diff --git a/v2.0/Jenkinsfile b/v2.0/Jenkinsfile new file mode 100644 index 00000000..e68a938a --- /dev/null +++ b/v2.0/Jenkinsfile @@ -0,0 +1,79 @@ +pipeline { + agent { + docker { + image 'px4io/px4-docs:2020-01-05' + } + } + stages { + + stage('Build') { + environment { + HOME = "${WORKSPACE}" + } + + steps { + sh('export') + checkout(scm) + sh('gitbook install') + sh('gitbook build') + stash(includes: '_book/', name: 'gitbook') + // publish html + publishHTML(target: [ + reportTitles: 'Mavlink SDK Guide', + allowMissing: false, + alwaysLinkToLastBuild: true, + keepAll: true, + reportDir: '_book', + reportFiles: '*', + reportName: 'Mavlink SDK Guide' + ]) + } + + } // Build + + stage('Deploy') { + environment { + GIT_AUTHOR_EMAIL = "bot@px4.io" + GIT_AUTHOR_NAME = "PX4BuildBot" + GIT_COMMITTER_EMAIL = "bot@px4.io" + GIT_COMMITTER_NAME = "PX4BuildBot" + } + + steps { + sh('export') + unstash('gitbook') + withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) { + sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/mavlink/sdk.mavlink.io') + sh('rm -rf sdk.mavlink.io/${BRANCH_NAME}') + sh('mkdir -p sdk.mavlink.io/${BRANCH_NAME}') + sh('cp -r _book/* sdk.mavlink.io/${BRANCH_NAME}/') + sh('cd sdk.mavlink.io; git add ${BRANCH_NAME}; git commit -a -m "gitbook build update `date`"') + sh('cd sdk.mavlink.io; git push origin master') + + } + } + post { + always { + sh('rm -rf sdk.mavlink.io') + } + } + when { + anyOf { + branch "main" + branch "pr-jenkins" + branch "v2.*" + branch "v1.*" + branch "v0.*" + } + } + + } // Deploy + } // stages + + options { + buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30')) + skipDefaultCheckout() + timeout(time: 60, unit: 'MINUTES') + } + +} diff --git a/v2.0/LICENSE b/v2.0/LICENSE new file mode 100644 index 00000000..1426f092 --- /dev/null +++ b/v2.0/LICENSE @@ -0,0 +1,101 @@ +CC BY 4.0 + +Licence: https://creativecommons.org/licenses/by/4.0/legalcode +Human-readable format: https://creativecommons.org/licenses/by/4.0/ + +Creative Commons Attribution 4.0 International Public License +============================================================== + +Creative Commons Attribution 4.0 International Public License +By exercising the Licensed Rights (defined below), You accept and agree to be bound by the terms and conditions of this Creative Commons Attribution 4.0 International Public License ("Public License"). To the extent this Public License may be interpreted as a contract, You are granted the Licensed Rights in consideration of Your acceptance of these terms and conditions, and the Licensor grants You such rights in consideration of benefits the Licensor receives from making the Licensed Material available under these terms and conditions. + +Section 1 – Definitions. + +a. Adapted Material means material subject to Copyright and Similar Rights that is derived from or based upon the Licensed Material and in which the Licensed Material is translated, altered, arranged, transformed, or otherwise modified in a manner requiring permission under the Copyright and Similar Rights held by the Licensor. For purposes of this Public License, where the Licensed Material is a musical work, performance, or sound recording, Adapted Material is always produced where the Licensed Material is synched in timed relation with a moving image. +b. 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Exceptions and Limitations means fair use, fair dealing, and/or any other exception or limitation to Copyright and Similar Rights that applies to Your use of the Licensed Material. +f. Licensed Material means the artistic or literary work, database, or other material to which the Licensor applied this Public License. +g. Licensed Rights means the rights granted to You subject to the terms and conditions of this Public License, which are limited to all Copyright and Similar Rights that apply to Your use of the Licensed Material and that the Licensor has authority to license. +h. Licensor means the individual(s) or entity(ies) granting rights under this Public License. +i. 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Subject to the terms and conditions of this Public License, the Licensor hereby grants You a worldwide, royalty-free, non-sublicensable, non-exclusive, irrevocable license to exercise the Licensed Rights in the Licensed Material to: + A. reproduce and Share the Licensed Material, in whole or in part; and + B. produce, reproduce, and Share Adapted Material. + 2. Exceptions and Limitations. For the avoidance of doubt, where Exceptions and Limitations apply to Your use, this Public License does not apply, and You do not need to comply with its terms and conditions. + 3. Term. The term of this Public License is specified in Section 6(a). + 4. Media and formats; technical modifications allowed. The Licensor authorizes You to exercise the Licensed Rights in all media and formats whether now known or hereafter created, and to make technical modifications necessary to do so. The Licensor waives and/or agrees not to assert any right or authority to forbid You from making technical modifications necessary to exercise the Licensed Rights, including technical modifications necessary to circumvent Effective Technological Measures. For purposes of this Public License, simply making modifications authorized by this Section 2(a)(4) never produces Adapted Material. + 5. Downstream recipients. + A. Offer from the Licensor – Licensed Material. Every recipient of the Licensed Material automatically receives an offer from the Licensor to exercise the Licensed Rights under the terms and conditions of this Public License. + B. No downstream restrictions. You may not offer or impose any additional or different terms or conditions on, or apply any Effective Technological Measures to, the Licensed Material if doing so restricts exercise of the Licensed Rights by any recipient of the Licensed Material. + 6. No endorsement. Nothing in this Public License constitutes or may be construed as permission to assert or imply that You are, or that Your use of the Licensed Material is, connected with, or sponsored, endorsed, or granted official status by, the Licensor or others designated to receive attribution as provided in Section 3(a)(1)(A)(i). +b. Other rights. + 1. Moral rights, such as the right of integrity, are not licensed under this Public License, nor are publicity, privacy, and/or other similar personality rights; however, to the extent possible, the Licensor waives and/or agrees not to assert any such rights held by the Licensor to the limited extent necessary to allow You to exercise the Licensed Rights, but not otherwise. + 2. Patent and trademark rights are not licensed under this Public License. + 3. 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You may satisfy the conditions in Section 3(a)(1) in any reasonable manner based on the medium, means, and context in which You Share the Licensed Material. For example, it may be reasonable to satisfy the conditions by providing a URI or hyperlink to a resource that includes the required information. + 3. If requested by the Licensor, You must remove any of the information required by Section 3(a)(1)(A) to the extent reasonably practicable. + 4. If You Share Adapted Material You produce, the Adapter's License You apply must not prevent recipients of the Adapted Material from complying with this Public License. + + +Section 4 – Sui Generis Database Rights. + +Where the Licensed Rights include Sui Generis Database Rights that apply to Your use of the Licensed Material: +a. for the avoidance of doubt, Section 2(a)(1) grants You the right to extract, reuse, reproduce, and Share all or a substantial portion of the contents of the database; +b. if You include all or a substantial portion of the database contents in a database in which You have Sui Generis Database Rights, then the database in which You have Sui Generis Database Rights (but not its individual contents) is Adapted Material; and +c. You must comply with the conditions in Section 3(a) if You Share all or a substantial portion of the contents of the database. +For the avoidance of doubt, this Section 4 supplements and does not replace Your obligations under this Public License where the Licensed Rights include other Copyright and Similar Rights. + + +Section 5 – Disclaimer of Warranties and Limitation of Liability. + +a. Unless otherwise separately undertaken by the Licensor, to the extent possible, the Licensor offers the Licensed Material as-is and as-available, and makes no representations or warranties of any kind concerning the Licensed Material, whether express, implied, statutory, or other. This includes, without limitation, warranties of title, merchantability, fitness for a particular purpose, non-infringement, absence of latent or other defects, accuracy, or the presence or absence of errors, whether or not known or discoverable. Where disclaimers of warranties are not allowed in full or in part, this disclaimer may not apply to You. +b. To the extent possible, in no event will the Licensor be liable to You on any legal theory (including, without limitation, negligence) or otherwise for any direct, special, indirect, incidental, consequential, punitive, exemplary, or other losses, costs, expenses, or damages arising out of this Public License or use of the Licensed Material, even if the Licensor has been advised of the possibility of such losses, costs, expenses, or damages. Where a limitation of liability is not allowed in full or in part, this limitation may not apply to You. +c. The disclaimer of warranties and limitation of liability provided above shall be interpreted in a manner that, to the extent possible, most closely approximates an absolute disclaimer and waiver of all liability. + + +Section 6 – Term and Termination. + +a. This Public License applies for the term of the Copyright and Similar Rights licensed here. However, if You fail to comply with this Public License, then Your rights under this Public License terminate automatically. +b. Where Your right to use the Licensed Material has terminated under Section 6(a), it reinstates: + 1. automatically as of the date the violation is cured, provided it is cured within 30 days of Your discovery of the violation; or + 2. upon express reinstatement by the Licensor. +For the avoidance of doubt, this Section 6(b) does not affect any right the Licensor may have to seek remedies for Your violations of this Public License. +c. For the avoidance of doubt, the Licensor may also offer the Licensed Material under separate terms or conditions or stop distributing the Licensed Material at any time; however, doing so will not terminate this Public License. +d. Sections 1, 5, 6, 7, and 8 survive termination of this Public License. + + +Section 7 – Other Terms and Conditions. + +a. The Licensor shall not be bound by any additional or different terms or conditions communicated by You unless expressly agreed. +b. Any arrangements, understandings, or agreements regarding the Licensed Material not stated herein are separate from and independent of the terms and conditions of this Public License. + + +Section 8 – Interpretation. + +a. For the avoidance of doubt, this Public License does not, and shall not be interpreted to, reduce, limit, restrict, or impose conditions on any use of the Licensed Material that could lawfully be made without permission under this Public License. +b. To the extent possible, if any provision of this Public License is deemed unenforceable, it shall be automatically reformed to the minimum extent necessary to make it enforceable. If the provision cannot be reformed, it shall be severed from this Public License without affecting the enforceability of the remaining terms and conditions. +c. No term or condition of this Public License will be waived and no failure to comply consented to unless expressly agreed to by the Licensor. +d. Nothing in this Public License constitutes or may be interpreted as a limitation upon, or waiver of, any privileges and immunities that apply to the Licensor or You, including from the legal processes of any jurisdiction or authority. diff --git a/v2.0/README.md b/v2.0/README.md new file mode 100644 index 00000000..b203916f --- /dev/null +++ b/v2.0/README.md @@ -0,0 +1,28 @@ + + +# MAVSDK Documentation Source + +> **Warning** Under Construction. + +The [MAVSDK documentation](https://mavsdk.mavlink.io/) explains how to use the [MAVSDK](https://github.com/mavlink/MAVSDK) C++ MAVLink API Library, along with auto-generated wrapper APIs written in Python, Java and iOS (forthcoming). + +This repository contains the *source code* for the documentation. + +## Documentation Build + +Instructions how to setup a Gitbook toolchain and build this documentation can be found in the [Legacy Gitbook toolchain docs](https://github.com/GitbookIO/gitbook/blob/master/docs/setup.md). + + +## License + +This documentation is licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) license. +The SDK itself is licensed under the permissive [BSD 3-clause](https://github.com/mavlink/MAVSDK/blob/main/LICENSE.md). + + +## Governance + +The MAVSDK project is hosted under the governance of the [Dronecode Foundation](https://www.dronecode.org/). + +Dronecode Logo +Linux Foundation Logo +
 
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+ + + + +
+ +
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+
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+
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+
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+
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+
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+
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+
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+
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+ +

API Changes

+

This page tracks changes between versions.

+

It covers both breaking (incompatible) and non-breaking changes.

+

Semantic Versioning

+

MAVSDK follows semver/Semantic Versioning conventions where as possible.

+

The version number has the format: major.minor.patch. +Individual parts of the number are iterated when the:

+
    +
  • major: API is changed, or functionality is removed.
    • +
  • minor: API is extended, functionality is added.
    • +
  • patch: API is not changed, functionality is not changed, but a bug is fixed.
    • +
+

This means that breaking changes to the API result in a bump of the major version number (e.g. 1.4.3 to 2.0.0).

+
+

: bumping of the major version is unrelated to the stability of the library. E.g. v2.0.0 is not by definition more stable than v1.4.18. It just means that the API has changed with v2. As development is carried on, stability is likely increasing whenever the minor or patch versions increase as incremental fixes are added.

+
+

v2

+

Mavsdk configuration

+

The Mavsdk class no longer assumes the configuration of a ground station by default but instead a configuration needs to be passed as a constructor argument.

+

The configuration argument sets the identification, so the MAVLink MAV_TYPE and MAVLink component ID (also called compid) of the Mavsdk instance itself, so the source and not the target that you're connecting to.

+

Old instantiation:

+
Mavsdk mavsdk;
+

New instantiation:

+
Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
+

Note: +It is still possible to change the configuration later (although not recommended) using Mavsdk::set_configuration(...).

+

Rationale:

+

The reasons behind this change is to make users aware of this configuration and not assume any default. The problem with a ground station default is that it can be potentially dangerous without the user being aware. We are aware that this makes the API more cumbersome and verbose to use but the goal of Mavsdk is always to erro on the side of safety.

+

For instance, in the case where MAVSDK is used on the companion computer, the autopilot would assume that it is connected to a ground station at all time, even if the real ground station was lost.

+

Also, having to set the default makes it less likely to misconfigure the overall integration and end up with several components that conflict.

+

Note: +It is also possible to set the sysid/compid directly, just check out the API of Mavsdk::Configuration (TODO: add link).

+

Subscription API

+

The subscription API (also called async functions) has changed:

+

Old:

+
// Subscribe
+telemetry.subscribe_position([](Telemetry::Position position) {
+    std::cout << "Altitude: " << position.relative_altitude_m << " m\n";
+});
+
+// Unsubscribe again
+telemetry.subscribe_position(nullptr);
+

New:

+
// Subscribe
+auto handle = telemetry.subscribe_position([](Telemetry::Position position) {
+    std::cout << "Altitude: " << position.relative_altitude_m << " m\n";
+});
+
+// Unsubscribe again
+telemetry.unsubscribe_position(handle);
+

Rationale: +MAVSDK subscriptions had the drawback that there could only be one subscription per API. So subsequent subscribers would overwrite previous subscribers. With the new API there can be more than one subscriber per API, and each can unsubscribe using their own handle.

+

Server component plugins

+

A lost of work has gone into Mavsdk v2 to support "server" components. These are components that typically run on the drone, e.g. a companion computer or a camera.

+

Server component plugins are all plugins that end in _server. They don't need a System to be instantiated as they are "connected to and don't care who connects to them".

+

For instance a camera server plugin can be used as follows:

+
Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::Camera}};
+auto camera_server = mavsdk::CameraServer{mavsdk.server_component()};
+

It's also possible to add more than one MAVLink component to one MAVSDK instance, e.g. a gimbal could be added like this:

+

Connecting to first autopilot system

+

Discovering vehicles/systems required quite a bit of boilerplate code in the past. This has been simplified using a Mavsdk::first_autopilot(double timeout_s) method.

+

Old discovering of first autopilot:

+
std::cout << "Waiting to discover system...\n";
+auto prom = std::promise<std::shared_ptr<System>>{};
+auto fut = prom.get_future();
+
+// We wait for new systems to be discovered, once we find one that has an
+// autopilot, we decide to use it.
+mavsdk.subscribe_on_new_system([&mavsdk, &prom]() {
+    auto system = mavsdk.systems().back();
+
+    if (system->has_autopilot()) {
+        std::cout << "Discovered autopilot\n";
+
+        // Unsubscribe again as we only want to find one system.
+        mavsdk.subscribe_on_new_system(nullptr);
+        prom.set_value(system);
+    }
+});
+
+// We usually receive heartbeats at 1Hz, therefore we should find a
+// system after around 3 seconds max, surely.
+if (fut.wait_for(seconds(3)) == std::future_status::timeout) {
+    std::cerr << "No autopilot found.\n";
+    return {};
+}
+
+// Get discovered system now.
+auto system = fut.get();
+

New simplified way:

+
auto system = mavsdk.first_autopilot(3.0);
+

v1

+

Linking

+

With version 1, we introduce bigger changes in the way the MAVSDK library is linked to. Essentially, the library is no longer split up in multiple library files, one for the core (e.g. mavsdk.so) and one each for every plugin (e.g. mavsdk_action.so) and instead everything is merged into one library file (usually mavsdk.so).

+

This means that linking in cmake gets easier.

+

Previously, this was required:

+
target_link_libraries(my_executable
+    MAVSDK::mavsdk_action
+    MAVSDK::mavsdk_mission
+    MAVSDK::mavsdk_telemetry
+    MAVSDK::mavsdk
+)
+

Now, this is all that is needed:

+
target_link_libraries(my_executable
+    MAVSDK::mavsdk
+)
+

Rationale

+

Why were the "plugins" split up in the first place?

+
    +
  • The plugins were split because they were supposed to be extendable plugins. However, the last few years have shown that this is not really required, as there were no requests or contributions for it.
    • +
  • Also, having a real plugin architecture is not always easy. For instance, loading plugins at runtime with dlopen is not possible when the library is compiled with musl. (We use musl to compile mavsdk_server statically without dependencies, so that it can be shipped with PyPi and runs on any Linux distribution and version as well as cross-compiled on armv6/7/8).
    • +
+

What are the advantages of the change?

+
    +
  • Having one library to link to is easier and more inline with other libraries. When more functionality is needed, CMakeLists.txt doesn't need to be changed every time.
    • +
  • Having only one library makes it easier to check for ABI breaks.
    • +
  • The file overhead for every plugin is actually very small, so the overhead should be negligible.
    • +
+
© MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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    mavsdk::Action Class Reference

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    #include: action.h

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    +

    Enable simple actions such as arming, taking off, and landing.

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    Public Types

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    TypeDescription
    enum OrbitYawBehaviorYaw behaviour during orbit flight.
    enum ResultPossible results returned for action requests.
    std::function< void(Result)> ResultCallbackCallback type for asynchronous Action calls.
    std::function< void(Result, float)> GetTakeoffAltitudeCallbackCallback type for get_takeoff_altitude_async.
    std::function< void(Result, float)> GetMaximumSpeedCallbackCallback type for get_maximum_speed_async.
    std::function< void(Result, float)> GetReturnToLaunchAltitudeCallbackCallback type for get_return_to_launch_altitude_async.
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    Public Member Functions

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    TypeNameDescription
     Action (System & system)Constructor. Creates the plugin for a specific System.
     Action (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
     ~Action () overrideDestructor (internal use only).
     Action (const Action & other)Copy constructor.
    voidarm_async (const ResultCallback callback)Send command to arm the drone.
    Resultarm () constSend command to arm the drone.
    voiddisarm_async (const ResultCallback callback)Send command to disarm the drone.
    Resultdisarm () constSend command to disarm the drone.
    voidtakeoff_async (const ResultCallback callback)Send command to take off and hover.
    Resulttakeoff () constSend command to take off and hover.
    voidland_async (const ResultCallback callback)Send command to land at the current position.
    Resultland () constSend command to land at the current position.
    voidreboot_async (const ResultCallback callback)Send command to reboot the drone components.
    Resultreboot () constSend command to reboot the drone components.
    voidshutdown_async (const ResultCallback callback)Send command to shut down the drone components.
    Resultshutdown () constSend command to shut down the drone components.
    voidterminate_async (const ResultCallback callback)Send command to terminate the drone.
    Resultterminate () constSend command to terminate the drone.
    voidkill_async (const ResultCallback callback)Send command to kill the drone.
    Resultkill () constSend command to kill the drone.
    voidreturn_to_launch_async (const ResultCallback callback)Send command to return to the launch (takeoff) position and land.
    Resultreturn_to_launch () constSend command to return to the launch (takeoff) position and land.
    voidgoto_location_async (double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg, const ResultCallback callback)Send command to move the vehicle to a specific global position.
    Resultgoto_location (double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg)constSend command to move the vehicle to a specific global position.
    voiddo_orbit_async (float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m, const ResultCallback callback)Send command do orbit to the drone.
    Resultdo_orbit (float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m)constSend command do orbit to the drone.
    voidhold_async (const ResultCallback callback)Send command to hold position (a.k.a. "Loiter").
    Resulthold () constSend command to hold position (a.k.a. "Loiter").
    voidset_actuator_async (int32_t index, float value, const ResultCallback callback)Send command to set the value of an actuator.
    Resultset_actuator (int32_t index, float value)constSend command to set the value of an actuator.
    voidtransition_to_fixedwing_async (const ResultCallback callback)Send command to transition the drone to fixedwing.
    Resulttransition_to_fixedwing () constSend command to transition the drone to fixedwing.
    voidtransition_to_multicopter_async (const ResultCallback callback)Send command to transition the drone to multicopter.
    Resulttransition_to_multicopter () constSend command to transition the drone to multicopter.
    voidget_takeoff_altitude_async (const GetTakeoffAltitudeCallback callback)Get the takeoff altitude (in meters above ground).
    std::pair< Result, float >get_takeoff_altitude () constGet the takeoff altitude (in meters above ground).
    voidset_takeoff_altitude_async (float altitude, const ResultCallback callback)Set takeoff altitude (in meters above ground).
    Resultset_takeoff_altitude (float altitude)constSet takeoff altitude (in meters above ground).
    voidget_maximum_speed_async (const GetMaximumSpeedCallback callback)Get the vehicle maximum speed (in metres/second).
    std::pair< Result, float >get_maximum_speed () constGet the vehicle maximum speed (in metres/second).
    voidset_maximum_speed_async (float speed, const ResultCallback callback)Set vehicle maximum speed (in metres/second).
    Resultset_maximum_speed (float speed)constSet vehicle maximum speed (in metres/second).
    voidget_return_to_launch_altitude_async (const GetReturnToLaunchAltitudeCallback callback)Get the return to launch minimum return altitude (in meters).
    std::pair< Result, float >get_return_to_launch_altitude () constGet the return to launch minimum return altitude (in meters).
    voidset_return_to_launch_altitude_async (float relative_altitude_m, const ResultCallback callback)Set the return to launch minimum return altitude (in meters).
    Resultset_return_to_launch_altitude (float relative_altitude_m)constSet the return to launch minimum return altitude (in meters).
    voidset_current_speed_async (float speed_m_s, const ResultCallback callback)Set current speed.
    Resultset_current_speed (float speed_m_s)constSet current speed.
    const Action &operator= (const Action &)=deleteEquality operator (object is not copyable).
    +

    Constructor & Destructor Documentation

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    Action()

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    mavsdk::Action::Action(System &system)
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    Constructor. Creates the plugin for a specific System.

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    The plugin is typically created as shown below:

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    auto action = Action(system);
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    Parameters

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    • System& system - The specific system associated with this plugin.
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    Action()

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    mavsdk::Action::Action(std::shared_ptr< System > system)
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    Constructor. Creates the plugin for a specific System.

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    The plugin is typically created as shown below:

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    auto action = Action(system);
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    Parameters

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    • std::shared_ptr< System > system - The specific system associated with this plugin.
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    ~Action()

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    mavsdk::Action::~Action() override
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    Destructor (internal use only).

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    Action()

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    mavsdk::Action::Action(const Action &other)
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    Copy constructor.

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    Parameters

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    Member Typdef Documentation

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    typedef ResultCallback

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    using mavsdk::Action::ResultCallback =  std::function<void(Result)>
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    Callback type for asynchronous Action calls.

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    typedef GetTakeoffAltitudeCallback

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    using mavsdk::Action::GetTakeoffAltitudeCallback =  std::function<void(Result, float)>
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    Callback type for get_takeoff_altitude_async.

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    typedef GetMaximumSpeedCallback

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    using mavsdk::Action::GetMaximumSpeedCallback =  std::function<void(Result, float)>
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    Callback type for get_maximum_speed_async.

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    typedef GetReturnToLaunchAltitudeCallback

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    using mavsdk::Action::GetReturnToLaunchAltitudeCallback =  std::function<void(Result, float)>
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    Callback type for get_return_to_launch_altitude_async.

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    Member Enumeration Documentation

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    enum OrbitYawBehavior

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    Yaw behaviour during orbit flight.

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    ValueDescription
    HoldFrontToCircleCenterVehicle front points to the center (default).
    HoldInitialHeadingVehicle front holds heading when message received.
    UncontrolledYaw uncontrolled.
    HoldFrontTangentToCircleVehicle front follows flight path (tangential to circle).
    RcControlledYaw controlled by RC input.
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    enum Result

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    Possible results returned for action requests.

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    ValueDescription
    UnknownUnknown result.
    SuccessRequest was successful.
    NoSystemNo system is connected.
    ConnectionErrorConnection error.
    BusyVehicle is busy.
    CommandDeniedCommand refused by vehicle.
    CommandDeniedLandedStateUnknownCommand refused because landed state is unknown.
    CommandDeniedNotLandedCommand refused because vehicle not landed.
    TimeoutRequest timed out.
    VtolTransitionSupportUnknownHybrid/VTOL transition support is unknown.
    NoVtolTransitionSupportVehicle does not support hybrid/VTOL transitions.
    ParameterErrorError getting or setting parameter.
    UnsupportedAction not supported.
    FailedAction failed.
    +

    Member Function Documentation

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    arm_async()

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    void mavsdk::Action::arm_async(const ResultCallback callback)
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    +

    Send command to arm the drone.

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    Arming a drone normally causes motors to spin at idle. Before arming take all safety precautions and stand clear of the drone!

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    This function is non-blocking. See 'arm' for the blocking counterpart.

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    Parameters

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    arm()

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    Result mavsdk::Action::arm() const
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    Send command to arm the drone.

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    Arming a drone normally causes motors to spin at idle. Before arming take all safety precautions and stand clear of the drone!

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    This function is blocking. See 'arm_async' for the non-blocking counterpart.

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    Returns

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     Result - Result of request.

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    disarm_async()

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    void mavsdk::Action::disarm_async(const ResultCallback callback)
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    Send command to disarm the drone.

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    This will disarm a drone that considers itself landed. If flying, the drone should reject the disarm command. Disarming means that all motors will stop.

