError](#blueye-protocol-BatteryBQ40Z50-BatteryStatus-BatteryError) |  | Battery error codes |
+
+
+
+
+
+
+<a name="blueye-protocol-BatteryBQ40Z50-Temperature"></a>
+
+### BatteryBQ40Z50.Temperature
+Battery temperature.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| average | [float](#float) |  | Average temperature accross cells (°C) |
+| cell_1 | [float](#float) |  | Cell 1 temperature (°C) |
+| cell_2 | [float](#float) |  | Cell 2 temperature (°C) |
+| cell_3 | [float](#float) |  | Cell 3 temperature (°C) |
+| cell_4 | [float](#float) |  | Cell 4 temperature (°C) |
+
+
+
+
+
+
+<a name="blueye-protocol-BatteryBQ40Z50-Voltage"></a>
+
+### BatteryBQ40Z50.Voltage
+Battery voltage levels.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| total | [float](#float) |  | Battery pack voltage level (V) |
+| cell_1 | [float](#float) |  | Cell 1 voltage level (V) |
+| cell_2 | [float](#float) |  | Vell 2 voltage level (V) |
+| cell_3 | [float](#float) |  | Cell 3 voltage level (V) |
+| cell_4 | [float](#float) |  | Cell 4 voltage level (V) |
+
+
+
+
+
+
+<a name="blueye-protocol-BinlogRecord"></a>
+
+### BinlogRecord
+Wrapper message for each entry in the drone telemetry logfile.
+
+Each entry contains the unix timestamp in UTC, the monotonic timestamp (time since boot),
+and an Any message wrapping the custom Blueye message.
+
+See separate documentation for the logfile format for more details.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| payload | [google.protobuf.Any](#google-protobuf-Any) |  | The log entry payload. |
+| unix_timestamp | [google.protobuf.Timestamp](#google-protobuf-Timestamp) |  | Unix timestamp in UTC. |
+| clock_monotonic | [google.protobuf.Timestamp](#google-protobuf-Timestamp) |  | Posix CLOCK_MONOTONIC timestamp. |
+
+
+
+
+
+
+<a name="blueye-protocol-CPUTemperature"></a>
+
+### CPUTemperature
+CPU temperature.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [float](#float) |  | CPU temperature (°C) |
+
+
+
+
+
+
+<a name="blueye-protocol-CalibrationState"></a>
+
+### CalibrationState
+Compass calibration state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| status | [CalibrationState.Status](#blueye-protocol-CalibrationState-Status) |  | Current calibration status |
+| progress_x_positive | [float](#float) |  | Progress for the positive X axis (0..1) |
+| progress_x_negative | [float](#float) |  | Progress for the negative X axis (0..1) |
+| progress_y_positive | [float](#float) |  | Progress for the positive Y axis (0..1) |
+| progress_y_negative | [float](#float) |  | Progress for the negative X axis (0..1) |
+| progress_z_positive | [float](#float) |  | Progress for the positive Z axis (0..1) |
+| progress_z_negative | [float](#float) |  | Progress for the negative Z axis (0..1) |
+| progress_thruster | [float](#float) |  | Progress for the thruster calibration (0..1) |
+
+
+
+
+
+
+<a name="blueye-protocol-CameraParameters"></a>
+
+### CameraParameters
+Camera parameters.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| h264_bitrate | [int32](#int32) |  | Bitrate of the h264 stream (bit/sec) |
+| mjpg_bitrate | [int32](#int32) |  | Bitrate of the MJPG stream used for still pictures (bit/sec) |
+| exposure | [int32](#int32) |  | Shutter speed (1/10000 * s), -1 for automatic exposure |
+| white_balance | [int32](#int32) |  | White balance temperature (2800..9300), -1 for automatic white balance |
+| hue | [int32](#int32) |  | Hue (-40..40), 0 as default |
+| gain | [float](#float) |  | Iso gain (0..1) |
+| resolution | [Resolution](#blueye-protocol-Resolution) |  | Stream, recording and image resolution |
+| framerate | [Framerate](#blueye-protocol-Framerate) |  | Stream and recording framerate |
+| camera | [Camera](#blueye-protocol-Camera) |  | Which camera the parameters belong to. |
+
+
+
+
+
+
+<a name="blueye-protocol-CanisterHumidity"></a>
+
+### CanisterHumidity
+Canister humidity.
+
+Humidity measured in the top or bottom canister of the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| humidity | [float](#float) |  | Air humidity (%) |
+
+
+
+
+
+
+<a name="blueye-protocol-CanisterTemperature"></a>
+
+### CanisterTemperature
+Canister temperature.
+
+Temperature measured in the top or bottom canister of the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| temperature | [float](#float) |  | Temperature (°C) |
+
+
+
+
+
+
+<a name="blueye-protocol-ClientInfo"></a>
+
+### ClientInfo
+Information about a remote client.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| type | [string](#string) |  | The type of client (such as Blueye App, Observer App, SDK, etc) |
+| version | [string](#string) |  | Client software version string |
+| device_type | [string](#string) |  | Device type, such as mobile, tablet, or computer |
+| platform | [string](#string) |  | Platform, such as iOS, Android, Linux, etc |
+| platform_version | [string](#string) |  | Platform software version string |
+| name | [string](#string) |  | Name of the client |
+
+
+
+
+
+
+<a name="blueye-protocol-ConnectedClient"></a>
+
+### ConnectedClient
+Information about a connected client with an id assigned by the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| client_id | [uint32](#uint32) |  | The assigned client id |
+| client_info | [ClientInfo](#blueye-protocol-ClientInfo) |  | Client information. |
+
+
+
+
+
+
+<a name="blueye-protocol-ConnectionDuration"></a>
+
+### ConnectionDuration
+Connection duration of a remote client.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [int32](#int32) |  | time since connected to drone (s) |
+
+
+
+
+
+
+<a name="blueye-protocol-ControlForce"></a>
+
+### ControlForce
+Control Force is used for showing the requested control force in each direction in Newtons.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| surge | [float](#float) |  | Force in surge (N) |
+| sway | [float](#float) |  | Force in sway (N) |
+| heave | [float](#float) |  | Force in heave (N) |
+| yaw | [float](#float) |  | Moment in yaw (Nm) |
+
+
+
+
+
+
+<a name="blueye-protocol-ControlMode"></a>
+
+### ControlMode
+Control mode from drone supervisor
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| auto_depth | [bool](#bool) |  | If auto depth is enabled |
+| auto_heading | [bool](#bool) |  | If auto heading is enabled |
+| auto_altitude | [bool](#bool) |  | If auto altitude is enabled |
+| station_keeping | [bool](#bool) |  | If station keeping is enabled |
+| weather_vaning | [bool](#bool) |  | If weather vaning is enabled |
+
+
+
+
+
+
+<a name="blueye-protocol-ControllerHealth"></a>
+
+### ControllerHealth
+Controller health is used for showing the state of the controller with an relative error and load from 0 to 1.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| depth_error | [float](#float) |  | Depth error in meters (m) |
+| depth_health | [float](#float) |  | Depth controller load (0..1) |
+| heading_error | [float](#float) |  | Heading error in degrees (°) |
+| heading_health | [float](#float) |  | Heading controller load (0..1) |
+
+
+
+
+
+
+<a name="blueye-protocol-CpProbe"></a>
+
+### CpProbe
+Reading from a Cathodic Protection Potential probe.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| measurement | [float](#float) |  | Potential measurement (V) |
+| is_measurement_valid | [bool](#bool) |  | Indicating if the measurement is valid |
+
+
+
+
+
+
+<a name="blueye-protocol-Depth"></a>
+
+### Depth
+Water depth of the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [float](#float) |  | Drone depth below surface (m) |
+
+
+
+
+
+
+<a name="blueye-protocol-DiveTime"></a>
+
+### DiveTime
+Amount of time the drone has been submerged.
+
+The drone starts incrementing this value when the depth is above 250 mm.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [int32](#int32) |  | Number of seconds the drone has been submerged |
+
+
+
+
+
+
+<a name="blueye-protocol-DroneInfo"></a>
+
+### DroneInfo
+Information about the drone.
