diff --git a/Package.swift b/Package.swift
index e254868..cba8ba1 100644
--- a/Package.swift
+++ b/Package.swift
@@ -47,8 +47,8 @@ let package = Package(
             ]
     ),
     .binaryTarget(name: "mavsdk_server",
-                      url: "https://github.com/mavlink/MAVSDK/releases/download/v1.4.4/mavsdk_server.xcframework.zip",
-                      checksum: "a8c116952919a415a4d8bf166831f0ba4e87c26f4ba33f07aacec9073bc45be6"),
+                      url: "https://github.com/mavlink/MAVSDK/releases/download/v1.4.17/mavsdk_server.xcframework.zip",
+                      checksum: "e5b1f13add15892aba1315412d9aa9a9eb4eb565512e87325819d7f23dde8aec"),
     .testTarget(name: "MavsdkTests",
                 dependencies: [
                   "Mavsdk",
diff --git a/Sources/Mavsdk/Drone.swift b/Sources/Mavsdk/Drone.swift
index 1117e6a..223aad2 100644
--- a/Sources/Mavsdk/Drone.swift
+++ b/Sources/Mavsdk/Drone.swift
@@ -4,12 +4,13 @@ import MavsdkServer
 
 public class Drone {
     private let scheduler: SchedulerType
-    private var mavsdkServer: MavsdkServer?
+    public var mavsdkServer: MavsdkServer?
 
     public var action: Action!
     public var calibration: Calibration!
     public var camera: Camera!
     public var core: Core!
+    public var failure: Failure!
     public var followMe: FollowMe!
     public var ftp: Ftp!
     public var geofence: Geofence!
@@ -22,8 +23,10 @@ public class Drone {
     public var mocap: Mocap!
     public var offboard: Offboard!
     public var param: Param!
+    public var rtk: Rtk!
     public var shell: Shell!
     public var telemetry: Telemetry!
+    public var transponder: Transponder!
     public var tune: Tune!
 
     public init(scheduler: SchedulerType = ConcurrentDispatchQueueScheduler(qos: .background)) {
@@ -76,6 +79,7 @@ public class Drone {
         self.calibration = Calibration(address: address, port: port, scheduler: scheduler)
         self.camera = Camera(address: address, port: port, scheduler: scheduler)
         self.core = Core(address: address, port: port, scheduler: scheduler)
+        self.failure = Failure(address: address, port: port, scheduler: scheduler)
         self.followMe = FollowMe(address: address, port: port, scheduler: scheduler)
         self.ftp = Ftp(address: address, port: port, scheduler: scheduler)
         self.geofence = Geofence(address: address, port: port, scheduler: scheduler)
@@ -88,8 +92,10 @@ public class Drone {
         self.mocap = Mocap(address: address, port: port, scheduler: scheduler)
         self.offboard = Offboard(address: address, port: port, scheduler: scheduler)
         self.param = Param(address: address, port: port, scheduler: scheduler)
+        self.rtk = Rtk(address: address, port: port, scheduler: scheduler)
         self.shell = Shell(address: address, port: port, scheduler: scheduler)
         self.telemetry = Telemetry(address: address, port: port, scheduler: scheduler)
+        self.transponder = Transponder(address: address, port: port, scheduler: scheduler)
         self.tune = Tune(address: address, port: port, scheduler: scheduler)
     }
 
diff --git a/Sources/Mavsdk/Generated/Param.swift b/Sources/Mavsdk/Generated/Param.swift
index 149fc71..48c3b6c 100644
--- a/Sources/Mavsdk/Generated/Param.swift
+++ b/Sources/Mavsdk/Generated/Param.swift
@@ -158,11 +158,64 @@ public class Param {
     }
 
     /**
-     Type collecting all integer and float parameters.
+     Type for custom parameters
+     */
+    public struct CustomParam: Equatable {
+        public let name: String
+        public let value: String
+
+        
+
+        /**
+         Initializes a new `CustomParam`.
+
+         
+         - Parameters:
+            
+            - name:  Name of the parameter
+            
+            - value:  Value of the parameter (max len 128 bytes)
+            
+         
+         */
+        public init(name: String, value: String) {
+            self.name = name
+            self.value = value
+        }
+
+        internal var rpcCustomParam: Mavsdk_Rpc_Param_CustomParam {
+            var rpcCustomParam = Mavsdk_Rpc_Param_CustomParam()
+            
+                
+            rpcCustomParam.name = name
+                
+            
+            
+                
+            rpcCustomParam.value = value
+                
+            
+
+            return rpcCustomParam
+        }
+
+        internal static func translateFromRpc(_ rpcCustomParam: Mavsdk_Rpc_Param_CustomParam) -> CustomParam {
+            return CustomParam(name: rpcCustomParam.name, value: rpcCustomParam.value)
+        }
+
+        public static func == (lhs: CustomParam, rhs: CustomParam) -> Bool {
+            return lhs.name == rhs.name
+                && lhs.value == rhs.value
+        }
+    }
+
+    /**
+     Type collecting all integer, float, and custom parameters.
      */
     public struct AllParams: Equatable {
         public let intParams: [IntParam]
         public let floatParams: [FloatParam]
+        public let customParams: [CustomParam]
 
         
 
@@ -176,11 +229,14 @@ public class Param {
             
             - floatParams:  Collection of all parameter names and values of type float
             
+            - customParams:  Collection of all parameter names and values of type custom
+            
          
          */
-        public init(intParams: [IntParam], floatParams: [FloatParam]) {
+        public init(intParams: [IntParam], floatParams: [FloatParam], customParams: [CustomParam]) {
             self.intParams = intParams
             self.floatParams = floatParams
+            self.customParams = customParams
         }
 
         internal var rpcAllParams: Mavsdk_Rpc_Param_AllParams {
@@ -195,17 +251,23 @@ public class Param {
             rpcAllParams.floatParams = floatParams.map{ $0.rpcFloatParam }
                 
             
+            
+                
+            rpcAllParams.customParams = customParams.map{ $0.rpcCustomParam }
+                
+            
 
             return rpcAllParams
         }
 
         internal static func translateFromRpc(_ rpcAllParams: Mavsdk_Rpc_Param_AllParams) -> AllParams {
-            return AllParams(intParams: rpcAllParams.intParams.map{ IntParam.translateFromRpc($0) }, floatParams: rpcAllParams.floatParams.map{ FloatParam.translateFromRpc($0) })
+            return AllParams(intParams: rpcAllParams.intParams.map{ IntParam.translateFromRpc($0) }, floatParams: rpcAllParams.floatParams.map{ FloatParam.translateFromRpc($0) }, customParams: rpcAllParams.customParams.map{ CustomParam.translateFromRpc($0) })
         }
 
         public static func == (lhs: AllParams, rhs: AllParams) -> Bool {
             return lhs.intParams == rhs.intParams
                 && lhs.floatParams == rhs.floatParams
+                && lhs.customParams == rhs.customParams
         }
     }
 
@@ -237,6 +299,8 @@ public class Param {
             case paramNameTooLong
             ///  No system connected.
             case noSystem
+            ///  Param value too long (> 128).
+            case paramValueTooLong
             case UNRECOGNIZED(Int)
 
             internal var rpcResult: Mavsdk_Rpc_Param_ParamResult.Result {
@@ -255,6 +319,8 @@ public class Param {
                     return .paramNameTooLong
                 case .noSystem:
                     return .noSystem
+                case .paramValueTooLong:
+                    return .paramValueTooLong
                 case .UNRECOGNIZED(let i):
                     return .UNRECOGNIZED(i)
                 }
@@ -276,6 +342,8 @@ public class Param {
                     return .paramNameTooLong
                 case .noSystem:
                     return .noSystem
+                case .paramValueTooLong:
+                    return .paramValueTooLong
                 case .UNRECOGNIZED(let i):
                     return .UNRECOGNIZED(i)
                 }
@@ -495,6 +563,90 @@ public class Param {
         }
     }
 
+    /**
+     Get a custom parameter.
+
+     If the type is wrong, the result will be `WRONG_TYPE`.
+
+     - Parameter name: Name of the parameter
+     
+     */
+    public func getParamCustom(name: String) -> Single<String> {
+        return Single<String>.create { single in
+            var request = Mavsdk_Rpc_Param_GetParamCustomRequest()
+
+            
+                
+            request.name = name
+                
+            
+
+            do {
+                let response = self.service.getParamCustom(request)
+
+                
+                let result = try response.response.wait().paramResult
+                if (result.result != Mavsdk_Rpc_Param_ParamResult.Result.success) {
+                    single(.failure(ParamError(code: ParamResult.Result.translateFromRpc(result.result), description: result.resultStr)))
+
+                    return Disposables.create()
+                }
+                
+
+    	    let value = try response.response.wait().value
+                
+                single(.success(value))
+            } catch {
+                single(.failure(error))
+            }
+
+            return Disposables.create()
+        }
+    }
+
+    /**
+     Set a custom parameter.
+
+     If the type is wrong, the result will be `WRONG_TYPE`.
+
+     - Parameters:
+        - name: Name of the parameter to set
+        - value: Value the parameter should be set to
+     
+     */
+    public func setParamCustom(name: String, value: String) -> Completable {
+        return Completable.create { completable in
+            var request = Mavsdk_Rpc_Param_SetParamCustomRequest()
+
+            
+                
+            request.name = name
+                
+            
+                
+            request.value = value
+                
+            
+
+            do {
+                
+                let response = self.service.setParamCustom(request)
+
+                let result = try response.response.wait().paramResult
+                if (result.result == Mavsdk_Rpc_Param_ParamResult.Result.success) {
+                    completable(.completed)
+                } else {
+                    completable(.error(ParamError(code: ParamResult.Result.translateFromRpc(result.result), description: result.resultStr)))
+                }
+                
+            } catch {
+                completable(.error(error))
+            }
+
+            return Disposables.create()
+        }
+    }
+
     /**
      Get all parameters.
 
