From efc9f6151350c99b201825b42b401933ca0c9c2e Mon Sep 17 00:00:00 2001
From: Andreas Viggen <mail@andreasviggen.com>
Date: Wed, 19 Feb 2025 14:51:59 +0100
Subject: [PATCH 1/2] Update comment for HEADING_SOURCE_DRONE_COMPASS

---
 protobuf_definitions/message_formats.proto | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/protobuf_definitions/message_formats.proto b/protobuf_definitions/message_formats.proto
index 88a087d2..104ade91 100644
--- a/protobuf_definitions/message_formats.proto
+++ b/protobuf_definitions/message_formats.proto
@@ -411,7 +411,7 @@ message PositionEstimate {
 // Heading source used during reset of the position estimate.
 enum HeadingSource {
   HEADING_SOURCE_UNSPECIFIED = 0; // Unspecified.
-  HEADING_SOURCE_DRONE_COMPASS = 1; // Uses the drone compass to set the heading.
+  HEADING_SOURCE_DRONE_COMPASS = 1; // Uses the drone magnetic compass to set the heading.
   HEADING_SOURCE_MANUAL_INPUT = 2; // Used when the user sets the heading manually.
 }
 

From 0765a24ba82fe7e2961d0aafeeecc21ddda6b1ab Mon Sep 17 00:00:00 2001
From: Andreas Viggen <mail@andreasviggen.com>
Date: Wed, 26 Feb 2025 11:21:33 +0100
Subject: [PATCH 2/2] Add HeadingMode to reset ResetPositionSettings

---
 protobuf_definitions/message_formats.proto | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/protobuf_definitions/message_formats.proto b/protobuf_definitions/message_formats.proto
index 104ade91..74f45c1a 100644
--- a/protobuf_definitions/message_formats.proto
+++ b/protobuf_definitions/message_formats.proto
@@ -415,6 +415,13 @@ enum HeadingSource {
   HEADING_SOURCE_MANUAL_INPUT = 2; // Used when the user sets the heading manually.
 }
 
+// Heading mode used during dead reckoning with a DVL.
+enum HeadingMode {
+  HEADING_MODE_UNSPECIFIED = 0; // Unspecified.
+  HEADING_MODE_MAGNETIC_COMPASS = 1; // Uses the best available magnetic compass heading.
+  HEADING_MODE_GYRO_ONLY = 2; // Uses the best available gyro based heading.
+}
+
 // Settings used when resetting the position estimate.
 message ResetPositionSettings {
   // Option to use the drone compass or due North as heading during reset.
@@ -422,6 +429,7 @@ message ResetPositionSettings {
   float manual_heading = 2; // Heading in degrees (0-359).
   ResetCoordinateSource reset_coordinate_source = 3; // Option to use the device GPS or a manual coordinate.
   LatLongPosition reset_coordinate = 4; // Reset coordinate in decimal degrees.
+  HeadingMode heading_mode = 5; // Heading mode used in dead reckoning.
 }
 
 // The coordinate source to use when resetting the position estimate.
@@ -429,6 +437,7 @@ enum ResetCoordinateSource {
   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
+  RESET_COORDINATE_SOURCE_BLUEYE_GNSS = 3; // Uses the Blueye GNSS to set the reset point
 }
 
 // DVL raw transducer data.