+
+This message contains serial numbers and version informattion for
+internal components in the drone. Primarily used for diagnostics, or to
+determine the origin of a logfile.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| blunux_version | [string](#string) |  | Blunux version string |
+| serial_number | [bytes](#bytes) |  | Drone serial number |
+| hardware_id | [bytes](#bytes) |  | Main computer unique identifier |
+| model | [Model](#blueye-protocol-Model) |  | Drone model |
+| mb_serial | [bytes](#bytes) |  | Motherboard serial number |
+| bb_serial | [bytes](#bytes) |  | Backbone serial number |
+| ds_serial | [bytes](#bytes) |  | Drone stack serial number |
+| mb_uid | [bytes](#bytes) |  | Motherboard unique identifier |
+| bb_uid | [bytes](#bytes) |  | Backbone unique identifier |
+| gp | [GuestPortInfo](#blueye-protocol-GuestPortInfo) |  | GuestPortInfo |
+| depth_sensor | [PressureSensorType](#blueye-protocol-PressureSensorType) |  | Type of depth sensor that is connected to the drone |
+
+
+
+
+
+
+<a name="blueye-protocol-ErrorFlags"></a>
+
+### ErrorFlags
+Known error states for the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| pmu_comm_ack | [bool](#bool) |  | Acknowledge message not received for a message published to internal micro controller |
+| pmu_comm_stream | [bool](#bool) |  | Error in communication with internal micro controller |
+| depth_read | [bool](#bool) |  | Error reading depth sensor value |
+| depth_spike | [bool](#bool) |  | Sudden spike in value read from depth sensor |
+| inner_pressure_read | [bool](#bool) |  | Error reading inner pressure of the drone |
+| inner_pressure_spike | [bool](#bool) |  | Sudden spike in inner preassure |
+| compass_calibration | [bool](#bool) |  | Compass needs calibration |
+| tilt_calibration | [bool](#bool) |  | Error during calibration of tilt endpoints |
+| gp1_read | [bool](#bool) |  | Guest port 1 read error |
+| gp2_read | [bool](#bool) |  | Guest port 2 read error |
+| gp3_read | [bool](#bool) |  | Guest port 3 read error |
+| gp1_not_flashed | [bool](#bool) |  | Guest port 1 not flashed |
+| gp2_not_flashed | [bool](#bool) |  | Guest port 2 not flashed |
+| gp3_not_flashed | [bool](#bool) |  | Guest port 3 not flashed |
+| gp1_unknown_device | [bool](#bool) |  | Unknown device on guest port 1 |
+| gp2_unknown_device | [bool](#bool) |  | Unknown device on guest port 2 |
+| gp3_unknown_device | [bool](#bool) |  | Unknown device on guest port 3 |
+| gp1_device_connection | [bool](#bool) |  | Guest port 1 connection error |
+| gp2_device_connection | [bool](#bool) |  | Guest port 2 connection error |
+| gp3_device_connection | [bool](#bool) |  | Guest port 3 connection error |
+| gp1_device | [bool](#bool) |  | Guest port 1 device error |
+| gp2_device | [bool](#bool) |  | Guest port 2 device error |
+| gp3_device | [bool](#bool) |  | Guest port 3 device error |
+| drone_serial_not_set | [bool](#bool) |  | Drone serial number not set |
+| drone_serial | [bool](#bool) |  | Drone serial number error |
+| mb_eeprom_read | [bool](#bool) |  | MB eeprom read error |
+| bb_eeprom_read | [bool](#bool) |  | BB eeprom read error |
+| mb_eeprom_not_flashed | [bool](#bool) |  | MB eeprom not flashed |
+| bb_eeprom_not_flashed | [bool](#bool) |  | BB eeprom not flashed |
+| main_camera_connection | [bool](#bool) |  | We don&#39;t get buffers from the main camera |
+| main_camera_firmware | [bool](#bool) |  | The main camera firmware is wrong |
+| guestport_camera_connection | [bool](#bool) |  | We don&#39;t get buffers from the guestport camera |
+| guestport_camera_firmware | [bool](#bool) |  | The guestport camera firmware is wrong |
+| mb_serial | [bool](#bool) |  | MB serial number error |
+| bb_serial | [bool](#bool) |  | BB serial number error |
+| ds_serial | [bool](#bool) |  | DS serial number error |
+| gp_current_read | [bool](#bool) |  | Error reading GP current |
+| gp_current | [bool](#bool) |  | Max GP current exceeded |
+| gp1_bat_current | [bool](#bool) |  | Max battery current exceeded on GP1 |
+| gp2_bat_current | [bool](#bool) |  | Max battery current exceeded on GP2 |
+| gp3_bat_current | [bool](#bool) |  | Max battery current exceeded on GP3 |
+| gp_20v_current | [bool](#bool) |  | Max 20V current exceeded on GP |
+
+
+
+
+
+
+<a name="blueye-protocol-ForwardDistance"></a>
+
+### ForwardDistance
+Distance to an object infront of the drone, typically obtained from an 1D
+pinger.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [float](#float) |  | Distance in front of drone (m) |
+| is_valid | [bool](#bool) |  | If distance reading is valid or not |
+
+
+
+
+
+
+<a name="blueye-protocol-GenericServo"></a>
+
+### GenericServo
+Servo message used to represent the angle of the servo.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [float](#float) |  | Servo value (0..1) |
+| guest_port_number | [GuestPortNumber](#blueye-protocol-GuestPortNumber) |  | Guest port the servo is on |
+
+
+
+
+
+
+<a name="blueye-protocol-GripperVelocities"></a>
+
+### GripperVelocities
+Gripper velocity values.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| grip_velocity | [float](#float) |  | The gripping velocity (-1.0..1.0) |
+| rotate_velocity | [float](#float) |  | The rotating velocity (-1.0..1.0) |
+
+
+
+
+
+
+<a name="blueye-protocol-GuestPortConnectorInfo"></a>
+
+### GuestPortConnectorInfo
+GuestPort connector information.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| device_list | [GuestPortDeviceList](#blueye-protocol-GuestPortDeviceList) |  | List of devices on this connector |
+| error | [GuestPortError](#blueye-protocol-GuestPortError) |  | Guest port error |
+| guest_port_number | [GuestPortNumber](#blueye-protocol-GuestPortNumber) |  | Guest port the connector is connected to |
+
+
+
+
+
+
+<a name="blueye-protocol-GuestPortCurrent"></a>
+
+### GuestPortCurrent
+GuestPort current readings.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| gp1_bat | [double](#double) |  | Current on GP1 battery voltage (A) |
+| gp2_bat | [double](#double) |  | Current on GP2 battery voltage (A) |
+| gp3_bat | [double](#double) |  | Current on GP3 battery voltage (A) |
+| gp_20v | [double](#double) |  | Current on common 20V supply (A) |
+
+
+
+
+
+
+<a name="blueye-protocol-GuestPortDevice"></a>
+
+### GuestPortDevice
+GuestPort device.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| device_id | [GuestPortDeviceID](#blueye-protocol-GuestPortDeviceID) |  | Blueye device identifier |
+| manufacturer | [string](#string) |  | Manufacturer name |
+| name | [string](#string) |  | Device name |
+| serial_number | [string](#string) |  | Serial number |
+| depth_rating | [float](#float) |  | Depth rating (m) |
+| required_blunux_version | [string](#string) |  | Required Blunux version (x.y.z) |
+
+
+
+
+
+
+<a name="blueye-protocol-GuestPortDeviceList"></a>
+
+### GuestPortDeviceList
+List of guest port devices.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| devices | [GuestPortDevice](#blueye-protocol-GuestPortDevice) | repeated | List of guest port devices |
+
+
+
+
+
+
+<a name="blueye-protocol-GuestPortInfo"></a>
+
+### GuestPortInfo
+GuestPort information.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| gp1 | [GuestPortConnectorInfo](#blueye-protocol-GuestPortConnectorInfo) |  | GuestPortConnectorInfo 1 |
+| gp2 | [GuestPortConnectorInfo](#blueye-protocol-GuestPortConnectorInfo) |  | GuestPortConnectorInfo 2 |
+| gp3 | [GuestPortConnectorInfo](#blueye-protocol-GuestPortConnectorInfo) |  | GuestPortConnectorInfo 3 |
+
+
+
+
+
+
+<a name="blueye-protocol-GuestPortRestartInfo"></a>
+
+### GuestPortRestartInfo
+GuestPort restart information.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| power_off_duration | [double](#double) |  | Duration to keep the guest ports off (s) |
+
+
+
+
+
+
+<a name="blueye-protocol-Imu"></a>
+
+### Imu
+Imu data in drone body frame
+
+x - forward
+y - right
+z - down
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| accelerometer | [Vector3](#blueye-protocol-Vector3) |  | Acceleration (g) |
+| gyroscope | [Vector3](#blueye-protocol-Vector3) |  | Angular velocity (rad/s) |
+| magnetometer | [Vector3](#blueye-protocol-Vector3) |  | Magnetic field (μT) |
+| temperature | [float](#float) |  | Temperature (°C) |
+
+
+
+
+
+
+<a name="blueye-protocol-IperfStatus"></a>
+
+### IperfStatus
+Connection speed between drone and Surface Unit.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| sent | [float](#float) |  | Transfer rate from drone to Surface Unit (Mbit/s) |
+| received | [float](#float) |  | Transfer rate from Surface Unit to drone (Mbit/s) |
+
+
+
+
+
+
+<a name="blueye-protocol-Laser"></a>
+
+### Laser
+Laser message used to represent the intensity of connected laser.