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    This function is non-blocking. See 'disarm' for the blocking counterpart.

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    Parameters

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    disarm()

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    Result mavsdk::Action::disarm() const
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    Send command to disarm the drone.

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    This will disarm a drone that considers itself landed. If flying, the drone should reject the disarm command. Disarming means that all motors will stop.

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    This function is blocking. See 'disarm_async' for the non-blocking counterpart.

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    Returns

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     Result - Result of request.

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    takeoff_async()

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    void mavsdk::Action::takeoff_async(const ResultCallback callback)
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    Send command to take off and hover.

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    This switches the drone into position control mode and commands it to take off and hover at the takeoff altitude.

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    Note that the vehicle must be armed before it can take off.

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    This function is non-blocking. See 'takeoff' for the blocking counterpart.

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    Parameters

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    takeoff()

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    Result mavsdk::Action::takeoff() const
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    Send command to take off and hover.

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    This switches the drone into position control mode and commands it to take off and hover at the takeoff altitude.

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    Note that the vehicle must be armed before it can take off.

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    This function is blocking. See 'takeoff_async' for the non-blocking counterpart.

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    Returns

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     Result - Result of request.

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    land_async()

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    void mavsdk::Action::land_async(const ResultCallback callback)
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    Send command to land at the current position.

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    This switches the drone to 'Land' flight mode.

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    This function is non-blocking. See 'land' for the blocking counterpart.

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    Parameters

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    land()

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    Result mavsdk::Action::land() const
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    Send command to land at the current position.

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    This switches the drone to 'Land' flight mode.

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    This function is blocking. See 'land_async' for the non-blocking counterpart.

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    Returns

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     Result - Result of request.

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    reboot_async()

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    void mavsdk::Action::reboot_async(const ResultCallback callback)
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    Send command to reboot the drone components.

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    This will reboot the autopilot, companion computer, camera and gimbal.

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    This function is non-blocking. See 'reboot' for the blocking counterpart.

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    Parameters

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    reboot()

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    Result mavsdk::Action::reboot() const
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    Send command to reboot the drone components.

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    This will reboot the autopilot, companion computer, camera and gimbal.

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    This function is blocking. See 'reboot_async' for the non-blocking counterpart.

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    Returns

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     Result - Result of request.

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    shutdown_async()

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    void mavsdk::Action::shutdown_async(const ResultCallback callback)
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    Send command to shut down the drone components.

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    This will shut down the autopilot, onboard computer, camera and gimbal. This command should only be used when the autopilot is disarmed and autopilots commonly reject it if they are not already ready to shut down.

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    This function is non-blocking. See 'shutdown' for the blocking counterpart.

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    Parameters

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    shutdown()

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    Result mavsdk::Action::shutdown() const
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    Send command to shut down the drone components.

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    This will shut down the autopilot, onboard computer, camera and gimbal. This command should only be used when the autopilot is disarmed and autopilots commonly reject it if they are not already ready to shut down.

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    This function is blocking. See 'shutdown_async' for the non-blocking counterpart.

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    Returns

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     Result - Result of request.

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    terminate_async()

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    void mavsdk::Action::terminate_async(const ResultCallback callback)
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    Send command to terminate the drone.

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    This will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).

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    This function is non-blocking. See 'terminate' for the blocking counterpart.

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    Parameters

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    terminate()

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    Result mavsdk::Action::terminate() const
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    Send command to terminate the drone.

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    This will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).

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    This function is blocking. See 'terminate_async' for the non-blocking counterpart.

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    Returns

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     Result - Result of request.

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    kill_async()

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    void mavsdk::Action::kill_async(const ResultCallback callback)
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    Send command to kill the drone.

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    This will disarm a drone irrespective of whether it is landed or flying. Note that the drone will fall out of the sky if this command is used while flying.

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    This function is non-blocking. See 'kill' for the blocking counterpart.

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    Parameters

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    kill()

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    Result mavsdk::Action::kill() const
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    Send command to kill the drone.

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    This will disarm a drone irrespective of whether it is landed or flying. Note that the drone will fall out of the sky if this command is used while flying.

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    This function is blocking. See 'kill_async' for the non-blocking counterpart.

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    Returns

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     Result - Result of request.

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    return_to_launch_async()

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    void mavsdk::Action::return_to_launch_async(const ResultCallback callback)
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    Send command to return to the launch (takeoff) position and land.

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    This switches the drone into Return mode which generally means it will rise up to a certain altitude to clear any obstacles before heading back to the launch (takeoff) position and land there.

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    This function is non-blocking. See 'return_to_launch' for the blocking counterpart.

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    Parameters

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    return_to_launch()

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    Result mavsdk::Action::return_to_launch() const
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    Send command to return to the launch (takeoff) position and land.

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    This switches the drone into Return mode which generally means it will rise up to a certain altitude to clear any obstacles before heading back to the launch (takeoff) position and land there.

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    This function is blocking. See 'return_to_launch_async' for the non-blocking counterpart.

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    Returns

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     Result - Result of request.

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    goto_location_async()

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    void mavsdk::Action::goto_location_async(double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg, const ResultCallback callback)
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    +

    Send command to move the vehicle to a specific global position.

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    The latitude and longitude are given in degrees (WGS84 frame) and the altitude in meters AMSL (above mean sea level).

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    The yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).

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    This function is non-blocking. See 'goto_location' for the blocking counterpart.

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    Parameters

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    • double latitude_deg -
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    • double longitude_deg -
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    • float absolute_altitude_m -
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    • float yaw_deg -
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    • const ResultCallback callback -
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    goto_location()

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    Result mavsdk::Action::goto_location(double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg) const
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    +

    Send command to move the vehicle to a specific global position.

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    The latitude and longitude are given in degrees (WGS84 frame) and the altitude in meters AMSL (above mean sea level).

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    The yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).

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    This function is blocking. See 'goto_location_async' for the non-blocking counterpart.

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    Parameters

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    • double latitude_deg -
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    • double longitude_deg -
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    • float absolute_altitude_m -
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    • float yaw_deg -
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    Returns

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     Result - Result of request.

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    do_orbit_async()

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    void mavsdk::Action::do_orbit_async(float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m, const ResultCallback callback)
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    Send command do orbit to the drone.

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    This will run the orbit routine with the given parameters.

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    This function is non-blocking. See 'do_orbit' for the blocking counterpart.

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    Parameters

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    • float radius_m -
      • +
    • float velocity_ms -
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    • OrbitYawBehavior yaw_behavior -
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    • double latitude_deg -
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    • double longitude_deg -
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    • double absolute_altitude_m -
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    • const ResultCallback callback -
      • +
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    do_orbit()

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    Result mavsdk::Action::do_orbit(float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m) const
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    +

    Send command do orbit to the drone.

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    This will run the orbit routine with the given parameters.

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    This function is blocking. See 'do_orbit_async' for the non-blocking counterpart.

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    Parameters

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      +
    • float radius_m -
      • +
    • float velocity_ms -
      • +
    • OrbitYawBehavior yaw_behavior -
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    • double latitude_deg -
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    • double longitude_deg -
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    • double absolute_altitude_m -
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    Returns

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     Result - Result of request.

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    hold_async()

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    void mavsdk::Action::hold_async(const ResultCallback callback)
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    +

    Send command to hold position (a.k.a. "Loiter").

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    Sends a command to drone to change to Hold flight mode, causing the vehicle to stop and maintain its current GPS position and altitude.

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    Note: this command is specific to the PX4 Autopilot flight stack as it implies a change to a PX4-specific mode.

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    This function is non-blocking. See 'hold' for the blocking counterpart.

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    Parameters

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    hold()

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    Result mavsdk::Action::hold() const
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    +

    Send command to hold position (a.k.a. "Loiter").

    +

    Sends a command to drone to change to Hold flight mode, causing the vehicle to stop and maintain its current GPS position and altitude.

    +

    Note: this command is specific to the PX4 Autopilot flight stack as it implies a change to a PX4-specific mode.

    +

    This function is blocking. See 'hold_async' for the non-blocking counterpart.

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    Returns

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     Result - Result of request.

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    set_actuator_async()

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    void mavsdk::Action::set_actuator_async(int32_t index, float value, const ResultCallback callback)
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    +

    Send command to set the value of an actuator.

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    This function is non-blocking. See 'set_actuator' for the blocking counterpart.

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    Parameters

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    set_actuator()

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    Result mavsdk::Action::set_actuator(int32_t index, float value) const
+
    +

    Send command to set the value of an actuator.

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    This function is blocking. See 'set_actuator_async' for the non-blocking counterpart.

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    Parameters

    +
      +
    • int32_t index -
      • +
    • float value -
      • +
    +

    Returns

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     Result - Result of request.

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    transition_to_fixedwing_async()

    +
    void mavsdk::Action::transition_to_fixedwing_async(const ResultCallback callback)
+
    +

    Send command to transition the drone to fixedwing.

    +

    The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in fixedwing mode.

    +

    This function is non-blocking. See 'transition_to_fixedwing' for the blocking counterpart.

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    Parameters

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    transition_to_fixedwing()

    +
    Result mavsdk::Action::transition_to_fixedwing() const
+
    +

    Send command to transition the drone to fixedwing.

    +

    The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in fixedwing mode.

    +

    This function is blocking. See 'transition_to_fixedwing_async' for the non-blocking counterpart.

    +

    Returns

    +

     Result - Result of request.

    +

    transition_to_multicopter_async()

    +
    void mavsdk::Action::transition_to_multicopter_async(const ResultCallback callback)
+
    +

    Send command to transition the drone to multicopter.

    +

    The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in multicopter mode.

    +

    This function is non-blocking. See 'transition_to_multicopter' for the blocking counterpart.

    +

    Parameters

    + +

    transition_to_multicopter()

    +
    Result mavsdk::Action::transition_to_multicopter() const
+
    +

    Send command to transition the drone to multicopter.

    +

    The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in multicopter mode.

    +

    This function is blocking. See 'transition_to_multicopter_async' for the non-blocking counterpart.

    +

    Returns

    +

     Result - Result of request.

    +

    get_takeoff_altitude_async()

    +
    void mavsdk::Action::get_takeoff_altitude_async(const GetTakeoffAltitudeCallback callback)
+
    +

    Get the takeoff altitude (in meters above ground).

    +

    This function is non-blocking. See 'get_takeoff_altitude' for the blocking counterpart.

    +

    Parameters

    + +

    get_takeoff_altitude()

    +
    std::pair<Result, float> mavsdk::Action::get_takeoff_altitude() const
+
    +

    Get the takeoff altitude (in meters above ground).

    +

    This function is blocking. See 'get_takeoff_altitude_async' for the non-blocking counterpart.

    +

    Returns

    +

     std::pair< Result, float > - Result of request.

    +

    set_takeoff_altitude_async()

    +
    void mavsdk::Action::set_takeoff_altitude_async(float altitude, const ResultCallback callback)
+
    +

    Set takeoff altitude (in meters above ground).

    +

    This function is non-blocking. See 'set_takeoff_altitude' for the blocking counterpart.

    +

    Parameters

    + +

    set_takeoff_altitude()

    +
    Result mavsdk::Action::set_takeoff_altitude(float altitude) const
+
    +

    Set takeoff altitude (in meters above ground).

    +

    This function is blocking. See 'set_takeoff_altitude_async' for the non-blocking counterpart.

    +

    Parameters

    +
      +
    • float altitude -
      • +
    +

    Returns

    +

     Result - Result of request.

    +

    get_maximum_speed_async()

    +
    void mavsdk::Action::get_maximum_speed_async(const GetMaximumSpeedCallback callback)
+
    +

    Get the vehicle maximum speed (in metres/second).

    +

    This function is non-blocking. See 'get_maximum_speed' for the blocking counterpart.

    +

    Parameters

    + +

    get_maximum_speed()

    +
    std::pair<Result, float> mavsdk::Action::get_maximum_speed() const
+
    +

    Get the vehicle maximum speed (in metres/second).

    +

    This function is blocking. See 'get_maximum_speed_async' for the non-blocking counterpart.

    +

    Returns

    +

     std::pair< Result, float > - Result of request.

    +

    set_maximum_speed_async()

    +
    void mavsdk::Action::set_maximum_speed_async(float speed, const ResultCallback callback)
+
    +

    Set vehicle maximum speed (in metres/second).

    +

    This function is non-blocking. See 'set_maximum_speed' for the blocking counterpart.

    +

    Parameters

    + +

    set_maximum_speed()

    +
    Result mavsdk::Action::set_maximum_speed(float speed) const
+
    +

    Set vehicle maximum speed (in metres/second).

    +

    This function is blocking. See 'set_maximum_speed_async' for the non-blocking counterpart.

    +

    Parameters

    +
      +
    • float speed -
      • +
    +

    Returns

    +

     Result - Result of request.

    +

    get_return_to_launch_altitude_async()

    +
    void mavsdk::Action::get_return_to_launch_altitude_async(const GetReturnToLaunchAltitudeCallback callback)
+
    +

    Get the return to launch minimum return altitude (in meters).

    +

    This function is non-blocking. See 'get_return_to_launch_altitude' for the blocking counterpart.

    +

    Parameters

    + +

    get_return_to_launch_altitude()

    +
    std::pair<Result, float> mavsdk::Action::get_return_to_launch_altitude() const
+
    +

    Get the return to launch minimum return altitude (in meters).

    +

    This function is blocking. See 'get_return_to_launch_altitude_async' for the non-blocking counterpart.

    +

    Returns

    +

     std::pair< Result, float > - Result of request.

    +

    set_return_to_launch_altitude_async()

    +
    void mavsdk::Action::set_return_to_launch_altitude_async(float relative_altitude_m, const ResultCallback callback)
+
    +

    Set the return to launch minimum return altitude (in meters).

    +

    This function is non-blocking. See 'set_return_to_launch_altitude' for the blocking counterpart.

    +

    Parameters

    + +

    set_return_to_launch_altitude()

    +
    Result mavsdk::Action::set_return_to_launch_altitude(float relative_altitude_m) const
+
    +

    Set the return to launch minimum return altitude (in meters).

    +

    This function is blocking. See 'set_return_to_launch_altitude_async' for the non-blocking counterpart.

    +

    Parameters

    +
      +
    • float relative_altitude_m -
      • +
    +

    Returns

    +

     Result - Result of request.

    +

    set_current_speed_async()

    +
    void mavsdk::Action::set_current_speed_async(float speed_m_s, const ResultCallback callback)
+
    +

    Set current speed.

    +

    This will set the speed during a mission, reposition, and similar. It is ephemeral, so not stored on the drone and does not survive a reboot.

    +

    This function is non-blocking. See 'set_current_speed' for the blocking counterpart.

    +

    Parameters

    + +

    set_current_speed()

    +
    Result mavsdk::Action::set_current_speed(float speed_m_s) const
+
    +

    Set current speed.

    +

    This will set the speed during a mission, reposition, and similar. It is ephemeral, so not stored on the drone and does not survive a reboot.

    +

    This function is blocking. See 'set_current_speed_async' for the non-blocking counterpart.

    +

    Parameters

    +
      +
    • float speed_m_s -
      • +
    +

    Returns

    +

     Result - Result of request.

    +

    operator=()

    +
    const Action& mavsdk::Action::operator=(const Action &)=delete
+
    +

    Equality operator (object is not copyable).

    +

    Parameters

    + +

    Returns

    +

     const Action & -

    +
    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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      mavsdk::ActionServer Class Reference

      +

      #include: action_server.h

      +
      +

      Provide vehicle actions (as a server) such as arming, taking off, and landing.

      +

      Data Structures

      +

      struct AllowableFlightModes

      +

      struct ArmDisarm

      +

      Public Types

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      TypeDescription
      enum FlightModeFlight modes.
      enum ResultPossible results returned for action requests.
      std::function< void(Result)> ResultCallbackCallback type for asynchronous ActionServer calls.
      std::function< void(Result, ArmDisarm)> ArmDisarmCallbackCallback type for subscribe_arm_disarm.
      Handle< Result, ArmDisarm > ArmDisarmHandleHandle type for subscribe_arm_disarm.
      std::function< void(Result, FlightMode)> FlightModeChangeCallbackCallback type for subscribe_flight_mode_change.
      Handle< Result, FlightMode > FlightModeChangeHandleHandle type for subscribe_flight_mode_change.
      std::function< void(Result, bool)> TakeoffCallbackCallback type for subscribe_takeoff.
      Handle< Result, bool > TakeoffHandleHandle type for subscribe_takeoff.
      std::function< void(Result, bool)> LandCallbackCallback type for subscribe_land.
      Handle< Result, bool > LandHandleHandle type for subscribe_land.
      std::function< void(Result, bool)> RebootCallbackCallback type for subscribe_reboot.
      Handle< Result, bool > RebootHandleHandle type for subscribe_reboot.
      std::function< void(Result, bool)> ShutdownCallbackCallback type for subscribe_shutdown.
      Handle< Result, bool > ShutdownHandleHandle type for subscribe_shutdown.
      std::function< void(Result, bool)> TerminateCallbackCallback type for subscribe_terminate.
      Handle< Result, bool > TerminateHandleHandle type for subscribe_terminate.
      +

      Public Member Functions

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      TypeNameDescription
       ActionServer (std::shared_ptr< ServerComponent > server_component)Constructor. Creates the plugin for a ServerComponent instance.
       ~ActionServer () overrideDestructor (internal use only).
       ActionServer (const ActionServer & other)Copy constructor.
      ArmDisarmHandlesubscribe_arm_disarm (const ArmDisarmCallback & callback)Subscribe to ARM/DISARM commands.
      voidunsubscribe_arm_disarm (ArmDisarmHandle handle)Unsubscribe from subscribe_arm_disarm.
      FlightModeChangeHandlesubscribe_flight_mode_change (const FlightModeChangeCallback & callback)Subscribe to DO_SET_MODE.
      voidunsubscribe_flight_mode_change (FlightModeChangeHandle handle)Unsubscribe from subscribe_flight_mode_change.
      TakeoffHandlesubscribe_takeoff (const TakeoffCallback & callback)Subscribe to takeoff command.
      voidunsubscribe_takeoff (TakeoffHandle handle)Unsubscribe from subscribe_takeoff.
      LandHandlesubscribe_land (const LandCallback & callback)Subscribe to land command.
      voidunsubscribe_land (LandHandle handle)Unsubscribe from subscribe_land.
      RebootHandlesubscribe_reboot (const RebootCallback & callback)Subscribe to reboot command.
      voidunsubscribe_reboot (RebootHandle handle)Unsubscribe from subscribe_reboot.
      ShutdownHandlesubscribe_shutdown (const ShutdownCallback & callback)Subscribe to shutdown command.
      voidunsubscribe_shutdown (ShutdownHandle handle)Unsubscribe from subscribe_shutdown.
      TerminateHandlesubscribe_terminate (const TerminateCallback & callback)Subscribe to terminate command.
      voidunsubscribe_terminate (TerminateHandle handle)Unsubscribe from subscribe_terminate.
      Resultset_allow_takeoff (bool allow_takeoff)constCan the vehicle takeoff.
      Resultset_armable (bool armable, bool force_armable)constCan the vehicle arm when requested.
      Resultset_disarmable (bool disarmable, bool force_disarmable)constCan the vehicle disarm when requested.
      Resultset_allowable_flight_modes (AllowableFlightModes flight_modes)constSet which modes the vehicle can transition to (Manual always allowed)
      ActionServer::AllowableFlightModesget_allowable_flight_modes () constGet which modes the vehicle can transition to (Manual always allowed)
      const ActionServer &operator= (const ActionServer &)=deleteEquality operator (object is not copyable).
      +

      Constructor & Destructor Documentation

      +

      ActionServer()

      +
      mavsdk::ActionServer::ActionServer(std::shared_ptr< ServerComponent > server_component)
+
      +

      Constructor. Creates the plugin for a ServerComponent instance.

      +

      The plugin is typically created as shown below:

      +
      auto action_server = ActionServer(server_component);
+
      +

      Parameters

      + +

      ~ActionServer()

      +
      mavsdk::ActionServer::~ActionServer() override
+
      +

      Destructor (internal use only).

      +

      ActionServer()

      +
      mavsdk::ActionServer::ActionServer(const ActionServer &other)
+
      +

      Copy constructor.

      +

      Parameters

      + +

      Member Typdef Documentation

      +

      typedef ResultCallback

      +
      using mavsdk::ActionServer::ResultCallback =  std::function<void(Result)>
+
      +

      Callback type for asynchronous ActionServer calls.

      +

      typedef ArmDisarmCallback

      +
      using mavsdk::ActionServer::ArmDisarmCallback =  std::function<void(Result, ArmDisarm)>
+
      +

      Callback type for subscribe_arm_disarm.

      +

      typedef ArmDisarmHandle

      +
      using mavsdk::ActionServer::ArmDisarmHandle =  Handle<Result, ArmDisarm>
+
      +

      Handle type for subscribe_arm_disarm.

      +

      typedef FlightModeChangeCallback

      +
      using mavsdk::ActionServer::FlightModeChangeCallback =  std::function<void(Result, FlightMode)>
+
      +

      Callback type for subscribe_flight_mode_change.

      +

      typedef FlightModeChangeHandle

      +
      using mavsdk::ActionServer::FlightModeChangeHandle =  Handle<Result, FlightMode>
+
      +

      Handle type for subscribe_flight_mode_change.

      +

      typedef TakeoffCallback

      +
      using mavsdk::ActionServer::TakeoffCallback =  std::function<void(Result, bool)>
+
      +

      Callback type for subscribe_takeoff.

      +

      typedef TakeoffHandle

      +
      using mavsdk::ActionServer::TakeoffHandle =  Handle<Result, bool>
+
      +

      Handle type for subscribe_takeoff.

      +

      typedef LandCallback

      +
      using mavsdk::ActionServer::LandCallback =  std::function<void(Result, bool)>
+
      +

      Callback type for subscribe_land.

      +

      typedef LandHandle

      +
      using mavsdk::ActionServer::LandHandle =  Handle<Result, bool>
+
      +

      Handle type for subscribe_land.

      +

      typedef RebootCallback

      +
      using mavsdk::ActionServer::RebootCallback =  std::function<void(Result, bool)>
+
      +

      Callback type for subscribe_reboot.

      +

      typedef RebootHandle

      +
      using mavsdk::ActionServer::RebootHandle =  Handle<Result, bool>
+
      +

      Handle type for subscribe_reboot.

      +

      typedef ShutdownCallback

      +
      using mavsdk::ActionServer::ShutdownCallback =  std::function<void(Result, bool)>
+
      +

      Callback type for subscribe_shutdown.

      +

      typedef ShutdownHandle

      +
      using mavsdk::ActionServer::ShutdownHandle =  Handle<Result, bool>
+
      +

      Handle type for subscribe_shutdown.

      +

      typedef TerminateCallback

      +
      using mavsdk::ActionServer::TerminateCallback =  std::function<void(Result, bool)>
+
      +

      Callback type for subscribe_terminate.

      +

      typedef TerminateHandle

      +
      using mavsdk::ActionServer::TerminateHandle =  Handle<Result, bool>
+
      +

      Handle type for subscribe_terminate.

      +

      Member Enumeration Documentation

      +

      enum FlightMode

      +

      Flight modes.

      +

      For more information about flight modes, check out https://docs.px4.io/master/en/config/flight_mode.html.

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      ValueDescription
      UnknownMode not known.
      ReadyArmed and ready to take off.
      TakeoffTaking off.
      HoldHolding (hovering in place (or circling for fixed-wing vehicles).
      MissionIn mission.
      ReturnToLaunchReturning to launch position (then landing).
      LandLanding.
      OffboardIn 'offboard' mode.
      FollowMeIn 'follow-me' mode.
      ManualIn 'Manual' mode.
      AltctlIn 'Altitude Control' mode.
      PosctlIn 'Position Control' mode.
      AcroIn 'Acro' mode.
      StabilizedIn 'Stabilize' mode.
      +

      enum Result

      +

      Possible results returned for action requests.

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      ValueDescription
      UnknownUnknown result.
      SuccessRequest was successful.
      NoSystemNo system is connected.
      ConnectionErrorConnection error.
      BusyVehicle is busy.
      CommandDeniedCommand refused by vehicle.
      CommandDeniedLandedStateUnknownCommand refused because landed state is unknown.
      CommandDeniedNotLandedCommand refused because vehicle not landed.
      TimeoutRequest timed out.
      VtolTransitionSupportUnknownHybrid/VTOL transition support is unknown.
      NoVtolTransitionSupportVehicle does not support hybrid/VTOL transitions.
      ParameterErrorError getting or setting parameter.
      NextIntermediate message showing progress or instructions on the next steps.
      +

      Member Function Documentation

      +

      subscribe_arm_disarm()

      +
      ArmDisarmHandle mavsdk::ActionServer::subscribe_arm_disarm(const ArmDisarmCallback &callback)
+
      +

      Subscribe to ARM/DISARM commands.

      +

      Parameters

      + +

      Returns

      +

       ArmDisarmHandle -

      +

      unsubscribe_arm_disarm()

      +
      void mavsdk::ActionServer::unsubscribe_arm_disarm(ArmDisarmHandle handle)
+
      +

      Unsubscribe from subscribe_arm_disarm.

      +

      Parameters

      + +

      subscribe_flight_mode_change()

      +
      FlightModeChangeHandle mavsdk::ActionServer::subscribe_flight_mode_change(const FlightModeChangeCallback &callback)
+
      +

      Subscribe to DO_SET_MODE.

      +

      Parameters

      + +

      Returns

      +

       FlightModeChangeHandle -

      +

      unsubscribe_flight_mode_change()

      +
      void mavsdk::ActionServer::unsubscribe_flight_mode_change(FlightModeChangeHandle handle)
+
      +

      Unsubscribe from subscribe_flight_mode_change.

      +

      Parameters

      + +

      subscribe_takeoff()

      +
      TakeoffHandle mavsdk::ActionServer::subscribe_takeoff(const TakeoffCallback &callback)
+
      +

      Subscribe to takeoff command.