diff --git a/Sources/Mavsdk/Generated/Rtk.swift b/Sources/Mavsdk/Generated/Rtk.swift
new file mode 100644
index 0000000..09392e7
--- /dev/null
+++ b/Sources/Mavsdk/Generated/Rtk.swift
@@ -0,0 +1,235 @@
+import Foundation
+import RxSwift
+import GRPC
+import NIO
+
+/**
+ Service to send RTK corrections to the vehicle.
+ */
+public class Rtk {
+    private let service: Mavsdk_Rpc_Rtk_RtkServiceClient
+    private let scheduler: SchedulerType
+    private let clientEventLoopGroup: EventLoopGroup
+
+    /**
+     Initializes a new `Rtk` plugin.
+
+     Normally never created manually, but used from the `Drone` helper class instead.
+
+     - Parameters:
+        - address: The address of the `MavsdkServer` instance to connect to
+        - port: The port of the `MavsdkServer` instance to connect to
+        - scheduler: The scheduler to be used by `Observable`s
+     */
+    public convenience init(address: String = "localhost",
+                            port: Int32 = 50051,
+                            scheduler: SchedulerType = ConcurrentDispatchQueueScheduler(qos: .background)) {
+        let eventLoopGroup = MultiThreadedEventLoopGroup(numberOfThreads: 2)
+        let channel = ClientConnection.insecure(group: eventLoopGroup).connect(host: address, port: Int(port))
+        let service = Mavsdk_Rpc_Rtk_RtkServiceClient(channel: channel)
+
+        self.init(service: service, scheduler: scheduler, eventLoopGroup: eventLoopGroup)
+    }
+
+    init(service: Mavsdk_Rpc_Rtk_RtkServiceClient, scheduler: SchedulerType, eventLoopGroup: EventLoopGroup) {
+        self.service = service
+        self.scheduler = scheduler
+        self.clientEventLoopGroup = eventLoopGroup
+    }
+
+    public struct RuntimeRtkError: Error {
+        public let description: String
+
+        init(_ description: String) {
+            self.description = description
+        }
+    }
+
+    
+    public struct RtkError: Error {
+        public let code: Rtk.RtkResult.Result
+        public let description: String
+    }
+    
+
+
+    /**
+     RTCM data type
+     */
+    public struct RtcmData: Equatable {
+        public let data: String
+
+        
+
+        /**
+         Initializes a new `RtcmData`.
+
+         
+         - Parameter data:  The data encoded as a string
+         
+         */
+        public init(data: String) {
+            self.data = data
+        }
+
+        internal var rpcRtcmData: Mavsdk_Rpc_Rtk_RtcmData {
+            var rpcRtcmData = Mavsdk_Rpc_Rtk_RtcmData()
+            
+                
+            rpcRtcmData.data = data
+                
+            
+
+            return rpcRtcmData
+        }
+
+        internal static func translateFromRpc(_ rpcRtcmData: Mavsdk_Rpc_Rtk_RtcmData) -> RtcmData {
+            return RtcmData(data: rpcRtcmData.data)
+        }
+
+        public static func == (lhs: RtcmData, rhs: RtcmData) -> Bool {
+            return lhs.data == rhs.data
+        }
+    }
+
+    /**
+     
+     */
+    public struct RtkResult: Equatable {
+        public let result: Result
+        public let resultStr: String
+
+        
+        
+
+        /**
+         Possible results returned for rtk requests.
+         */
+        public enum Result: Equatable {
+            ///  Unknown result.
+            case unknown
+            ///  Request succeeded.
+            case success
+            ///  Passed data is too long.
+            case tooLong
+            ///  No system connected.
+            case noSystem
+            ///  Connection error.
+            case connectionError
+            case UNRECOGNIZED(Int)
+
+            internal var rpcResult: Mavsdk_Rpc_Rtk_RtkResult.Result {
+                switch self {
+                case .unknown:
+                    return .unknown
+                case .success:
+                    return .success
+                case .tooLong:
+                    return .tooLong
+                case .noSystem:
+                    return .noSystem
+                case .connectionError:
+                    return .connectionError
+                case .UNRECOGNIZED(let i):
+                    return .UNRECOGNIZED(i)
+                }
+            }
+
+            internal static func translateFromRpc(_ rpcResult: Mavsdk_Rpc_Rtk_RtkResult.Result) -> Result {
+                switch rpcResult {
+                case .unknown:
+                    return .unknown
+                case .success:
+                    return .success
+                case .tooLong:
+                    return .tooLong
+                case .noSystem:
+                    return .noSystem
+                case .connectionError:
+                    return .connectionError
+                case .UNRECOGNIZED(let i):
+                    return .UNRECOGNIZED(i)
+                }
+            }
+        }
+        
+
+        /**
+         Initializes a new `RtkResult`.
+
+         
+         - Parameters:
+            
+            - result:  Result enum value
+            
+            - resultStr:  Human-readable English string describing the result
+            
+         
+         */
+        public init(result: Result, resultStr: String) {
+            self.result = result
+            self.resultStr = resultStr
+        }
+
+        internal var rpcRtkResult: Mavsdk_Rpc_Rtk_RtkResult {
+            var rpcRtkResult = Mavsdk_Rpc_Rtk_RtkResult()
+            
+                
+            rpcRtkResult.result = result.rpcResult
+                
+            
+            
+                
+            rpcRtkResult.resultStr = resultStr
+                
+            
+
+            return rpcRtkResult
+        }
+
+        internal static func translateFromRpc(_ rpcRtkResult: Mavsdk_Rpc_Rtk_RtkResult) -> RtkResult {
+            return RtkResult(result: Result.translateFromRpc(rpcRtkResult.result), resultStr: rpcRtkResult.resultStr)
+        }
+
+        public static func == (lhs: RtkResult, rhs: RtkResult) -> Bool {
+            return lhs.result == rhs.result
+                && lhs.resultStr == rhs.resultStr
+        }
+    }
+
+
+    /**
+     Send RTCM data.
+
+     - Parameter rtcmData: The data
+     
+     */
+    public func sendRtcmData(rtcmData: RtcmData) -> Completable {
+        return Completable.create { completable in
+            var request = Mavsdk_Rpc_Rtk_SendRtcmDataRequest()
+
+            
+                
+            request.rtcmData = rtcmData.rpcRtcmData
+                
+            
+
+            do {
+                
+                let response = self.service.sendRtcmData(request)
+
+                let result = try response.response.wait().rtkResult
+                if (result.result == Mavsdk_Rpc_Rtk_RtkResult.Result.success) {
+                    completable(.completed)
+                } else {
+                    completable(.error(RtkError(code: RtkResult.Result.translateFromRpc(result.result), description: result.resultStr)))
+                }
+                
+            } catch {
+                completable(.error(error))
+            }
+
+            return Disposables.create()
+        }
+    }
+}
\ No newline at end of file
diff --git a/Sources/Mavsdk/Generated/action.pb.swift b/Sources/Mavsdk/Generated/action.pb.swift
index 1fd6cb2..0ee789d 100644
--- a/Sources/Mavsdk/Generated/action.pb.swift
+++ b/Sources/Mavsdk/Generated/action.pb.swift
@@ -72,7 +72,7 @@ enum Mavsdk_Rpc_Action_OrbitYawBehavior: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Action_OrbitYawBehavior: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Action_OrbitYawBehavior] = [
+  static let allCases: [Mavsdk_Rpc_Action_OrbitYawBehavior] = [
     .holdFrontToCircleCenter,
     .holdInitialHeading,
     .uncontrolled,
@@ -931,7 +931,7 @@ struct Mavsdk_Rpc_Action_ActionResult {
 
 extension Mavsdk_Rpc_Action_ActionResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Action_ActionResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Action_ActionResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/action_server.pb.swift b/Sources/Mavsdk/Generated/action_server.pb.swift
index e8a7c7f..eb29b19 100644
--- a/Sources/Mavsdk/Generated/action_server.pb.swift
+++ b/Sources/Mavsdk/Generated/action_server.pb.swift
@@ -121,7 +121,7 @@ enum Mavsdk_Rpc_ActionServer_FlightMode: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_ActionServer_FlightMode: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_ActionServer_FlightMode] = [
+  static let allCases: [Mavsdk_Rpc_ActionServer_FlightMode] = [
     .unknown,
     .ready,
     .takeoff,
@@ -708,7 +708,7 @@ struct Mavsdk_Rpc_ActionServer_ActionServerResult {
 
 extension Mavsdk_Rpc_ActionServer_ActionServerResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_ActionServer_ActionServerResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_ActionServer_ActionServerResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/calibration.pb.swift b/Sources/Mavsdk/Generated/calibration.pb.swift
index 10099f1..93918ad 100644
--- a/Sources/Mavsdk/Generated/calibration.pb.swift
+++ b/Sources/Mavsdk/Generated/calibration.pb.swift
@@ -365,7 +365,7 @@ struct Mavsdk_Rpc_Calibration_CalibrationResult {
 
 extension Mavsdk_Rpc_Calibration_CalibrationResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Calibration_CalibrationResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Calibration_CalibrationResult.Result] = [
     .unknown,
     .success,
     .next,
diff --git a/Sources/Mavsdk/Generated/camera.pb.swift b/Sources/Mavsdk/Generated/camera.pb.swift
index d3ce708..a45ae98 100644
--- a/Sources/Mavsdk/Generated/camera.pb.swift
+++ b/Sources/Mavsdk/Generated/camera.pb.swift
@@ -62,7 +62,7 @@ enum Mavsdk_Rpc_Camera_Mode: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Camera_Mode: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Camera_Mode] = [
+  static let allCases: [Mavsdk_Rpc_Camera_Mode] = [
     .unknown,
     .photo,
     .video,
@@ -108,7 +108,7 @@ enum Mavsdk_Rpc_Camera_PhotosRange: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Camera_PhotosRange: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Camera_PhotosRange] = [
+  static let allCases: [Mavsdk_Rpc_Camera_PhotosRange] = [
     .all,
     .sinceConnection,
   ]
@@ -886,7 +886,7 @@ struct Mavsdk_Rpc_Camera_CameraResult {
 
 extension Mavsdk_Rpc_Camera_CameraResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Camera_CameraResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Camera_CameraResult.Result] = [
     .unknown,
     .success,
     .inProgress,
@@ -1174,7 +1174,7 @@ struct Mavsdk_Rpc_Camera_VideoStreamInfo {
 
 extension Mavsdk_Rpc_Camera_VideoStreamInfo.VideoStreamStatus: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Camera_VideoStreamInfo.VideoStreamStatus] = [
+  static let allCases: [Mavsdk_Rpc_Camera_VideoStreamInfo.VideoStreamStatus] = [
     .notRunning,
     .inProgress,
   ]
@@ -1182,7 +1182,7 @@ extension Mavsdk_Rpc_Camera_VideoStreamInfo.VideoStreamStatus: CaseIterable {
 
 extension Mavsdk_Rpc_Camera_VideoStreamInfo.VideoStreamSpectrum: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Camera_VideoStreamInfo.VideoStreamSpectrum] = [
+  static let allCases: [Mavsdk_Rpc_Camera_VideoStreamInfo.VideoStreamSpectrum] = [
     .unknown,
     .visibleLight,
     .infrared,
@@ -1332,7 +1332,7 @@ struct Mavsdk_Rpc_Camera_Status {
 
 extension Mavsdk_Rpc_Camera_Status.StorageStatus: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Camera_Status.StorageStatus] = [
+  static let allCases: [Mavsdk_Rpc_Camera_Status.StorageStatus] = [
     .notAvailable,
     .unformatted,
     .formatted,
@@ -1342,7 +1342,7 @@ extension Mavsdk_Rpc_Camera_Status.StorageStatus: CaseIterable {
 
 extension Mavsdk_Rpc_Camera_Status.StorageType: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Camera_Status.StorageType] = [
+  static let allCases: [Mavsdk_Rpc_Camera_Status.StorageType] = [
     .unknown,
     .usbStick,
     .sd,
diff --git a/Sources/Mavsdk/Generated/component_information.pb.swift b/Sources/Mavsdk/Generated/component_information.pb.swift
index 538ced5..14a5c31 100644
--- a/Sources/Mavsdk/Generated/component_information.pb.swift
+++ b/Sources/Mavsdk/Generated/component_information.pb.swift
@@ -200,7 +200,7 @@ struct Mavsdk_Rpc_ComponentInformation_ComponentInformationResult {
 