+
+If the laser does not support dimming but only on and off,
+a value of 0 turns the laser off, and any value above 0
+turns the laser on.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [float](#float) |  | Laser intensity, any value above 0 turns the laser on (0..1) |
+
+
+
+
+
+
+<a name="blueye-protocol-LatLongPosition"></a>
+
+### LatLongPosition
+Latitude and longitude position in WGS 84 decimal degrees format.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| latitude | [double](#double) |  | Latitude (°) |
+| longitude | [double](#double) |  | Longitude (°) |
+
+
+
+
+
+
+<a name="blueye-protocol-Lights"></a>
+
+### Lights
+Lights message used to represent the intensity of the main light or external lights.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [float](#float) |  | Light intensity (0..1) |
+
+
+
+
+
+
+<a name="blueye-protocol-MedusaSpectrometerData"></a>
+
+### MedusaSpectrometerData
+Medusa gamma ray sensor spectrometer data
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| drone_time | [google.protobuf.Timestamp](#google-protobuf-Timestamp) |  | Time stamp when the data is received |
+| sensor_time | [google.protobuf.Timestamp](#google-protobuf-Timestamp) |  | Time stamp the sensor reports |
+| realtime | [float](#float) |  | Time the sensor actually measured (s) |
+| livetime | [float](#float) |  | Time the measurement took (s) |
+| total | [uint32](#uint32) |  | Total counts inside the spectrum |
+| countrate | [uint32](#uint32) |  | Counts per second inside the spectrum (rounded) |
+| cosmics | [uint32](#uint32) |  | Detected counts above the last channel |
+
+
+
+
+
+
+<a name="blueye-protocol-MotionInput"></a>
+
+### MotionInput
+Motion input from client.
+
+Used to indicate the desired motion in each direction.
+Typically these values map to the left and right joystick for motion,
+and the left and right trigger for the slow and boost modifiers.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| surge | [float](#float) |  | Forward (positive) and backwards (negative) movement. (-1..1) |
+| sway | [float](#float) |  | Right (positive) and left (negative) lateral movement (-1..1) |
+| heave | [float](#float) |  | Descend (positive) and ascend (negative) movement (-1..1) |
+| yaw | [float](#float) |  | Left (positive) and right (negative) movement (-1..1) |
+| slow | [float](#float) |  | Multiplier used to reduce the speed of the motion (0..1) |
+| boost | [float](#float) |  | Multiplier used to increase the speed of the motion (0..1) |
+
+
+
+
+
+
+<a name="blueye-protocol-MultibeamServo"></a>
+
+### MultibeamServo
+Servo message used to represent the angle of the servo.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| angle | [float](#float) |  | Servo degrees (-30..30) |
+
+
+
+
+
+
+<a name="blueye-protocol-NStreamers"></a>
+
+### NStreamers
+Number of spectators connected to video stream.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| main | [int32](#int32) |  | The number of clients to the main camera stream |
+| guestport | [int32](#int32) |  | The number of clients to the guestport camera stream |
+
+
+
+
+
+
+<a name="blueye-protocol-NavigationSensorStatus"></a>
+
+### NavigationSensorStatus
+Navigation sensor used in the position observer with validity state
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| sensor_id | [NavigationSensorID](#blueye-protocol-NavigationSensorID) |  | Sensor id |
+| is_valid | [bool](#bool) |  | Sensor validity |
+
+
+
+
+
+
+<a name="blueye-protocol-OverlayParameters"></a>
+
+### OverlayParameters
+Overlay parameters.
+
+All available parameters that can be used to configure telemetry overlay on video recordings.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| temperature_enabled | [bool](#bool) |  | If temperature should be included |
+| depth_enabled | [bool](#bool) |  | If depth should be included |
+| heading_enabled | [bool](#bool) |  | If heading should be included |
+| tilt_enabled | [bool](#bool) |  | If camera tilt angle should be included |
+| thickness_enabled | [bool](#bool) |  | If camera tilt angle should be included |
+| date_enabled | [bool](#bool) |  | If date should be included |
+| distance_enabled | [bool](#bool) |  | If distance should be included |
+| altitude_enabled | [bool](#bool) |  | If altitude should be included |
+| cp_probe_enabled | [bool](#bool) |  | If cp-probe should be included |
+| medusa_enabled | [bool](#bool) |  | If medusa measurement should be included |
+| drone_location_enabled | [bool](#bool) |  | If the drone location coordinates should be included |
+| logo_type | [LogoType](#blueye-protocol-LogoType) |  | Which logo should be used |
+| depth_unit | [DepthUnit](#blueye-protocol-DepthUnit) |  | Which unit should be used for depth: Meter, Feet or None |
+| temperature_unit | [TemperatureUnit](#blueye-protocol-TemperatureUnit) |  | Which unit should be used for temperature: Celcius or Fahrenheit |
+| thickness_unit | [ThicknessUnit](#blueye-protocol-ThicknessUnit) |  | Which unit should be used for thickness: Millimeters or Inches |
+| timezone_offset | [int32](#int32) |  | Timezone offset from UTC (min) |
+| margin_width | [int32](#int32) |  | Horizontal margins of text elements (px) |
+| margin_height | [int32](#int32) |  | Vertical margins of text elements (px) |
+| font_size | [FontSize](#blueye-protocol-FontSize) |  | Font size of text elements |
+| title | [string](#string) |  | Optional title |
+| subtitle | [string](#string) |  | Optional subtitle |
+| date_format | [string](#string) |  | Posix strftime format string for time stamp |
+| shading | [float](#float) |  | Pixel intensity to subtract from text background (0..1), 0: transparent, 1: black |
+
+
+
+
+
+
+<a name="blueye-protocol-PingerConfiguration"></a>
+
+### PingerConfiguration
+Pinger configuration.