      +

      Parameters

      + +

      Returns

      +

       TakeoffHandle -

      +

      unsubscribe_takeoff()

      +
      void mavsdk::ActionServer::unsubscribe_takeoff(TakeoffHandle handle)
+
      +

      Unsubscribe from subscribe_takeoff.

      +

      Parameters

      + +

      subscribe_land()

      +
      LandHandle mavsdk::ActionServer::subscribe_land(const LandCallback &callback)
+
      +

      Subscribe to land command.

      +

      Parameters

      + +

      Returns

      +

       LandHandle -

      +

      unsubscribe_land()

      +
      void mavsdk::ActionServer::unsubscribe_land(LandHandle handle)
+
      +

      Unsubscribe from subscribe_land.

      +

      Parameters

      + +

      subscribe_reboot()

      +
      RebootHandle mavsdk::ActionServer::subscribe_reboot(const RebootCallback &callback)
+
      +

      Subscribe to reboot command.

      +

      Parameters

      + +

      Returns

      +

       RebootHandle -

      +

      unsubscribe_reboot()

      +
      void mavsdk::ActionServer::unsubscribe_reboot(RebootHandle handle)
+
      +

      Unsubscribe from subscribe_reboot.

      +

      Parameters

      + +

      subscribe_shutdown()

      +
      ShutdownHandle mavsdk::ActionServer::subscribe_shutdown(const ShutdownCallback &callback)
+
      +

      Subscribe to shutdown command.

      +

      Parameters

      + +

      Returns

      +

       ShutdownHandle -

      +

      unsubscribe_shutdown()

      +
      void mavsdk::ActionServer::unsubscribe_shutdown(ShutdownHandle handle)
+
      +

      Unsubscribe from subscribe_shutdown.

      +

      Parameters

      + +

      subscribe_terminate()

      +
      TerminateHandle mavsdk::ActionServer::subscribe_terminate(const TerminateCallback &callback)
+
      +

      Subscribe to terminate command.

      +

      Parameters

      + +

      Returns

      +

       TerminateHandle -

      +

      unsubscribe_terminate()

      +
      void mavsdk::ActionServer::unsubscribe_terminate(TerminateHandle handle)
+
      +

      Unsubscribe from subscribe_terminate.

      +

      Parameters

      + +

      set_allow_takeoff()

      +
      Result mavsdk::ActionServer::set_allow_takeoff(bool allow_takeoff) const
+
      +

      Can the vehicle takeoff.

      +

      This function is blocking.

      +

      Parameters

      +
        +
      • bool allow_takeoff -
        • +
      +

      Returns

      +

       Result - Result of request.

      +

      set_armable()

      +
      Result mavsdk::ActionServer::set_armable(bool armable, bool force_armable) const
+
      +

      Can the vehicle arm when requested.

      +

      This function is blocking.

      +

      Parameters

      +
        +
      • bool armable -
        • +
      • bool force_armable -
        • +
      +

      Returns

      +

       Result - Result of request.

      +

      set_disarmable()

      +
      Result mavsdk::ActionServer::set_disarmable(bool disarmable, bool force_disarmable) const
+
      +

      Can the vehicle disarm when requested.

      +

      This function is blocking.

      +

      Parameters

      +
        +
      • bool disarmable -
        • +
      • bool force_disarmable -
        • +
      +

      Returns

      +

       Result - Result of request.

      +

      set_allowable_flight_modes()

      +
      Result mavsdk::ActionServer::set_allowable_flight_modes(AllowableFlightModes flight_modes) const
+
      +

      Set which modes the vehicle can transition to (Manual always allowed)

      +

      This function is blocking.

      +

      Parameters

      + +

      Returns

      +

       Result - Result of request.

      +

      get_allowable_flight_modes()

      +
      ActionServer::AllowableFlightModes mavsdk::ActionServer::get_allowable_flight_modes() const
+
      +

      Get which modes the vehicle can transition to (Manual always allowed)

      +

      This function is blocking.

      +

      Returns

      +

       ActionServer::AllowableFlightModes - Result of request.

      +

      operator=()

      +
      const ActionServer& mavsdk::ActionServer::operator=(const ActionServer &)=delete
+
      +

      Equality operator (object is not copyable).

      +

      Parameters

      + +

      Returns

      +

       const ActionServer & -

      +
      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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        mavsdk::Calibration Class Reference

        +

        #include: calibration.h

        +
        +

        Enable to calibrate sensors of a drone such as gyro, accelerometer, and magnetometer.

        +

        Data Structures

        +

        struct ProgressData

        +

        Public Types

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        TypeDescription
        enum ResultPossible results returned for calibration commands.
        std::function< void(Result)> ResultCallbackCallback type for asynchronous Calibration calls.
        std::function< void(Result, ProgressData)> CalibrateGyroCallbackCallback type for calibrate_gyro_async.
        std::function< void(Result, ProgressData)> CalibrateAccelerometerCallbackCallback type for calibrate_accelerometer_async.
        std::function< void(Result, ProgressData)> CalibrateMagnetometerCallbackCallback type for calibrate_magnetometer_async.
        std::function< void(Result, ProgressData)> CalibrateLevelHorizonCallbackCallback type for calibrate_level_horizon_async.
        std::function< void(Result, ProgressData)> CalibrateGimbalAccelerometerCallbackCallback type for calibrate_gimbal_accelerometer_async.
        +

        Public Member Functions

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        TypeNameDescription
         Calibration (System & system)Constructor. Creates the plugin for a specific System.
         Calibration (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
         ~Calibration () overrideDestructor (internal use only).
         Calibration (const Calibration & other)Copy constructor.
        voidcalibrate_gyro_async (const CalibrateGyroCallback & callback)Perform gyro calibration.
        voidcalibrate_accelerometer_async (const CalibrateAccelerometerCallback & callback)Perform accelerometer calibration.
        voidcalibrate_magnetometer_async (const CalibrateMagnetometerCallback & callback)Perform magnetometer calibration.
        voidcalibrate_level_horizon_async (const CalibrateLevelHorizonCallback & callback)Perform board level horizon calibration.
        voidcalibrate_gimbal_accelerometer_async (const CalibrateGimbalAccelerometerCallback & callback)Perform gimbal accelerometer calibration.
        Resultcancel () constCancel ongoing calibration process.
        const Calibration &operator= (const Calibration &)=deleteEquality operator (object is not copyable).
        +

        Constructor & Destructor Documentation

        +

        Calibration()

        +
        mavsdk::Calibration::Calibration(System &system)
+
        +

        Constructor. Creates the plugin for a specific System.

        +

        The plugin is typically created as shown below:

        +
        auto calibration = Calibration(system);
+
        +

        Parameters

        +
          +
        • System& system - The specific system associated with this plugin.
          • +
        +

        Calibration()

        +
        mavsdk::Calibration::Calibration(std::shared_ptr< System > system)
+
        +

        Constructor. Creates the plugin for a specific System.

        +

        The plugin is typically created as shown below:

        +
        auto calibration = Calibration(system);
+
        +

        Parameters

        +
          +
        • std::shared_ptr< System > system - The specific system associated with this plugin.
          • +
        +

        ~Calibration()

        +
        mavsdk::Calibration::~Calibration() override
+
        +

        Destructor (internal use only).

        +

        Calibration()

        +
        mavsdk::Calibration::Calibration(const Calibration &other)
+
        +

        Copy constructor.

        +

        Parameters

        + +

        Member Typdef Documentation

        +

        typedef ResultCallback

        +
        using mavsdk::Calibration::ResultCallback =  std::function<void(Result)>
+
        +

        Callback type for asynchronous Calibration calls.

        +

        typedef CalibrateGyroCallback

        +
        using mavsdk::Calibration::CalibrateGyroCallback =  std::function<void(Result, ProgressData)>
+
        +

        Callback type for calibrate_gyro_async.

        +

        typedef CalibrateAccelerometerCallback

        +
        using mavsdk::Calibration::CalibrateAccelerometerCallback =  std::function<void(Result, ProgressData)>
+
        +

        Callback type for calibrate_accelerometer_async.

        +

        typedef CalibrateMagnetometerCallback

        +
        using mavsdk::Calibration::CalibrateMagnetometerCallback =  std::function<void(Result, ProgressData)>
+
        +

        Callback type for calibrate_magnetometer_async.

        +

        typedef CalibrateLevelHorizonCallback

        +
        using mavsdk::Calibration::CalibrateLevelHorizonCallback =  std::function<void(Result, ProgressData)>
+
        +

        Callback type for calibrate_level_horizon_async.

        +

        typedef CalibrateGimbalAccelerometerCallback

        +
        using mavsdk::Calibration::CalibrateGimbalAccelerometerCallback =  std::function<void(Result, ProgressData)>
+
        +

        Callback type for calibrate_gimbal_accelerometer_async.

        +

        Member Enumeration Documentation

        +

        enum Result

        +

        Possible results returned for calibration commands.

        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
        ValueDescription
        UnknownUnknown result.
        SuccessThe calibration succeeded.
        NextIntermediate message showing progress or instructions on the next steps.
        FailedCalibration failed.
        NoSystemNo system is connected.
        ConnectionErrorConnection error.
        BusyVehicle is busy.
        CommandDeniedCommand refused by vehicle.
        TimeoutCommand timed out.
        CancelledCalibration process was cancelled.
        FailedArmedCalibration process failed since the vehicle is armed.
        UnsupportedFunctionality not supported.
        +

        Member Function Documentation

        +

        calibrate_gyro_async()

        +
        void mavsdk::Calibration::calibrate_gyro_async(const CalibrateGyroCallback &callback)
+
        +

        Perform gyro calibration.

        +

        Parameters

        + +

        calibrate_accelerometer_async()

        +
        void mavsdk::Calibration::calibrate_accelerometer_async(const CalibrateAccelerometerCallback &callback)
+
        +

        Perform accelerometer calibration.

        +

        Parameters

        + +

        calibrate_magnetometer_async()

        +
        void mavsdk::Calibration::calibrate_magnetometer_async(const CalibrateMagnetometerCallback &callback)
+
        +

        Perform magnetometer calibration.

        +

        Parameters

        + +

        calibrate_level_horizon_async()

        +
        void mavsdk::Calibration::calibrate_level_horizon_async(const CalibrateLevelHorizonCallback &callback)
+
        +

        Perform board level horizon calibration.

        +

        Parameters

        + +

        calibrate_gimbal_accelerometer_async()

        +
        void mavsdk::Calibration::calibrate_gimbal_accelerometer_async(const CalibrateGimbalAccelerometerCallback &callback)
+
        +

        Perform gimbal accelerometer calibration.

        +

        Parameters

        + +

        cancel()

        +
        Result mavsdk::Calibration::cancel() const
+
        +

        Cancel ongoing calibration process.

        +

        This function is blocking.

        +

        Returns

        +

         Result - Result of request.

        +

        operator=()

        +
        const Calibration& mavsdk::Calibration::operator=(const Calibration &)=delete
+
        +

        Equality operator (object is not copyable).

        +

        Parameters

        + +

        Returns

        +

         const Calibration & -

        +
        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
        + +
        + +
        +
        +
        + +

        results matching ""

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          No results matching ""

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          + + +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_callback_list.md b/v2.0/en/cpp/api_reference/classmavsdk_1_1_callback_list.md new file mode 100644 index 00000000..4bb6abfe --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_callback_list.md @@ -0,0 +1,5 @@ +# mavsdk::CallbackList Class Reference +`#include: UNKNOWN` + +---- + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_callback_list_impl.md b/v2.0/en/cpp/api_reference/classmavsdk_1_1_callback_list_impl.md new file mode 100644 index 00000000..f08af866 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_callback_list_impl.md @@ -0,0 +1,5 @@ +# mavsdk::CallbackListImpl Class Reference +`#include: UNKNOWN` + +---- + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_camera.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_camera.html new file mode 100644 index 00000000..006e4a65 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_camera.html @@ -0,0 +1,4343 @@ + + + + + + + class Camera · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          + + + + +
          + +
          PX4
          +
          QGroundControl
          +
          QGC
          +
          SDK
          +
          MAVLink
          +
          Documentation
          +
          Docs
          +
          Support
          +
          Help
          + +
          +
          + + + +
          +
          + + + + + + + + +
          + +
          + +
          + + + + + + + + +
          +
          + +
          +
          + +
          + +

          mavsdk::Camera Class Reference

          +

          #include: camera.h

          +
          +

          Can be used to manage cameras that implement the MAVLink Camera Protocol: https://mavlink.io/en/protocol/camera.html.

          +

          Currently only a single camera is supported. When multiple cameras are supported the plugin will need to be instantiated separately for every camera and the camera selected using select_camera.

          +

          Data Structures

          +

          struct CaptureInfo

          +

          struct EulerAngle

          +

          struct Information

          +

          struct Option

          +

          struct Position

          +

          struct Quaternion

          +

          struct Setting

          +

          struct SettingOptions

          +

          struct Status

          +

          struct VideoStreamInfo

          +

          struct VideoStreamSettings

          +

          Public Types

          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          TypeDescription
          enum ModeCamera mode type.
          enum PhotosRangePhotos range type.
          enum ResultPossible results returned for camera commands.
          std::function< void(Result)> ResultCallbackCallback type for asynchronous Camera calls.
          std::function< void(Result, std::vector< CaptureInfo >)> ListPhotosCallbackCallback type for list_photos_async.
          std::function< void(Mode)> ModeCallbackCallback type for subscribe_mode.
          Handle< Mode > ModeHandleHandle type for subscribe_mode.
          std::function< void(Information)> InformationCallbackCallback type for subscribe_information.
          Handle< Information > InformationHandleHandle type for subscribe_information.
          std::function< void(VideoStreamInfo)> VideoStreamInfoCallbackCallback type for subscribe_video_stream_info.
          Handle< VideoStreamInfo > VideoStreamInfoHandleHandle type for subscribe_video_stream_info.
          std::function< void(CaptureInfo)> CaptureInfoCallbackCallback type for subscribe_capture_info.
          Handle< CaptureInfo > CaptureInfoHandleHandle type for subscribe_capture_info.
          std::function< void(Status)> StatusCallbackCallback type for subscribe_status.
          Handle< Status > StatusHandleHandle type for subscribe_status.
          std::function< void(std::vector< Setting >)> CurrentSettingsCallbackCallback type for subscribe_current_settings.
          Handle< std::vector< Setting > > CurrentSettingsHandleHandle type for subscribe_current_settings.
          std::function< void(std::vector< SettingOptions >)> PossibleSettingOptionsCallbackCallback type for subscribe_possible_setting_options.
          Handle< std::vector< SettingOptions > > PossibleSettingOptionsHandleHandle type for subscribe_possible_setting_options.
          std::function< void(Result, Setting)> GetSettingCallbackCallback type for get_setting_async.
          +

          Public Member Functions

          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          TypeNameDescription
           Camera (System & system)Constructor. Creates the plugin for a specific System.
           Camera (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
           ~Camera () overrideDestructor (internal use only).
           Camera (const Camera & other)Copy constructor.
          voidprepare_async (const ResultCallback callback)Prepare the camera plugin (e.g. download the camera definition, etc).
          Resultprepare () constPrepare the camera plugin (e.g. download the camera definition, etc).
          voidtake_photo_async (const ResultCallback callback)Take one photo.
          Resulttake_photo () constTake one photo.
          voidstart_photo_interval_async (float interval_s, const ResultCallback callback)Start photo timelapse with a given interval.
          Resultstart_photo_interval (float interval_s)constStart photo timelapse with a given interval.
          voidstop_photo_interval_async (const ResultCallback callback)Stop a running photo timelapse.
          Resultstop_photo_interval () constStop a running photo timelapse.
          voidstart_video_async (const ResultCallback callback)Start a video recording.
          Resultstart_video () constStart a video recording.
          voidstop_video_async (const ResultCallback callback)Stop a running video recording.
          Resultstop_video () constStop a running video recording.
          Resultstart_video_streaming (int32_t stream_id)constStart video streaming.
          Resultstop_video_streaming (int32_t stream_id)constStop current video streaming.
          voidset_mode_async (Mode mode, const ResultCallback callback)Set camera mode.
          Resultset_mode (Mode mode)constSet camera mode.
          voidlist_photos_async (PhotosRange photos_range, const ListPhotosCallback callback)List photos available on the camera.
          std::pair< Result, std::vector< Camera::CaptureInfo > >list_photos (PhotosRange photos_range)constList photos available on the camera.
          ModeHandlesubscribe_mode (const ModeCallback & callback)Subscribe to camera mode updates.
          voidunsubscribe_mode (ModeHandle handle)Unsubscribe from subscribe_mode.
          Modemode () constPoll for 'Mode' (blocking).
          InformationHandlesubscribe_information (const InformationCallback & callback)Subscribe to camera information updates.
          voidunsubscribe_information (InformationHandle handle)Unsubscribe from subscribe_information.
          Informationinformation () constPoll for 'Information' (blocking).
          VideoStreamInfoHandlesubscribe_video_stream_info (const VideoStreamInfoCallback & callback)Subscribe to video stream info updates.
          voidunsubscribe_video_stream_info (VideoStreamInfoHandle handle)Unsubscribe from subscribe_video_stream_info.
          VideoStreamInfovideo_stream_info () constPoll for 'VideoStreamInfo' (blocking).
          CaptureInfoHandlesubscribe_capture_info (const CaptureInfoCallback & callback)Subscribe to capture info updates.
          voidunsubscribe_capture_info (CaptureInfoHandle handle)Unsubscribe from subscribe_capture_info.
          StatusHandlesubscribe_status (const StatusCallback & callback)Subscribe to camera status updates.
          voidunsubscribe_status (StatusHandle handle)Unsubscribe from subscribe_status.
          Statusstatus () constPoll for 'Status' (blocking).
          CurrentSettingsHandlesubscribe_current_settings (const CurrentSettingsCallback & callback)Get the list of current camera settings.
          voidunsubscribe_current_settings (CurrentSettingsHandle handle)Unsubscribe from subscribe_current_settings.
          PossibleSettingOptionsHandlesubscribe_possible_setting_options (const PossibleSettingOptionsCallback & callback)Get the list of settings that can be changed.
          voidunsubscribe_possible_setting_options (PossibleSettingOptionsHandle handle)Unsubscribe from subscribe_possible_setting_options.
          std::vector< SettingOptions >possible_setting_options () constPoll for 'std::vector' (blocking).
          voidset_setting_async (Setting setting, const ResultCallback callback)Set a setting to some value.
          Resultset_setting (Setting setting)constSet a setting to some value.
          voidget_setting_async (Setting setting, const GetSettingCallback callback)Get a setting.
          std::pair< Result, Camera::Setting >get_setting (Setting setting)constGet a setting.
          voidformat_storage_async (int32_t storage_id, const ResultCallback callback)Format storage (e.g. SD card) in camera.
          Resultformat_storage (int32_t storage_id)constFormat storage (e.g. SD card) in camera.
          Resultselect_camera (int32_t camera_id)constSelect current camera .
          voidreset_settings_async (const ResultCallback callback)Reset all settings in camera.
          Resultreset_settings () constReset all settings in camera.
          const Camera &operator= (const Camera &)=deleteEquality operator (object is not copyable).
          +

          Constructor & Destructor Documentation

          +

          Camera()

          +
          mavsdk::Camera::Camera(System &system)
+
          +

          Constructor. Creates the plugin for a specific System.

          +

          The plugin is typically created as shown below:

          +
          auto camera = Camera(system);
+
          +

          Parameters

          +
            +
          • System& system - The specific system associated with this plugin.
            • +
          +

          Camera()

          +
          mavsdk::Camera::Camera(std::shared_ptr< System > system)
+
          +

          Constructor. Creates the plugin for a specific System.

          +

          The plugin is typically created as shown below:

          +
          auto camera = Camera(system);
+
          +

          Parameters

          +
            +
          • std::shared_ptr< System > system - The specific system associated with this plugin.
            • +
          +

          ~Camera()

          +
          mavsdk::Camera::~Camera() override
+
          +

          Destructor (internal use only).

          +

          Camera()

          +
          mavsdk::Camera::Camera(const Camera &other)
+
          +

          Copy constructor.

          +

          Parameters

          + +

          Member Typdef Documentation

          +

          typedef ResultCallback

          +
          using mavsdk::Camera::ResultCallback =  std::function<void(Result)>
+
          +

          Callback type for asynchronous Camera calls.

          +

          typedef ListPhotosCallback

          +
          using mavsdk::Camera::ListPhotosCallback =  std::function<void(Result, std::vector<CaptureInfo>)>
+
          +

          Callback type for list_photos_async.

          +

          typedef ModeCallback

          +
          using mavsdk::Camera::ModeCallback =  std::function<void(Mode)>
+
          +

          Callback type for subscribe_mode.

          +

          typedef ModeHandle

          +
          using mavsdk::Camera::ModeHandle =  Handle<Mode>
+
          +

          Handle type for subscribe_mode.

          +

          typedef InformationCallback

          +
          using mavsdk::Camera::InformationCallback =  std::function<void(Information)>
+
          +

          Callback type for subscribe_information.

          +

          typedef InformationHandle

          +
          using mavsdk::Camera::InformationHandle =  Handle<Information>
+
          +

          Handle type for subscribe_information.

          +

          typedef VideoStreamInfoCallback

          +
          using mavsdk::Camera::VideoStreamInfoCallback =  std::function<void(VideoStreamInfo)>
+
          +

          Callback type for subscribe_video_stream_info.

          +

          typedef VideoStreamInfoHandle

          +
          using mavsdk::Camera::VideoStreamInfoHandle =  Handle<VideoStreamInfo>
+
          +

          Handle type for subscribe_video_stream_info.

          +

          typedef CaptureInfoCallback

          +
          using mavsdk::Camera::CaptureInfoCallback =  std::function<void(CaptureInfo)>
+
          +

          Callback type for subscribe_capture_info.

          +

          typedef CaptureInfoHandle

          +
          using mavsdk::Camera::CaptureInfoHandle =  Handle<CaptureInfo>
+
          +

          Handle type for subscribe_capture_info.

          +

          typedef StatusCallback

          +
          using mavsdk::Camera::StatusCallback =  std::function<void(Status)>
+
          +

          Callback type for subscribe_status.

          +

          typedef StatusHandle

          +
          using mavsdk::Camera::StatusHandle =  Handle<Status>
+
          +

          Handle type for subscribe_status.

          +

          typedef CurrentSettingsCallback

          +
          using mavsdk::Camera::CurrentSettingsCallback =  std::function<void(std::vector<Setting>)>
+
          +

          Callback type for subscribe_current_settings.

          +

          typedef CurrentSettingsHandle

          +
          using mavsdk::Camera::CurrentSettingsHandle =  Handle<std::vector<Setting> >
+
          +

          Handle type for subscribe_current_settings.

          +

          typedef PossibleSettingOptionsCallback

          +
          using mavsdk::Camera::PossibleSettingOptionsCallback =  std::function<void(std::vector<SettingOptions>)>
+
          +

          Callback type for subscribe_possible_setting_options.

          +

          typedef PossibleSettingOptionsHandle

          +
          using mavsdk::Camera::PossibleSettingOptionsHandle =  Handle<std::vector<SettingOptions> >
+
          +

          Handle type for subscribe_possible_setting_options.

          +

          typedef GetSettingCallback

          +
          using mavsdk::Camera::GetSettingCallback =  std::function<void(Result, Setting)>
+
          +

          Callback type for get_setting_async.

          +

          Member Enumeration Documentation

          +

          enum Mode

          +

          Camera mode type.

          + + + + + + + + + + + + + + + + + + + + + +
          ValueDescription
          UnknownUnknown.
          PhotoPhoto mode.
          VideoVideo mode.
          +

          enum PhotosRange

          +

          Photos range type.

          + + + + + + + + + + + + + + + + + +
          ValueDescription
          AllAll the photos present on the camera.
          SinceConnectionPhotos taken since MAVSDK got connected.
          +

          enum Result

          +

          Possible results returned for camera commands.

          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          ValueDescription
          UnknownUnknown result.
          SuccessCommand executed successfully.
          InProgressCommand in progress.
          BusyCamera is busy and rejected command.
          DeniedCamera denied the command.
          ErrorAn error has occurred while executing the command.
          TimeoutCommand timed out.
          WrongArgumentCommand has wrong argument(s).
          NoSystemNo system connected.
          ProtocolUnsupportedDefinition file protocol not supported.
          +

          Member Function Documentation

          +

          prepare_async()

          +
          void mavsdk::Camera::prepare_async(const ResultCallback callback)
+
          +

          Prepare the camera plugin (e.g. download the camera definition, etc).

          +

          This function is non-blocking. See 'prepare' for the blocking counterpart.

          +

          Parameters

          + +

          prepare()

          +
          Result mavsdk::Camera::prepare() const
+
          +

          Prepare the camera plugin (e.g. download the camera definition, etc).

          +

          This function is blocking. See 'prepare_async' for the non-blocking counterpart.

          +

          Returns

          +

           Result - Result of request.

          +

          take_photo_async()

          +
          void mavsdk::Camera::take_photo_async(const ResultCallback callback)
+
          +

          Take one photo.

          +

          This function is non-blocking. See 'take_photo' for the blocking counterpart.

          +

          Parameters

          + +

          take_photo()

          +
          Result mavsdk::Camera::take_photo() const
+
          +

          Take one photo.

          +

          This function is blocking. See 'take_photo_async' for the non-blocking counterpart.

          +

          Returns

          +

           Result - Result of request.

          +

          start_photo_interval_async()

          +
          void mavsdk::Camera::start_photo_interval_async(float interval_s, const ResultCallback callback)
+
          +

          Start photo timelapse with a given interval.

          +

          This function is non-blocking. See 'start_photo_interval' for the blocking counterpart.

          +

          Parameters

          + +

          start_photo_interval()

          +
          Result mavsdk::Camera::start_photo_interval(float interval_s) const
+
          +

          Start photo timelapse with a given interval.

          +

          This function is blocking. See 'start_photo_interval_async' for the non-blocking counterpart.