 extension Mavsdk_Rpc_ComponentInformation_ComponentInformationResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_ComponentInformation_ComponentInformationResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_ComponentInformation_ComponentInformationResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/component_information_server.pb.swift b/Sources/Mavsdk/Generated/component_information_server.pb.swift
index 95fbcde..f8b33f6 100644
--- a/Sources/Mavsdk/Generated/component_information_server.pb.swift
+++ b/Sources/Mavsdk/Generated/component_information_server.pb.swift
@@ -229,7 +229,7 @@ struct Mavsdk_Rpc_ComponentInformationServer_ComponentInformationServerResult {
 
 extension Mavsdk_Rpc_ComponentInformationServer_ComponentInformationServerResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_ComponentInformationServer_ComponentInformationServerResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_ComponentInformationServer_ComponentInformationServerResult.Result] = [
     .unknown,
     .success,
     .duplicateParam,
diff --git a/Sources/Mavsdk/Generated/failure.pb.swift b/Sources/Mavsdk/Generated/failure.pb.swift
index abc98b2..b90c1f7 100644
--- a/Sources/Mavsdk/Generated/failure.pb.swift
+++ b/Sources/Mavsdk/Generated/failure.pb.swift
@@ -122,7 +122,7 @@ enum Mavsdk_Rpc_Failure_FailureUnit: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Failure_FailureUnit: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Failure_FailureUnit] = [
+  static let allCases: [Mavsdk_Rpc_Failure_FailureUnit] = [
     .sensorGyro,
     .sensorAccel,
     .sensorMag,
@@ -210,7 +210,7 @@ enum Mavsdk_Rpc_Failure_FailureType: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Failure_FailureType: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Failure_FailureType] = [
+  static let allCases: [Mavsdk_Rpc_Failure_FailureType] = [
     .ok,
     .off,
     .stuck,
@@ -347,7 +347,7 @@ struct Mavsdk_Rpc_Failure_FailureResult {
 
 extension Mavsdk_Rpc_Failure_FailureResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Failure_FailureResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Failure_FailureResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/follow_me.pb.swift b/Sources/Mavsdk/Generated/follow_me.pb.swift
index ece97fd..bf67a69 100644
--- a/Sources/Mavsdk/Generated/follow_me.pb.swift
+++ b/Sources/Mavsdk/Generated/follow_me.pb.swift
@@ -95,7 +95,7 @@ struct Mavsdk_Rpc_FollowMe_Config {
 
 extension Mavsdk_Rpc_FollowMe_Config.FollowDirection: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_FollowMe_Config.FollowDirection] = [
+  static let allCases: [Mavsdk_Rpc_FollowMe_Config.FollowDirection] = [
     .none,
     .behind,
     .front,
@@ -458,7 +458,7 @@ struct Mavsdk_Rpc_FollowMe_FollowMeResult {
 
 extension Mavsdk_Rpc_FollowMe_FollowMeResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_FollowMe_FollowMeResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_FollowMe_FollowMeResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/ftp.pb.swift b/Sources/Mavsdk/Generated/ftp.pb.swift
index 3301651..d5e2c29 100644
--- a/Sources/Mavsdk/Generated/ftp.pb.swift
+++ b/Sources/Mavsdk/Generated/ftp.pb.swift
@@ -580,7 +580,7 @@ struct Mavsdk_Rpc_Ftp_FtpResult {
 
 extension Mavsdk_Rpc_Ftp_FtpResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Ftp_FtpResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Ftp_FtpResult.Result] = [
     .unknown,
     .success,
     .next,
diff --git a/Sources/Mavsdk/Generated/geofence.pb.swift b/Sources/Mavsdk/Generated/geofence.pb.swift
index 7366ac9..6ee1788 100644
--- a/Sources/Mavsdk/Generated/geofence.pb.swift
+++ b/Sources/Mavsdk/Generated/geofence.pb.swift
@@ -91,7 +91,7 @@ struct Mavsdk_Rpc_Geofence_Polygon {
 
 extension Mavsdk_Rpc_Geofence_Polygon.FenceType: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Geofence_Polygon.FenceType] = [
+  static let allCases: [Mavsdk_Rpc_Geofence_Polygon.FenceType] = [
     .inclusion,
     .exclusion,
   ]
@@ -248,7 +248,7 @@ struct Mavsdk_Rpc_Geofence_GeofenceResult {
 
 extension Mavsdk_Rpc_Geofence_GeofenceResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Geofence_GeofenceResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Geofence_GeofenceResult.Result] = [
     .unknown,
     .success,
     .error,
diff --git a/Sources/Mavsdk/Generated/gimbal.pb.swift b/Sources/Mavsdk/Generated/gimbal.pb.swift
index 96e317e..c51df96 100644
--- a/Sources/Mavsdk/Generated/gimbal.pb.swift
+++ b/Sources/Mavsdk/Generated/gimbal.pb.swift
@@ -57,7 +57,7 @@ enum Mavsdk_Rpc_Gimbal_GimbalMode: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Gimbal_GimbalMode: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Gimbal_GimbalMode] = [
+  static let allCases: [Mavsdk_Rpc_Gimbal_GimbalMode] = [
     .yawFollow,
     .yawLock,
   ]
@@ -107,7 +107,7 @@ enum Mavsdk_Rpc_Gimbal_ControlMode: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Gimbal_ControlMode: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Gimbal_ControlMode] = [
+  static let allCases: [Mavsdk_Rpc_Gimbal_ControlMode] = [
     .none,
     .primary,
     .secondary,
@@ -461,7 +461,7 @@ struct Mavsdk_Rpc_Gimbal_GimbalResult {
 
 extension Mavsdk_Rpc_Gimbal_GimbalResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Gimbal_GimbalResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Gimbal_GimbalResult.Result] = [
     .unknown,
     .success,
     .error,
diff --git a/Sources/Mavsdk/Generated/info.pb.swift b/Sources/Mavsdk/Generated/info.pb.swift
index 76d4711..ccb0ffd 100644
--- a/Sources/Mavsdk/Generated/info.pb.swift
+++ b/Sources/Mavsdk/Generated/info.pb.swift
@@ -387,7 +387,7 @@ struct Mavsdk_Rpc_Info_InfoResult {
 
 extension Mavsdk_Rpc_Info_InfoResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Info_InfoResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Info_InfoResult.Result] = [
     .unknown,
     .success,
     .informationNotReceivedYet,
diff --git a/Sources/Mavsdk/Generated/log_files.pb.swift b/Sources/Mavsdk/Generated/log_files.pb.swift
index e7080f5..a3ca15a 100644
--- a/Sources/Mavsdk/Generated/log_files.pb.swift
+++ b/Sources/Mavsdk/Generated/log_files.pb.swift
@@ -286,7 +286,7 @@ struct Mavsdk_Rpc_LogFiles_LogFilesResult {
 
 extension Mavsdk_Rpc_LogFiles_LogFilesResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_LogFiles_LogFilesResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_LogFiles_LogFilesResult.Result] = [
     .unknown,
     .success,
     .next,
diff --git a/Sources/Mavsdk/Generated/manual_control.pb.swift b/Sources/Mavsdk/Generated/manual_control.pb.swift
index be496d6..217622c 100644
--- a/Sources/Mavsdk/Generated/manual_control.pb.swift
+++ b/Sources/Mavsdk/Generated/manual_control.pb.swift
@@ -214,7 +214,7 @@ struct Mavsdk_Rpc_ManualControl_ManualControlResult {
 
 extension Mavsdk_Rpc_ManualControl_ManualControlResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_ManualControl_ManualControlResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_ManualControl_ManualControlResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/mission.pb.swift b/Sources/Mavsdk/Generated/mission.pb.swift
index e04dba7..6096c6d 100644
--- a/Sources/Mavsdk/Generated/mission.pb.swift
+++ b/Sources/Mavsdk/Generated/mission.pb.swift
@@ -647,7 +647,7 @@ struct Mavsdk_Rpc_Mission_MissionItem {
 
 extension Mavsdk_Rpc_Mission_MissionItem.CameraAction: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Mission_MissionItem.CameraAction] = [
+  static let allCases: [Mavsdk_Rpc_Mission_MissionItem.CameraAction] = [
     .none,
     .takePhoto,
     .startPhotoInterval,
@@ -801,7 +801,7 @@ struct Mavsdk_Rpc_Mission_MissionResult {
 
 extension Mavsdk_Rpc_Mission_MissionResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Mission_MissionResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Mission_MissionResult.Result] = [
     .unknown,
     .success,
     .error,
diff --git a/Sources/Mavsdk/Generated/mission_raw.pb.swift b/Sources/Mavsdk/Generated/mission_raw.pb.swift
index 6a0f97a..89cc2be 100644
--- a/Sources/Mavsdk/Generated/mission_raw.pb.swift
+++ b/Sources/Mavsdk/Generated/mission_raw.pb.swift
@@ -573,7 +573,7 @@ struct Mavsdk_Rpc_MissionRaw_MissionRawResult {
 
 extension Mavsdk_Rpc_MissionRaw_MissionRawResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_MissionRaw_MissionRawResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_MissionRaw_MissionRawResult.Result] = [
     .unknown,
     .success,
     .error,
diff --git a/Sources/Mavsdk/Generated/mission_raw_server.pb.swift b/Sources/Mavsdk/Generated/mission_raw_server.pb.swift
index 28b8669..0f7e4fa 100644
--- a/Sources/Mavsdk/Generated/mission_raw_server.pb.swift
+++ b/Sources/Mavsdk/Generated/mission_raw_server.pb.swift
@@ -325,7 +325,7 @@ struct Mavsdk_Rpc_MissionRawServer_MissionRawServerResult {
 
 extension Mavsdk_Rpc_MissionRawServer_MissionRawServerResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_MissionRawServer_MissionRawServerResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_MissionRawServer_MissionRawServerResult.Result] = [
     .unknown,
     .success,
     .error,
diff --git a/Sources/Mavsdk/Generated/mocap.pb.swift b/Sources/Mavsdk/Generated/mocap.pb.swift
index 2c88073..40ea886 100644
--- a/Sources/Mavsdk/Generated/mocap.pb.swift
+++ b/Sources/Mavsdk/Generated/mocap.pb.swift
@@ -495,7 +495,7 @@ struct Mavsdk_Rpc_Mocap_Odometry {
 
 extension Mavsdk_Rpc_Mocap_Odometry.MavFrame: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Mocap_Odometry.MavFrame] = [
+  static let allCases: [Mavsdk_Rpc_Mocap_Odometry.MavFrame] = [
     .mocapNed,
     .localFrd,
   ]
@@ -577,7 +577,7 @@ struct Mavsdk_Rpc_Mocap_MocapResult {
 
 extension Mavsdk_Rpc_Mocap_MocapResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Mocap_MocapResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Mocap_MocapResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/offboard.pb.swift b/Sources/Mavsdk/Generated/offboard.pb.swift
index 96c9855..aa5f01f 100644
--- a/Sources/Mavsdk/Generated/offboard.pb.swift
+++ b/Sources/Mavsdk/Generated/offboard.pb.swift
@@ -685,7 +685,7 @@ struct Mavsdk_Rpc_Offboard_PositionGlobalYaw {
 
 extension Mavsdk_Rpc_Offboard_PositionGlobalYaw.AltitudeType: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Offboard_PositionGlobalYaw.AltitudeType] = [
+  static let allCases: [Mavsdk_Rpc_Offboard_PositionGlobalYaw.AltitudeType] = [
     .relHome,
     .amsl,
     .agl,
@@ -844,7 +844,7 @@ struct Mavsdk_Rpc_Offboard_OffboardResult {
 
 extension Mavsdk_Rpc_Offboard_OffboardResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Offboard_OffboardResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Offboard_OffboardResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/param.grpc.swift b/Sources/Mavsdk/Generated/param.grpc.swift
index febe2a0..f8e2687 100644
--- a/Sources/Mavsdk/Generated/param.grpc.swift
+++ b/Sources/Mavsdk/Generated/param.grpc.swift
@@ -52,6 +52,16 @@ internal protocol Mavsdk_Rpc_Param_ParamServiceClientProtocol: GRPCClient {
     callOptions: CallOptions?
   ) -> UnaryCall<Mavsdk_Rpc_Param_SetParamFloatRequest, Mavsdk_Rpc_Param_SetParamFloatResponse>
 