+
+Used to specify the configuration the BR 1D-Pinger.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| mounting_direction | [PingerConfiguration.MountingDirection](#blueye-protocol-PingerConfiguration-MountingDirection) |  | Mounting direction of the pinger |
+
+
+
+
+
+
+<a name="blueye-protocol-PositionEstimate"></a>
+
+### PositionEstimate
+Position estimate from the Extended Kalman filter based observer if a DVL is connected.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| northing | [float](#float) |  | Position from reset point (m) |
+| easting | [float](#float) |  | Position from reset point (m) |
+| heading | [float](#float) |  | Gyro based heading estimate (continous radians) |
+| surge_rate | [float](#float) |  | Velocity in surge (m/s) |
+| sway_rate | [float](#float) |  | Velocity in sway (m/s) |
+| yaw_rate | [float](#float) |  | Rotaion rate in yaw (rad/s) |
+| ocean_current | [float](#float) |  | Estimated ocean current (m/s) |
+| odometer | [float](#float) |  | Travelled distance since reset (m) |
+| is_valid | [bool](#bool) |  | If the estimate can be trusted |
+| global_position | [LatLongPosition](#blueye-protocol-LatLongPosition) |  | Best estimate of the global position in decimal degrees |
+| navigation_sensors | [NavigationSensorStatus](#blueye-protocol-NavigationSensorStatus) | repeated | List of available sensors with status |
+
+
+
+
+
+
+<a name="blueye-protocol-RecordOn"></a>
+
+### RecordOn
+Which cameras are supposed to be recording
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| main | [bool](#bool) |  | Record the main camera |
+| guestport | [bool](#bool) |  | Record external camera |
+
+
+
+
+
+
+<a name="blueye-protocol-RecordState"></a>
+
+### RecordState
+Camera recording state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| main_is_recording | [bool](#bool) |  | If the main camera is recording |
+| main_seconds | [int32](#int32) |  | Main record time (s) |
+| guestport_is_recording | [bool](#bool) |  | If the guestport camera is recording |
+| guestport_seconds | [int32](#int32) |  | Guestport record time (s) |
+
+
+
+
+
+
+<a name="blueye-protocol-Reference"></a>
+
+### Reference
+Reference for the control system. Note that the internal heading referece is not relative to North.
+Use (ControlHealth.heading_error &#43; pose.yaw) instead.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| surge | [float](#float) |  | Reference from joystick surge input (0..1) |
+| sway | [float](#float) |  | Reference from joystick sway input (0..1) |
+| heave | [float](#float) |  | Reference from joystick heave input (0..1) |
+| yaw | [float](#float) |  | Reference from joystick yaw input (0..1) |
+| depth | [float](#float) |  | Reference drone depth below surface (m) |
+| heading | [float](#float) |  | Reference used in auto heading mode, gyro based (°) |
+| altitude | [float](#float) |  | Reference used in auto altitude mode (m) |
+
+
+
+
+
+
+<a name="blueye-protocol-ResetPositionSettings"></a>
+
+### ResetPositionSettings
+ResetPositionSettings used during reset of the position estimate.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| heading_source_during_reset | [HeadingSource](#blueye-protocol-HeadingSource) |  | Option to use the drone compass or due North as heading during reset |
+| manual_heading | [float](#float) |  | Heading in degrees (0-359) |
+| reset_coordinate_source | [ResetCoordinateSource](#blueye-protocol-ResetCoordinateSource) |  | Option to use the device GPS or a manual coordinate. |
+| reset_coordinate | [LatLongPosition](#blueye-protocol-LatLongPosition) |  | Reset coordinate in decimal degrees |
+
+
+
+
+
+
+<a name="blueye-protocol-StationKeepingState"></a>
+
+### StationKeepingState
+Station keeping state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| enabled | [bool](#bool) |  | If station keeping is enabled |
+
+
+
+
+
+
+<a name="blueye-protocol-StorageSpace"></a>
+
+### StorageSpace
+Storage space.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| total_space | [int64](#int64) |  | Total bytes of storage space (B) |
+| free_space | [int64](#int64) |  | Available bytes of storage space (B) |
+
+
+
+
+
+
+<a name="blueye-protocol-SystemTime"></a>
+
+### SystemTime
+System time.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| unix_timestamp | [google.protobuf.Timestamp](#google-protobuf-Timestamp) |  | Unix timestamp |
+
+
+
+
+
+
+<a name="blueye-protocol-ThicknessGauge"></a>
+
+### ThicknessGauge
+Thickness measurement data from a Cygnus Thickness Gauge.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| thickness_measurement | [float](#float) |  | Thickness measurement of a steel plate |
+| echo_count | [uint32](#uint32) |  | Indicating the quality of the reading when invalid (0-3) |
+| sound_velocity | [uint32](#uint32) |  | Speed of sound in the steel member (m/s) |
+| is_measurement_valid | [bool](#bool) |  | Indicating if the measurement is valid |
+
+
+
+
+
+
+<a name="blueye-protocol-TiltAngle"></a>
+
+### TiltAngle
+Angle of tilt camera in degrees.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [float](#float) |  | Tilt angle (°) |
+
+
+
+
+
+
+<a name="blueye-protocol-TiltStabilizationState"></a>
+
+### TiltStabilizationState
+Tilt stabilization state.
+
+Blueye drones with mechanical tilt has the ability to enable
+camera stabilization.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| enabled | [bool](#bool) |  | If tilt stabilization is enabled |
+
+
+
+
+
+
+<a name="blueye-protocol-TiltVelocity"></a>
+
+### TiltVelocity
+Relative velocity of tilt
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [float](#float) |  | Relative angular velocity of tilt (-1..1), negative means down and positive means up |
+
+
+
+
+
+
+<a name="blueye-protocol-Vector3"></a>
+
+### Vector3
+Vector with 3 elements
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| x | [double](#double) |  | x-component |
+| y | [double](#double) |  | y-component |
+| z | [double](#double) |  | z-component |
+
+
+
+
+
+
+<a name="blueye-protocol-WaterDensity"></a>
+
+### WaterDensity
+Water density.
+
+Used to specify the water density the drone is operating in,
+to achieve more accruate depth measurements.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [float](#float) |  | Salinity (kg/l) |
+
+
+
+
+
+
+<a name="blueye-protocol-WaterTemperature"></a>
+
+### WaterTemperature
+Water temperature measured by the drone&#39;s combined depth and temperature sensor.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| value | [float](#float) |  | Water temperature (°C) |
+
+
+
+
+
+
+<a name="blueye-protocol-WeatherVaningState"></a>
+
+### WeatherVaningState
+Weather vaning state.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| enabled | [bool](#bool) |  | If weather vaning is enabled |
+
+
+
+
+
+
+
+
+<a name="blueye-protocol-BatteryBQ40Z50-BatteryStatus-BatteryError"></a>
+
+### BatteryBQ40Z50.BatteryStatus.BatteryError
+Battery errror code from BQ40Z50 BMS data sheet.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| BATTERY_ERROR_UNSPECIFIED | 0 |  |
+| BATTERY_ERROR_OK | 1 |  |
+| BATTERY_ERROR_BUSY | 2 |  |
+| BATTERY_ERROR_RESERVED_COMMAND | 3 |  |
+| BATTERY_ERROR_UNSUPPORTED_COMMAND | 4 |  |
+| BATTERY_ERROR_ACCESS_DENIED | 5 |  |
+| BATTERY_ERROR_OVERFLOW_UNDERFLOW | 6 |  |
+| BATTERY_ERROR_BAD_SIZE | 7 |  |
+| BATTERY_ERROR_UNKNOWN_ERROR | 8 |  |
+
+
+
+<a name="blueye-protocol-CalibrationState-Status"></a>
+
+### CalibrationState.Status
+Status of the compass calibration procedure.