          +

          Parameters

          +
            +
          • float interval_s -
            • +
          +

          Returns

          +

           Result - Result of request.

          +

          stop_photo_interval_async()

          +
          void mavsdk::Camera::stop_photo_interval_async(const ResultCallback callback)
+
          +

          Stop a running photo timelapse.

          +

          This function is non-blocking. See 'stop_photo_interval' for the blocking counterpart.

          +

          Parameters

          + +

          stop_photo_interval()

          +
          Result mavsdk::Camera::stop_photo_interval() const
+
          +

          Stop a running photo timelapse.

          +

          This function is blocking. See 'stop_photo_interval_async' for the non-blocking counterpart.

          +

          Returns

          +

           Result - Result of request.

          +

          start_video_async()

          +
          void mavsdk::Camera::start_video_async(const ResultCallback callback)
+
          +

          Start a video recording.

          +

          This function is non-blocking. See 'start_video' for the blocking counterpart.

          +

          Parameters

          + +

          start_video()

          +
          Result mavsdk::Camera::start_video() const
+
          +

          Start a video recording.

          +

          This function is blocking. See 'start_video_async' for the non-blocking counterpart.

          +

          Returns

          +

           Result - Result of request.

          +

          stop_video_async()

          +
          void mavsdk::Camera::stop_video_async(const ResultCallback callback)
+
          +

          Stop a running video recording.

          +

          This function is non-blocking. See 'stop_video' for the blocking counterpart.

          +

          Parameters

          + +

          stop_video()

          +
          Result mavsdk::Camera::stop_video() const
+
          +

          Stop a running video recording.

          +

          This function is blocking. See 'stop_video_async' for the non-blocking counterpart.

          +

          Returns

          +

           Result - Result of request.

          +

          start_video_streaming()

          +
          Result mavsdk::Camera::start_video_streaming(int32_t stream_id) const
+
          +

          Start video streaming.

          +

          This function is blocking.

          +

          Parameters

          +
            +
          • int32_t stream_id -
            • +
          +

          Returns

          +

           Result - Result of request.

          +

          stop_video_streaming()

          +
          Result mavsdk::Camera::stop_video_streaming(int32_t stream_id) const
+
          +

          Stop current video streaming.

          +

          This function is blocking.

          +

          Parameters

          +
            +
          • int32_t stream_id -
            • +
          +

          Returns

          +

           Result - Result of request.

          +

          set_mode_async()

          +
          void mavsdk::Camera::set_mode_async(Mode mode, const ResultCallback callback)
+
          +

          Set camera mode.

          +

          This function is non-blocking. See 'set_mode' for the blocking counterpart.

          +

          Parameters

          + +

          set_mode()

          +
          Result mavsdk::Camera::set_mode(Mode mode) const
+
          +

          Set camera mode.

          +

          This function is blocking. See 'set_mode_async' for the non-blocking counterpart.

          +

          Parameters

          + +

          Returns

          +

           Result - Result of request.

          +

          list_photos_async()

          +
          void mavsdk::Camera::list_photos_async(PhotosRange photos_range, const ListPhotosCallback callback)
+
          +

          List photos available on the camera.

          +

          This function is non-blocking. See 'list_photos' for the blocking counterpart.

          +

          Parameters

          + +

          list_photos()

          +
          std::pair<Result, std::vector<Camera::CaptureInfo> > mavsdk::Camera::list_photos(PhotosRange photos_range) const
+
          +

          List photos available on the camera.

          +

          This function is blocking. See 'list_photos_async' for the non-blocking counterpart.

          +

          Parameters

          + +

          Returns

          +

           std::pair< Result, std::vector< Camera::CaptureInfo > > - Result of request.

          +

          subscribe_mode()

          +
          ModeHandle mavsdk::Camera::subscribe_mode(const ModeCallback &callback)
+
          +

          Subscribe to camera mode updates.

          +

          Parameters

          + +

          Returns

          +

           ModeHandle -

          +

          unsubscribe_mode()

          +
          void mavsdk::Camera::unsubscribe_mode(ModeHandle handle)
+
          +

          Unsubscribe from subscribe_mode.

          +

          Parameters

          + +

          mode()

          +
          Mode mavsdk::Camera::mode() const
+
          +

          Poll for 'Mode' (blocking).

          +

          Returns

          +

           Mode - One Mode update.

          +

          subscribe_information()

          +
          InformationHandle mavsdk::Camera::subscribe_information(const InformationCallback &callback)
+
          +

          Subscribe to camera information updates.

          +

          Parameters

          + +

          Returns

          +

           InformationHandle -

          +

          unsubscribe_information()

          +
          void mavsdk::Camera::unsubscribe_information(InformationHandle handle)
+
          +

          Unsubscribe from subscribe_information.

          +

          Parameters

          + +

          information()

          +
          Information mavsdk::Camera::information() const
+
          +

          Poll for 'Information' (blocking).

          +

          Returns

          +

           Information - One Information update.

          +

          subscribe_video_stream_info()

          +
          VideoStreamInfoHandle mavsdk::Camera::subscribe_video_stream_info(const VideoStreamInfoCallback &callback)
+
          +

          Subscribe to video stream info updates.

          +

          Parameters

          + +

          Returns

          +

           VideoStreamInfoHandle -

          +

          unsubscribe_video_stream_info()

          +
          void mavsdk::Camera::unsubscribe_video_stream_info(VideoStreamInfoHandle handle)
+
          +

          Unsubscribe from subscribe_video_stream_info.

          +

          Parameters

          + +

          video_stream_info()

          +
          VideoStreamInfo mavsdk::Camera::video_stream_info() const
+
          +

          Poll for 'VideoStreamInfo' (blocking).

          +

          Returns

          +

           VideoStreamInfo - One VideoStreamInfo update.

          +

          subscribe_capture_info()

          +
          CaptureInfoHandle mavsdk::Camera::subscribe_capture_info(const CaptureInfoCallback &callback)
+
          +

          Subscribe to capture info updates.

          +

          Parameters

          + +

          Returns

          +

           CaptureInfoHandle -

          +

          unsubscribe_capture_info()

          +
          void mavsdk::Camera::unsubscribe_capture_info(CaptureInfoHandle handle)
+
          +

          Unsubscribe from subscribe_capture_info.

          +

          Parameters

          + +

          subscribe_status()

          +
          StatusHandle mavsdk::Camera::subscribe_status(const StatusCallback &callback)
+
          +

          Subscribe to camera status updates.

          +

          Parameters

          + +

          Returns

          +

           StatusHandle -

          +

          unsubscribe_status()

          +
          void mavsdk::Camera::unsubscribe_status(StatusHandle handle)
+
          +

          Unsubscribe from subscribe_status.

          +

          Parameters

          + +

          status()

          +
          Status mavsdk::Camera::status() const
+
          +

          Poll for 'Status' (blocking).

          +

          Returns

          +

           Status - One Status update.

          +

          subscribe_current_settings()

          +
          CurrentSettingsHandle mavsdk::Camera::subscribe_current_settings(const CurrentSettingsCallback &callback)
+
          +

          Get the list of current camera settings.

          +

          Parameters

          + +

          Returns

          +

           CurrentSettingsHandle -

          +

          unsubscribe_current_settings()

          +
          void mavsdk::Camera::unsubscribe_current_settings(CurrentSettingsHandle handle)
+
          +

          Unsubscribe from subscribe_current_settings.

          +

          Parameters

          + +

          subscribe_possible_setting_options()

          +
          PossibleSettingOptionsHandle mavsdk::Camera::subscribe_possible_setting_options(const PossibleSettingOptionsCallback &callback)
+
          +

          Get the list of settings that can be changed.

          +

          Parameters

          + +

          Returns

          +

           PossibleSettingOptionsHandle -

          +

          unsubscribe_possible_setting_options()

          +
          void mavsdk::Camera::unsubscribe_possible_setting_options(PossibleSettingOptionsHandle handle)
+
          +

          Unsubscribe from subscribe_possible_setting_options.

          +

          Parameters

          + +

          possible_setting_options()

          +
          std::vector<SettingOptions> mavsdk::Camera::possible_setting_options() const
+
          +

          Poll for 'std::vector' (blocking).

          +

          Returns

          +

           std::vector< SettingOptions > - One std::vector update.

          +

          set_setting_async()

          +
          void mavsdk::Camera::set_setting_async(Setting setting, const ResultCallback callback)
+
          +

          Set a setting to some value.

          +

          Only setting_id of setting and option_id of option needs to be set.

          +

          This function is non-blocking. See 'set_setting' for the blocking counterpart.

          +

          Parameters

          + +

          set_setting()

          +
          Result mavsdk::Camera::set_setting(Setting setting) const
+
          +

          Set a setting to some value.

          +

          Only setting_id of setting and option_id of option needs to be set.

          +

          This function is blocking. See 'set_setting_async' for the non-blocking counterpart.

          +

          Parameters

          + +

          Returns

          +

           Result - Result of request.

          +

          get_setting_async()

          +
          void mavsdk::Camera::get_setting_async(Setting setting, const GetSettingCallback callback)
+
          +

          Get a setting.

          +

          Only setting_id of setting needs to be set.

          +

          This function is non-blocking. See 'get_setting' for the blocking counterpart.

          +

          Parameters

          + +

          get_setting()

          +
          std::pair<Result, Camera::Setting> mavsdk::Camera::get_setting(Setting setting) const
+
          +

          Get a setting.

          +

          Only setting_id of setting needs to be set.

          +

          This function is blocking. See 'get_setting_async' for the non-blocking counterpart.

          +

          Parameters

          + +

          Returns

          +

           std::pair< Result, Camera::Setting > - Result of request.

          +

          format_storage_async()

          +
          void mavsdk::Camera::format_storage_async(int32_t storage_id, const ResultCallback callback)
+
          +

          Format storage (e.g. SD card) in camera.

          +

          This will delete all content of the camera storage!

          +

          This function is non-blocking. See 'format_storage' for the blocking counterpart.

          +

          Parameters

          + +

          format_storage()

          +
          Result mavsdk::Camera::format_storage(int32_t storage_id) const
+
          +

          Format storage (e.g. SD card) in camera.

          +

          This will delete all content of the camera storage!

          +

          This function is blocking. See 'format_storage_async' for the non-blocking counterpart.

          +

          Parameters

          +
            +
          • int32_t storage_id -
            • +
          +

          Returns

          +

           Result - Result of request.

          +

          select_camera()

          +
          Result mavsdk::Camera::select_camera(int32_t camera_id) const
+
          +

          Select current camera .

          +

          Bind the plugin instance to a specific camera_id

          +

          This function is blocking.

          +

          Parameters

          +
            +
          • int32_t camera_id -
            • +
          +

          Returns

          +

           Result - Result of request.

          +

          reset_settings_async()

          +
          void mavsdk::Camera::reset_settings_async(const ResultCallback callback)
+
          +

          Reset all settings in camera.

          +

          This will reset all camera settings to default value

          +

          This function is non-blocking. See 'reset_settings' for the blocking counterpart.

          +

          Parameters

          + +

          reset_settings()

          +
          Result mavsdk::Camera::reset_settings() const
+
          +

          Reset all settings in camera.

          +

          This will reset all camera settings to default value

          +

          This function is blocking. See 'reset_settings_async' for the non-blocking counterpart.

          +

          Returns

          +

           Result - Result of request.

          +

          operator=()

          +
          const Camera& mavsdk::Camera::operator=(const Camera &)=delete
+
          +

          Equality operator (object is not copyable).

          +

          Parameters

          + +

          Returns

          +

           const Camera & -

          +
          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_camera_server.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_camera_server.html new file mode 100644 index 00000000..914ca882 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_camera_server.html @@ -0,0 +1,4199 @@ + + + + + + + class CameraServer · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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            + +

            mavsdk::CameraServer Class Reference

            +

            #include: camera_server.h

            +
            +

            Provides handling of camera trigger commands.

            +

            Data Structures

            +

            struct CaptureInfo

            +

            struct CaptureStatus

            +

            struct Information

            +

            struct Position

            +

            struct Quaternion

            +

            struct StorageInformation

            +

            struct VideoStreaming

            +

            Public Types

            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
            TypeDescription
            enum CameraFeedbackPossible feedback results for camera respond command.
            enum ModeCamera mode type.
            enum ResultPossible results returned for action requests.
            std::function< void(Result)> ResultCallbackCallback type for asynchronous CameraServer calls.
            std::function< void(int32_t)> TakePhotoCallbackCallback type for subscribe_take_photo.
            Handle< int32_t > TakePhotoHandleHandle type for subscribe_take_photo.
            std::function< void(int32_t)> StartVideoCallbackCallback type for subscribe_start_video.
            Handle< int32_t > StartVideoHandleHandle type for subscribe_start_video.
            std::function< void(int32_t)> StopVideoCallbackCallback type for subscribe_stop_video.
            Handle< int32_t > StopVideoHandleHandle type for subscribe_stop_video.
            std::function< void(int32_t)> StartVideoStreamingCallbackCallback type for subscribe_start_video_streaming.
            Handle< int32_t > StartVideoStreamingHandleHandle type for subscribe_start_video_streaming.
            std::function< void(int32_t)> StopVideoStreamingCallbackCallback type for subscribe_stop_video_streaming.
            Handle< int32_t > StopVideoStreamingHandleHandle type for subscribe_stop_video_streaming.
            std::function< void(Mode)> SetModeCallbackCallback type for subscribe_set_mode.
            Handle< Mode > SetModeHandleHandle type for subscribe_set_mode.
            std::function< void(int32_t)> StorageInformationCallbackCallback type for subscribe_storage_information.
            Handle< int32_t > StorageInformationHandleHandle type for subscribe_storage_information.
            std::function< void(int32_t)> CaptureStatusCallbackCallback type for subscribe_capture_status.
            Handle< int32_t > CaptureStatusHandleHandle type for subscribe_capture_status.
            std::function< void(int32_t)> FormatStorageCallbackCallback type for subscribe_format_storage.
            Handle< int32_t > FormatStorageHandleHandle type for subscribe_format_storage.
            std::function< void(int32_t)> ResetSettingsCallbackCallback type for subscribe_reset_settings.
            Handle< int32_t > ResetSettingsHandleHandle type for subscribe_reset_settings.
            +

            Public Member Functions

            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
            TypeNameDescription
             CameraServer (std::shared_ptr< ServerComponent > server_component)Constructor. Creates the plugin for a ServerComponent instance.
             ~CameraServer () overrideDestructor (internal use only).
             CameraServer (const CameraServer & other)Copy constructor.
            Resultset_information (Information information)constSets the camera information. This must be called as soon as the camera server is created.
            Resultset_video_streaming (VideoStreaming video_streaming)constSets video streaming settings.
            Resultset_in_progress (bool in_progress)constSets image capture in progress status flags. This should be set to true when the camera is busy taking a photo and false when it is done.
            TakePhotoHandlesubscribe_take_photo (const TakePhotoCallback & callback)Subscribe to image capture requests. Each request received should respond to using RespondTakePhoto.
            voidunsubscribe_take_photo (TakePhotoHandle handle)Unsubscribe from subscribe_take_photo.
            Resultrespond_take_photo (CameraFeedback take_photo_feedback, CaptureInfo capture_info)constRespond to an image capture request from SubscribeTakePhoto.
            StartVideoHandlesubscribe_start_video (const StartVideoCallback & callback)Subscribe to start video requests. Each request received should respond to using RespondStartVideo.
            voidunsubscribe_start_video (StartVideoHandle handle)Unsubscribe from subscribe_start_video.
            Resultrespond_start_video (CameraFeedback start_video_feedback)constSubscribe to stop video requests. Each request received should respond using StopVideoResponse.
            StopVideoHandlesubscribe_stop_video (const StopVideoCallback & callback)Subscribe to stop video requests. Each request received should response to using RespondStopVideo.
            voidunsubscribe_stop_video (StopVideoHandle handle)Unsubscribe from subscribe_stop_video.
            Resultrespond_stop_video (CameraFeedback stop_video_feedback)constRespond to stop video request from SubscribeStopVideo.
            StartVideoStreamingHandlesubscribe_start_video_streaming (const StartVideoStreamingCallback & callback)Subscribe to start video streaming requests. Each request received should response to using RespondStartVideoStreaming.
            voidunsubscribe_start_video_streaming (StartVideoStreamingHandle handle)Unsubscribe from subscribe_start_video_streaming.
            Resultrespond_start_video_streaming (CameraFeedback start_video_streaming_feedback)constRespond to start video streaming from SubscribeStartVideoStreaming.
            StopVideoStreamingHandlesubscribe_stop_video_streaming (const StopVideoStreamingCallback & callback)Subscribe to stop video streaming requests. Each request received should response to using RespondStopVideoStreaming.
            voidunsubscribe_stop_video_streaming (StopVideoStreamingHandle handle)Unsubscribe from subscribe_stop_video_streaming.
            Resultrespond_stop_video_streaming (CameraFeedback stop_video_streaming_feedback)constRespond to stop video streaming from SubscribeStopVideoStreaming.
            SetModeHandlesubscribe_set_mode (const SetModeCallback & callback)Subscribe to set camera mode requests. Each request received should response to using RespondSetMode.
            voidunsubscribe_set_mode (SetModeHandle handle)Unsubscribe from subscribe_set_mode.
            Resultrespond_set_mode (CameraFeedback set_mode_feedback)constRespond to set camera mode from SubscribeSetMode.
            StorageInformationHandlesubscribe_storage_information (const StorageInformationCallback & callback)Subscribe to camera storage information requests. Each request received should response to using RespondStorageInformation.
            voidunsubscribe_storage_information (StorageInformationHandle handle)Unsubscribe from subscribe_storage_information.
            Resultrespond_storage_information (CameraFeedback storage_information_feedback, StorageInformation storage_information)constRespond to camera storage information from SubscribeStorageInformation.
            CaptureStatusHandlesubscribe_capture_status (const CaptureStatusCallback & callback)Subscribe to camera capture status requests. Each request received should response to using RespondCaptureStatus.
            voidunsubscribe_capture_status (CaptureStatusHandle handle)Unsubscribe from subscribe_capture_status.
            Resultrespond_capture_status (CameraFeedback capture_status_feedback, CaptureStatus capture_status)constRespond to camera capture status from SubscribeCaptureStatus.
            FormatStorageHandlesubscribe_format_storage (const FormatStorageCallback & callback)Subscribe to format storage requests. Each request received should response to using RespondFormatStorage.
            voidunsubscribe_format_storage (FormatStorageHandle handle)Unsubscribe from subscribe_format_storage.
            Resultrespond_format_storage (CameraFeedback format_storage_feedback)constRespond to format storage from SubscribeFormatStorage.
            ResetSettingsHandlesubscribe_reset_settings (const ResetSettingsCallback & callback)Subscribe to reset settings requests. Each request received should response to using RespondResetSettings.
            voidunsubscribe_reset_settings (ResetSettingsHandle handle)Unsubscribe from subscribe_reset_settings.
            Resultrespond_reset_settings (CameraFeedback reset_settings_feedback)constRespond to reset settings from SubscribeResetSettings.
            const CameraServer &operator= (const CameraServer &)=deleteEquality operator (object is not copyable).
            +

            Constructor & Destructor Documentation

            +

            CameraServer()

            +
            mavsdk::CameraServer::CameraServer(std::shared_ptr< ServerComponent > server_component)
+
            +

            Constructor. Creates the plugin for a ServerComponent instance.

            +

            The plugin is typically created as shown below:

            +
            auto camera_server = CameraServer(server_component);
+
            +

            Parameters

            + +

            ~CameraServer()

            +
            mavsdk::CameraServer::~CameraServer() override
+
            +

            Destructor (internal use only).

            +

            CameraServer()

            +
            mavsdk::CameraServer::CameraServer(const CameraServer &other)
+
            +

            Copy constructor.

            +

            Parameters

            + +

            Member Typdef Documentation

            +

            typedef ResultCallback

            +
            using mavsdk::CameraServer::ResultCallback =  std::function<void(Result)>
+
            +

            Callback type for asynchronous CameraServer calls.

            +

            typedef TakePhotoCallback

            +
            using mavsdk::CameraServer::TakePhotoCallback =  std::function<void(int32_t)>
+
            +

            Callback type for subscribe_take_photo.

            +

            typedef TakePhotoHandle

            +
            using mavsdk::CameraServer::TakePhotoHandle =  Handle<int32_t>
+
            +

            Handle type for subscribe_take_photo.

            +

            typedef StartVideoCallback

            +
            using mavsdk::CameraServer::StartVideoCallback =  std::function<void(int32_t)>
+
            +

            Callback type for subscribe_start_video.

            +

            typedef StartVideoHandle

            +
            using mavsdk::CameraServer::StartVideoHandle =  Handle<int32_t>
+
            +

            Handle type for subscribe_start_video.

            +

            typedef StopVideoCallback

            +
            using mavsdk::CameraServer::StopVideoCallback =  std::function<void(int32_t)>
+
            +

            Callback type for subscribe_stop_video.

            +

            typedef StopVideoHandle

            +
            using mavsdk::CameraServer::StopVideoHandle =  Handle<int32_t>
+
            +

            Handle type for subscribe_stop_video.

            +

            typedef StartVideoStreamingCallback

            +
            using mavsdk::CameraServer::StartVideoStreamingCallback =  std::function<void(int32_t)>
+
            +

            Callback type for subscribe_start_video_streaming.

            +

            typedef StartVideoStreamingHandle

            +
            using mavsdk::CameraServer::StartVideoStreamingHandle =  Handle<int32_t>
+
            +

            Handle type for subscribe_start_video_streaming.

            +

            typedef StopVideoStreamingCallback

            +
            using mavsdk::CameraServer::StopVideoStreamingCallback =  std::function<void(int32_t)>
+
            +

            Callback type for subscribe_stop_video_streaming.

            +

            typedef StopVideoStreamingHandle

            +
            using mavsdk::CameraServer::StopVideoStreamingHandle =  Handle<int32_t>
+
            +

            Handle type for subscribe_stop_video_streaming.

            +

            typedef SetModeCallback

            +
            using mavsdk::CameraServer::SetModeCallback =  std::function<void(Mode)>
+
            +

            Callback type for subscribe_set_mode.

            +

            typedef SetModeHandle

            +
            using mavsdk::CameraServer::SetModeHandle =  Handle<Mode>
+
            +

            Handle type for subscribe_set_mode.

            +

            typedef StorageInformationCallback

            +
            using mavsdk::CameraServer::StorageInformationCallback =  std::function<void(int32_t)>
+
            +

            Callback type for subscribe_storage_information.

            +

            typedef StorageInformationHandle

            +
            using mavsdk::CameraServer::StorageInformationHandle =  Handle<int32_t>
+
            +

            Handle type for subscribe_storage_information.

            +

            typedef CaptureStatusCallback

            +
            using mavsdk::CameraServer::CaptureStatusCallback =  std::function<void(int32_t)>
+
            +

            Callback type for subscribe_capture_status.

            +

            typedef CaptureStatusHandle

            +
            using mavsdk::CameraServer::CaptureStatusHandle =  Handle<int32_t>
+
            +

            Handle type for subscribe_capture_status.

            +

            typedef FormatStorageCallback

            +
            using mavsdk::CameraServer::FormatStorageCallback =  std::function<void(int32_t)>
+
            +

            Callback type for subscribe_format_storage.

            +

            typedef FormatStorageHandle

            +
            using mavsdk::CameraServer::FormatStorageHandle =  Handle<int32_t>
+
            +

            Handle type for subscribe_format_storage.

            +

            typedef ResetSettingsCallback

            +
            using mavsdk::CameraServer::ResetSettingsCallback =  std::function<void(int32_t)>
+
            +

            Callback type for subscribe_reset_settings.

            +

            typedef ResetSettingsHandle

            +
            using mavsdk::CameraServer::ResetSettingsHandle =  Handle<int32_t>
+
            +

            Handle type for subscribe_reset_settings.

            +

            Member Enumeration Documentation

            +

            enum CameraFeedback

            +

            Possible feedback results for camera respond command.

            + + + + + + + + + + + + + + + + + + + + + + + + + +
            ValueDescription
            UnknownUnknown.
            OkOk.
            BusyBusy.
            FailedFailed.
            +

            enum Mode

            +

            Camera mode type.

            + + + + + + + + + + + + + + + + + + + + + +
            ValueDescription
            UnknownUnknown mode.
            PhotoPhoto mode.
            VideoVideo mode.
            +

            enum Result

            +

            Possible results returned for action requests.

            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
            ValueDescription
            UnknownUnknown result.
            SuccessCommand executed successfully.
            InProgressCommand in progress.
            BusyCamera is busy and rejected command.
            DeniedCamera denied the command.
            ErrorAn error has occurred while executing the command.
            TimeoutCommand timed out.
            WrongArgumentCommand has wrong argument(s).
            NoSystemNo system connected.
            +

            Member Function Documentation

            +

            set_information()

            +
            Result mavsdk::CameraServer::set_information(Information information) const
+
            +

            Sets the camera information. This must be called as soon as the camera server is created.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            set_video_streaming()

            +
            Result mavsdk::CameraServer::set_video_streaming(VideoStreaming video_streaming) const
+
            +

            Sets video streaming settings.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            set_in_progress()

            +
            Result mavsdk::CameraServer::set_in_progress(bool in_progress) const
+
            +

            Sets image capture in progress status flags. This should be set to true when the camera is busy taking a photo and false when it is done.

            +

            This function is blocking.

            +

            Parameters

            +
              +
            • bool in_progress -
              • +
            +

            Returns

            +

             Result - Result of request.

            +

            subscribe_take_photo()

            +
            TakePhotoHandle mavsdk::CameraServer::subscribe_take_photo(const TakePhotoCallback &callback)
+
            +

            Subscribe to image capture requests. Each request received should respond to using RespondTakePhoto.

            +

            Parameters

            + +

            Returns

            +

             TakePhotoHandle -

            +

            unsubscribe_take_photo()

            +
            void mavsdk::CameraServer::unsubscribe_take_photo(TakePhotoHandle handle)
+
            +

            Unsubscribe from subscribe_take_photo.