+  func getParamCustom(
+    _ request: Mavsdk_Rpc_Param_GetParamCustomRequest,
+    callOptions: CallOptions?
+  ) -> UnaryCall<Mavsdk_Rpc_Param_GetParamCustomRequest, Mavsdk_Rpc_Param_GetParamCustomResponse>
+
+  func setParamCustom(
+    _ request: Mavsdk_Rpc_Param_SetParamCustomRequest,
+    callOptions: CallOptions?
+  ) -> UnaryCall<Mavsdk_Rpc_Param_SetParamCustomRequest, Mavsdk_Rpc_Param_SetParamCustomResponse>
+
   func getAllParams(
     _ request: Mavsdk_Rpc_Param_GetAllParamsRequest,
     callOptions: CallOptions?
@@ -147,6 +157,48 @@ extension Mavsdk_Rpc_Param_ParamServiceClientProtocol {
     )
   }
 
+  ///
+  /// Get a custom parameter.
+  ///
+  /// If the type is wrong, the result will be `WRONG_TYPE`.
+  ///
+  /// - Parameters:
+  ///   - request: Request to send to GetParamCustom.
+  ///   - callOptions: Call options.
+  /// - Returns: A `UnaryCall` with futures for the metadata, status and response.
+  internal func getParamCustom(
+    _ request: Mavsdk_Rpc_Param_GetParamCustomRequest,
+    callOptions: CallOptions? = nil
+  ) -> UnaryCall<Mavsdk_Rpc_Param_GetParamCustomRequest, Mavsdk_Rpc_Param_GetParamCustomResponse> {
+    return self.makeUnaryCall(
+      path: "/mavsdk.rpc.param.ParamService/GetParamCustom",
+      request: request,
+      callOptions: callOptions ?? self.defaultCallOptions,
+      interceptors: self.interceptors?.makeGetParamCustomInterceptors() ?? []
+    )
+  }
+
+  ///
+  /// Set a custom parameter.
+  ///
+  /// If the type is wrong, the result will be `WRONG_TYPE`.
+  ///
+  /// - Parameters:
+  ///   - request: Request to send to SetParamCustom.
+  ///   - callOptions: Call options.
+  /// - Returns: A `UnaryCall` with futures for the metadata, status and response.
+  internal func setParamCustom(
+    _ request: Mavsdk_Rpc_Param_SetParamCustomRequest,
+    callOptions: CallOptions? = nil
+  ) -> UnaryCall<Mavsdk_Rpc_Param_SetParamCustomRequest, Mavsdk_Rpc_Param_SetParamCustomResponse> {
+    return self.makeUnaryCall(
+      path: "/mavsdk.rpc.param.ParamService/SetParamCustom",
+      request: request,
+      callOptions: callOptions ?? self.defaultCallOptions,
+      interceptors: self.interceptors?.makeSetParamCustomInterceptors() ?? []
+    )
+  }
+
   ///
   /// Get all parameters.
   ///
@@ -181,6 +233,12 @@ internal protocol Mavsdk_Rpc_Param_ParamServiceClientInterceptorFactoryProtocol
   /// - Returns: Interceptors to use when invoking 'setParamFloat'.
   func makeSetParamFloatInterceptors() -> [ClientInterceptor<Mavsdk_Rpc_Param_SetParamFloatRequest, Mavsdk_Rpc_Param_SetParamFloatResponse>]
 
+  /// - Returns: Interceptors to use when invoking 'getParamCustom'.
+  func makeGetParamCustomInterceptors() -> [ClientInterceptor<Mavsdk_Rpc_Param_GetParamCustomRequest, Mavsdk_Rpc_Param_GetParamCustomResponse>]
+
+  /// - Returns: Interceptors to use when invoking 'setParamCustom'.
+  func makeSetParamCustomInterceptors() -> [ClientInterceptor<Mavsdk_Rpc_Param_SetParamCustomRequest, Mavsdk_Rpc_Param_SetParamCustomResponse>]
+
   /// - Returns: Interceptors to use when invoking 'getAllParams'.
   func makeGetAllParamsInterceptors() -> [ClientInterceptor<Mavsdk_Rpc_Param_GetAllParamsRequest, Mavsdk_Rpc_Param_GetAllParamsResponse>]
 }
@@ -237,6 +295,18 @@ internal protocol Mavsdk_Rpc_Param_ParamServiceProvider: CallHandlerProvider {
   /// If the type is wrong, the result will be `WRONG_TYPE`.
   func setParamFloat(request: Mavsdk_Rpc_Param_SetParamFloatRequest, context: StatusOnlyCallContext) -> EventLoopFuture<Mavsdk_Rpc_Param_SetParamFloatResponse>
 
+  ///
+  /// Get a custom parameter.
+  ///
+  /// If the type is wrong, the result will be `WRONG_TYPE`.
+  func getParamCustom(request: Mavsdk_Rpc_Param_GetParamCustomRequest, context: StatusOnlyCallContext) -> EventLoopFuture<Mavsdk_Rpc_Param_GetParamCustomResponse>
+
+  ///
+  /// Set a custom parameter.
+  ///
+  /// If the type is wrong, the result will be `WRONG_TYPE`.
+  func setParamCustom(request: Mavsdk_Rpc_Param_SetParamCustomRequest, context: StatusOnlyCallContext) -> EventLoopFuture<Mavsdk_Rpc_Param_SetParamCustomResponse>
+
   ///
   /// Get all parameters.
   func getAllParams(request: Mavsdk_Rpc_Param_GetAllParamsRequest, context: StatusOnlyCallContext) -> EventLoopFuture<Mavsdk_Rpc_Param_GetAllParamsResponse>
@@ -288,6 +358,24 @@ extension Mavsdk_Rpc_Param_ParamServiceProvider {
         userFunction: self.setParamFloat(request:context:)
       )
 
+    case "GetParamCustom":
+      return UnaryServerHandler(
+        context: context,
+        requestDeserializer: ProtobufDeserializer<Mavsdk_Rpc_Param_GetParamCustomRequest>(),
+        responseSerializer: ProtobufSerializer<Mavsdk_Rpc_Param_GetParamCustomResponse>(),
+        interceptors: self.interceptors?.makeGetParamCustomInterceptors() ?? [],
+        userFunction: self.getParamCustom(request:context:)
+      )
+
+    case "SetParamCustom":
+      return UnaryServerHandler(
+        context: context,
+        requestDeserializer: ProtobufDeserializer<Mavsdk_Rpc_Param_SetParamCustomRequest>(),
+        responseSerializer: ProtobufSerializer<Mavsdk_Rpc_Param_SetParamCustomResponse>(),
+        interceptors: self.interceptors?.makeSetParamCustomInterceptors() ?? [],
+        userFunction: self.setParamCustom(request:context:)
+      )
+
     case "GetAllParams":
       return UnaryServerHandler(
         context: context,
@@ -321,6 +409,14 @@ internal protocol Mavsdk_Rpc_Param_ParamServiceServerInterceptorFactoryProtocol
   ///   Defaults to calling `self.makeInterceptors()`.
   func makeSetParamFloatInterceptors() -> [ServerInterceptor<Mavsdk_Rpc_Param_SetParamFloatRequest, Mavsdk_Rpc_Param_SetParamFloatResponse>]
 
+  /// - Returns: Interceptors to use when handling 'getParamCustom'.
+  ///   Defaults to calling `self.makeInterceptors()`.
+  func makeGetParamCustomInterceptors() -> [ServerInterceptor<Mavsdk_Rpc_Param_GetParamCustomRequest, Mavsdk_Rpc_Param_GetParamCustomResponse>]
+
+  /// - Returns: Interceptors to use when handling 'setParamCustom'.
+  ///   Defaults to calling `self.makeInterceptors()`.
+  func makeSetParamCustomInterceptors() -> [ServerInterceptor<Mavsdk_Rpc_Param_SetParamCustomRequest, Mavsdk_Rpc_Param_SetParamCustomResponse>]
+
   /// - Returns: Interceptors to use when handling 'getAllParams'.
   ///   Defaults to calling `self.makeInterceptors()`.
   func makeGetAllParamsInterceptors() -> [ServerInterceptor<Mavsdk_Rpc_Param_GetAllParamsRequest, Mavsdk_Rpc_Param_GetAllParamsResponse>]
diff --git a/Sources/Mavsdk/Generated/param.pb.swift b/Sources/Mavsdk/Generated/param.pb.swift
index 8a4bc6c..f0ec166 100644
--- a/Sources/Mavsdk/Generated/param.pb.swift
+++ b/Sources/Mavsdk/Generated/param.pb.swift
@@ -168,6 +168,80 @@ struct Mavsdk_Rpc_Param_SetParamFloatResponse {
   fileprivate var _paramResult: Mavsdk_Rpc_Param_ParamResult? = nil
 }
 