+
+When calibration is started, the status will indicate the active (upfacing) axis.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| STATUS_UNSPECIFIED | 0 | Unspecified status |
+| STATUS_NOT_CALIBRATING | 1 | Compass is not currently calibrating |
+| STATUS_CALIBRATING_NO_AXIS | 2 | Compass is calibrating but active calibration axis cannot be determined |
+| STATUS_CALIBRATING_X_POSITIVE | 3 | Compass is calibrating and the positive X axis is active |
+| STATUS_CALIBRATING_X_NEGATIVE | 4 | Compass is calibrating and the negative X axis is active |
+| STATUS_CALIBRATING_Y_POSITIVE | 5 | Compass is calibrating and the positive Y axis is active |
+| STATUS_CALIBRATING_Y_NEGATIVE | 6 | Compass is calibrating and the negative Y axis is active |
+| STATUS_CALIBRATING_Z_POSITIVE | 7 | Compass is calibrating and the positive Z axis is active |
+| STATUS_CALIBRATING_Z_NEGATIVE | 8 | Compass is calibrating and the negative Z axis is active |
+| STATUS_CALIBRATING_THRUSTER | 9 | Compass is calibrating for thruster interferance |
+
+
+
+<a name="blueye-protocol-Camera"></a>
+
+### Camera
+Which camera to control.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| CAMERA_UNSPECIFIED | 0 | Camera not specified |
+| CAMERA_MAIN | 1 | Main camera |
+| CAMERA_GUESTPORT | 2 | Guestport camera |
+
+
+
+<a name="blueye-protocol-DepthUnit"></a>
+
+### DepthUnit
+Available depth units.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| DEPTH_UNIT_UNSPECIFIED | 0 | Depth unit not specified |
+| DEPTH_UNIT_METERS | 1 | Depth should be displayed as meters |
+| DEPTH_UNIT_FEET | 2 | Depth should be displayed as feet |
+
+
+
+<a name="blueye-protocol-FontSize"></a>
+
+### FontSize
+Available font sizes for overlay text elements.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| FONT_SIZE_UNSPECIFIED | 0 | Font size not specified |
+| FONT_SIZE_PX15 | 1 | 15 px |
+| FONT_SIZE_PX20 | 2 | 20 px |
+| FONT_SIZE_PX25 | 3 | 25 px |
+| FONT_SIZE_PX30 | 4 | 30 px |
+| FONT_SIZE_PX35 | 5 | 35 px |
+| FONT_SIZE_PX40 | 6 | 40 px |
+
+
+
+<a name="blueye-protocol-Framerate"></a>
+
+### Framerate
+Available camera framerates.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| FRAMERATE_UNSPECIFIED | 0 | Framerate not specified |
+| FRAMERATE_FPS_30 | 1 | 30 frames per second |
+| FRAMERATE_FPS_25 | 2 | 25 frames per second |
+
+
+
+<a name="blueye-protocol-GuestPortDeviceID"></a>
+
+### GuestPortDeviceID
+GuestPort device ID.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| GUEST_PORT_DEVICE_ID_UNSPECIFIED | 0 | Unspecified |
+| GUEST_PORT_DEVICE_ID_BLIND_PLUG | 1 | Blueye blind plug |
+| GUEST_PORT_DEVICE_ID_TEST_STATION | 2 | Blueye test station |
+| GUEST_PORT_DEVICE_ID_DEBUG_SERIAL | 3 | Blueye debug serial |
+| GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT | 4 | Blueye Light |
+| GUEST_PORT_DEVICE_ID_BLUEYE_CAM | 5 | Blueye Cam |
+| GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_LUMEN | 6 | Blue Robotics Lumen |
+| GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_NEWTON | 7 | Blue Robotics Newton |
+| GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_PING_SONAR | 8 | Blue Robotics Ping Sonar |
+| GUEST_PORT_DEVICE_ID_BLUEPRINT_LAB_REACH_ALPHA | 9 | Blueprint Lab Reach Alpha |
+| GUEST_PORT_DEVICE_ID_WATERLINKED_DVL_A50 | 10 | Waterlinked DVL A50 |
+| GUEST_PORT_DEVICE_ID_IMPACT_SUBSEA_ISS360 | 11 | Impact Subsea ISS360 Sonar |
+| GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_SEATRAC_X010 | 12 | Blueprint Subsea Seatrac X110 |
+| GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M750D | 13 | Blueprint Subsea Oculus M750d |
+| GUEST_PORT_DEVICE_ID_CYGNUS_MINI_ROV_THICKNESS_GAUGE | 14 | Cygnus Mini ROV Thickness Gauge |
+| GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_PING360_SONAR | 15 | Blue Robotics Ping360 Scanning Imaging Sonar |
+| GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_720IM | 16 | Tritech Gemini 720im Multibeam Sonar |
+| GUEST_PORT_DEVICE_ID_BLUEYE_LIGHT_PAIR | 17 | Blueye Light Pair |
+| GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_MICRON | 18 | Tritech Micron Gemini |
+| GUEST_PORT_DEVICE_ID_OCEAN_TOOLS_DIGICP | 19 | Ocean Tools DigiCP |
+| GUEST_PORT_DEVICE_ID_TRITECH_GEMINI_720IK | 20 | Tritech Gemini 720ik Multibeam Sonar |
+| GUEST_PORT_DEVICE_ID_NORTEK_NUCLEUS_1000 | 21 | Nortek Nucleus 1000 DVL |
+| GUEST_PORT_DEVICE_ID_BLUEYE_GENERIC_SERVO | 22 | Blueye Generic Servo |
+| GUEST_PORT_DEVICE_ID_BLUEYE_MULTIBEAM_SERVO | 23 | Blueye Multibeam Servo |
+| GUEST_PORT_DEVICE_ID_BLUE_ROBOTICS_DETACHABLE_NEWTON | 24 | Detachable Blue Robotics Newton |
+| GUEST_PORT_DEVICE_ID_INSITU_AQUA_TROLL_500 | 25 | In-Situ Aqua TROLL 500 |
+| GUEST_PORT_DEVICE_ID_MEDUSA_RADIOMETRICS_MS100 | 26 | Medusa Radiometrics Gamma Ray Sensor |
+| GUEST_PORT_DEVICE_ID_LASER_TOOLS_SEA_BEAM | 27 | Laser Tools Sea Beam Underwater Laser |
+| GUEST_PORT_DEVICE_ID_SPOT_X_LASER_SCALERS | 28 | Spot X Laser Scalers |
+| GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M1200D | 29 | Blueprint Subsea Oculus M1200d |
+| GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M3000D | 30 | Blueprint Subsea Oculus M3000d |
+
+
+
+<a name="blueye-protocol-GuestPortError"></a>
+
+### GuestPortError
+GuestPort error.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| GUEST_PORT_ERROR_UNSPECIFIED | 0 | Unspecified value |
+| GUEST_PORT_ERROR_NOT_CONNECTED | 1 | Device not connected |
+| GUEST_PORT_ERROR_READ_ERROR | 2 | EEPROM read error |
+| GUEST_PORT_ERROR_NOT_FLASHED | 3 | Connector not flashed |
+| GUEST_PORT_ERROR_CRC_ERROR | 4 | Wrong CRC for protobuf message |
+| GUEST_PORT_ERROR_PARSE_ERROR | 5 | Protobuf message cannot be parsed |
+
+
+
+<a name="blueye-protocol-GuestPortNumber"></a>
+
+### GuestPortNumber
+GuestPort number.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| GUEST_PORT_NUMBER_UNSPECIFIED | 0 | Unspecified |
+| GUEST_PORT_NUMBER_PORT_1 | 1 | Guest port 1 |
+| GUEST_PORT_NUMBER_PORT_2 | 2 | Guest port 2 |
+| GUEST_PORT_NUMBER_PORT_3 | 3 | Guest port 3 |
+
+
+
+<a name="blueye-protocol-HeadingSource"></a>
+
+### HeadingSource
+Heading source used during reset of the position estimate.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| HEADING_SOURCE_UNSPECIFIED | 0 | Unspecified |
+| HEADING_SOURCE_DRONE_COMPASS | 1 | Uses the drone compass to set the heading |
+| HEADING_SOURCE_MANUAL_INPUT | 2 | Used when the user sets the heading manually |
+
+
+
+<a name="blueye-protocol-LogoType"></a>
+
+### LogoType
+Available logo types.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| LOGO_TYPE_UNSPECIFIED | 0 | Logo type not specified |
+| LOGO_TYPE_NONE | 1 | Do not add any logo |
+| LOGO_TYPE_DEFAULT | 2 | Add default logo |
+| LOGO_TYPE_CUSTOM | 3 | Add user defined logo |
+
+
+
+<a name="blueye-protocol-Model"></a>
+
+### Model
+Drone models produced by Blueye
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| MODEL_UNSPECIFIED | 0 | ModelName not specified |
+| MODEL_PIONEER | 1 | Blueye Pioneer, the first model |
+| MODEL_PRO | 2 | Blueye Pro, features camera tilt |