            +

            Parameters

            + +

            respond_take_photo()

            +
            Result mavsdk::CameraServer::respond_take_photo(CameraFeedback take_photo_feedback, CaptureInfo capture_info) const
+
            +

            Respond to an image capture request from SubscribeTakePhoto.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            subscribe_start_video()

            +
            StartVideoHandle mavsdk::CameraServer::subscribe_start_video(const StartVideoCallback &callback)
+
            +

            Subscribe to start video requests. Each request received should respond to using RespondStartVideo.

            +

            Parameters

            + +

            Returns

            +

             StartVideoHandle -

            +

            unsubscribe_start_video()

            +
            void mavsdk::CameraServer::unsubscribe_start_video(StartVideoHandle handle)
+
            +

            Unsubscribe from subscribe_start_video.

            +

            Parameters

            + +

            respond_start_video()

            +
            Result mavsdk::CameraServer::respond_start_video(CameraFeedback start_video_feedback) const
+
            +

            Subscribe to stop video requests. Each request received should respond using StopVideoResponse.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            subscribe_stop_video()

            +
            StopVideoHandle mavsdk::CameraServer::subscribe_stop_video(const StopVideoCallback &callback)
+
            +

            Subscribe to stop video requests. Each request received should response to using RespondStopVideo.

            +

            Parameters

            + +

            Returns

            +

             StopVideoHandle -

            +

            unsubscribe_stop_video()

            +
            void mavsdk::CameraServer::unsubscribe_stop_video(StopVideoHandle handle)
+
            +

            Unsubscribe from subscribe_stop_video.

            +

            Parameters

            + +

            respond_stop_video()

            +
            Result mavsdk::CameraServer::respond_stop_video(CameraFeedback stop_video_feedback) const
+
            +

            Respond to stop video request from SubscribeStopVideo.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            subscribe_start_video_streaming()

            +
            StartVideoStreamingHandle mavsdk::CameraServer::subscribe_start_video_streaming(const StartVideoStreamingCallback &callback)
+
            +

            Subscribe to start video streaming requests. Each request received should response to using RespondStartVideoStreaming.

            +

            Parameters

            + +

            Returns

            +

             StartVideoStreamingHandle -

            +

            unsubscribe_start_video_streaming()

            +
            void mavsdk::CameraServer::unsubscribe_start_video_streaming(StartVideoStreamingHandle handle)
+
            +

            Unsubscribe from subscribe_start_video_streaming.

            +

            Parameters

            + +

            respond_start_video_streaming()

            +
            Result mavsdk::CameraServer::respond_start_video_streaming(CameraFeedback start_video_streaming_feedback) const
+
            +

            Respond to start video streaming from SubscribeStartVideoStreaming.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            subscribe_stop_video_streaming()

            +
            StopVideoStreamingHandle mavsdk::CameraServer::subscribe_stop_video_streaming(const StopVideoStreamingCallback &callback)
+
            +

            Subscribe to stop video streaming requests. Each request received should response to using RespondStopVideoStreaming.

            +

            Parameters

            + +

            Returns

            +

             StopVideoStreamingHandle -

            +

            unsubscribe_stop_video_streaming()

            +
            void mavsdk::CameraServer::unsubscribe_stop_video_streaming(StopVideoStreamingHandle handle)
+
            +

            Unsubscribe from subscribe_stop_video_streaming.

            +

            Parameters

            + +

            respond_stop_video_streaming()

            +
            Result mavsdk::CameraServer::respond_stop_video_streaming(CameraFeedback stop_video_streaming_feedback) const
+
            +

            Respond to stop video streaming from SubscribeStopVideoStreaming.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            subscribe_set_mode()

            +
            SetModeHandle mavsdk::CameraServer::subscribe_set_mode(const SetModeCallback &callback)
+
            +

            Subscribe to set camera mode requests. Each request received should response to using RespondSetMode.

            +

            Parameters

            + +

            Returns

            +

             SetModeHandle -

            +

            unsubscribe_set_mode()

            +
            void mavsdk::CameraServer::unsubscribe_set_mode(SetModeHandle handle)
+
            +

            Unsubscribe from subscribe_set_mode.

            +

            Parameters

            + +

            respond_set_mode()

            +
            Result mavsdk::CameraServer::respond_set_mode(CameraFeedback set_mode_feedback) const
+
            +

            Respond to set camera mode from SubscribeSetMode.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            subscribe_storage_information()

            +
            StorageInformationHandle mavsdk::CameraServer::subscribe_storage_information(const StorageInformationCallback &callback)
+
            +

            Subscribe to camera storage information requests. Each request received should response to using RespondStorageInformation.

            +

            Parameters

            + +

            Returns

            +

             StorageInformationHandle -

            +

            unsubscribe_storage_information()

            +
            void mavsdk::CameraServer::unsubscribe_storage_information(StorageInformationHandle handle)
+
            +

            Unsubscribe from subscribe_storage_information.

            +

            Parameters

            + +

            respond_storage_information()

            +
            Result mavsdk::CameraServer::respond_storage_information(CameraFeedback storage_information_feedback, StorageInformation storage_information) const
+
            +

            Respond to camera storage information from SubscribeStorageInformation.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            subscribe_capture_status()

            +
            CaptureStatusHandle mavsdk::CameraServer::subscribe_capture_status(const CaptureStatusCallback &callback)
+
            +

            Subscribe to camera capture status requests. Each request received should response to using RespondCaptureStatus.

            +

            Parameters

            + +

            Returns

            +

             CaptureStatusHandle -

            +

            unsubscribe_capture_status()

            +
            void mavsdk::CameraServer::unsubscribe_capture_status(CaptureStatusHandle handle)
+
            +

            Unsubscribe from subscribe_capture_status.

            +

            Parameters

            + +

            respond_capture_status()

            +
            Result mavsdk::CameraServer::respond_capture_status(CameraFeedback capture_status_feedback, CaptureStatus capture_status) const
+
            +

            Respond to camera capture status from SubscribeCaptureStatus.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            subscribe_format_storage()

            +
            FormatStorageHandle mavsdk::CameraServer::subscribe_format_storage(const FormatStorageCallback &callback)
+
            +

            Subscribe to format storage requests. Each request received should response to using RespondFormatStorage.

            +

            Parameters

            + +

            Returns

            +

             FormatStorageHandle -

            +

            unsubscribe_format_storage()

            +
            void mavsdk::CameraServer::unsubscribe_format_storage(FormatStorageHandle handle)
+
            +

            Unsubscribe from subscribe_format_storage.

            +

            Parameters

            + +

            respond_format_storage()

            +
            Result mavsdk::CameraServer::respond_format_storage(CameraFeedback format_storage_feedback) const
+
            +

            Respond to format storage from SubscribeFormatStorage.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            subscribe_reset_settings()

            +
            ResetSettingsHandle mavsdk::CameraServer::subscribe_reset_settings(const ResetSettingsCallback &callback)
+
            +

            Subscribe to reset settings requests. Each request received should response to using RespondResetSettings.

            +

            Parameters

            + +

            Returns

            +

             ResetSettingsHandle -

            +

            unsubscribe_reset_settings()

            +
            void mavsdk::CameraServer::unsubscribe_reset_settings(ResetSettingsHandle handle)
+
            +

            Unsubscribe from subscribe_reset_settings.

            +

            Parameters

            + +

            respond_reset_settings()

            +
            Result mavsdk::CameraServer::respond_reset_settings(CameraFeedback reset_settings_feedback) const
+
            +

            Respond to reset settings from SubscribeResetSettings.

            +

            This function is blocking.

            +

            Parameters

            + +

            Returns

            +

             Result - Result of request.

            +

            operator=()

            +
            const CameraServer& mavsdk::CameraServer::operator=(const CameraServer &)=delete
+
            +

            Equality operator (object is not copyable).

            +

            Parameters

            + +

            Returns

            +

             const CameraServer & -

            +
            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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              + +

              mavsdk::ComponentInformation Class Reference

              +

              #include: component_information.h

              +
              +

              Access component information such as parameters.

              +

              Data Structures

              +

              struct FloatParam

              +

              struct FloatParamUpdate

              +

              Public Types

              + + + + + + + + + + + + + + + + + + + + + + + + + +
              TypeDescription
              enum ResultPossible results returned for param requests.
              std::function< void(Result)> ResultCallbackCallback type for asynchronous ComponentInformation calls.
              std::function< void(FloatParamUpdate)> FloatParamCallbackCallback type for subscribe_float_param.
              Handle< FloatParamUpdate > FloatParamHandleHandle type for subscribe_float_param.
              +

              Public Member Functions

              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
              TypeNameDescription
               ComponentInformation (System & system)Constructor. Creates the plugin for a specific System.
               ComponentInformation (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
               ~ComponentInformation () overrideDestructor (internal use only).
               ComponentInformation (const ComponentInformation & other)Copy constructor.
              std::pair< Result, std::vector< ComponentInformation::FloatParam > >access_float_params () constList available float params.
              FloatParamHandlesubscribe_float_param (const FloatParamCallback & callback)Subscribe to float param changes/updates.
              voidunsubscribe_float_param (FloatParamHandle handle)Unsubscribe from subscribe_float_param.
              const ComponentInformation &operator= (const ComponentInformation &)=deleteEquality operator (object is not copyable).
              +

              Constructor & Destructor Documentation

              +

              ComponentInformation()

              +
              mavsdk::ComponentInformation::ComponentInformation(System &system)
+
              +

              Constructor. Creates the plugin for a specific System.

              +

              The plugin is typically created as shown below:

              +
              auto component_information = ComponentInformation(system);
+
              +

              Parameters

              +
                +
              • System& system - The specific system associated with this plugin.
                • +
              +

              ComponentInformation()

              +
              mavsdk::ComponentInformation::ComponentInformation(std::shared_ptr< System > system)
+
              +

              Constructor. Creates the plugin for a specific System.

              +

              The plugin is typically created as shown below:

              +
              auto component_information = ComponentInformation(system);
+
              +

              Parameters

              +
                +
              • std::shared_ptr< System > system - The specific system associated with this plugin.
                • +
              +

              ~ComponentInformation()

              +
              mavsdk::ComponentInformation::~ComponentInformation() override
+
              +

              Destructor (internal use only).

              +

              ComponentInformation()

              +
              mavsdk::ComponentInformation::ComponentInformation(const ComponentInformation &other)
+
              +

              Copy constructor.

              +

              Parameters

              + +

              Member Typdef Documentation

              +

              typedef ResultCallback

              +
              using mavsdk::ComponentInformation::ResultCallback =  std::function<void(Result)>
+
              +

              Callback type for asynchronous ComponentInformation calls.

              +

              typedef FloatParamCallback

              +
              using mavsdk::ComponentInformation::FloatParamCallback =  std::function<void(FloatParamUpdate)>
+
              +

              Callback type for subscribe_float_param.

              +

              typedef FloatParamHandle

              +
              using mavsdk::ComponentInformation::FloatParamHandle =  Handle<FloatParamUpdate>
+
              +

              Handle type for subscribe_float_param.

              +

              Member Enumeration Documentation

              +

              enum Result

              +

              Possible results returned for param requests.

              + + + + + + + + + + + + + + + + + + + + + +
              ValueDescription
              UnknownUnknown result.
              SuccessRequest succeeded.
              NoSystemNo system is connected.
              +

              Member Function Documentation

              +

              access_float_params()

              +
              std::pair<Result, std::vector<ComponentInformation::FloatParam> > mavsdk::ComponentInformation::access_float_params() const
+
              +

              List available float params.

              +

              This function is blocking.

              +

              Returns

              +

               std::pair< Result, std::vector< ComponentInformation::FloatParam > > - Result of request.

              +

              subscribe_float_param()

              +
              FloatParamHandle mavsdk::ComponentInformation::subscribe_float_param(const FloatParamCallback &callback)
+
              +

              Subscribe to float param changes/updates.

              +

              Parameters

              + +

              Returns

              +

               FloatParamHandle -

              +

              unsubscribe_float_param()

              +
              void mavsdk::ComponentInformation::unsubscribe_float_param(FloatParamHandle handle)
+
              +

              Unsubscribe from subscribe_float_param.

              +

              Parameters

              + +

              operator=()

              +
              const ComponentInformation& mavsdk::ComponentInformation::operator=(const ComponentInformation &)=delete
+
              +

              Equality operator (object is not copyable).

              +

              Parameters

              + +

              Returns

              +

               const ComponentInformation & -

              +
              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
              + +
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              results matching ""

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                Support
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                Help
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                + +

                mavsdk::ComponentInformationServer Class Reference

                +

                #include: component_information_server.h

                +
                +

                Provide component information such as parameters.

                +

                Data Structures

                +

                struct FloatParam

                +

                struct FloatParamUpdate

                +

                Public Types

                + + + + + + + + + + + + + + + + + + + + + + + + + +
                TypeDescription
                enum ResultPossible results returned for param requests.
                std::function< void(Result)> ResultCallbackCallback type for asynchronous ComponentInformationServer calls.
                std::function< void(FloatParamUpdate)> FloatParamCallbackCallback type for subscribe_float_param.
                Handle< FloatParamUpdate > FloatParamHandleHandle type for subscribe_float_param.
                +

                Public Member Functions

                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                TypeNameDescription
                 ComponentInformationServer (std::shared_ptr< ServerComponent > server_component)Constructor. Creates the plugin for a ServerComponent instance.
                 ~ComponentInformationServer () overrideDestructor (internal use only).
                 ComponentInformationServer (const ComponentInformationServer & other)Copy constructor.
                Resultprovide_float_param (FloatParam param)constProvide a param of type float.
                FloatParamHandlesubscribe_float_param (const FloatParamCallback & callback)Subscribe to float param updates.
                voidunsubscribe_float_param (FloatParamHandle handle)Unsubscribe from subscribe_float_param.
                const ComponentInformationServer &operator= (const ComponentInformationServer &)=deleteEquality operator (object is not copyable).
                +

                Constructor & Destructor Documentation

                +

                ComponentInformationServer()

                +
                mavsdk::ComponentInformationServer::ComponentInformationServer(std::shared_ptr< ServerComponent > server_component)
+
                +

                Constructor. Creates the plugin for a ServerComponent instance.

                +

                The plugin is typically created as shown below:

                +
                auto component_information_server = ComponentInformationServer(server_component);
+
                +

                Parameters

                + +

                ~ComponentInformationServer()

                +
                mavsdk::ComponentInformationServer::~ComponentInformationServer() override
+
                +

                Destructor (internal use only).

                +

                ComponentInformationServer()

                +
                mavsdk::ComponentInformationServer::ComponentInformationServer(const ComponentInformationServer &other)
+
                +

                Copy constructor.

                +

                Parameters

                + +

                Member Typdef Documentation

                +

                typedef ResultCallback

                +
                using mavsdk::ComponentInformationServer::ResultCallback =  std::function<void(Result)>
+
                +

                Callback type for asynchronous ComponentInformationServer calls.

                +

                typedef FloatParamCallback

                +
                using mavsdk::ComponentInformationServer::FloatParamCallback =  std::function<void(FloatParamUpdate)>
+
                +

                Callback type for subscribe_float_param.

                +

                typedef FloatParamHandle

                +
                using mavsdk::ComponentInformationServer::FloatParamHandle =  Handle<FloatParamUpdate>
+
                +

                Handle type for subscribe_float_param.

                +

                Member Enumeration Documentation

                +

                enum Result

                +

                Possible results returned for param requests.

                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                ValueDescription
                UnknownUnknown result.
                SuccessRequest succeeded.
                DuplicateParamDuplicate param.
                InvalidParamStartValueInvalid start param value.
                InvalidParamDefaultValueInvalid default param value.
                InvalidParamNameInvalid param name.
                NoSystemNo system is connected.
                +

                Member Function Documentation

                +

                provide_float_param()

                +
                Result mavsdk::ComponentInformationServer::provide_float_param(FloatParam param) const
+
                +

                Provide a param of type float.

                +

                This function is blocking.

                +

                Parameters

                + +

                Returns

                +

                 Result - Result of request.

                +

                subscribe_float_param()

                +
                FloatParamHandle mavsdk::ComponentInformationServer::subscribe_float_param(const FloatParamCallback &callback)
+
                +

                Subscribe to float param updates.

                +

                Parameters

                + +

                Returns

                +

                 FloatParamHandle -

                +

                unsubscribe_float_param()

                +
                void mavsdk::ComponentInformationServer::unsubscribe_float_param(FloatParamHandle handle)
+
                +

                Unsubscribe from subscribe_float_param.

                +

                Parameters

                + +

                operator=()

                +
                const ComponentInformationServer& mavsdk::ComponentInformationServer::operator=(const ComponentInformationServer &)=delete
+
                +

                Equality operator (object is not copyable).

                +

                Parameters

                + +

                Returns

                +

                 const ComponentInformationServer & -

                +
                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                + +
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                  Support
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                  mavsdk::Failure Class Reference

                  +

                  #include: failure.h

                  +
                  +

                  Inject failures into system to test failsafes.

                  +

                  Public Types

                  + + + + + + + + + + + + + + + + + + + + + + + + + +
                  TypeDescription
                  enum FailureUnitA failure unit.
                  enum FailureTypeA failure type.
                  enum ResultPossible results returned for failure requests.
                  std::function< void(Result)> ResultCallbackCallback type for asynchronous Failure calls.
                  +

                  Public Member Functions

                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                  TypeNameDescription
                   Failure (System & system)Constructor. Creates the plugin for a specific System.
                   Failure (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                   ~Failure () overrideDestructor (internal use only).
                   Failure (const Failure & other)Copy constructor.
                  Resultinject (FailureUnit failure_unit, FailureType failure_type, int32_t instance)constInjects a failure.
                  const Failure &operator= (const Failure &)=deleteEquality operator (object is not copyable).
                  +

                  Constructor & Destructor Documentation

                  +

                  Failure()

                  +
                  mavsdk::Failure::Failure(System &system)
+
                  +

                  Constructor. Creates the plugin for a specific System.

                  +

                  The plugin is typically created as shown below:

                  +
                  auto failure = Failure(system);
+
                  +

                  Parameters

                  +
                    +
                  • System& system - The specific system associated with this plugin.
                    • +
                  +

                  Failure()

                  +
                  mavsdk::Failure::Failure(std::shared_ptr< System > system)
+
                  +

                  Constructor. Creates the plugin for a specific System.

                  +

                  The plugin is typically created as shown below:

                  +
                  auto failure = Failure(system);
+
                  +

                  Parameters

                  +
                    +
                  • std::shared_ptr< System > system - The specific system associated with this plugin.
                    • +
                  +

                  ~Failure()

                  +
                  mavsdk::Failure::~Failure() override
+
                  +

                  Destructor (internal use only).

                  +

                  Failure()

                  +
                  mavsdk::Failure::Failure(const Failure &other)
+
                  +

                  Copy constructor.

                  +

                  Parameters

                  + +

                  Member Typdef Documentation

                  +

                  typedef ResultCallback

                  +
                  using mavsdk::Failure::ResultCallback =  std::function<void(Result)>
+
                  +

                  Callback type for asynchronous Failure calls.

                  +

                  Member Enumeration Documentation

                  +

                  enum FailureUnit

                  +

                  A failure unit.

                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                  ValueDescription
                  SensorGyroGyro.
                  SensorAccelAccelerometer.
                  SensorMagMagnetometer.
                  SensorBaroBarometer.
                  SensorGpsGPS.
                  SensorOpticalFlowOptical flow.
                  SensorVioVisual inertial odometry.
                  SensorDistanceSensorDistance sensor.
                  SensorAirspeedAirspeed.
                  SystemBatteryBattery.
                  SystemMotorMotor.
                  SystemServoServo.
                  SystemAvoidanceAvoidance.
                  SystemRcSignalRC signal.
                  SystemMavlinkSignalMAVLink signal.
                  +

                  enum FailureType

                  +

                  A failure type.

                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                  ValueDescription
                  OkNo failure injected, used to reset a previous failure.
                  OffSets unit off, so completely non-responsive.
                  StuckUnit is stuck e.g. keeps reporting the same value.
                  GarbageUnit is reporting complete garbage.
                  WrongUnit is consistently wrong.
                  SlowUnit is slow, so e.g. reporting at slower than expected rate.
                  DelayedData of unit is delayed in time.
                  IntermittentUnit is sometimes working, sometimes not.
                  +

                  enum Result

                  +

                  Possible results returned for failure requests.

                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                  ValueDescription
                  UnknownUnknown result.
                  SuccessRequest succeeded.
                  NoSystemNo system is connected.
                  ConnectionErrorConnection error.
                  UnsupportedFailure not supported.
                  DeniedFailure injection denied.
                  DisabledFailure injection is disabled.
                  TimeoutRequest timed out.
                  +

                  Member Function Documentation

                  +

                  inject()

                  +
                  Result mavsdk::Failure::inject(FailureUnit failure_unit, FailureType failure_type, int32_t instance) const
+
                  +

                  Injects a failure.

                  +

                  This function is blocking.

                  +

                  Parameters

                  + +

                  Returns

                  +

                   Result - Result of request.

                  +

                  operator=()

                  +
                  const Failure& mavsdk::Failure::operator=(const Failure &)=delete
+
                  +

                  Equality operator (object is not copyable).

                  +

                  Parameters

                  + +

                  Returns

                  +

                   const Failure & -

                  +
                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                  + +
                  + +
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                  + +

                  results matching ""

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                    No results matching ""

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                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_fake_handle.md b/v2.0/en/cpp/api_reference/classmavsdk_1_1_fake_handle.md new file mode 100644 index 00000000..16479c5b --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_fake_handle.md @@ -0,0 +1,5 @@ +# mavsdk::FakeHandle Class Reference +`#include: UNKNOWN` + +---- + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_follow_me.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_follow_me.html new file mode 100644 index 00000000..1685a541 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_follow_me.html @@ -0,0 +1,3591 @@ + + + + + + + class FollowMe · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                    + + + + +
                    + +
                    PX4
                    +
                    QGroundControl
                    +
                    QGC
                    +
                    SDK
                    +
                    MAVLink
                    +
                    Documentation
                    +
                    Docs
                    +
                    Support
                    +
                    Help
                    + +
                    +
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                    +
                    + +
                    + +

                    mavsdk::FollowMe Class Reference

                    +

                    #include: follow_me.h

                    +
                    +

                    Allow users to command the vehicle to follow a specific target. The target is provided as a GPS coordinate and altitude.

                    +

                    Data Structures

                    +

                    struct Config

                    +

                    struct TargetLocation

                    +

                    Public Types

                    + + + + + + + + + + + + + + + + + +
                    TypeDescription
                    enum ResultPossible results returned for followme operations.
                    std::function< void(Result)> ResultCallbackCallback type for asynchronous FollowMe calls.
                    +

                    Public Member Functions

                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                    TypeNameDescription
                     FollowMe (System & system)Constructor. Creates the plugin for a specific System.
                     FollowMe (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                     ~FollowMe () overrideDestructor (internal use only).
                     FollowMe (const FollowMe & other)Copy constructor.
                    FollowMe::Configget_config () constGet current configuration.
                    Resultset_config (Config config)constApply configuration by sending it to the system.
                    boolis_active () constCheck if FollowMe is active.
                    Resultset_target_location (TargetLocation location)constSet location of the moving target.
                    FollowMe::TargetLocationget_last_location () constGet the last location of the target.
                    Resultstart () constStart FollowMe mode.
                    Resultstop () constStop FollowMe mode.
                    const FollowMe &operator= (const FollowMe &)=deleteEquality operator (object is not copyable).
                    +

                    Constructor & Destructor Documentation

                    +

                    FollowMe()

                    +
                    mavsdk::FollowMe::FollowMe(System &system)
+
                    +

                    Constructor. Creates the plugin for a specific System.

                    +

                    The plugin is typically created as shown below:

                    +
                    auto follow_me = FollowMe(system);
+
                    +

                    Parameters

                    +
                      +
                    • System& system - The specific system associated with this plugin.
                      • +
                    +

                    FollowMe()

                    +
                    mavsdk::FollowMe::FollowMe(std::shared_ptr< System > system)
+
                    +

                    Constructor. Creates the plugin for a specific System.

                    +

                    The plugin is typically created as shown below:

                    +
                    auto follow_me = FollowMe(system);
+
                    +

                    Parameters

                    +
                      +
                    • std::shared_ptr< System > system - The specific system associated with this plugin.
                      • +
                    +

                    ~FollowMe()

                    +
                    mavsdk::FollowMe::~FollowMe() override
+
                    +

                    Destructor (internal use only).

                    +

                    FollowMe()

                    +
                    mavsdk::FollowMe::FollowMe(const FollowMe &other)
+
                    +

                    Copy constructor.

                    +

                    Parameters

                    + +

                    Member Typdef Documentation

                    +

                    typedef ResultCallback

                    +
                    using mavsdk::FollowMe::ResultCallback =  std::function<void(Result)>
+
                    +

                    Callback type for asynchronous FollowMe calls.

                    +

                    Member Enumeration Documentation

                    +

                    enum Result

                    +

                    Possible results returned for followme operations.

                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                    ValueDescription
                    UnknownUnknown result.
                    SuccessRequest succeeded.
                    NoSystemNo system connected.
                    ConnectionErrorConnection error.
                    BusyVehicle is busy.
                    CommandDeniedCommand denied.
                    TimeoutRequest timed out.
                    NotActiveFollowMe is not active.
                    SetConfigFailedFailed to set FollowMe configuration.
                    +

                    Member Function Documentation

                    +

                    get_config()

                    +
                    FollowMe::Config mavsdk::FollowMe::get_config() const
+
                    +

                    Get current configuration.

                    +

                    This function is blocking.

                    +

                    Returns

                    +

                     FollowMe::Config - Result of request.

                    +

                    set_config()

                    +
                    Result mavsdk::FollowMe::set_config(Config config) const
+
                    +

                    Apply configuration by sending it to the system.

                    +

                    This function is blocking.

                    +

                    Parameters

                    + +

                    Returns

                    +

                     Result - Result of request.