+struct Mavsdk_Rpc_Param_GetParamCustomRequest {
+  // SwiftProtobuf.Message conformance is added in an extension below. See the
+  // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
+  // methods supported on all messages.
+
+  /// Name of the parameter
+  var name: String = String()
+
+  var unknownFields = SwiftProtobuf.UnknownStorage()
+
+  init() {}
+}
+
+struct Mavsdk_Rpc_Param_GetParamCustomResponse {
+  // SwiftProtobuf.Message conformance is added in an extension below. See the
+  // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
+  // methods supported on all messages.
+
+  var paramResult: Mavsdk_Rpc_Param_ParamResult {
+    get {return _paramResult ?? Mavsdk_Rpc_Param_ParamResult()}
+    set {_paramResult = newValue}
+  }
+  /// Returns true if `paramResult` has been explicitly set.
+  var hasParamResult: Bool {return self._paramResult != nil}
+  /// Clears the value of `paramResult`. Subsequent reads from it will return its default value.
+  mutating func clearParamResult() {self._paramResult = nil}
+
+  /// Value of the requested parameter
+  var value: String = String()
+
+  var unknownFields = SwiftProtobuf.UnknownStorage()
+
+  init() {}
+
+  fileprivate var _paramResult: Mavsdk_Rpc_Param_ParamResult? = nil
+}
+
+struct Mavsdk_Rpc_Param_SetParamCustomRequest {
+  // SwiftProtobuf.Message conformance is added in an extension below. See the
+  // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
+  // methods supported on all messages.
+
+  /// Name of the parameter to set
+  var name: String = String()
+
+  /// Value the parameter should be set to
+  var value: String = String()
+
+  var unknownFields = SwiftProtobuf.UnknownStorage()
+
+  init() {}
+}
+
+struct Mavsdk_Rpc_Param_SetParamCustomResponse {
+  // SwiftProtobuf.Message conformance is added in an extension below. See the
+  // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
+  // methods supported on all messages.
+
+  var paramResult: Mavsdk_Rpc_Param_ParamResult {
+    get {return _paramResult ?? Mavsdk_Rpc_Param_ParamResult()}
+    set {_paramResult = newValue}
+  }
+  /// Returns true if `paramResult` has been explicitly set.
+  var hasParamResult: Bool {return self._paramResult != nil}
+  /// Clears the value of `paramResult`. Subsequent reads from it will return its default value.
+  mutating func clearParamResult() {self._paramResult = nil}
+
+  var unknownFields = SwiftProtobuf.UnknownStorage()
+
+  init() {}
+
+  fileprivate var _paramResult: Mavsdk_Rpc_Param_ParamResult? = nil
+}
+
 struct Mavsdk_Rpc_Param_GetAllParamsRequest {
   // SwiftProtobuf.Message conformance is added in an extension below. See the
   // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
@@ -237,7 +311,25 @@ struct Mavsdk_Rpc_Param_FloatParam {
 }
 
 ///
-/// Type collecting all integer and float parameters.
+/// Type for custom parameters
+struct Mavsdk_Rpc_Param_CustomParam {
+  // SwiftProtobuf.Message conformance is added in an extension below. See the
+  // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
+  // methods supported on all messages.
+
+  /// Name of the parameter
+  var name: String = String()
+
+  /// Value of the parameter (max len 128 bytes)
+  var value: String = String()
+
+  var unknownFields = SwiftProtobuf.UnknownStorage()
+
+  init() {}
+}
+
+///
+/// Type collecting all integer, float, and custom parameters.
 struct Mavsdk_Rpc_Param_AllParams {
   // SwiftProtobuf.Message conformance is added in an extension below. See the
   // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
@@ -249,6 +341,9 @@ struct Mavsdk_Rpc_Param_AllParams {
   /// Collection of all parameter names and values of type float
   var floatParams: [Mavsdk_Rpc_Param_FloatParam] = []
 
+  /// Collection of all parameter names and values of type custom
+  var customParams: [Mavsdk_Rpc_Param_CustomParam] = []
+
   var unknownFields = SwiftProtobuf.UnknownStorage()
 
   init() {}
@@ -292,6 +387,9 @@ struct Mavsdk_Rpc_Param_ParamResult {
 
     /// No system connected
     case noSystem // = 6
+
+    /// Param value too long (> 128)
+    case paramValueTooLong // = 7
     case UNRECOGNIZED(Int)
 
     init() {
@@ -307,6 +405,7 @@ struct Mavsdk_Rpc_Param_ParamResult {
       case 4: self = .wrongType
       case 5: self = .paramNameTooLong
       case 6: self = .noSystem
+      case 7: self = .paramValueTooLong
       default: self = .UNRECOGNIZED(rawValue)
       }
     }
@@ -320,6 +419,7 @@ struct Mavsdk_Rpc_Param_ParamResult {
       case .wrongType: return 4
       case .paramNameTooLong: return 5
       case .noSystem: return 6
+      case .paramValueTooLong: return 7
       case .UNRECOGNIZED(let i): return i
       }
     }
@@ -333,7 +433,7 @@ struct Mavsdk_Rpc_Param_ParamResult {
 
 extension Mavsdk_Rpc_Param_ParamResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Param_ParamResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Param_ParamResult.Result] = [
     .unknown,
     .success,
     .timeout,
@@ -341,6 +441,7 @@ extension Mavsdk_Rpc_Param_ParamResult.Result: CaseIterable {
     .wrongType,
     .paramNameTooLong,
     .noSystem,
+    .paramValueTooLong,
   ]
 }
 
@@ -355,10 +456,15 @@ extension Mavsdk_Rpc_Param_GetParamFloatRequest: @unchecked Sendable {}
 extension Mavsdk_Rpc_Param_GetParamFloatResponse: @unchecked Sendable {}
 extension Mavsdk_Rpc_Param_SetParamFloatRequest: @unchecked Sendable {}
 extension Mavsdk_Rpc_Param_SetParamFloatResponse: @unchecked Sendable {}
+extension Mavsdk_Rpc_Param_GetParamCustomRequest: @unchecked Sendable {}
+extension Mavsdk_Rpc_Param_GetParamCustomResponse: @unchecked Sendable {}
+extension Mavsdk_Rpc_Param_SetParamCustomRequest: @unchecked Sendable {}
+extension Mavsdk_Rpc_Param_SetParamCustomResponse: @unchecked Sendable {}
 extension Mavsdk_Rpc_Param_GetAllParamsRequest: @unchecked Sendable {}
 extension Mavsdk_Rpc_Param_GetAllParamsResponse: @unchecked Sendable {}
 extension Mavsdk_Rpc_Param_IntParam: @unchecked Sendable {}
 extension Mavsdk_Rpc_Param_FloatParam: @unchecked Sendable {}
+extension Mavsdk_Rpc_Param_CustomParam: @unchecked Sendable {}
 extension Mavsdk_Rpc_Param_AllParams: @unchecked Sendable {}
 extension Mavsdk_Rpc_Param_ParamResult: @unchecked Sendable {}
 extension Mavsdk_Rpc_Param_ParamResult.Result: @unchecked Sendable {}
@@ -664,6 +770,154 @@ extension Mavsdk_Rpc_Param_SetParamFloatResponse: SwiftProtobuf.Message, SwiftPr
   }
 }
 
+extension Mavsdk_Rpc_Param_GetParamCustomRequest: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
+  static let protoMessageName: String = _protobuf_package + ".GetParamCustomRequest"
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    1: .same(proto: "name"),
+  ]
+
+  mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
+    while let fieldNumber = try decoder.nextFieldNumber() {
+      // The use of inline closures is to circumvent an issue where the compiler
+      // allocates stack space for every case branch when no optimizations are
+      // enabled. https://github.com/apple/swift-protobuf/issues/1034
+      switch fieldNumber {
+      case 1: try { try decoder.decodeSingularStringField(value: &self.name) }()
+      default: break
+      }
+    }
+  }
+
+  func traverse<V: SwiftProtobuf.Visitor>(visitor: inout V) throws {
+    if !self.name.isEmpty {
+      try visitor.visitSingularStringField(value: self.name, fieldNumber: 1)
+    }
+    try unknownFields.traverse(visitor: &visitor)
+  }
+
+  static func ==(lhs: Mavsdk_Rpc_Param_GetParamCustomRequest, rhs: Mavsdk_Rpc_Param_GetParamCustomRequest) -> Bool {
+    if lhs.name != rhs.name {return false}
+    if lhs.unknownFields != rhs.unknownFields {return false}
+    return true
+  }
+}
+
+extension Mavsdk_Rpc_Param_GetParamCustomResponse: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
+  static let protoMessageName: String = _protobuf_package + ".GetParamCustomResponse"
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    1: .standard(proto: "param_result"),
+    2: .same(proto: "value"),
+  ]
+
+  mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
+    while let fieldNumber = try decoder.nextFieldNumber() {
+      // The use of inline closures is to circumvent an issue where the compiler
+      // allocates stack space for every case branch when no optimizations are
+      // enabled. https://github.com/apple/swift-protobuf/issues/1034
+      switch fieldNumber {
+      case 1: try { try decoder.decodeSingularMessageField(value: &self._paramResult) }()
+      case 2: try { try decoder.decodeSingularStringField(value: &self.value) }()
+      default: break
+      }
+    }
+  }
+
+  func traverse<V: SwiftProtobuf.Visitor>(visitor: inout V) throws {
+    // The use of inline closures is to circumvent an issue where the compiler
+    // allocates stack space for every if/case branch local when no optimizations
+    // are enabled. https://github.com/apple/swift-protobuf/issues/1034 and
+    // https://github.com/apple/swift-protobuf/issues/1182
+    try { if let v = self._paramResult {
+      try visitor.visitSingularMessageField(value: v, fieldNumber: 1)
+    } }()
+    if !self.value.isEmpty {
+      try visitor.visitSingularStringField(value: self.value, fieldNumber: 2)
+    }
+    try unknownFields.traverse(visitor: &visitor)
+  }
+
+  static func ==(lhs: Mavsdk_Rpc_Param_GetParamCustomResponse, rhs: Mavsdk_Rpc_Param_GetParamCustomResponse) -> Bool {
+    if lhs._paramResult != rhs._paramResult {return false}
+    if lhs.value != rhs.value {return false}
+    if lhs.unknownFields != rhs.unknownFields {return false}
+    return true
+  }
+}
+
+extension Mavsdk_Rpc_Param_SetParamCustomRequest: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
+  static let protoMessageName: String = _protobuf_package + ".SetParamCustomRequest"
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    1: .same(proto: "name"),
+    2: .same(proto: "value"),
+  ]
+
+  mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
+    while let fieldNumber = try decoder.nextFieldNumber() {
+      // The use of inline closures is to circumvent an issue where the compiler
+      // allocates stack space for every case branch when no optimizations are
+      // enabled. https://github.com/apple/swift-protobuf/issues/1034
+      switch fieldNumber {
+      case 1: try { try decoder.decodeSingularStringField(value: &self.name) }()
+      case 2: try { try decoder.decodeSingularStringField(value: &self.value) }()
+      default: break
+      }
+    }
+  }
+
+  func traverse<V: SwiftProtobuf.Visitor>(visitor: inout V) throws {
+    if !self.name.isEmpty {
+      try visitor.visitSingularStringField(value: self.name, fieldNumber: 1)
+    }
+    if !self.value.isEmpty {
+      try visitor.visitSingularStringField(value: self.value, fieldNumber: 2)
+    }
+    try unknownFields.traverse(visitor: &visitor)
+  }
+
+  static func ==(lhs: Mavsdk_Rpc_Param_SetParamCustomRequest, rhs: Mavsdk_Rpc_Param_SetParamCustomRequest) -> Bool {
+    if lhs.name != rhs.name {return false}
+    if lhs.value != rhs.value {return false}
+    if lhs.unknownFields != rhs.unknownFields {return false}
+    return true
+  }
+}
+
+extension Mavsdk_Rpc_Param_SetParamCustomResponse: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
+  static let protoMessageName: String = _protobuf_package + ".SetParamCustomResponse"
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    1: .standard(proto: "param_result"),
+  ]
+
+  mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
+    while let fieldNumber = try decoder.nextFieldNumber() {
+      // The use of inline closures is to circumvent an issue where the compiler
+      // allocates stack space for every case branch when no optimizations are
+      // enabled. https://github.com/apple/swift-protobuf/issues/1034
+      switch fieldNumber {
+      case 1: try { try decoder.decodeSingularMessageField(value: &self._paramResult) }()
+      default: break
+      }
+    }
+  }
+
+  func traverse<V: SwiftProtobuf.Visitor>(visitor: inout V) throws {
+    // The use of inline closures is to circumvent an issue where the compiler
+    // allocates stack space for every if/case branch local when no optimizations
+    // are enabled. https://github.com/apple/swift-protobuf/issues/1034 and
+    // https://github.com/apple/swift-protobuf/issues/1182
+    try { if let v = self._paramResult {
+      try visitor.visitSingularMessageField(value: v, fieldNumber: 1)
+    } }()
+    try unknownFields.traverse(visitor: &visitor)
+  }
+
+  static func ==(lhs: Mavsdk_Rpc_Param_SetParamCustomResponse, rhs: Mavsdk_Rpc_Param_SetParamCustomResponse) -> Bool {
+    if lhs._paramResult != rhs._paramResult {return false}
+    if lhs.unknownFields != rhs.unknownFields {return false}
+    return true
+  }
+}
+
 extension Mavsdk_Rpc_Param_GetAllParamsRequest: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
   static let protoMessageName: String = _protobuf_package + ".GetAllParamsRequest"
   static let _protobuf_nameMap = SwiftProtobuf._NameMap()
@@ -795,11 +1049,50 @@ extension Mavsdk_Rpc_Param_FloatParam: SwiftProtobuf.Message, SwiftProtobuf._Mes
   }
 }
 