+| MODEL_X3 | 3 | Blueye X3, features support for peripherals |
+
+
+
+<a name="blueye-protocol-NavigationSensorID"></a>
+
+### NavigationSensorID
+List of navigation sensors that can be used by the position observer
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| NAVIGATION_SENSOR_ID_UNSPECIFIED | 0 | Unspecified |
+| NAVIGATION_SENSOR_ID_WATERLINKED_DVL_A50 | 1 | Water Linked DVL A50 |
+| NAVIGATION_SENSOR_ID_WATERLINKED_UGPS_G2 | 2 | Water Linked UGPS G2 |
+
+
+
+<a name="blueye-protocol-PingerConfiguration-MountingDirection"></a>
+
+### PingerConfiguration.MountingDirection
+
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| MOUNTING_DIRECTION_UNSPECIFIED | 0 | Mounting direction is unspecified |
+| MOUNTING_DIRECTION_FORWARDS | 1 | Pointing forwards from the drones perspective |
+| MOUNTING_DIRECTION_DOWNWARDS | 2 | Pointing downwards from the drones perspective |
+
+
+
+<a name="blueye-protocol-PressureSensorType"></a>
+
+### PressureSensorType
+Depth sensors used by the drone.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| PRESSURE_SENSOR_TYPE_UNSPECIFIED | 0 | Depth sensor type not specified |
+| PRESSURE_SENSOR_TYPE_NOT_CONNECTED | 1 | No se |
+| PRESSURE_SENSOR_TYPE_MS5837_30BA26 | 2 | Thh MS5837 30BA26 pressure sensor |
+| PRESSURE_SENSOR_TYPE_KELLER_PA7LD | 3 | The extended depth sensor using the Keller PA7LD pressure sensor |
+| PRESSURE_SENSOR_TYPE_MS5637_02BA03 | 4 | The internal pressure sensor using the MS5637 02BA03 pressure sensor |
+
+
+
+<a name="blueye-protocol-ResetCoordinateSource"></a>
+
+### ResetCoordinateSource
+
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| RESET_COORDINATE_SOURCE_UNSPECIFIED | 0 | Unspecified, fallback to device GPS |
+| RESET_COORDINATE_SOURCE_DEVICE_GPS | 1 | Uses the device GPS to set the reset point |
+| RESET_COORDINATE_SOURCE_MANUAL | 2 | Uses a coordinate in decimal degrees to set the reset point |
+
+
+
+<a name="blueye-protocol-Resolution"></a>
+
+### Resolution
+Available camera resolutions.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| RESOLUTION_UNSPECIFIED | 0 | Resolution not specified |
+| RESOLUTION_FULLHD_1080P | 1 | 1080p Full HD resolution |
+| RESOLUTION_HD_720P | 2 | 720p HD resolution |
+
+
+
+<a name="blueye-protocol-TemperatureUnit"></a>
+
+### TemperatureUnit
+Available temperature units.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| TEMPERATURE_UNIT_UNSPECIFIED | 0 | Temperature unit not specfied |
+| TEMPERATURE_UNIT_CELSIUS | 1 | Temperature should be displayed as Celcius |
+| TEMPERATURE_UNIT_FAHRENHEIT | 2 | Temperature should be displayed as Fahrenheit |
+
+
+
+<a name="blueye-protocol-ThicknessUnit"></a>
+
+### ThicknessUnit
+Available thickness units.
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| THICKNESS_UNIT_UNSPECIFIED | 0 | Thickness unit not specified |
+| THICKNESS_UNIT_MILLIMETERS | 1 | Thickness should be displayed as millimeters |
+| THICKNESS_UNIT_INCHES | 2 | Thickness should be displayed as inches |
+
+
+
+
+
+
+
+
+
+
+<a name="req_rep-proto"></a>
+<p align="right"><a href="#top">Top</a></p>
+
+## req_rep.proto
+Request reply
+
+These messages define request / reply messages for the Blueye drone.
+
+
+<a name="blueye-protocol-ConnectClientRep"></a>
+
+### ConnectClientRep
+Response after connecting a client to the drone.
+
+Contains information about which client is in control, and a list of
+all connected clients.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| client_id | [uint32](#uint32) |  | The assigned ID of this client. |
+| client_id_in_control | [uint32](#uint32) |  | The ID of the client in control of the drone. |
+| connected_clients | [ConnectedClient](#blueye-protocol-ConnectedClient) | repeated | List of connected clients. |
+
+
+
+
+
+
+<a name="blueye-protocol-ConnectClientReq"></a>
+
+### ConnectClientReq
+Connect a new client to the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| client_info | [ClientInfo](#blueye-protocol-ClientInfo) |  | Information about the client connecting to the drone. |
+
+
+
+
+
+
+<a name="blueye-protocol-DisconnectClientRep"></a>
+
+### DisconnectClientRep
+Response after disconnecting a client from the drone.
+
+Contains information about which clients are connected and in control.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| client_id_in_control | [uint32](#uint32) |  | The ID of the client in control of the drone. |
+| connected_clients | [ConnectedClient](#blueye-protocol-ConnectedClient) | repeated | List of connected clients. |
+
+
+
+
+
+
+<a name="blueye-protocol-DisconnectClientReq"></a>
+
+### DisconnectClientReq
+Disconnect a client from the drone.
+
+This request will remove the client from the list of connected clients.
+It allows clients to disconnect instantly, without waiting for a watchdog to
+clear the client in control, or promote a new client to be in control.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| client_id | [uint32](#uint32) |  | The assigned ID of the client to disconnect. |
+
+
+
+
+
+
+<a name="blueye-protocol-GetBatteryRep"></a>
+
+### GetBatteryRep
+Response with essential battery information.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| battery | [Battery](#blueye-protocol-Battery) |  | Essential battery information. |
+
+
+
+
+
+
+<a name="blueye-protocol-GetBatteryReq"></a>
+
+### GetBatteryReq
+Request essential battery information.
+
+Can be used to instantly get battery information,
+instead of having to wait for the BatteryTel message to be received.
+
+
+
+
+
+
+<a name="blueye-protocol-GetCameraParametersRep"></a>
+
+### GetCameraParametersRep
+Response with the currently set camera parameters.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| camera_parameters | [CameraParameters](#blueye-protocol-CameraParameters) |  | The currently set camera parameters. |
+
+
+
+
+
+
+<a name="blueye-protocol-GetCameraParametersReq"></a>
+
+### GetCameraParametersReq
+Request to get the currently set camera parameters.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| camera | [Camera](#blueye-protocol-Camera) |  | Which camera to read camera parameters from. |
+
+
+
+
+
+
+<a name="blueye-protocol-GetOverlayParametersRep"></a>
+
+### GetOverlayParametersRep
+Response with the currently set video overlay parameters.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| overlay_parameters | [OverlayParameters](#blueye-protocol-OverlayParameters) |  | The currently set overlay parameters. |
+
+
+
+
+
+
+<a name="blueye-protocol-GetOverlayParametersReq"></a>
+
+### GetOverlayParametersReq
+Request to get currently set video overlay parameters.
+
+
+
+
+
+
+<a name="blueye-protocol-PingRep"></a>
+
+### PingRep
+Response message from a PingReq request.
+
+
+
+
+
+
+<a name="blueye-protocol-PingReq"></a>
+
+### PingReq
+The simplest message to use to test request/reply communication with the drone.
+
+The drone replies with a PingRep message immediately after receiving the PingReq.
+
+
+
+
+
+
+<a name="blueye-protocol-SetCameraParametersRep"></a>
+
+### SetCameraParametersRep
+Response after setting the camera parameters.