                    +

                    is_active()

                    +
                    bool mavsdk::FollowMe::is_active() const
+
                    +

                    Check if FollowMe is active.

                    +

                    This function is blocking.

                    +

                    Returns

                    +

                     bool - Result of request.

                    +

                    set_target_location()

                    +
                    Result mavsdk::FollowMe::set_target_location(TargetLocation location) const
+
                    +

                    Set location of the moving target.

                    +

                    This function is blocking.

                    +

                    Parameters

                    + +

                    Returns

                    +

                     Result - Result of request.

                    +

                    get_last_location()

                    +
                    FollowMe::TargetLocation mavsdk::FollowMe::get_last_location() const
+
                    +

                    Get the last location of the target.

                    +

                    This function is blocking.

                    +

                    Returns

                    +

                     FollowMe::TargetLocation - Result of request.

                    +

                    start()

                    +
                    Result mavsdk::FollowMe::start() const
+
                    +

                    Start FollowMe mode.

                    +

                    This function is blocking.

                    +

                    Returns

                    +

                     Result - Result of request.

                    +

                    stop()

                    +
                    Result mavsdk::FollowMe::stop() const
+
                    +

                    Stop FollowMe mode.

                    +

                    This function is blocking.

                    +

                    Returns

                    +

                     Result - Result of request.

                    +

                    operator=()

                    +
                    const FollowMe& mavsdk::FollowMe::operator=(const FollowMe &)=delete
+
                    +

                    Equality operator (object is not copyable).

                    +

                    Parameters

                    + +

                    Returns

                    +

                     const FollowMe & -

                    +
                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                    + +
                    + +
                    +
                    +
                    + +

                    results matching ""

                    +
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                      +
                      + +

                      No results matching ""

                      + +
                      +
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                      + + + + + + + + + + + + + + +
                      + + +
                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_ftp.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_ftp.html new file mode 100644 index 00000000..df1e93a8 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_ftp.html @@ -0,0 +1,3783 @@ + + + + + + + class Ftp · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                      + + + + +
                      + +
                      PX4
                      +
                      QGroundControl
                      +
                      QGC
                      +
                      SDK
                      +
                      MAVLink
                      +
                      Documentation
                      +
                      Docs
                      +
                      Support
                      +
                      Help
                      + +
                      +
                      + + + +
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                      + + + + + + + + +
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                      +
                      + +
                      + +

                      mavsdk::Ftp Class Reference

                      +

                      #include: ftp.h

                      +
                      +

                      Implements file transfer functionality using MAVLink FTP.

                      +

                      Data Structures

                      +

                      struct ProgressData

                      +

                      Public Types

                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                      TypeDescription
                      enum ResultPossible results returned for FTP commands.
                      std::function< void(Result)> ResultCallbackCallback type for asynchronous Ftp calls.
                      std::function< void(Result, ProgressData)> DownloadCallbackCallback type for download_async.
                      std::function< void(Result, ProgressData)> UploadCallbackCallback type for upload_async.
                      std::function< void(Result, std::vector< std::string >)> ListDirectoryCallbackCallback type for list_directory_async.
                      std::function< void(Result, bool)> AreFilesIdenticalCallbackCallback type for are_files_identical_async.
                      +

                      Public Member Functions

                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                      TypeNameDescription
                       Ftp (System & system)Constructor. Creates the plugin for a specific System.
                       Ftp (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                       ~Ftp () overrideDestructor (internal use only).
                       Ftp (const Ftp & other)Copy constructor.
                      voiddownload_async (std::string remote_file_path, std::string local_dir, bool use_burst, const DownloadCallback & callback)Downloads a file to local directory.
                      voidupload_async (std::string local_file_path, std::string remote_dir, const UploadCallback & callback)Uploads local file to remote directory.
                      voidlist_directory_async (std::string remote_dir, const ListDirectoryCallback callback)Lists items from a remote directory.
                      std::pair< Result, std::vector< std::string > >list_directory (std::string remote_dir)constLists items from a remote directory.
                      voidcreate_directory_async (std::string remote_dir, const ResultCallback callback)Creates a remote directory.
                      Resultcreate_directory (std::string remote_dir)constCreates a remote directory.
                      voidremove_directory_async (std::string remote_dir, const ResultCallback callback)Removes a remote directory.
                      Resultremove_directory (std::string remote_dir)constRemoves a remote directory.
                      voidremove_file_async (std::string remote_file_path, const ResultCallback callback)Removes a remote file.
                      Resultremove_file (std::string remote_file_path)constRemoves a remote file.
                      voidrename_async (std::string remote_from_path, std::string remote_to_path, const ResultCallback callback)Renames a remote file or remote directory.
                      Resultrename (std::string remote_from_path, std::string remote_to_path)constRenames a remote file or remote directory.
                      voidare_files_identical_async (std::string local_file_path, std::string remote_file_path, const AreFilesIdenticalCallback callback)Compares a local file to a remote file using a CRC32 checksum.
                      std::pair< Result, bool >are_files_identical (std::string local_file_path, std::string remote_file_path)constCompares a local file to a remote file using a CRC32 checksum.
                      Resultset_target_compid (uint32_t compid)constSet target component ID. By default it is the autopilot.
                      const Ftp &operator= (const Ftp &)=deleteEquality operator (object is not copyable).
                      +

                      Constructor & Destructor Documentation

                      +

                      Ftp()

                      +
                      mavsdk::Ftp::Ftp(System &system)
+
                      +

                      Constructor. Creates the plugin for a specific System.

                      +

                      The plugin is typically created as shown below:

                      +
                      auto ftp = Ftp(system);
+
                      +

                      Parameters

                      +
                        +
                      • System& system - The specific system associated with this plugin.
                        • +
                      +

                      Ftp()

                      +
                      mavsdk::Ftp::Ftp(std::shared_ptr< System > system)
+
                      +

                      Constructor. Creates the plugin for a specific System.

                      +

                      The plugin is typically created as shown below:

                      +
                      auto ftp = Ftp(system);
+
                      +

                      Parameters

                      +
                        +
                      • std::shared_ptr< System > system - The specific system associated with this plugin.
                        • +
                      +

                      ~Ftp()

                      +
                      mavsdk::Ftp::~Ftp() override
+
                      +

                      Destructor (internal use only).

                      +

                      Ftp()

                      +
                      mavsdk::Ftp::Ftp(const Ftp &other)
+
                      +

                      Copy constructor.

                      +

                      Parameters

                      +
                        +
                      • const Ftp& other -
                        • +
                      +

                      Member Typdef Documentation

                      +

                      typedef ResultCallback

                      +
                      using mavsdk::Ftp::ResultCallback =  std::function<void(Result)>
+
                      +

                      Callback type for asynchronous Ftp calls.

                      +

                      typedef DownloadCallback

                      +
                      using mavsdk::Ftp::DownloadCallback =  std::function<void(Result, ProgressData)>
+
                      +

                      Callback type for download_async.

                      +

                      typedef UploadCallback

                      +
                      using mavsdk::Ftp::UploadCallback =  std::function<void(Result, ProgressData)>
+
                      +

                      Callback type for upload_async.

                      +

                      typedef ListDirectoryCallback

                      +
                      using mavsdk::Ftp::ListDirectoryCallback =  std::function<void(Result, std::vector<std::string>)>
+
                      +

                      Callback type for list_directory_async.

                      +

                      typedef AreFilesIdenticalCallback

                      +
                      using mavsdk::Ftp::AreFilesIdenticalCallback =  std::function<void(Result, bool)>
+
                      +

                      Callback type for are_files_identical_async.

                      +

                      Member Enumeration Documentation

                      +

                      enum Result

                      +

                      Possible results returned for FTP commands.

                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                      ValueDescription
                      UnknownUnknown result.
                      SuccessSuccess.
                      NextIntermediate message showing progress.
                      TimeoutTimeout.
                      BusyOperation is already in progress.
                      FileIoErrorFile IO operation error.
                      FileExistsFile exists already.
                      FileDoesNotExistFile does not exist.
                      FileProtectedFile is write protected.
                      InvalidParameterInvalid parameter.
                      UnsupportedUnsupported command.
                      ProtocolErrorGeneral protocol error.
                      NoSystemNo system connected.
                      +

                      Member Function Documentation

                      +

                      download_async()

                      +
                      void mavsdk::Ftp::download_async(std::string remote_file_path, std::string local_dir, bool use_burst, const DownloadCallback &callback)
+
                      +

                      Downloads a file to local directory.

                      +

                      Parameters

                      +
                        +
                      • std::string remote_file_path -
                        • +
                      • std::string local_dir -
                        • +
                      • bool use_burst -
                        • +
                      • const DownloadCallback& callback -
                        • +
                      +

                      upload_async()

                      +
                      void mavsdk::Ftp::upload_async(std::string local_file_path, std::string remote_dir, const UploadCallback &callback)
+
                      +

                      Uploads local file to remote directory.

                      +

                      Parameters

                      +
                        +
                      • std::string local_file_path -
                        • +
                      • std::string remote_dir -
                        • +
                      • const UploadCallback& callback -
                        • +
                      +

                      list_directory_async()

                      +
                      void mavsdk::Ftp::list_directory_async(std::string remote_dir, const ListDirectoryCallback callback)
+
                      +

                      Lists items from a remote directory.

                      +

                      This function is non-blocking. See 'list_directory' for the blocking counterpart.

                      +

                      Parameters

                      + +

                      list_directory()

                      +
                      std::pair<Result, std::vector<std::string> > mavsdk::Ftp::list_directory(std::string remote_dir) const
+
                      +

                      Lists items from a remote directory.

                      +

                      This function is blocking. See 'list_directory_async' for the non-blocking counterpart.

                      +

                      Parameters

                      +
                        +
                      • std::string remote_dir -
                        • +
                      +

                      Returns

                      +

                       std::pair< Result, std::vector< std::string > > - Result of request.

                      +

                      create_directory_async()

                      +
                      void mavsdk::Ftp::create_directory_async(std::string remote_dir, const ResultCallback callback)
+
                      +

                      Creates a remote directory.

                      +

                      This function is non-blocking. See 'create_directory' for the blocking counterpart.

                      +

                      Parameters

                      + +

                      create_directory()

                      +
                      Result mavsdk::Ftp::create_directory(std::string remote_dir) const
+
                      +

                      Creates a remote directory.

                      +

                      This function is blocking. See 'create_directory_async' for the non-blocking counterpart.

                      +

                      Parameters

                      +
                        +
                      • std::string remote_dir -
                        • +
                      +

                      Returns

                      +

                       Result - Result of request.

                      +

                      remove_directory_async()

                      +
                      void mavsdk::Ftp::remove_directory_async(std::string remote_dir, const ResultCallback callback)
+
                      +

                      Removes a remote directory.

                      +

                      This function is non-blocking. See 'remove_directory' for the blocking counterpart.

                      +

                      Parameters

                      + +

                      remove_directory()

                      +
                      Result mavsdk::Ftp::remove_directory(std::string remote_dir) const
+
                      +

                      Removes a remote directory.

                      +

                      This function is blocking. See 'remove_directory_async' for the non-blocking counterpart.

                      +

                      Parameters

                      +
                        +
                      • std::string remote_dir -
                        • +
                      +

                      Returns

                      +

                       Result - Result of request.

                      +

                      remove_file_async()

                      +
                      void mavsdk::Ftp::remove_file_async(std::string remote_file_path, const ResultCallback callback)
+
                      +

                      Removes a remote file.

                      +

                      This function is non-blocking. See 'remove_file' for the blocking counterpart.

                      +

                      Parameters

                      + +

                      remove_file()

                      +
                      Result mavsdk::Ftp::remove_file(std::string remote_file_path) const
+
                      +

                      Removes a remote file.

                      +

                      This function is blocking. See 'remove_file_async' for the non-blocking counterpart.

                      +

                      Parameters

                      +
                        +
                      • std::string remote_file_path -
                        • +
                      +

                      Returns

                      +

                       Result - Result of request.

                      +

                      rename_async()

                      +
                      void mavsdk::Ftp::rename_async(std::string remote_from_path, std::string remote_to_path, const ResultCallback callback)
+
                      +

                      Renames a remote file or remote directory.

                      +

                      This function is non-blocking. See 'rename' for the blocking counterpart.

                      +

                      Parameters

                      +
                        +
                      • std::string remote_from_path -
                        • +
                      • std::string remote_to_path -
                        • +
                      • const ResultCallback callback -
                        • +
                      +

                      rename()

                      +
                      Result mavsdk::Ftp::rename(std::string remote_from_path, std::string remote_to_path) const
+
                      +

                      Renames a remote file or remote directory.

                      +

                      This function is blocking. See 'rename_async' for the non-blocking counterpart.

                      +

                      Parameters

                      +
                        +
                      • std::string remote_from_path -
                        • +
                      • std::string remote_to_path -
                        • +
                      +

                      Returns

                      +

                       Result - Result of request.

                      +

                      are_files_identical_async()

                      +
                      void mavsdk::Ftp::are_files_identical_async(std::string local_file_path, std::string remote_file_path, const AreFilesIdenticalCallback callback)
+
                      +

                      Compares a local file to a remote file using a CRC32 checksum.

                      +

                      This function is non-blocking. See 'are_files_identical' for the blocking counterpart.

                      +

                      Parameters

                      + +

                      are_files_identical()

                      +
                      std::pair<Result, bool> mavsdk::Ftp::are_files_identical(std::string local_file_path, std::string remote_file_path) const
+
                      +

                      Compares a local file to a remote file using a CRC32 checksum.

                      +

                      This function is blocking. See 'are_files_identical_async' for the non-blocking counterpart.

                      +

                      Parameters

                      +
                        +
                      • std::string local_file_path -
                        • +
                      • std::string remote_file_path -
                        • +
                      +

                      Returns

                      +

                       std::pair< Result, bool > - Result of request.

                      +

                      set_target_compid()

                      +
                      Result mavsdk::Ftp::set_target_compid(uint32_t compid) const
+
                      +

                      Set target component ID. By default it is the autopilot.

                      +

                      This function is blocking.

                      +

                      Parameters

                      +
                        +
                      • uint32_t compid -
                        • +
                      +

                      Returns

                      +

                       Result - Result of request.

                      +

                      operator=()

                      +
                      const Ftp& mavsdk::Ftp::operator=(const Ftp &)=delete
+
                      +

                      Equality operator (object is not copyable).

                      +

                      Parameters

                      +
                        +
                      • const Ftp& -
                        • +
                      +

                      Returns

                      +

                       const Ftp & -

                      +
                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_ftp_server.md b/v2.0/en/cpp/api_reference/classmavsdk_1_1_ftp_server.md new file mode 100644 index 00000000..f8fb6196 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_ftp_server.md @@ -0,0 +1,141 @@ +# mavsdk::FtpServer Class Reference +`#include: ftp_server.h` + +---- + + +Provide files or directories to transfer. + + +## Public Types + + +Type | Description +--- | --- +enum [Result](#classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763) | Possible results returned for FTP server requests. +std::function< void([Result](classmavsdk_1_1_ftp_server.md#classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763))> [ResultCallback](#classmavsdk_1_1_ftp_server_1a8de8a273470df377e1a665c3b14c866a) | Callback type for asynchronous [FtpServer](classmavsdk_1_1_ftp_server.md) calls. + +## Public Member Functions + + +Type | Name | Description +---: | --- | --- +  | [FtpServer](#classmavsdk_1_1_ftp_server_1aa22c68e2fe9a3ac22c4ef55f2636ddd3) (std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > server_component) | Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance. +  | [~FtpServer](#classmavsdk_1_1_ftp_server_1a685d6499b3fbc7d8b4fac6f8031e7e99) () override | Destructor (internal use only). +  | [FtpServer](#classmavsdk_1_1_ftp_server_1afed6d9c192b299e27d5e0014e63c275f) (const [FtpServer](classmavsdk_1_1_ftp_server.md) & other) | Copy constructor. +[Result](classmavsdk_1_1_ftp_server.md#classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763) | [set_root_dir](#classmavsdk_1_1_ftp_server_1aa79196f0d3cd0bc178a57711252ed8f3) (std::string path)const | Set root directory. +const [FtpServer](classmavsdk_1_1_ftp_server.md) & | [operator=](#classmavsdk_1_1_ftp_server_1aa3822f6508adad0b930cbca3be4fd5c5) (const [FtpServer](classmavsdk_1_1_ftp_server.md) &)=delete | Equality operator (object is not copyable). + + +## Constructor & Destructor Documentation + + +### FtpServer() {#classmavsdk_1_1_ftp_server_1aa22c68e2fe9a3ac22c4ef55f2636ddd3} +```cpp +mavsdk::FtpServer::FtpServer(std::shared_ptr< ServerComponent > server_component) +``` + + +Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance. + +The plugin is typically created as shown below: + +```cpp +auto ftp_server = FtpServer(server_component); +``` + +**Parameters** + +* std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > **server_component** - The [ServerComponent](classmavsdk_1_1_server_component.md) instance associated with this server plugin. + +### ~FtpServer() {#classmavsdk_1_1_ftp_server_1a685d6499b3fbc7d8b4fac6f8031e7e99} +```cpp +mavsdk::FtpServer::~FtpServer() override +``` + + +Destructor (internal use only). + + +### FtpServer() {#classmavsdk_1_1_ftp_server_1afed6d9c192b299e27d5e0014e63c275f} +```cpp +mavsdk::FtpServer::FtpServer(const FtpServer &other) +``` + + +Copy constructor. + + +**Parameters** + +* const [FtpServer](classmavsdk_1_1_ftp_server.md)& **other** - + +## Member Typdef Documentation + + +### typedef ResultCallback {#classmavsdk_1_1_ftp_server_1a8de8a273470df377e1a665c3b14c866a} + +```cpp +using mavsdk::FtpServer::ResultCallback = std::function +``` + + +Callback type for asynchronous [FtpServer](classmavsdk_1_1_ftp_server.md) calls. + + +## Member Enumeration Documentation + + +### enum Result {#classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763} + + +Possible results returned for FTP server requests. + + +Value | Description +--- | --- + `Unknown` | Unknown result. + `Success` | Request succeeded. + `DoesNotExist` | Directory does not exist. + `Busy` | Operations in progress. + +## Member Function Documentation + + +### set_root_dir() {#classmavsdk_1_1_ftp_server_1aa79196f0d3cd0bc178a57711252ed8f3} +```cpp +Result mavsdk::FtpServer::set_root_dir(std::string path) const +``` + + +Set root directory. + +This is the directory that can then be accessed by a client. The directory needs to exist when this is called. The permissions are the same as the file permission for the user running the server. The root directory can't be changed while an FTP process is in progress. + + +This function is blocking. + +**Parameters** + +* std::string **path** - + +**Returns** + + [Result](classmavsdk_1_1_ftp_server.md#classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763) - Result of request. + +### operator=() {#classmavsdk_1_1_ftp_server_1aa3822f6508adad0b930cbca3be4fd5c5} +```cpp +const FtpServer& mavsdk::FtpServer::operator=(const FtpServer &)=delete +``` + + +Equality operator (object is not copyable). + + +**Parameters** + +* const [FtpServer](classmavsdk_1_1_ftp_server.md)& - + +**Returns** + + const [FtpServer](classmavsdk_1_1_ftp_server.md) & - \ No newline at end of file diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_geofence.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_geofence.html new file mode 100644 index 00000000..7a2f9a28 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_geofence.html @@ -0,0 +1,3580 @@ + + + + + + + class Geofence · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                        + +

                        mavsdk::Geofence Class Reference

                        +

                        #include: geofence.h

                        +
                        +

                        Enable setting a geofence.

                        +

                        Data Structures

                        +

                        struct Circle

                        +

                        struct GeofenceData

                        +

                        struct Point

                        +

                        struct Polygon

                        +

                        Public Types

                        + + + + + + + + + + + + + + + + + + + + + +
                        TypeDescription
                        enum FenceTypeGeofence types.
                        enum ResultPossible results returned for geofence requests.
                        std::function< void(Result)> ResultCallbackCallback type for asynchronous Geofence calls.
                        +

                        Public Member Functions

                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                        TypeNameDescription
                         Geofence (System & system)Constructor. Creates the plugin for a specific System.
                         Geofence (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                         ~Geofence () overrideDestructor (internal use only).
                         Geofence (const Geofence & other)Copy constructor.
                        voidupload_geofence_async (GeofenceData geofence_data, const ResultCallback callback)Upload geofences.
                        Resultupload_geofence (GeofenceData geofence_data)constUpload geofences.
                        voidclear_geofence_async (const ResultCallback callback)Clear all geofences saved on the vehicle.
                        Resultclear_geofence () constClear all geofences saved on the vehicle.
                        const Geofence &operator= (const Geofence &)=deleteEquality operator (object is not copyable).
                        +

                        Constructor & Destructor Documentation

                        +

                        Geofence()

                        +
                        mavsdk::Geofence::Geofence(System &system)
+
                        +

                        Constructor. Creates the plugin for a specific System.

                        +

                        The plugin is typically created as shown below:

                        +
                        auto geofence = Geofence(system);
+
                        +

                        Parameters

                        +
                          +
                        • System& system - The specific system associated with this plugin.
                          • +
                        +

                        Geofence()

                        +
                        mavsdk::Geofence::Geofence(std::shared_ptr< System > system)
+
                        +

                        Constructor. Creates the plugin for a specific System.

                        +

                        The plugin is typically created as shown below:

                        +
                        auto geofence = Geofence(system);
+
                        +

                        Parameters

                        +
                          +
                        • std::shared_ptr< System > system - The specific system associated with this plugin.
                          • +
                        +

                        ~Geofence()

                        +
                        mavsdk::Geofence::~Geofence() override
+
                        +

                        Destructor (internal use only).

                        +

                        Geofence()

                        +
                        mavsdk::Geofence::Geofence(const Geofence &other)
+
                        +

                        Copy constructor.

                        +

                        Parameters

                        + +

                        Member Typdef Documentation

                        +

                        typedef ResultCallback

                        +
                        using mavsdk::Geofence::ResultCallback =  std::function<void(Result)>
+
                        +

                        Callback type for asynchronous Geofence calls.

                        +

                        Member Enumeration Documentation

                        +

                        enum FenceType

                        +

                        Geofence types.

                        + + + + + + + + + + + + + + + + + +
                        ValueDescription
                        InclusionType representing an inclusion fence.
                        ExclusionType representing an exclusion fence.
                        +

                        enum Result

                        +

                        Possible results returned for geofence requests.

                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                        ValueDescription
                        UnknownUnknown result.
                        SuccessRequest succeeded.
                        ErrorError.
                        TooManyGeofenceItemsToo many objects in the geofence.
                        BusyVehicle is busy.
                        TimeoutRequest timed out.
                        InvalidArgumentInvalid argument.
                        NoSystemNo system connected.
                        +

                        Member Function Documentation

                        +

                        upload_geofence_async()

                        +
                        void mavsdk::Geofence::upload_geofence_async(GeofenceData geofence_data, const ResultCallback callback)
+
                        +

                        Upload geofences.

                        +

                        Polygon and Circular geofences are uploaded to a drone. Once uploaded, the geofence will remain on the drone even if a connection is lost.

                        +

                        This function is non-blocking. See 'upload_geofence' for the blocking counterpart.

                        +

                        Parameters

                        + +

                        upload_geofence()

                        +
                        Result mavsdk::Geofence::upload_geofence(GeofenceData geofence_data) const
+
                        +

                        Upload geofences.

                        +

                        Polygon and Circular geofences are uploaded to a drone. Once uploaded, the geofence will remain on the drone even if a connection is lost.

                        +

                        This function is blocking. See 'upload_geofence_async' for the non-blocking counterpart.

                        +

                        Parameters

                        + +

                        Returns

                        +

                         Result - Result of request.

                        +

                        clear_geofence_async()

                        +
                        void mavsdk::Geofence::clear_geofence_async(const ResultCallback callback)
+
                        +

                        Clear all geofences saved on the vehicle.

                        +

                        This function is non-blocking. See 'clear_geofence' for the blocking counterpart.

                        +

                        Parameters

                        + +

                        clear_geofence()

                        +
                        Result mavsdk::Geofence::clear_geofence() const
+
                        +

                        Clear all geofences saved on the vehicle.

                        +

                        This function is blocking. See 'clear_geofence_async' for the non-blocking counterpart.

                        +

                        Returns

                        +

                         Result - Result of request.

                        +

                        operator=()

                        +
                        const Geofence& mavsdk::Geofence::operator=(const Geofence &)=delete
+
                        +

                        Equality operator (object is not copyable).

                        +

                        Parameters

                        + +

                        Returns

                        +

                         const Geofence & -

                        +
                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                          mavsdk::Gimbal Class Reference

                          +

                          #include: gimbal.h

                          +
                          +

                          Provide control over a gimbal.