+extension Mavsdk_Rpc_Param_CustomParam: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
+  static let protoMessageName: String = _protobuf_package + ".CustomParam"
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    1: .same(proto: "name"),
+    2: .same(proto: "value"),
+  ]
+
+  mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
+    while let fieldNumber = try decoder.nextFieldNumber() {
+      // The use of inline closures is to circumvent an issue where the compiler
+      // allocates stack space for every case branch when no optimizations are
+      // enabled. https://github.com/apple/swift-protobuf/issues/1034
+      switch fieldNumber {
+      case 1: try { try decoder.decodeSingularStringField(value: &self.name) }()
+      case 2: try { try decoder.decodeSingularStringField(value: &self.value) }()
+      default: break
+      }
+    }
+  }
+
+  func traverse<V: SwiftProtobuf.Visitor>(visitor: inout V) throws {
+    if !self.name.isEmpty {
+      try visitor.visitSingularStringField(value: self.name, fieldNumber: 1)
+    }
+    if !self.value.isEmpty {
+      try visitor.visitSingularStringField(value: self.value, fieldNumber: 2)
+    }
+    try unknownFields.traverse(visitor: &visitor)
+  }
+
+  static func ==(lhs: Mavsdk_Rpc_Param_CustomParam, rhs: Mavsdk_Rpc_Param_CustomParam) -> Bool {
+    if lhs.name != rhs.name {return false}
+    if lhs.value != rhs.value {return false}
+    if lhs.unknownFields != rhs.unknownFields {return false}
+    return true
+  }
+}
+
 extension Mavsdk_Rpc_Param_AllParams: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
   static let protoMessageName: String = _protobuf_package + ".AllParams"
   static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
     1: .standard(proto: "int_params"),
     2: .standard(proto: "float_params"),
+    3: .standard(proto: "custom_params"),
   ]
 
   mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
@@ -810,6 +1103,7 @@ extension Mavsdk_Rpc_Param_AllParams: SwiftProtobuf.Message, SwiftProtobuf._Mess
       switch fieldNumber {
       case 1: try { try decoder.decodeRepeatedMessageField(value: &self.intParams) }()
       case 2: try { try decoder.decodeRepeatedMessageField(value: &self.floatParams) }()
+      case 3: try { try decoder.decodeRepeatedMessageField(value: &self.customParams) }()
       default: break
       }
     }
@@ -822,12 +1116,16 @@ extension Mavsdk_Rpc_Param_AllParams: SwiftProtobuf.Message, SwiftProtobuf._Mess
     if !self.floatParams.isEmpty {
       try visitor.visitRepeatedMessageField(value: self.floatParams, fieldNumber: 2)
     }
+    if !self.customParams.isEmpty {
+      try visitor.visitRepeatedMessageField(value: self.customParams, fieldNumber: 3)
+    }
     try unknownFields.traverse(visitor: &visitor)
   }
 