+
+
+
+
+
+
+<a name="blueye-protocol-SetCameraParametersReq"></a>
+
+### SetCameraParametersReq
+Request to set camera parameters.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| camera_parameters | [CameraParameters](#blueye-protocol-CameraParameters) |  | The camera parameters to apply. |
+
+
+
+
+
+
+<a name="blueye-protocol-SetOverlayParametersRep"></a>
+
+### SetOverlayParametersRep
+Response after setting video overlay parameters.
+
+
+
+
+
+
+<a name="blueye-protocol-SetOverlayParametersReq"></a>
+
+### SetOverlayParametersReq
+Request to set video overlay parameters.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| overlay_parameters | [OverlayParameters](#blueye-protocol-OverlayParameters) |  | The video overlay parameters to apply. |
+
+
+
+
+
+
+<a name="blueye-protocol-SetPubFrequencyRep"></a>
+
+### SetPubFrequencyRep
+Response aftrer updating publish frequency
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| success | [bool](#bool) |  | True if message name valid and frequency successfully updated. |
+
+
+
+
+
+
+<a name="blueye-protocol-SetPubFrequencyReq"></a>
+
+### SetPubFrequencyReq
+Request to update the publish frequency
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| message_type | [string](#string) |  | Message name, f. ex. &#34;AttitudeTel&#34; |
+| frequency | [float](#float) |  | Publish frequency (max 100 Hz). |
+
+
+
+
+
+
+<a name="blueye-protocol-SetThicknessGaugeParametersRep"></a>
+
+### SetThicknessGaugeParametersRep
+Response after setting thicknes gauge parameters.
+
+
+
+
+
+
+<a name="blueye-protocol-SetThicknessGaugeParametersReq"></a>
+
+### SetThicknessGaugeParametersReq
+Request to set parameters for ultrasonic thickness gauge.
+
+The sound velocity is used to calculate the thickness of the material being measured.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| sound_velocity | [uint32](#uint32) |  | Sound velocity in m/s |
+
+
+
+
+
+
+<a name="blueye-protocol-SyncTimeRep"></a>
+
+### SyncTimeRep
+Response after setting the system time on the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| success | [bool](#bool) |  | If the time was set successfully. |
+
+
+
+
+
+
+<a name="blueye-protocol-SyncTimeReq"></a>
+
+### SyncTimeReq
+Request to set the system time on the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| time | [SystemTime](#blueye-protocol-SystemTime) |  | The time to set on the drone. |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+<a name="telemetry-proto"></a>
+<p align="right"><a href="#top">Top</a></p>
+
+## telemetry.proto
+Telemetry
+
+These messages define telemetry messages from the Blueye drone.
+
+
+<a name="blueye-protocol-AltitudeTel"></a>
+
+### AltitudeTel
+Receive the current altitude of the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| altitude | [Altitude](#blueye-protocol-Altitude) |  | The altitude of the drone. |
+
+
+
+
+
+
+<a name="blueye-protocol-AttitudeTel"></a>
+
+### AttitudeTel
+Receive the current attitude of the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| attitude | [Attitude](#blueye-protocol-Attitude) |  | The attitude of the drone. |
+
+
+
+
+
+
+<a name="blueye-protocol-BatteryBQ40Z50Tel"></a>
+
+### BatteryBQ40Z50Tel
+Receive detailed information about a battery using the
+BQ40Z50 battery management system.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| battery | [BatteryBQ40Z50](#blueye-protocol-BatteryBQ40Z50) |  | Detailed battery information. |
+
+
+
+
+
+
+<a name="blueye-protocol-BatteryTel"></a>
+
+### BatteryTel
+Receive essential information about the battery status.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| battery | [Battery](#blueye-protocol-Battery) |  | Essential battery information. |
+
+
+
+
+
+
+<a name="blueye-protocol-CPUTemperatureTel"></a>
+
+### CPUTemperatureTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| temperature | [CPUTemperature](#blueye-protocol-CPUTemperature) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-CalibratedImuTel"></a>
+
+### CalibratedImuTel
+Calibrated IMU data
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| imu | [Imu](#blueye-protocol-Imu) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-CalibrationStateTel"></a>
+
+### CalibrationStateTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| calibration_state | [CalibrationState](#blueye-protocol-CalibrationState) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-CanisterBottomHumidityTel"></a>
+
+### CanisterBottomHumidityTel
+Receive humidity information from the bottom canister.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| humidity | [CanisterHumidity](#blueye-protocol-CanisterHumidity) |  | Humidity information |
+
+
+
+
+
+
+<a name="blueye-protocol-CanisterBottomTemperatureTel"></a>
+
+### CanisterBottomTemperatureTel
+Receive temperature information from the bottom canister.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| temperature | [CanisterTemperature](#blueye-protocol-CanisterTemperature) |  | Temperature information. |
+
+
+
+
+
+
+<a name="blueye-protocol-CanisterTopHumidityTel"></a>
+
+### CanisterTopHumidityTel
+Receive humidity information from the top canister.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| humidity | [CanisterHumidity](#blueye-protocol-CanisterHumidity) |  | Humidity information |
+
+
+
+
+
+
+<a name="blueye-protocol-CanisterTopTemperatureTel"></a>
+
+### CanisterTopTemperatureTel
+Receive temperature information from the top canister.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| temperature | [CanisterTemperature](#blueye-protocol-CanisterTemperature) |  | Temperature information. |
+
+
+
+
+
+
+<a name="blueye-protocol-ConnectedClientsTel"></a>
+
+### ConnectedClientsTel
+List of connected clients telemetry message.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| client_id_in_control | [uint32](#uint32) |  | The client id of the client in control. |
+| connected_clients | [ConnectedClient](#blueye-protocol-ConnectedClient) | repeated | List of connected clients. |
+
+
+
+
+
+
+<a name="blueye-protocol-ControlForceTel"></a>
+
+### ControlForceTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| control_force | [ControlForce](#blueye-protocol-ControlForce) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-ControlModeTel"></a>
+
+### ControlModeTel
+Receive the current state of the control system.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| state | [ControlMode](#blueye-protocol-ControlMode) |  | State of the control system. |
+
+
+
+
+
+
+<a name="blueye-protocol-ControllerHealthTel"></a>
+
+### ControllerHealthTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| controller_health | [ControllerHealth](#blueye-protocol-ControllerHealth) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-CpProbeTel"></a>
+
+### CpProbeTel
+Cathodic Protection Potential probe telemetry message
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| cp_probe | [CpProbe](#blueye-protocol-CpProbe) |  | Reading from cp probe. |
+
+
+
+
+
+
+<a name="blueye-protocol-DataStorageSpaceTel"></a>
+
+### DataStorageSpaceTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| storage_space | [StorageSpace](#blueye-protocol-StorageSpace) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-DepthTel"></a>
+
+### DepthTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| depth | [Depth](#blueye-protocol-Depth) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-DiveTimeTel"></a>
+
+### DiveTimeTel
+Receive the dive time of the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| dive_time | [DiveTime](#blueye-protocol-DiveTime) |  | The current dive time of the drone. |
+
+
+
+
+
+
+<a name="blueye-protocol-DroneInfoTel"></a>
+
+### DroneInfoTel
+Receive metadata and information about the connected drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| drone_info | [DroneInfo](#blueye-protocol-DroneInfo) |  | Various metadata such as software versions and serial number. |
+
+
+
+
+
+
+<a name="blueye-protocol-DroneTimeTel"></a>
+
+### DroneTimeTel
+Receive time information from the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| real_time_clock | [SystemTime](#blueye-protocol-SystemTime) |  | The real-time clock of the drone. |
+| monotonic_clock | [SystemTime](#blueye-protocol-SystemTime) |  | The monotonic clock of the drone (time since power on). |
+
+
+
+
+
+
+<a name="blueye-protocol-ErrorFlagsTel"></a>
+
+### ErrorFlagsTel
+Receive currently set error flags.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| error_flags | [ErrorFlags](#blueye-protocol-ErrorFlags) |  | Currently set error flags on the drone. |
+
+
+
+
+
+
+<a name="blueye-protocol-ForwardDistanceTel"></a>
+
+### ForwardDistanceTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| forward_distance | [ForwardDistance](#blueye-protocol-ForwardDistance) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-GenericServoTel"></a>