                          +

                          Data Structures

                          +

                          struct ControlStatus

                          +

                          Public Types

                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                          TypeDescription
                          enum GimbalModeGimbal mode type.
                          enum ControlModeControl mode.
                          enum ResultPossible results returned for gimbal commands.
                          std::function< void(Result)> ResultCallbackCallback type for asynchronous Gimbal calls.
                          std::function< void(ControlStatus)> ControlCallbackCallback type for subscribe_control.
                          Handle< ControlStatus > ControlHandleHandle type for subscribe_control.
                          +

                          Public Member Functions

                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                          TypeNameDescription
                           Gimbal (System & system)Constructor. Creates the plugin for a specific System.
                           Gimbal (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                           ~Gimbal () overrideDestructor (internal use only).
                           Gimbal (const Gimbal & other)Copy constructor.
                          voidset_pitch_and_yaw_async (float pitch_deg, float yaw_deg, const ResultCallback callback)Set gimbal pitch and yaw angles.
                          Resultset_pitch_and_yaw (float pitch_deg, float yaw_deg)constSet gimbal pitch and yaw angles.
                          voidset_pitch_rate_and_yaw_rate_async (float pitch_rate_deg_s, float yaw_rate_deg_s, const ResultCallback callback)Set gimbal angular rates around pitch and yaw axes.
                          Resultset_pitch_rate_and_yaw_rate (float pitch_rate_deg_s, float yaw_rate_deg_s)constSet gimbal angular rates around pitch and yaw axes.
                          voidset_mode_async (GimbalMode gimbal_mode, const ResultCallback callback)Set gimbal mode.
                          Resultset_mode (GimbalMode gimbal_mode)constSet gimbal mode.
                          voidset_roi_location_async (double latitude_deg, double longitude_deg, float altitude_m, const ResultCallback callback)Set gimbal region of interest (ROI).
                          Resultset_roi_location (double latitude_deg, double longitude_deg, float altitude_m)constSet gimbal region of interest (ROI).
                          voidtake_control_async (ControlMode control_mode, const ResultCallback callback)Take control.
                          Resulttake_control (ControlMode control_mode)constTake control.
                          voidrelease_control_async (const ResultCallback callback)Release control.
                          Resultrelease_control () constRelease control.
                          ControlHandlesubscribe_control (const ControlCallback & callback)Subscribe to control status updates.
                          voidunsubscribe_control (ControlHandle handle)Unsubscribe from subscribe_control.
                          ControlStatuscontrol () constPoll for 'ControlStatus' (blocking).
                          const Gimbal &operator= (const Gimbal &)=deleteEquality operator (object is not copyable).
                          +

                          Constructor & Destructor Documentation

                          +

                          Gimbal()

                          +
                          mavsdk::Gimbal::Gimbal(System &system)
+
                          +

                          Constructor. Creates the plugin for a specific System.

                          +

                          The plugin is typically created as shown below:

                          +
                          auto gimbal = Gimbal(system);
+
                          +

                          Parameters

                          +
                            +
                          • System& system - The specific system associated with this plugin.
                            • +
                          +

                          Gimbal()

                          +
                          mavsdk::Gimbal::Gimbal(std::shared_ptr< System > system)
+
                          +

                          Constructor. Creates the plugin for a specific System.

                          +

                          The plugin is typically created as shown below:

                          +
                          auto gimbal = Gimbal(system);
+
                          +

                          Parameters

                          +
                            +
                          • std::shared_ptr< System > system - The specific system associated with this plugin.
                            • +
                          +

                          ~Gimbal()

                          +
                          mavsdk::Gimbal::~Gimbal() override
+
                          +

                          Destructor (internal use only).

                          +

                          Gimbal()

                          +
                          mavsdk::Gimbal::Gimbal(const Gimbal &other)
+
                          +

                          Copy constructor.

                          +

                          Parameters

                          + +

                          Member Typdef Documentation

                          +

                          typedef ResultCallback

                          +
                          using mavsdk::Gimbal::ResultCallback =  std::function<void(Result)>
+
                          +

                          Callback type for asynchronous Gimbal calls.

                          +

                          typedef ControlCallback

                          +
                          using mavsdk::Gimbal::ControlCallback =  std::function<void(ControlStatus)>
+
                          +

                          Callback type for subscribe_control.

                          +

                          typedef ControlHandle

                          +
                          using mavsdk::Gimbal::ControlHandle =  Handle<ControlStatus>
+
                          +

                          Handle type for subscribe_control.

                          +

                          Member Enumeration Documentation

                          +

                          enum GimbalMode

                          +

                          Gimbal mode type.

                          + + + + + + + + + + + + + + + + + +
                          ValueDescription
                          YawFollowYaw follow will point the gimbal to the vehicle heading.
                          YawLockYaw lock will fix the gimbal pointing to an absolute direction.
                          +

                          enum ControlMode

                          +

                          Control mode.

                          + + + + + + + + + + + + + + + + + + + + + +
                          ValueDescription
                          NoneIndicates that the component does not have control over the gimbal.
                          PrimaryTo take primary control over the gimbal.
                          SecondaryTo take secondary control over the gimbal.
                          +

                          enum Result

                          +

                          Possible results returned for gimbal commands.

                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                          ValueDescription
                          UnknownUnknown result.
                          SuccessCommand was accepted.
                          ErrorError occurred sending the command.
                          TimeoutCommand timed out.
                          UnsupportedFunctionality not supported.
                          NoSystemNo system connected.
                          +

                          Member Function Documentation

                          +

                          set_pitch_and_yaw_async()

                          +
                          void mavsdk::Gimbal::set_pitch_and_yaw_async(float pitch_deg, float yaw_deg, const ResultCallback callback)
+
                          +

                          Set gimbal pitch and yaw angles.

                          +

                          This sets the desired pitch and yaw angles of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually be set to the new angles.

                          +

                          This function is non-blocking. See 'set_pitch_and_yaw' for the blocking counterpart.

                          +

                          Parameters

                          +
                            +
                          • float pitch_deg -
                            • +
                          • float yaw_deg -
                            • +
                          • const ResultCallback callback -
                            • +
                          +

                          set_pitch_and_yaw()

                          +
                          Result mavsdk::Gimbal::set_pitch_and_yaw(float pitch_deg, float yaw_deg) const
+
                          +

                          Set gimbal pitch and yaw angles.

                          +

                          This sets the desired pitch and yaw angles of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually be set to the new angles.

                          +

                          This function is blocking. See 'set_pitch_and_yaw_async' for the non-blocking counterpart.

                          +

                          Parameters

                          +
                            +
                          • float pitch_deg -
                            • +
                          • float yaw_deg -
                            • +
                          +

                          Returns

                          +

                           Result - Result of request.

                          +

                          set_pitch_rate_and_yaw_rate_async()

                          +
                          void mavsdk::Gimbal::set_pitch_rate_and_yaw_rate_async(float pitch_rate_deg_s, float yaw_rate_deg_s, const ResultCallback callback)
+
                          +

                          Set gimbal angular rates around pitch and yaw axes.

                          +

                          This sets the desired angular rates around pitch and yaw axes of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually reach the angular rate.

                          +

                          This function is non-blocking. See 'set_pitch_rate_and_yaw_rate' for the blocking counterpart.

                          +

                          Parameters

                          +
                            +
                          • float pitch_rate_deg_s -
                            • +
                          • float yaw_rate_deg_s -
                            • +
                          • const ResultCallback callback -
                            • +
                          +

                          set_pitch_rate_and_yaw_rate()

                          +
                          Result mavsdk::Gimbal::set_pitch_rate_and_yaw_rate(float pitch_rate_deg_s, float yaw_rate_deg_s) const
+
                          +

                          Set gimbal angular rates around pitch and yaw axes.

                          +

                          This sets the desired angular rates around pitch and yaw axes of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually reach the angular rate.

                          +

                          This function is blocking. See 'set_pitch_rate_and_yaw_rate_async' for the non-blocking counterpart.

                          +

                          Parameters

                          +
                            +
                          • float pitch_rate_deg_s -
                            • +
                          • float yaw_rate_deg_s -
                            • +
                          +

                          Returns

                          +

                           Result - Result of request.

                          +

                          set_mode_async()

                          +
                          void mavsdk::Gimbal::set_mode_async(GimbalMode gimbal_mode, const ResultCallback callback)
+
                          +

                          Set gimbal mode.

                          +

                          This sets the desired yaw mode of a gimbal. Will return when the command is accepted. However, it might take the gimbal longer to actually be set to the new angles.

                          +

                          This function is non-blocking. See 'set_mode' for the blocking counterpart.

                          +

                          Parameters

                          + +

                          set_mode()

                          +
                          Result mavsdk::Gimbal::set_mode(GimbalMode gimbal_mode) const
+
                          +

                          Set gimbal mode.

                          +

                          This sets the desired yaw mode of a gimbal. Will return when the command is accepted. However, it might take the gimbal longer to actually be set to the new angles.

                          +

                          This function is blocking. See 'set_mode_async' for the non-blocking counterpart.

                          +

                          Parameters

                          + +

                          Returns

                          +

                           Result - Result of request.

                          +

                          set_roi_location_async()

                          +
                          void mavsdk::Gimbal::set_roi_location_async(double latitude_deg, double longitude_deg, float altitude_m, const ResultCallback callback)
+
                          +

                          Set gimbal region of interest (ROI).

                          +

                          This sets a region of interest that the gimbal will point to. The gimbal will continue to point to the specified region until it receives a new command. The function will return when the command is accepted, however, it might take the gimbal longer to actually rotate to the ROI.

                          +

                          This function is non-blocking. See 'set_roi_location' for the blocking counterpart.

                          +

                          Parameters

                          +
                            +
                          • double latitude_deg -
                            • +
                          • double longitude_deg -
                            • +
                          • float altitude_m -
                            • +
                          • const ResultCallback callback -
                            • +
                          +

                          set_roi_location()

                          +
                          Result mavsdk::Gimbal::set_roi_location(double latitude_deg, double longitude_deg, float altitude_m) const
+
                          +

                          Set gimbal region of interest (ROI).

                          +

                          This sets a region of interest that the gimbal will point to. The gimbal will continue to point to the specified region until it receives a new command. The function will return when the command is accepted, however, it might take the gimbal longer to actually rotate to the ROI.

                          +

                          This function is blocking. See 'set_roi_location_async' for the non-blocking counterpart.

                          +

                          Parameters

                          +
                            +
                          • double latitude_deg -
                            • +
                          • double longitude_deg -
                            • +
                          • float altitude_m -
                            • +
                          +

                          Returns

                          +

                           Result - Result of request.

                          +

                          take_control_async()

                          +
                          void mavsdk::Gimbal::take_control_async(ControlMode control_mode, const ResultCallback callback)
+
                          +

                          Take control.

                          +

                          There can be only two components in control of a gimbal at any given time. One with "primary" control, and one with "secondary" control. The way the secondary control is implemented is not specified and hence depends on the vehicle.

                          +

                          Components are expected to be cooperative, which means that they can override each other and should therefore do it carefully.

                          +

                          This function is non-blocking. See 'take_control' for the blocking counterpart.

                          +

                          Parameters

                          + +

                          take_control()

                          +
                          Result mavsdk::Gimbal::take_control(ControlMode control_mode) const
+
                          +

                          Take control.

                          +

                          There can be only two components in control of a gimbal at any given time. One with "primary" control, and one with "secondary" control. The way the secondary control is implemented is not specified and hence depends on the vehicle.

                          +

                          Components are expected to be cooperative, which means that they can override each other and should therefore do it carefully.

                          +

                          This function is blocking. See 'take_control_async' for the non-blocking counterpart.

                          +

                          Parameters

                          + +

                          Returns

                          +

                           Result - Result of request.

                          +

                          release_control_async()

                          +
                          void mavsdk::Gimbal::release_control_async(const ResultCallback callback)
+
                          +

                          Release control.

                          +

                          Release control, such that other components can control the gimbal.

                          +

                          This function is non-blocking. See 'release_control' for the blocking counterpart.

                          +

                          Parameters

                          + +

                          release_control()

                          +
                          Result mavsdk::Gimbal::release_control() const
+
                          +

                          Release control.

                          +

                          Release control, such that other components can control the gimbal.

                          +

                          This function is blocking. See 'release_control_async' for the non-blocking counterpart.

                          +

                          Returns

                          +

                           Result - Result of request.

                          +

                          subscribe_control()

                          +
                          ControlHandle mavsdk::Gimbal::subscribe_control(const ControlCallback &callback)
+
                          +

                          Subscribe to control status updates.

                          +

                          This allows a component to know if it has primary, secondary or no control over the gimbal. Also, it gives the system and component ids of the other components in control (if any).

                          +

                          Parameters

                          + +

                          Returns

                          +

                           ControlHandle -

                          +

                          unsubscribe_control()

                          +
                          void mavsdk::Gimbal::unsubscribe_control(ControlHandle handle)
+
                          +

                          Unsubscribe from subscribe_control.

                          +

                          Parameters

                          + +

                          control()

                          +
                          ControlStatus mavsdk::Gimbal::control() const
+
                          +

                          Poll for 'ControlStatus' (blocking).

                          +

                          Returns

                          +

                           ControlStatus - One ControlStatus update.

                          +

                          operator=()

                          +
                          const Gimbal& mavsdk::Gimbal::operator=(const Gimbal &)=delete
+
                          +

                          Equality operator (object is not copyable).

                          +

                          Parameters

                          + +

                          Returns

                          +

                           const Gimbal & -

                          +
                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_gripper.md b/v2.0/en/cpp/api_reference/classmavsdk_1_1_gripper.md new file mode 100644 index 00000000..3ab13634 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_gripper.md @@ -0,0 +1,224 @@ +# mavsdk::Gripper Class Reference +`#include: gripper.h` + +---- + + +Allows users to send gripper actions. + + +## Public Types + + +Type | Description +--- | --- +enum [GripperAction](#classmavsdk_1_1_gripper_1a2088ab8cdb0f343fa576a54af41cf36f) | [Gripper](classmavsdk_1_1_gripper.md) Actions. +enum [Result](#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534) | Possible results returned for gripper action requests. +std::function< void([Result](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534))> [ResultCallback](#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f) | Callback type for asynchronous [Gripper](classmavsdk_1_1_gripper.md) calls. + +## Public Member Functions + + +Type | Name | Description +---: | --- | --- +  | [Gripper](#classmavsdk_1_1_gripper_1a566993706ef599eae17761f4b0810c4b) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md). +  | [Gripper](#classmavsdk_1_1_gripper_1a83a53647a8fb1bf1ef463fd3ddd14726) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md). +  | [~Gripper](#classmavsdk_1_1_gripper_1a90b0ea53617492b3f3fa6406430a08e8) () override | Destructor (internal use only). +  | [Gripper](#classmavsdk_1_1_gripper_1a3d5e59b3647fd93c8cf43910cdf01468) (const [Gripper](classmavsdk_1_1_gripper.md) & other) | Copy constructor. +void | [grab_async](#classmavsdk_1_1_gripper_1a90c5ebf377fa1691a045a3ae70d885fa) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f) callback) | [Gripper](classmavsdk_1_1_gripper.md) grab cargo. +[Result](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534) | [grab](#classmavsdk_1_1_gripper_1abba980736acaf541721c7e23a9f2f8b1) (uint32_t instance)const | [Gripper](classmavsdk_1_1_gripper.md) grab cargo. +void | [release_async](#classmavsdk_1_1_gripper_1acb9a3f03a7c67f1a5c066aa2380a5e34) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f) callback) | [Gripper](classmavsdk_1_1_gripper.md) release cargo. +[Result](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534) | [release](#classmavsdk_1_1_gripper_1a7b0d151d7a596d3977f2da9861204d8c) (uint32_t instance)const | [Gripper](classmavsdk_1_1_gripper.md) release cargo. +const [Gripper](classmavsdk_1_1_gripper.md) & | [operator=](#classmavsdk_1_1_gripper_1a6b26bd1ca3f795dce56b5a14717b9c40) (const [Gripper](classmavsdk_1_1_gripper.md) &)=delete | Equality operator (object is not copyable). + + +## Constructor & Destructor Documentation + + +### Gripper() {#classmavsdk_1_1_gripper_1a566993706ef599eae17761f4b0810c4b} +```cpp +mavsdk::Gripper::Gripper(System &system) +``` + + +Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md). + +The plugin is typically created as shown below: + +```cpp +auto gripper = Gripper(system); +``` + +**Parameters** + +* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin. + +### Gripper() {#classmavsdk_1_1_gripper_1a83a53647a8fb1bf1ef463fd3ddd14726} +```cpp +mavsdk::Gripper::Gripper(std::shared_ptr< System > system) +``` + + +Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md). + +The plugin is typically created as shown below: + +```cpp +auto gripper = Gripper(system); +``` + +**Parameters** + +* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin. + +### ~Gripper() {#classmavsdk_1_1_gripper_1a90b0ea53617492b3f3fa6406430a08e8} +```cpp +mavsdk::Gripper::~Gripper() override +``` + + +Destructor (internal use only). + + +### Gripper() {#classmavsdk_1_1_gripper_1a3d5e59b3647fd93c8cf43910cdf01468} +```cpp +mavsdk::Gripper::Gripper(const Gripper &other) +``` + + +Copy constructor. + + +**Parameters** + +* const [Gripper](classmavsdk_1_1_gripper.md)& **other** - + +## Member Typdef Documentation + + +### typedef ResultCallback {#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f} + +```cpp +using mavsdk::Gripper::ResultCallback = std::function +``` + + +Callback type for asynchronous [Gripper](classmavsdk_1_1_gripper.md) calls. + + +## Member Enumeration Documentation + + +### enum GripperAction {#classmavsdk_1_1_gripper_1a2088ab8cdb0f343fa576a54af41cf36f} + + +[Gripper](classmavsdk_1_1_gripper.md) Actions. + +Available gripper actions are defined in mavlink under [https://mavlink.io/en/messages/common.html#GRIPPER_ACTIONS](https://mavlink.io/en/messages/common.html#GRIPPER_ACTIONS) + +Value | Description +--- | --- + `Release` | Open the gripper to release the cargo. + `Grab` | Close the gripper and grab onto cargo. + +### enum Result {#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534} + + +Possible results returned for gripper action requests. + + +Value | Description +--- | --- + `Unknown` | Unknown result. + `Success` | Request was successful. + `NoSystem` | No system is connected. + `Busy` | Temporarily rejected. + `Timeout` | Request timed out. + `Unsupported` | [Action](classmavsdk_1_1_action.md) not supported. + `Failed` | [Action](classmavsdk_1_1_action.md) failed. + +## Member Function Documentation + + +### grab_async() {#classmavsdk_1_1_gripper_1a90c5ebf377fa1691a045a3ae70d885fa} +```cpp +void mavsdk::Gripper::grab_async(uint32_t instance, const ResultCallback callback) +``` + + +[Gripper](classmavsdk_1_1_gripper.md) grab cargo. + +This function is non-blocking. See 'grab' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* const [ResultCallback](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f) **callback** - + +### grab() {#classmavsdk_1_1_gripper_1abba980736acaf541721c7e23a9f2f8b1} +```cpp +Result mavsdk::Gripper::grab(uint32_t instance) const +``` + + +[Gripper](classmavsdk_1_1_gripper.md) grab cargo. + +This function is blocking. See 'grab_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - + +**Returns** + + [Result](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534) - Result of request. + +### release_async() {#classmavsdk_1_1_gripper_1acb9a3f03a7c67f1a5c066aa2380a5e34} +```cpp +void mavsdk::Gripper::release_async(uint32_t instance, const ResultCallback callback) +``` + + +[Gripper](classmavsdk_1_1_gripper.md) release cargo. + +This function is non-blocking. See 'release' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* const [ResultCallback](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f) **callback** - + +### release() {#classmavsdk_1_1_gripper_1a7b0d151d7a596d3977f2da9861204d8c} +```cpp +Result mavsdk::Gripper::release(uint32_t instance) const +``` + + +[Gripper](classmavsdk_1_1_gripper.md) release cargo. + +This function is blocking. See 'release_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - + +**Returns** + + [Result](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534) - Result of request. + +### operator=() {#classmavsdk_1_1_gripper_1a6b26bd1ca3f795dce56b5a14717b9c40} +```cpp +const Gripper& mavsdk::Gripper::operator=(const Gripper &)=delete +``` + + +Equality operator (object is not copyable). + + +**Parameters** + +* const [Gripper](classmavsdk_1_1_gripper.md)& - + +**Returns** + + const [Gripper](classmavsdk_1_1_gripper.md) & - \ No newline at end of file diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_handle.md b/v2.0/en/cpp/api_reference/classmavsdk_1_1_handle.md new file mode 100644 index 00000000..2bbeef54 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_handle.md @@ -0,0 +1,32 @@ +# mavsdk::Handle Class Reference +`#include: handle.h` + +---- + + +A handle returned from subscribe which allows to unsubscribe again. + + +## Public Member Functions + + +Type | Name | Description +---: | --- | --- +  | [Handle](#classmavsdk_1_1_handle_1a4dde9be588a605aa7a7fa77cc4ed98f2) ()=default | +  | [~Handle](#classmavsdk_1_1_handle_1a986e2ba72802e6cc5bdc5f06f27f6acb) ()=default | + + +## Constructor & Destructor Documentation + + +### Handle() {#classmavsdk_1_1_handle_1a4dde9be588a605aa7a7fa77cc4ed98f2} +```cpp +mavsdk::Handle< Args >::Handle()=default +``` + + +### ~Handle() {#classmavsdk_1_1_handle_1a986e2ba72802e6cc5bdc5f06f27f6acb} +```cpp +mavsdk::Handle< Args >::~Handle()=default +``` + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_info.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_info.html new file mode 100644 index 00000000..8d0dc753 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_info.html @@ -0,0 +1,3541 @@ + + + + + + + class Info · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                            + +

                            mavsdk::Info Class Reference

                            +

                            #include: info.h

                            +
                            +

                            Provide information about the hardware and/or software of a system.

                            +

                            Data Structures

                            +

                            struct FlightInfo

                            +

                            struct Identification

                            +

                            struct Product

                            +

                            struct Version

                            +

                            Public Types

                            + + + + + + + + + + + + + + + + + +
                            TypeDescription
                            enum ResultPossible results returned for info requests.
                            std::function< void(Result)> ResultCallbackCallback type for asynchronous Info calls.
                            +

                            Public Member Functions

                            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                            TypeNameDescription
                             Info (System & system)Constructor. Creates the plugin for a specific System.
                             Info (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                             ~Info () overrideDestructor (internal use only).
                             Info (const Info & other)Copy constructor.
                            std::pair< Result, Info::FlightInfo >get_flight_information () constGet flight information of the system.
                            std::pair< Result, Info::Identification >get_identification () constGet the identification of the system.
                            std::pair< Result, Info::Product >get_product () constGet product information of the system.
                            std::pair< Result, Info::Version >get_version () constGet the version information of the system.
                            std::pair< Result, double >get_speed_factor () constGet the speed factor of a simulation (with lockstep a simulation can run faster or slower than realtime).
                            const Info &operator= (const Info &)=deleteEquality operator (object is not copyable).
                            +

                            Constructor & Destructor Documentation

                            +

                            Info()

                            +
                            mavsdk::Info::Info(System &system)
+
                            +

                            Constructor. Creates the plugin for a specific System.

                            +

                            The plugin is typically created as shown below:

                            +
                            auto info = Info(system);
+
                            +

                            Parameters

                            +
                              +
                            • System& system - The specific system associated with this plugin.
                              • +
                            +

                            Info()

                            +
                            mavsdk::Info::Info(std::shared_ptr< System > system)
+
                            +

                            Constructor. Creates the plugin for a specific System.

                            +

                            The plugin is typically created as shown below:

                            +
                            auto info = Info(system);
+
                            +

                            Parameters

                            +
                              +
                            • std::shared_ptr< System > system - The specific system associated with this plugin.
                              • +
                            +

                            ~Info()

                            +
                            mavsdk::Info::~Info() override
+
                            +

                            Destructor (internal use only).

                            +

                            Info()

                            +
                            mavsdk::Info::Info(const Info &other)
+
                            +

                            Copy constructor.

                            +

                            Parameters

                            +
                              +
                            • const Info& other -
                              • +
                            +

                            Member Typdef Documentation

                            +

                            typedef ResultCallback

                            +
                            using mavsdk::Info::ResultCallback =  std::function<void(Result)>
+
                            +

                            Callback type for asynchronous Info calls.

                            +

                            Member Enumeration Documentation

                            +

                            enum Result

                            +

                            Possible results returned for info requests.

                            + + + + + + + + + + + + + + + + + + + + + + + + + +
                            ValueDescription
                            UnknownUnknown result.
                            SuccessRequest succeeded.
                            InformationNotReceivedYetInformation has not been received yet.
                            NoSystemNo system is connected.
                            +

                            Member Function Documentation

                            +

                            get_flight_information()

                            +
                            std::pair<Result, Info::FlightInfo> mavsdk::Info::get_flight_information() const
+
                            +

                            Get flight information of the system.

                            +

                            This function is blocking.

                            +

                            Returns

                            +

                             std::pair< Result, Info::FlightInfo > - Result of request.

                            +

                            get_identification()

                            +
                            std::pair<Result, Info::Identification> mavsdk::Info::get_identification() const
+
                            +

                            Get the identification of the system.

                            +

                            This function is blocking.

                            +

                            Returns

                            +

                             std::pair< Result, Info::Identification > - Result of request.

                            +

                            get_product()

                            +
                            std::pair<Result, Info::Product> mavsdk::Info::get_product() const
+
                            +

                            Get product information of the system.

                            +

                            This function is blocking.

                            +

                            Returns

                            +

                             std::pair< Result, Info::Product > - Result of request.

                            +

                            get_version()

                            +
                            std::pair<Result, Info::Version> mavsdk::Info::get_version() const
+
                            +

                            Get the version information of the system.

                            +

                            This function is blocking.

                            +

                            Returns

                            +

                             std::pair< Result, Info::Version > - Result of request.

                            +

                            get_speed_factor()

                            +
                            std::pair<Result, double> mavsdk::Info::get_speed_factor() const
+
                            +

                            Get the speed factor of a simulation (with lockstep a simulation can run faster or slower than realtime).

                            +

                            This function is blocking.

                            +

                            Returns

                            +

                             std::pair< Result, double > - Result of request.

                            +

                            operator=()

                            +
                            const Info& mavsdk::Info::operator=(const Info &)=delete
+
                            +

                            Equality operator (object is not copyable).

                            +

                            Parameters

                            + +

                            Returns

                            +

                             const Info & -

                            +
                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_log_files.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_log_files.html new file mode 100644 index 00000000..1b193242 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_log_files.html @@ -0,0 +1,3564 @@ + + + + + + + class LogFiles · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                              + + + + +
                              + +
                              PX4
                              +
                              QGroundControl
                              +
                              QGC
                              +
                              SDK
                              +
                              MAVLink
                              +
                              Documentation
                              +
                              Docs
                              +
                              Support
                              +
                              Help
                              + +
                              +
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                              + + + + + + + + +
                              +
                              + +
                              +
                              + +
                              + +

                              mavsdk::LogFiles Class Reference

                              +

                              #include: log_files.h

                              +
                              +

                              Allow to download log files from the vehicle after a flight is complete. For log streaming during flight check the logging plugin.