   static func ==(lhs: Mavsdk_Rpc_Param_AllParams, rhs: Mavsdk_Rpc_Param_AllParams) -> Bool {
     if lhs.intParams != rhs.intParams {return false}
     if lhs.floatParams != rhs.floatParams {return false}
+    if lhs.customParams != rhs.customParams {return false}
     if lhs.unknownFields != rhs.unknownFields {return false}
     return true
   }
@@ -880,5 +1178,6 @@ extension Mavsdk_Rpc_Param_ParamResult.Result: SwiftProtobuf._ProtoNameProviding
     4: .same(proto: "RESULT_WRONG_TYPE"),
     5: .same(proto: "RESULT_PARAM_NAME_TOO_LONG"),
     6: .same(proto: "RESULT_NO_SYSTEM"),
+    7: .same(proto: "RESULT_PARAM_VALUE_TOO_LONG"),
   ]
 }
diff --git a/Sources/Mavsdk/Generated/rtk.grpc.swift b/Sources/Mavsdk/Generated/rtk.grpc.swift
new file mode 100644
index 0000000..4f61f2a
--- /dev/null
+++ b/Sources/Mavsdk/Generated/rtk.grpc.swift
@@ -0,0 +1,133 @@
+//
+// DO NOT EDIT.
+//
+// Generated by the protocol buffer compiler.
+// Source: rtk.proto
+//
+
+//
+// Copyright 2018, gRPC Authors All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import GRPC
+import NIO
+import SwiftProtobuf
+
+
+/// Service to send RTK corrections to the vehicle.
+///
+/// Usage: instantiate `Mavsdk_Rpc_Rtk_RtkServiceClient`, then call methods of this protocol to make API calls.
+internal protocol Mavsdk_Rpc_Rtk_RtkServiceClientProtocol: GRPCClient {
+  var serviceName: String { get }
+  var interceptors: Mavsdk_Rpc_Rtk_RtkServiceClientInterceptorFactoryProtocol? { get }
+
+  func sendRtcmData(
+    _ request: Mavsdk_Rpc_Rtk_SendRtcmDataRequest,
+    callOptions: CallOptions?
+  ) -> UnaryCall<Mavsdk_Rpc_Rtk_SendRtcmDataRequest, Mavsdk_Rpc_Rtk_SendRtcmDataResponse>
+}
+
+extension Mavsdk_Rpc_Rtk_RtkServiceClientProtocol {
+  internal var serviceName: String {
+    return "mavsdk.rpc.rtk.RtkService"
+  }
+
+  /// Send RTCM data.
+  ///
+  /// - Parameters:
+  ///   - request: Request to send to SendRtcmData.
+  ///   - callOptions: Call options.
+  /// - Returns: A `UnaryCall` with futures for the metadata, status and response.
+  internal func sendRtcmData(
+    _ request: Mavsdk_Rpc_Rtk_SendRtcmDataRequest,
+    callOptions: CallOptions? = nil
+  ) -> UnaryCall<Mavsdk_Rpc_Rtk_SendRtcmDataRequest, Mavsdk_Rpc_Rtk_SendRtcmDataResponse> {
+    return self.makeUnaryCall(
+      path: "/mavsdk.rpc.rtk.RtkService/SendRtcmData",
+      request: request,
+      callOptions: callOptions ?? self.defaultCallOptions,
+      interceptors: self.interceptors?.makeSendRtcmDataInterceptors() ?? []
+    )
+  }
+}
+
+internal protocol Mavsdk_Rpc_Rtk_RtkServiceClientInterceptorFactoryProtocol {
+
+  /// - Returns: Interceptors to use when invoking 'sendRtcmData'.
+  func makeSendRtcmDataInterceptors() -> [ClientInterceptor<Mavsdk_Rpc_Rtk_SendRtcmDataRequest, Mavsdk_Rpc_Rtk_SendRtcmDataResponse>]
+}
+
+internal final class Mavsdk_Rpc_Rtk_RtkServiceClient: Mavsdk_Rpc_Rtk_RtkServiceClientProtocol {
+  internal let channel: GRPCChannel
+  internal var defaultCallOptions: CallOptions
+  internal var interceptors: Mavsdk_Rpc_Rtk_RtkServiceClientInterceptorFactoryProtocol?
+
+  /// Creates a client for the mavsdk.rpc.rtk.RtkService service.
+  ///
+  /// - Parameters:
+  ///   - channel: `GRPCChannel` to the service host.
+  ///   - defaultCallOptions: Options to use for each service call if the user doesn't provide them.
+  ///   - interceptors: A factory providing interceptors for each RPC.
+  internal init(
+    channel: GRPCChannel,
+    defaultCallOptions: CallOptions = CallOptions(),
+    interceptors: Mavsdk_Rpc_Rtk_RtkServiceClientInterceptorFactoryProtocol? = nil
+  ) {
+    self.channel = channel
+    self.defaultCallOptions = defaultCallOptions
+    self.interceptors = interceptors
+  }
+}
+
+/// Service to send RTK corrections to the vehicle.
+///
+/// To build a server, implement a class that conforms to this protocol.
+internal protocol Mavsdk_Rpc_Rtk_RtkServiceProvider: CallHandlerProvider {
+  var interceptors: Mavsdk_Rpc_Rtk_RtkServiceServerInterceptorFactoryProtocol? { get }
+
+  /// Send RTCM data.
+  func sendRtcmData(request: Mavsdk_Rpc_Rtk_SendRtcmDataRequest, context: StatusOnlyCallContext) -> EventLoopFuture<Mavsdk_Rpc_Rtk_SendRtcmDataResponse>
+}
+
+extension Mavsdk_Rpc_Rtk_RtkServiceProvider {
+  internal var serviceName: Substring { return "mavsdk.rpc.rtk.RtkService" }
+
+  /// Determines, calls and returns the appropriate request handler, depending on the request's method.
+  /// Returns nil for methods not handled by this service.
+  internal func handle(
+    method name: Substring,
+    context: CallHandlerContext
+  ) -> GRPCServerHandlerProtocol? {
+    switch name {
+    case "SendRtcmData":
+      return UnaryServerHandler(
+        context: context,
+        requestDeserializer: ProtobufDeserializer<Mavsdk_Rpc_Rtk_SendRtcmDataRequest>(),
+        responseSerializer: ProtobufSerializer<Mavsdk_Rpc_Rtk_SendRtcmDataResponse>(),
+        interceptors: self.interceptors?.makeSendRtcmDataInterceptors() ?? [],
+        userFunction: self.sendRtcmData(request:context:)
+      )
+
+    default:
+      return nil
+    }
+  }
+}
+
+internal protocol Mavsdk_Rpc_Rtk_RtkServiceServerInterceptorFactoryProtocol {
+
+  /// - Returns: Interceptors to use when handling 'sendRtcmData'.
+  ///   Defaults to calling `self.makeInterceptors()`.
+  func makeSendRtcmDataInterceptors() -> [ServerInterceptor<Mavsdk_Rpc_Rtk_SendRtcmDataRequest, Mavsdk_Rpc_Rtk_SendRtcmDataResponse>]
+}
diff --git a/Sources/Mavsdk/Generated/rtk.pb.swift b/Sources/Mavsdk/Generated/rtk.pb.swift
new file mode 100644
index 0000000..e7cf1f9
--- /dev/null
+++ b/Sources/Mavsdk/Generated/rtk.pb.swift
@@ -0,0 +1,321 @@
+// DO NOT EDIT.
+// swift-format-ignore-file
+//
+// Generated by the Swift generator plugin for the protocol buffer compiler.
+// Source: rtk.proto
+//
+// For information on using the generated types, please see the documentation:
+//   https://github.com/apple/swift-protobuf/
+
+import Foundation
+import SwiftProtobuf
+
+// If the compiler emits an error on this type, it is because this file
+// was generated by a version of the `protoc` Swift plug-in that is
+// incompatible with the version of SwiftProtobuf to which you are linking.
+// Please ensure that you are building against the same version of the API
+// that was used to generate this file.
+fileprivate struct _GeneratedWithProtocGenSwiftVersion: SwiftProtobuf.ProtobufAPIVersionCheck {
+  struct _2: SwiftProtobuf.ProtobufAPIVersion_2 {}
+  typealias Version = _2
+}
+
+/// RTCM data type
+struct Mavsdk_Rpc_Rtk_RtcmData {
+  // SwiftProtobuf.Message conformance is added in an extension below. See the
+  // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
+  // methods supported on all messages.
+
+  /// The data encoded as a string
+  var data: String = String()
+
+  var unknownFields = SwiftProtobuf.UnknownStorage()
+
+  init() {}
+}
+
+struct Mavsdk_Rpc_Rtk_SendRtcmDataRequest {
+  // SwiftProtobuf.Message conformance is added in an extension below. See the
+  // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
+  // methods supported on all messages.
+
+  /// The data
+  var rtcmData: Mavsdk_Rpc_Rtk_RtcmData {
+    get {return _rtcmData ?? Mavsdk_Rpc_Rtk_RtcmData()}
+    set {_rtcmData = newValue}
+  }
+  /// Returns true if `rtcmData` has been explicitly set.
+  var hasRtcmData: Bool {return self._rtcmData != nil}
+  /// Clears the value of `rtcmData`. Subsequent reads from it will return its default value.
+  mutating func clearRtcmData() {self._rtcmData = nil}
+
+  var unknownFields = SwiftProtobuf.UnknownStorage()
+
+  init() {}
+
+  fileprivate var _rtcmData: Mavsdk_Rpc_Rtk_RtcmData? = nil
+}
+
+struct Mavsdk_Rpc_Rtk_SendRtcmDataResponse {
+  // SwiftProtobuf.Message conformance is added in an extension below. See the
+  // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
+  // methods supported on all messages.
+
+  var rtkResult: Mavsdk_Rpc_Rtk_RtkResult {
+    get {return _rtkResult ?? Mavsdk_Rpc_Rtk_RtkResult()}
+    set {_rtkResult = newValue}
+  }
+  /// Returns true if `rtkResult` has been explicitly set.
+  var hasRtkResult: Bool {return self._rtkResult != nil}
+  /// Clears the value of `rtkResult`. Subsequent reads from it will return its default value.
+  mutating func clearRtkResult() {self._rtkResult = nil}
+
+  var unknownFields = SwiftProtobuf.UnknownStorage()
+
+  init() {}
+
+  fileprivate var _rtkResult: Mavsdk_Rpc_Rtk_RtkResult? = nil
+}
+
+struct Mavsdk_Rpc_Rtk_RtkResult {
+  // SwiftProtobuf.Message conformance is added in an extension below. See the
+  // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
+  // methods supported on all messages.
+
+  /// Result enum value
+  var result: Mavsdk_Rpc_Rtk_RtkResult.Result = .unknown
+
+  /// Human-readable English string describing the result
+  var resultStr: String = String()
+
+  var unknownFields = SwiftProtobuf.UnknownStorage()
+
+  /// Possible results returned for rtk requests.
+  enum Result: SwiftProtobuf.Enum {
+    typealias RawValue = Int
+
+    /// Unknown result
+    case unknown // = 0
+
+    /// Request succeeded
+    case success // = 1
+
+    /// Passed data is too long
+    case tooLong // = 2
+
+    /// No system connected
+    case noSystem // = 5
+
+    /// Connection error
+    case connectionError // = 6
+    case UNRECOGNIZED(Int)
+
+    init() {
+      self = .unknown
+    }
+
+    init?(rawValue: Int) {
+      switch rawValue {
+      case 0: self = .unknown
+      case 1: self = .success
+      case 2: self = .tooLong
+      case 5: self = .noSystem
+      case 6: self = .connectionError
+      default: self = .UNRECOGNIZED(rawValue)
+      }
+    }
+
+    var rawValue: Int {
+      switch self {
+      case .unknown: return 0
+      case .success: return 1
+      case .tooLong: return 2
+      case .noSystem: return 5
+      case .connectionError: return 6
+      case .UNRECOGNIZED(let i): return i
+      }
+    }
+
+  }
+
+  init() {}
+}
+
+#if swift(>=4.2)
+
+extension Mavsdk_Rpc_Rtk_RtkResult.Result: CaseIterable {
+  // The compiler won't synthesize support with the UNRECOGNIZED case.
+  static let allCases: [Mavsdk_Rpc_Rtk_RtkResult.Result] = [
+    .unknown,
+    .success,
+    .tooLong,
+    .noSystem,
+    .connectionError,
+  ]
+}
+
+#endif  // swift(>=4.2)
+
+#if swift(>=5.5) && canImport(_Concurrency)
+extension Mavsdk_Rpc_Rtk_RtcmData: @unchecked Sendable {}
+extension Mavsdk_Rpc_Rtk_SendRtcmDataRequest: @unchecked Sendable {}
+extension Mavsdk_Rpc_Rtk_SendRtcmDataResponse: @unchecked Sendable {}
+extension Mavsdk_Rpc_Rtk_RtkResult: @unchecked Sendable {}
+extension Mavsdk_Rpc_Rtk_RtkResult.Result: @unchecked Sendable {}
+#endif  // swift(>=5.5) && canImport(_Concurrency)
+
+// MARK: - Code below here is support for the SwiftProtobuf runtime.
+
+fileprivate let _protobuf_package = "mavsdk.rpc.rtk"
+
+extension Mavsdk_Rpc_Rtk_RtcmData: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
+  static let protoMessageName: String = _protobuf_package + ".RtcmData"
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    1: .same(proto: "data"),
+  ]
+
+  mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
+    while let fieldNumber = try decoder.nextFieldNumber() {
+      // The use of inline closures is to circumvent an issue where the compiler
+      // allocates stack space for every case branch when no optimizations are
+      // enabled. https://github.com/apple/swift-protobuf/issues/1034
+      switch fieldNumber {
+      case 1: try { try decoder.decodeSingularStringField(value: &self.data) }()
+      default: break
+      }
+    }
+  }
+
+  func traverse<V: SwiftProtobuf.Visitor>(visitor: inout V) throws {
+    if !self.data.isEmpty {
+      try visitor.visitSingularStringField(value: self.data, fieldNumber: 1)
+    }
+    try unknownFields.traverse(visitor: &visitor)
+  }
+
+  static func ==(lhs: Mavsdk_Rpc_Rtk_RtcmData, rhs: Mavsdk_Rpc_Rtk_RtcmData) -> Bool {
+    if lhs.data != rhs.data {return false}
+    if lhs.unknownFields != rhs.unknownFields {return false}
+    return true
+  }
+}
+
+extension Mavsdk_Rpc_Rtk_SendRtcmDataRequest: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
+  static let protoMessageName: String = _protobuf_package + ".SendRtcmDataRequest"
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    1: .standard(proto: "rtcm_data"),
+  ]
+
+  mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
+    while let fieldNumber = try decoder.nextFieldNumber() {
+      // The use of inline closures is to circumvent an issue where the compiler
+      // allocates stack space for every case branch when no optimizations are
+      // enabled. https://github.com/apple/swift-protobuf/issues/1034
+      switch fieldNumber {
+      case 1: try { try decoder.decodeSingularMessageField(value: &self._rtcmData) }()
+      default: break
+      }
+    }
+  }
+
+  func traverse<V: SwiftProtobuf.Visitor>(visitor: inout V) throws {
+    // The use of inline closures is to circumvent an issue where the compiler
+    // allocates stack space for every if/case branch local when no optimizations
+    // are enabled. https://github.com/apple/swift-protobuf/issues/1034 and
+    // https://github.com/apple/swift-protobuf/issues/1182
+    try { if let v = self._rtcmData {
+      try visitor.visitSingularMessageField(value: v, fieldNumber: 1)
+    } }()
+    try unknownFields.traverse(visitor: &visitor)
+  }
+
+  static func ==(lhs: Mavsdk_Rpc_Rtk_SendRtcmDataRequest, rhs: Mavsdk_Rpc_Rtk_SendRtcmDataRequest) -> Bool {
+    if lhs._rtcmData != rhs._rtcmData {return false}
+    if lhs.unknownFields != rhs.unknownFields {return false}
+    return true
+  }
+}
+
+extension Mavsdk_Rpc_Rtk_SendRtcmDataResponse: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
+  static let protoMessageName: String = _protobuf_package + ".SendRtcmDataResponse"
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    1: .standard(proto: "rtk_result"),
+  ]
+
+  mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
+    while let fieldNumber = try decoder.nextFieldNumber() {
+      // The use of inline closures is to circumvent an issue where the compiler
+      // allocates stack space for every case branch when no optimizations are
+      // enabled. https://github.com/apple/swift-protobuf/issues/1034
+      switch fieldNumber {
+      case 1: try { try decoder.decodeSingularMessageField(value: &self._rtkResult) }()
+      default: break
+      }
+    }
+  }
+
+  func traverse<V: SwiftProtobuf.Visitor>(visitor: inout V) throws {
+    // The use of inline closures is to circumvent an issue where the compiler
+    // allocates stack space for every if/case branch local when no optimizations
+    // are enabled. https://github.com/apple/swift-protobuf/issues/1034 and
+    // https://github.com/apple/swift-protobuf/issues/1182
+    try { if let v = self._rtkResult {
+      try visitor.visitSingularMessageField(value: v, fieldNumber: 1)
+    } }()
+    try unknownFields.traverse(visitor: &visitor)
+  }
+
+  static func ==(lhs: Mavsdk_Rpc_Rtk_SendRtcmDataResponse, rhs: Mavsdk_Rpc_Rtk_SendRtcmDataResponse) -> Bool {
+    if lhs._rtkResult != rhs._rtkResult {return false}
+    if lhs.unknownFields != rhs.unknownFields {return false}
+    return true
+  }
+}
+
+extension Mavsdk_Rpc_Rtk_RtkResult: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
+  static let protoMessageName: String = _protobuf_package + ".RtkResult"
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    1: .same(proto: "result"),
+    2: .standard(proto: "result_str"),
+  ]
+
+  mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
+    while let fieldNumber = try decoder.nextFieldNumber() {
+      // The use of inline closures is to circumvent an issue where the compiler
+      // allocates stack space for every case branch when no optimizations are
+      // enabled. https://github.com/apple/swift-protobuf/issues/1034
+      switch fieldNumber {
+      case 1: try { try decoder.decodeSingularEnumField(value: &self.result) }()
+      case 2: try { try decoder.decodeSingularStringField(value: &self.resultStr) }()
+      default: break
+      }
+    }
+  }
+
+  func traverse<V: SwiftProtobuf.Visitor>(visitor: inout V) throws {
+    if self.result != .unknown {
+      try visitor.visitSingularEnumField(value: self.result, fieldNumber: 1)
+    }
+    if !self.resultStr.isEmpty {
+      try visitor.visitSingularStringField(value: self.resultStr, fieldNumber: 2)
+    }
+    try unknownFields.traverse(visitor: &visitor)
+  }
+
+  static func ==(lhs: Mavsdk_Rpc_Rtk_RtkResult, rhs: Mavsdk_Rpc_Rtk_RtkResult) -> Bool {
+    if lhs.result != rhs.result {return false}
+    if lhs.resultStr != rhs.resultStr {return false}
+    if lhs.unknownFields != rhs.unknownFields {return false}
+    return true
+  }
+}
+
+extension Mavsdk_Rpc_Rtk_RtkResult.Result: SwiftProtobuf._ProtoNameProviding {
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    0: .same(proto: "RESULT_UNKNOWN"),
+    1: .same(proto: "RESULT_SUCCESS"),
+    2: .same(proto: "RESULT_TOO_LONG"),
+    5: .same(proto: "RESULT_NO_SYSTEM"),
+    6: .same(proto: "RESULT_CONNECTION_ERROR"),
+  ]
+}
diff --git a/Sources/Mavsdk/Generated/server_utility.pb.swift b/Sources/Mavsdk/Generated/server_utility.pb.swift
index 558a286..6e8495e 100644
--- a/Sources/Mavsdk/Generated/server_utility.pb.swift
+++ b/Sources/Mavsdk/Generated/server_utility.pb.swift
@@ -87,7 +87,7 @@ enum Mavsdk_Rpc_ServerUtility_StatusTextType: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_ServerUtility_StatusTextType: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_ServerUtility_StatusTextType] = [
+  static let allCases: [Mavsdk_Rpc_ServerUtility_StatusTextType] = [
     .debug,
     .info,
     .notice,
@@ -206,7 +206,7 @@ struct Mavsdk_Rpc_ServerUtility_ServerUtilityResult {
 