+
+### GenericServoTel
+State of a generic servo
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| servo | [GenericServo](#blueye-protocol-GenericServo) |  | Servo state |
+
+
+
+
+
+
+<a name="blueye-protocol-GuestPortCurrentTel"></a>
+
+### GuestPortCurrentTel
+GuestPort current readings
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| current | [GuestPortCurrent](#blueye-protocol-GuestPortCurrent) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-GuestPortLightsTel"></a>
+
+### GuestPortLightsTel
+Receive the status of any guest port lights connected to the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| lights | [Lights](#blueye-protocol-Lights) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-Imu1Tel"></a>
+
+### Imu1Tel
+Raw IMU data from IMU 1
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| imu | [Imu](#blueye-protocol-Imu) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-Imu2Tel"></a>
+
+### Imu2Tel
+Raw IMU data from IMU 2
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| imu | [Imu](#blueye-protocol-Imu) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-IperfTel"></a>
+
+### IperfTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| status | [IperfStatus](#blueye-protocol-IperfStatus) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-LaserTel"></a>
+
+### LaserTel
+Receive the status of any lasers connected to the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| laser | [Laser](#blueye-protocol-Laser) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-LightsTel"></a>
+
+### LightsTel
+Receive the status of the main lights of the drone.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| lights | [Lights](#blueye-protocol-Lights) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-MedusaSpectrometerDataTel"></a>
+
+### MedusaSpectrometerDataTel
+Medusa gamma ray sensor spectrometer data
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| data | [MedusaSpectrometerData](#blueye-protocol-MedusaSpectrometerData) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-MultibeamServoTel"></a>
+
+### MultibeamServoTel
+State of the servo installed in the multibeam
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| servo | [MultibeamServo](#blueye-protocol-MultibeamServo) |  | Multibeam servo state |
+
+
+
+
+
+
+<a name="blueye-protocol-NStreamersTel"></a>
+
+### NStreamersTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| n_streamers | [NStreamers](#blueye-protocol-NStreamers) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-PilotGPSPositionTel"></a>
+
+### PilotGPSPositionTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| position | [LatLongPosition](#blueye-protocol-LatLongPosition) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-PositionEstimateTel"></a>
+
+### PositionEstimateTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| position_estimate | [PositionEstimate](#blueye-protocol-PositionEstimate) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-RecordStateTel"></a>
+
+### RecordStateTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| record_state | [RecordState](#blueye-protocol-RecordState) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-ReferenceTel"></a>
+
+### ReferenceTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| reference | [Reference](#blueye-protocol-Reference) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-ThicknessGaugeTel"></a>
+
+### ThicknessGaugeTel
+Thickness gauge measurement telemetry message.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| thickness_gauge | [ThicknessGauge](#blueye-protocol-ThicknessGauge) |  | Tickness measurement with a cygnus gauge. |
+
+
+
+
+
+
+<a name="blueye-protocol-TiltAngleTel"></a>
+
+### TiltAngleTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| angle | [TiltAngle](#blueye-protocol-TiltAngle) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-TiltStabilizationTel"></a>
+
+### TiltStabilizationTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| state | [TiltStabilizationState](#blueye-protocol-TiltStabilizationState) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-VideoStorageSpaceTel"></a>
+
+### VideoStorageSpaceTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| storage_space | [StorageSpace](#blueye-protocol-StorageSpace) |  |  |
+
+
+
+
+
+
+<a name="blueye-protocol-WaterTemperatureTel"></a>
+
+### WaterTemperatureTel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| temperature | [WaterTemperature](#blueye-protocol-WaterTemperature) |  |  |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+## Scalar Value Types
+
+| .proto Type | Notes | C++ | Java | Python | Go | C# | PHP | Ruby |
+| ----------- | ----- | --- | ---- | ------ | -- | -- | --- | ---- |
+| <a name="double" /> double |  | double | double | float | float64 | double | float | Float |
+| <a name="float" /> float |  | float | float | float | float32 | float | float | Float |
+| <a name="int32" /> int32 | Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead. | int32 | int | int | int32 | int | integer | Bignum or Fixnum (as required) |
+| <a name="int64" /> int64 | Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead. | int64 | long | int/long | int64 | long | integer/string | Bignum |
+| <a name="uint32" /> uint32 | Uses variable-length encoding. | uint32 | int | int/long | uint32 | uint | integer | Bignum or Fixnum (as required) |
+| <a name="uint64" /> uint64 | Uses variable-length encoding. | uint64 | long | int/long | uint64 | ulong | integer/string | Bignum or Fixnum (as required) |
+| <a name="sint32" /> sint32 | Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s. | int32 | int | int | int32 | int | integer | Bignum or Fixnum (as required) |
+| <a name="sint64" /> sint64 | Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s. | int64 | long | int/long | int64 | long | integer/string | Bignum |
+| <a name="fixed32" /> fixed32 | Always four bytes. More efficient than uint32 if values are often greater than 2^28. | uint32 | int | int | uint32 | uint | integer | Bignum or Fixnum (as required) |
+| <a name="fixed64" /> fixed64 | Always eight bytes. More efficient than uint64 if values are often greater than 2^56. | uint64 | long | int/long | uint64 | ulong | integer/string | Bignum |
+| <a name="sfixed32" /> sfixed32 | Always four bytes. | int32 | int | int | int32 | int | integer | Bignum or Fixnum (as required) |
+| <a name="sfixed64" /> sfixed64 | Always eight bytes. | int64 | long | int/long | int64 | long | integer/string | Bignum |
+| <a name="bool" /> bool |  | bool | boolean | boolean | bool | bool | boolean | TrueClass/FalseClass |
+| <a name="string" /> string | A string must always contain UTF-8 encoded or 7-bit ASCII text. | string | String | str/unicode | string | string | string | String (UTF-8) |
+| <a name="bytes" /> bytes | May contain any arbitrary sequence of bytes. | string | ByteString | str | []byte | ByteString | string | String (ASCII-8BIT) |
diff --git a/docs/telemetry-callback.md b/docs/telemetry-callback.md
index b8fe6a0c..4f83ad10 100644
--- a/docs/telemetry-callback.md
+++ b/docs/telemetry-callback.md
@@ -3,7 +3,7 @@
 The drone publishes all of its telemetry data as protobuf encoded messages transmitted via a ZeroMQ socket. You can find the protobuf message definitions in the [Protocol Definitions](https://github.com/BluEye-Robotics/ProtocolDefinitions/) repository, and the generated python definitions are located in the [blueye.protocol](https://github.com/BluEye-Robotics/blueye.protocol) repository.
 
 ## Adding a callback
-To add a we need to use the [`add_msg_callback`](../../reference/blueye/sdk/drone/#add_msg_callback) function, and provide it with a list of telemetry messages types we want it to trigger on, as well as a function handle to call. All available telemetry messages can be found in [telemetry.py](https://github.com/BluEye-Robotics/blueye.protocol/blob/master/blueye/protocol/types/telemetry.py)
+To add a callback we need to use the [`add_msg_callback`](../../reference/blueye/sdk/drone/#add_msg_callback) function, and provide it with a list of telemetry messages types we want it to trigger on, as well as a function handle to call. All available telemetry messages can be found in [telemetry.proto](../protobuf-protocol/#telemetryproto)
 
 ## Removing a callback
 A callback is removed with [`remove_msg_callback`](../../reference/blueye/sdk/drone/#remove_msg_callback) using the ID returned when creating the callback.
diff --git a/pyproject.toml b/pyproject.toml
index 91dfa841..17732fdc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -106,6 +106,9 @@ custom_dir = "docs/mkdocs_templates"
 [[tool.portray.mkdocs.nav]]
 "Updating from v1 to v2" = "docs/migrating-to-v2.md"
 
+[[tool.portray.mkdocs.nav]]
+"Protobuf protocol" = "docs/protobuf-protocol.md"
+
 [[tool.portray.mkdocs.nav]]
 "HTTP API" = "docs/http-api.html"