 extension Mavsdk_Rpc_ServerUtility_ServerUtilityResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_ServerUtility_ServerUtilityResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_ServerUtility_ServerUtilityResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/shell.pb.swift b/Sources/Mavsdk/Generated/shell.pb.swift
index 5423bec..a208b99 100644
--- a/Sources/Mavsdk/Generated/shell.pb.swift
+++ b/Sources/Mavsdk/Generated/shell.pb.swift
@@ -151,7 +151,7 @@ struct Mavsdk_Rpc_Shell_ShellResult {
 
 extension Mavsdk_Rpc_Shell_ShellResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Shell_ShellResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Shell_ShellResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/telemetry.pb.swift b/Sources/Mavsdk/Generated/telemetry.pb.swift
index 70bace8..4cb75b5 100644
--- a/Sources/Mavsdk/Generated/telemetry.pb.swift
+++ b/Sources/Mavsdk/Generated/telemetry.pb.swift
@@ -82,7 +82,7 @@ enum Mavsdk_Rpc_Telemetry_FixType: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Telemetry_FixType: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Telemetry_FixType] = [
+  static let allCases: [Mavsdk_Rpc_Telemetry_FixType] = [
     .noGps,
     .noFix,
     .fix2D,
@@ -201,7 +201,7 @@ enum Mavsdk_Rpc_Telemetry_FlightMode: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Telemetry_FlightMode: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Telemetry_FlightMode] = [
+  static let allCases: [Mavsdk_Rpc_Telemetry_FlightMode] = [
     .unknown,
     .ready,
     .takeoff,
@@ -289,7 +289,7 @@ enum Mavsdk_Rpc_Telemetry_StatusTextType: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Telemetry_StatusTextType: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Telemetry_StatusTextType] = [
+  static let allCases: [Mavsdk_Rpc_Telemetry_StatusTextType] = [
     .debug,
     .info,
     .notice,
@@ -355,7 +355,7 @@ enum Mavsdk_Rpc_Telemetry_LandedState: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Telemetry_LandedState: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Telemetry_LandedState] = [
+  static let allCases: [Mavsdk_Rpc_Telemetry_LandedState] = [
     .unknown,
     .onGround,
     .inAir,
@@ -418,7 +418,7 @@ enum Mavsdk_Rpc_Telemetry_VtolState: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Telemetry_VtolState: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Telemetry_VtolState] = [
+  static let allCases: [Mavsdk_Rpc_Telemetry_VtolState] = [
     .undefined,
     .transitionToFw,
     .transitionToMc,
@@ -2806,7 +2806,7 @@ struct Mavsdk_Rpc_Telemetry_Odometry {
 
 extension Mavsdk_Rpc_Telemetry_Odometry.MavFrame: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Telemetry_Odometry.MavFrame] = [
+  static let allCases: [Mavsdk_Rpc_Telemetry_Odometry.MavFrame] = [
     .undef,
     .bodyNed,
     .visionNed,
@@ -3191,7 +3191,7 @@ struct Mavsdk_Rpc_Telemetry_TelemetryResult {
 
 extension Mavsdk_Rpc_Telemetry_TelemetryResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Telemetry_TelemetryResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Telemetry_TelemetryResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/telemetry_server.pb.swift b/Sources/Mavsdk/Generated/telemetry_server.pb.swift
index 356a5e7..af4dafa 100644
--- a/Sources/Mavsdk/Generated/telemetry_server.pb.swift
+++ b/Sources/Mavsdk/Generated/telemetry_server.pb.swift
@@ -82,7 +82,7 @@ enum Mavsdk_Rpc_TelemetryServer_FixType: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_TelemetryServer_FixType: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_TelemetryServer_FixType] = [
+  static let allCases: [Mavsdk_Rpc_TelemetryServer_FixType] = [
     .noGps,
     .noFix,
     .fix2D,
@@ -147,7 +147,7 @@ enum Mavsdk_Rpc_TelemetryServer_VtolState: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_TelemetryServer_VtolState: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_TelemetryServer_VtolState] = [
+  static let allCases: [Mavsdk_Rpc_TelemetryServer_VtolState] = [
     .undefined,
     .transitionToFw,
     .transitionToMc,
@@ -225,7 +225,7 @@ enum Mavsdk_Rpc_TelemetryServer_StatusTextType: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_TelemetryServer_StatusTextType: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_TelemetryServer_StatusTextType] = [
+  static let allCases: [Mavsdk_Rpc_TelemetryServer_StatusTextType] = [
     .debug,
     .info,
     .notice,
@@ -291,7 +291,7 @@ enum Mavsdk_Rpc_TelemetryServer_LandedState: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_TelemetryServer_LandedState: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_TelemetryServer_LandedState] = [
+  static let allCases: [Mavsdk_Rpc_TelemetryServer_LandedState] = [
     .unknown,
     .onGround,
     .inAir,
@@ -1458,7 +1458,7 @@ struct Mavsdk_Rpc_TelemetryServer_Odometry {
 
 extension Mavsdk_Rpc_TelemetryServer_Odometry.MavFrame: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_TelemetryServer_Odometry.MavFrame] = [
+  static let allCases: [Mavsdk_Rpc_TelemetryServer_Odometry.MavFrame] = [
     .undef,
     .bodyNed,
     .visionNed,
@@ -1823,7 +1823,7 @@ struct Mavsdk_Rpc_TelemetryServer_TelemetryServerResult {
 
 extension Mavsdk_Rpc_TelemetryServer_TelemetryServerResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_TelemetryServer_TelemetryServerResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_TelemetryServer_TelemetryServerResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/transponder.pb.swift b/Sources/Mavsdk/Generated/transponder.pb.swift
index 2909fa8..b065076 100644
--- a/Sources/Mavsdk/Generated/transponder.pb.swift
+++ b/Sources/Mavsdk/Generated/transponder.pb.swift
@@ -147,7 +147,7 @@ enum Mavsdk_Rpc_Transponder_AdsbEmitterType: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Transponder_AdsbEmitterType: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Transponder_AdsbEmitterType] = [
+  static let allCases: [Mavsdk_Rpc_Transponder_AdsbEmitterType] = [
     .noInfo,
     .light,
     .small,
@@ -362,7 +362,7 @@ struct Mavsdk_Rpc_Transponder_TransponderResult {
 
 extension Mavsdk_Rpc_Transponder_TransponderResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Transponder_TransponderResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Transponder_TransponderResult.Result] = [
     .unknown,
     .success,
     .noSystem,
diff --git a/Sources/Mavsdk/Generated/tune.pb.swift b/Sources/Mavsdk/Generated/tune.pb.swift
index 9ce618e..28526d9 100644
--- a/Sources/Mavsdk/Generated/tune.pb.swift
+++ b/Sources/Mavsdk/Generated/tune.pb.swift
@@ -152,7 +152,7 @@ enum Mavsdk_Rpc_Tune_SongElement: SwiftProtobuf.Enum {
 
 extension Mavsdk_Rpc_Tune_SongElement: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Tune_SongElement] = [
+  static let allCases: [Mavsdk_Rpc_Tune_SongElement] = [
     .styleLegato,
     .styleNormal,
     .styleStaccato,
@@ -312,7 +312,7 @@ struct Mavsdk_Rpc_Tune_TuneResult {
 
 extension Mavsdk_Rpc_Tune_TuneResult.Result: CaseIterable {
   // The compiler won't synthesize support with the UNRECOGNIZED case.
-  static var allCases: [Mavsdk_Rpc_Tune_TuneResult.Result] = [
+  static let allCases: [Mavsdk_Rpc_Tune_TuneResult.Result] = [
     .unknown,
     .success,
     .invalidTempo,
diff --git a/Sources/Mavsdk/proto b/Sources/Mavsdk/proto
index e74179a..17d7076 160000
--- a/Sources/Mavsdk/proto
+++ b/Sources/Mavsdk/proto
@@ -1 +1 @@
-Subproject commit e74179a049fd74c570ece9fc19b95388cdc4068d
+Subproject commit 17d707685a8cbe5e0b6c930850b5a2c75b85bbd8