                              +

                              Data Structures

                              +

                              struct Entry

                              +

                              struct ProgressData

                              +

                              Public Types

                              + + + + + + + + + + + + + + + + + + + + + + + + + +
                              TypeDescription
                              enum ResultPossible results returned for calibration commands.
                              std::function< void(Result)> ResultCallbackCallback type for asynchronous LogFiles calls.
                              std::function< void(Result, std::vector< Entry >)> GetEntriesCallbackCallback type for get_entries_async.
                              std::function< void(Result, ProgressData)> DownloadLogFileCallbackCallback type for download_log_file_async.
                              +

                              Public Member Functions

                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                              TypeNameDescription
                               LogFiles (System & system)Constructor. Creates the plugin for a specific System.
                               LogFiles (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                               ~LogFiles () overrideDestructor (internal use only).
                               LogFiles (const LogFiles & other)Copy constructor.
                              voidget_entries_async (const GetEntriesCallback callback)Get List of log files.
                              std::pair< Result, std::vector< LogFiles::Entry > >get_entries () constGet List of log files.
                              voiddownload_log_file_async (Entry entry, std::string path, const DownloadLogFileCallback & callback)Download log file.
                              Resulterase_all_log_files () constErase all log files.
                              const LogFiles &operator= (const LogFiles &)=deleteEquality operator (object is not copyable).
                              +

                              Constructor & Destructor Documentation

                              +

                              LogFiles()

                              +
                              mavsdk::LogFiles::LogFiles(System &system)
+
                              +

                              Constructor. Creates the plugin for a specific System.

                              +

                              The plugin is typically created as shown below:

                              +
                              auto log_files = LogFiles(system);
+
                              +

                              Parameters

                              +
                                +
                              • System& system - The specific system associated with this plugin.
                                • +
                              +

                              LogFiles()

                              +
                              mavsdk::LogFiles::LogFiles(std::shared_ptr< System > system)
+
                              +

                              Constructor. Creates the plugin for a specific System.

                              +

                              The plugin is typically created as shown below:

                              +
                              auto log_files = LogFiles(system);
+
                              +

                              Parameters

                              +
                                +
                              • std::shared_ptr< System > system - The specific system associated with this plugin.
                                • +
                              +

                              ~LogFiles()

                              +
                              mavsdk::LogFiles::~LogFiles() override
+
                              +

                              Destructor (internal use only).

                              +

                              LogFiles()

                              +
                              mavsdk::LogFiles::LogFiles(const LogFiles &other)
+
                              +

                              Copy constructor.

                              +

                              Parameters

                              + +

                              Member Typdef Documentation

                              +

                              typedef ResultCallback

                              +
                              using mavsdk::LogFiles::ResultCallback =  std::function<void(Result)>
+
                              +

                              Callback type for asynchronous LogFiles calls.

                              +

                              typedef GetEntriesCallback

                              +
                              using mavsdk::LogFiles::GetEntriesCallback =  std::function<void(Result, std::vector<Entry>)>
+
                              +

                              Callback type for get_entries_async.

                              +

                              typedef DownloadLogFileCallback

                              +
                              using mavsdk::LogFiles::DownloadLogFileCallback =  std::function<void(Result, ProgressData)>
+
                              +

                              Callback type for download_log_file_async.

                              +

                              Member Enumeration Documentation

                              +

                              enum Result

                              +

                              Possible results returned for calibration commands.

                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                              ValueDescription
                              UnknownUnknown result.
                              SuccessRequest succeeded.
                              NextProgress update.
                              NoLogfilesNo log files found.
                              TimeoutA timeout happened.
                              InvalidArgumentInvalid argument.
                              FileOpenFailedFile open failed.
                              NoSystemNo system is connected.
                              +

                              Member Function Documentation

                              +

                              get_entries_async()

                              +
                              void mavsdk::LogFiles::get_entries_async(const GetEntriesCallback callback)
+
                              +

                              Get List of log files.

                              +

                              This function is non-blocking. See 'get_entries' for the blocking counterpart.

                              +

                              Parameters

                              + +

                              get_entries()

                              +
                              std::pair<Result, std::vector<LogFiles::Entry> > mavsdk::LogFiles::get_entries() const
+
                              +

                              Get List of log files.

                              +

                              This function is blocking. See 'get_entries_async' for the non-blocking counterpart.

                              +

                              Returns

                              +

                               std::pair< Result, std::vector< LogFiles::Entry > > - Result of request.

                              +

                              download_log_file_async()

                              +
                              void mavsdk::LogFiles::download_log_file_async(Entry entry, std::string path, const DownloadLogFileCallback &callback)
+
                              +

                              Download log file.

                              +

                              Parameters

                              + +

                              erase_all_log_files()

                              +
                              Result mavsdk::LogFiles::erase_all_log_files() const
+
                              +

                              Erase all log files.

                              +

                              This function is blocking.

                              +

                              Returns

                              +

                               Result - Result of request.

                              +

                              operator=()

                              +
                              const LogFiles& mavsdk::LogFiles::operator=(const LogFiles &)=delete
+
                              +

                              Equality operator (object is not copyable).

                              +

                              Parameters

                              + +

                              Returns

                              +

                               const LogFiles & -

                              +
                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                              + +
                              + +
                              +
                              +
                              + +

                              results matching ""

                              +
                                + +
                                +
                                + +

                                No results matching ""

                                + +
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                                + +
                                +
                                + +
                                + + + + + + + + + + + + + + +
                                + + +
                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_manual_control.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_manual_control.html new file mode 100644 index 00000000..704a208c --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_manual_control.html @@ -0,0 +1,3572 @@ + + + + + + + class ManualControl · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                + + + + +
                                + +
                                PX4
                                +
                                QGroundControl
                                +
                                QGC
                                +
                                SDK
                                +
                                MAVLink
                                +
                                Documentation
                                +
                                Docs
                                +
                                Support
                                +
                                Help
                                + +
                                +
                                + + + +
                                +
                                + + + + + + + + +
                                + +
                                + +
                                + + + + + + + + +
                                +
                                + +
                                +
                                + +
                                + +

                                mavsdk::ManualControl Class Reference

                                +

                                #include: manual_control.h

                                +
                                +

                                Enable manual control using e.g. a joystick or gamepad.

                                +

                                Public Types

                                + + + + + + + + + + + + + + + + + +
                                TypeDescription
                                enum ResultPossible results returned for manual control requests.
                                std::function< void(Result)> ResultCallbackCallback type for asynchronous ManualControl calls.
                                +

                                Public Member Functions

                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                TypeNameDescription
                                 ManualControl (System & system)Constructor. Creates the plugin for a specific System.
                                 ManualControl (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                 ~ManualControl () overrideDestructor (internal use only).
                                 ManualControl (const ManualControl & other)Copy constructor.
                                voidstart_position_control_async (const ResultCallback callback)Start position control using e.g. joystick input.
                                Resultstart_position_control () constStart position control using e.g. joystick input.
                                voidstart_altitude_control_async (const ResultCallback callback)Start altitude control.
                                Resultstart_altitude_control () constStart altitude control.
                                Resultset_manual_control_input (float x, float y, float z, float r)constSet manual control input.
                                const ManualControl &operator= (const ManualControl &)=deleteEquality operator (object is not copyable).
                                +

                                Constructor & Destructor Documentation

                                +

                                ManualControl()

                                +
                                mavsdk::ManualControl::ManualControl(System &system)
+
                                +

                                Constructor. Creates the plugin for a specific System.

                                +

                                The plugin is typically created as shown below:

                                +
                                auto manual_control = ManualControl(system);
+
                                +

                                Parameters

                                +
                                  +
                                • System& system - The specific system associated with this plugin.
                                  • +
                                +

                                ManualControl()

                                +
                                mavsdk::ManualControl::ManualControl(std::shared_ptr< System > system)
+
                                +

                                Constructor. Creates the plugin for a specific System.

                                +

                                The plugin is typically created as shown below:

                                +
                                auto manual_control = ManualControl(system);
+
                                +

                                Parameters

                                +
                                  +
                                • std::shared_ptr< System > system - The specific system associated with this plugin.
                                  • +
                                +

                                ~ManualControl()

                                +
                                mavsdk::ManualControl::~ManualControl() override
+
                                +

                                Destructor (internal use only).

                                +

                                ManualControl()

                                +
                                mavsdk::ManualControl::ManualControl(const ManualControl &other)
+
                                +

                                Copy constructor.

                                +

                                Parameters

                                + +

                                Member Typdef Documentation

                                +

                                typedef ResultCallback

                                +
                                using mavsdk::ManualControl::ResultCallback =  std::function<void(Result)>
+
                                +

                                Callback type for asynchronous ManualControl calls.

                                +

                                Member Enumeration Documentation

                                +

                                enum Result

                                +

                                Possible results returned for manual control requests.

                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                ValueDescription
                                UnknownUnknown result.
                                SuccessRequest was successful.
                                NoSystemNo system is connected.
                                ConnectionErrorConnection error.
                                BusyVehicle is busy.
                                CommandDeniedCommand refused by vehicle.
                                TimeoutRequest timed out.
                                InputOutOfRangeInput out of range.
                                InputNotSetNo Input set.
                                +

                                Member Function Documentation

                                +

                                start_position_control_async()

                                +
                                void mavsdk::ManualControl::start_position_control_async(const ResultCallback callback)
+
                                +

                                Start position control using e.g. joystick input.

                                +

                                Requires manual control input to be sent regularly already. Requires a valid position using e.g. GPS, external vision, or optical flow.

                                +

                                This function is non-blocking. See 'start_position_control' for the blocking counterpart.

                                +

                                Parameters

                                + +

                                start_position_control()

                                +
                                Result mavsdk::ManualControl::start_position_control() const
+
                                +

                                Start position control using e.g. joystick input.

                                +

                                Requires manual control input to be sent regularly already. Requires a valid position using e.g. GPS, external vision, or optical flow.

                                +

                                This function is blocking. See 'start_position_control_async' for the non-blocking counterpart.

                                +

                                Returns

                                +

                                 Result - Result of request.

                                +

                                start_altitude_control_async()

                                +
                                void mavsdk::ManualControl::start_altitude_control_async(const ResultCallback callback)
+
                                +

                                Start altitude control.

                                +

                                Requires manual control input to be sent regularly already. Does not require a valid position e.g. GPS.

                                +

                                This function is non-blocking. See 'start_altitude_control' for the blocking counterpart.

                                +

                                Parameters

                                + +

                                start_altitude_control()

                                +
                                Result mavsdk::ManualControl::start_altitude_control() const
+
                                +

                                Start altitude control.

                                +

                                Requires manual control input to be sent regularly already. Does not require a valid position e.g. GPS.

                                +

                                This function is blocking. See 'start_altitude_control_async' for the non-blocking counterpart.

                                +

                                Returns

                                +

                                 Result - Result of request.

                                +

                                set_manual_control_input()

                                +
                                Result mavsdk::ManualControl::set_manual_control_input(float x, float y, float z, float r) const
+
                                +

                                Set manual control input.

                                +

                                The manual control input needs to be sent at a rate high enough to prevent triggering of RC loss, a good minimum rate is 10 Hz.

                                +

                                This function is blocking.

                                +

                                Parameters

                                +
                                  +
                                • float x -
                                  • +
                                • float y -
                                  • +
                                • float z -
                                  • +
                                • float r -
                                  • +
                                +

                                Returns

                                +

                                 Result - Result of request.

                                +

                                operator=()

                                +
                                const ManualControl& mavsdk::ManualControl::operator=(const ManualControl &)=delete
+
                                +

                                Equality operator (object is not copyable).

                                +

                                Parameters

                                + +

                                Returns

                                +

                                 const ManualControl & -

                                +
                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                + +
                                + +
                                +
                                +
                                + +

                                results matching ""

                                +
                                  + +
                                  +
                                  + +

                                  No results matching ""

                                  + +
                                  +
                                  +
                                  + +
                                  +
                                  + +
                                  + + + + + + + + + + + + + + +
                                  + + +
                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_mavlink_passthrough.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_mavlink_passthrough.html new file mode 100644 index 00000000..99b96c72 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_mavlink_passthrough.html @@ -0,0 +1,3727 @@ + + + + + + + class MavlinkPassthrough · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                  + + + + +
                                  + +
                                  PX4
                                  +
                                  QGroundControl
                                  +
                                  QGC
                                  +
                                  SDK
                                  +
                                  MAVLink
                                  +
                                  Documentation
                                  +
                                  Docs
                                  +
                                  Support
                                  +
                                  Help
                                  + +
                                  +
                                  + + + +
                                  +
                                  + + + + + + + + +
                                  + +
                                  + +
                                  + + + + + + + + +
                                  +
                                  + +
                                  +
                                  + +
                                  + +

                                  mavsdk::MavlinkPassthrough Class Reference

                                  +

                                  #include: mavlink_passthrough.h

                                  +
                                  +

                                  The MavlinkPassthrough class provides direct MAVLink access.

                                  +

                                  "With great power comes great responsibility." - This plugin allows you to send and receive MAVLink messages. There is no checking or safe-guards, you're on your own, and you have been warned.

                                  +

                                  Data Structures

                                  +

                                  struct CommandInt

                                  +

                                  struct CommandLong

                                  +

                                  Public Types

                                  + + + + + + + + + + + + + + + + + + + + + +
                                  TypeDescription
                                  enum ResultPossible results returned for requests.
                                  std::function< void(const mavlink_message_t &)> MessageCallbackCallback type for message subscriptions.
                                  Handle< const mavlink_message_t & > MessageHandleHandle type for subscribe_message_async.
                                  +

                                  Public Member Functions

                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                  TypeNameDescription
                                   MavlinkPassthrough (System & system)Constructor. Creates the plugin for a specific System.
                                   MavlinkPassthrough (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                   ~MavlinkPassthrough ()Destructor (internal use only).
                                   MavlinkPassthrough (const MavlinkPassthrough &)=deleteCopy Constructor (object is not copyable).
                                  DEPRECATED Resultsend_message (mavlink_message_t & message)Send message (deprecated).
                                  Resultqueue_message (std::function< mavlink_message_t(MavlinkAddress mavlink_address, uint8_t channel)> fun)Send message by queueing it.
                                  Resultsend_command_long (const CommandLong & command)Send a MAVLink command_long.
                                  Resultsend_command_int (const CommandInt & command)Send a MAVLink command_long.
                                  mavlink_message_tmake_command_ack_message (const uint8_t target_sysid, const uint8_t target_compid, const uint16_t command, MAV_RESULT result)Create a command_ack.
                                  std::pair< Result, int32_t >get_param_int (const std::string & name, std::optional< uint8_t > maybe_component_id, bool extended)Request param (int).
                                  std::pair< Result, float >get_param_float (const std::string & name, std::optional< uint8_t > maybe_component_id, bool extended)Request param (float).
                                  MessageHandlesubscribe_message (uint16_t message_id, const MessageCallback & callback)Subscribe to messages using message ID.
                                  voidunsubscribe_message (uint16_t message_id, MessageHandle handle)Unsubscribe from subscribe_message.
                                  uint8_tget_our_sysid () constGet our own system ID.
                                  uint8_tget_our_compid () constGet our own component ID.
                                  uint8_tget_target_sysid () constGet system ID of target.
                                  uint8_tget_target_compid () constGet target component ID.
                                  const MavlinkPassthrough &operator= (const MavlinkPassthrough &)=deleteEquality operator (object is not copyable).
                                  +

                                  Constructor & Destructor Documentation

                                  + +
                                  mavsdk::MavlinkPassthrough::MavlinkPassthrough(System &system)
+
                                  +

                                  Constructor. Creates the plugin for a specific System.

                                  +

                                  The plugin is typically created as shown below:

                                  +
                                  auto mavlink_passthrough = MavlinkPassthrough(system);
+
                                  +

                                  Parameters

                                  +
                                    +
                                  • System& system - The specific system associated with this plugin.
                                    • +
                                  + +
                                  mavsdk::MavlinkPassthrough::MavlinkPassthrough(std::shared_ptr< System > system)
+
                                  +

                                  Constructor. Creates the plugin for a specific System.

                                  +

                                  The plugin is typically created as shown below:

                                  +
                                  auto mavlink_passthrough = MavlinkPassthrough(system);
+
                                  +

                                  Parameters

                                  +
                                    +
                                  • std::shared_ptr< System > system - The specific system associated with this plugin.
                                    • +
                                  + +
                                  mavsdk::MavlinkPassthrough::~MavlinkPassthrough()
+
                                  +

                                  Destructor (internal use only).

                                  + +
                                  mavsdk::MavlinkPassthrough::MavlinkPassthrough(const MavlinkPassthrough &)=delete
+
                                  +

                                  Copy Constructor (object is not copyable).

                                  +

                                  Parameters

                                  + +

                                  Member Typdef Documentation

                                  + +
                                  using mavsdk::MavlinkPassthrough::MessageCallback =  std::function<void(const mavlink_message_t&)>
+
                                  +

                                  Callback type for message subscriptions.

                                  + +
                                  using mavsdk::MavlinkPassthrough::MessageHandle =  Handle<const mavlink_message_t&>
+
                                  +

                                  Handle type for subscribe_message_async.

                                  +

                                  Member Enumeration Documentation

                                  + +

                                  Possible results returned for requests.

                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                  ValueDescription
                                  UnknownUnknown error.
                                  SuccessSuccess.
                                  ConnectionErrorConnection error.
                                  CommandNoSystemSystem not available.
                                  CommandBusySystem is busy.
                                  CommandDeniedCommand has been denied.
                                  CommandUnsupportedCommand is not supported.
                                  CommandTimeoutA timeout happened.
                                  CommandTemporarilyRejectedCommand has been rejected for now.
                                  CommandFailedCommand has failed.
                                  ParamWrongTypeWrong type for requested param.
                                  ParamNameTooLongParam name too long.
                                  ParamValueTooLongParam value too long.
                                  ParamNotFoundParam not found.
                                  ParamValueUnsupportedParam value unsupported.
                                  +

                                  Member Function Documentation

                                  + +
                                  DEPRECATED Result mavsdk::MavlinkPassthrough::send_message(mavlink_message_t &message)
+
                                  +

                                  Send message (deprecated).

                                  +
                                  +

                                  This interface is deprecated. Instead the method queue_message() should be used.

                                  +
                                  +

                                  Parameters

                                  +
                                    +
                                  • mavlink_message_t& message -
                                    • +
                                  +

                                  Returns

                                  +

                                   DEPRECATED Result - result of the request.

                                  + +
                                  Result mavsdk::MavlinkPassthrough::queue_message(std::function< mavlink_message_t(MavlinkAddress mavlink_address, uint8_t channel)> fun)
+
                                  +

                                  Send message by queueing it.

                                  +
                                  +

                                  This interface replaces the previous send_message method.

                                  +
                                  +

                                  The interface changed in order to prevent accessing the internal MAVLink status from different threads and to make sure the seq numbers are not unique toMavsdk instances and server components.

                                  +

                                  Parameters

                                  +
                                    +
                                  • std::function< mavlink_message_t(MavlinkAddress mavlink_address, uint8_t channel)> fun - Function which is (immediately) executed to send a message. It is passed the mavlink_address and channel, both data required to send a message using mavlink_message_xx_pack_chan().
                                    • +
                                  +

                                  Returns

                                  +

                                   Result - result of request

                                  + +
                                  Result mavsdk::MavlinkPassthrough::send_command_long(const CommandLong &command)
+
                                  +

                                  Send a MAVLink command_long.

                                  +

                                  Parameters

                                  + +

                                  Returns

                                  +

                                   Result - result of the request.

                                  + +
                                  Result mavsdk::MavlinkPassthrough::send_command_int(const CommandInt &command)
+
                                  +

                                  Send a MAVLink command_long.

                                  +

                                  Parameters

                                  + +

                                  Returns

                                  +

                                   Result - result of the request.

                                  + +
                                  mavlink_message_t mavsdk::MavlinkPassthrough::make_command_ack_message(const uint8_t target_sysid, const uint8_t target_compid, const uint16_t command, MAV_RESULT result)
+
                                  +

                                  Create a command_ack.

                                  +

                                  Parameters

                                  +
                                    +
                                  • const uint8_t target_sysid - Target system ID where to send command_ack to.
                                    • +
                                  • const uint8_t target_compid - Target component ID where to send command_ack to.
                                    • +
                                  • const uint16_t command - Command to respond to.
                                    • +
                                  • MAV_RESULT result - Result of command.
                                    • +
                                  +

                                  Returns

                                  +

                                   mavlink_message_t - message to send.

                                  + +
                                  std::pair<Result, int32_t> mavsdk::MavlinkPassthrough::get_param_int(const std::string &name, std::optional< uint8_t > maybe_component_id, bool extended)
+
                                  +

                                  Request param (int).

                                  +

                                  Parameters

                                  +
                                    +
                                  • const std::string& name -
                                    • +
                                  • std::optional< uint8_t > maybe_component_id -
                                    • +
                                  • bool extended -
                                    • +
                                  +

                                  Returns

                                  +

                                   std::pair< Result, int32_t > -

                                  + +
                                  std::pair<Result, float> mavsdk::MavlinkPassthrough::get_param_float(const std::string &name, std::optional< uint8_t > maybe_component_id, bool extended)
+
                                  +

                                  Request param (float).

                                  +

                                  Parameters

                                  +
                                    +
                                  • const std::string& name -
                                    • +
                                  • std::optional< uint8_t > maybe_component_id -
                                    • +
                                  • bool extended -
                                    • +
                                  +

                                  Returns

                                  +

                                   std::pair< Result, float > -

                                  + +
                                  MessageHandle mavsdk::MavlinkPassthrough::subscribe_message(uint16_t message_id, const MessageCallback &callback)
+
                                  +

                                  Subscribe to messages using message ID.

                                  +

                                  This means that all future messages being received will trigger the callback to be called. To stop the subscription, call this method with nullptr as the argument.

                                  +

                                  Parameters

                                  +
                                    +
                                  • uint16_t message_id - The MAVLink message ID.
                                    • +
                                  • const MessageCallback& callback - Callback to be called for message subscription.
                                    • +
                                  +

                                  Returns

                                  +

                                   MessageHandle -

                                  + +
                                  void mavsdk::MavlinkPassthrough::unsubscribe_message(uint16_t message_id, MessageHandle handle)
+
                                  +

                                  Unsubscribe from subscribe_message.

                                  +

                                  Parameters

                                  +
                                    +
                                  • uint16_t message_id - The MAVLink message ID.
                                    • +
                                  • MessageHandle handle - The handle returned from subscribe_message.
                                    • +
                                  + +
                                  uint8_t mavsdk::MavlinkPassthrough::get_our_sysid() const
+
                                  +

                                  Get our own system ID.

                                  +

                                  Returns

                                  +

                                   uint8_t - our own system ID.

                                  + +
                                  uint8_t mavsdk::MavlinkPassthrough::get_our_compid() const
+
                                  +

                                  Get our own component ID.

                                  +

                                  Returns

                                  +

                                   uint8_t - our own component ID.

                                  + +
                                  uint8_t mavsdk::MavlinkPassthrough::get_target_sysid() const
+
                                  +

                                  Get system ID of target.

                                  +

                                  Returns

                                  +

                                   uint8_t - system ID of target.

                                  + +
                                  uint8_t mavsdk::MavlinkPassthrough::get_target_compid() const
+
                                  +

                                  Get target component ID.

                                  +

                                  This defaults to the component ID of the autopilot (1) if available and otherwise to all components (0).

                                  +

                                  Returns

                                  +

                                   uint8_t - component ID of target.

                                  + +
                                  const MavlinkPassthrough& mavsdk::MavlinkPassthrough::operator=(const MavlinkPassthrough &)=delete
+
                                  +

                                  Equality operator (object is not copyable).

                                  +

                                  Parameters

                                  + +

                                  Returns

                                  +

                                   const MavlinkPassthrough & -

                                  +
                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                    mavsdk::Mavsdk Class Reference

                                    +

                                    #include: mavsdk.h

                                    +
                                    +

                                    This is the main class of MAVSDK (a MAVLink API Library).

                                    +

                                    It is used to discover vehicles and manage active connections.

                                    +

                                    An instance of this class must be created (first) in order to use the library. The instance must be destroyed after use in order to break connections and release all resources.

                                    +

                                    Data Structures

                                    +

                                    struct Configuration

                                    +

                                    Public Types

                                    + + + + + + + + + + + + + + + + + + + + + + + + + +
                                    TypeDescription
                                    enum ComponentTypeComponentType of configurations, used for automatic ID setting.
                                    Handle<> ConnectionHandleHandle type to remove a connection.
                                    std::function< void()> NewSystemCallbackCallback type discover and timeout notifications.
                                    Handle<> NewSystemHandleHandle type to unsubscribe from subscribe_on_new_system.
                                    +

                                    Public Member Functions

                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                    TypeNameDescription
                                     Mavsdk ()=deleteDefault constructor without configuration, no longer recommended.
                                     Mavsdk (Configuration configuration)Constructor with configuration.
                                     ~Mavsdk ()Destructor.
                                    std::stringversion () constReturns the version of MAVSDK.
                                    ConnectionResultadd_any_connection (const std::string & connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)Adds Connection via URL.
                                    std::pair< ConnectionResult, ConnectionHandle >add_any_connection_with_handle (const std::string & connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)Adds Connection via URL Additionally returns a handle to remove the connection later.
                                    ConnectionResultadd_udp_connection (int local_port=DEFAULT_UDP_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)Adds a UDP connection to the specified port number.
                                    ConnectionResultadd_udp_connection (const std::string & local_ip, int local_port=DEFAULT_UDP_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)Adds a UDP connection to the specified port number and local interface.
                                    ConnectionResultsetup_udp_remote (const std::string & remote_ip, int remote_port, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)Sets up instance to send heartbeats to the specified remote interface and port number.
                                    ConnectionResultadd_tcp_connection (const std::string & remote_ip, int remote_port=DEFAULT_TCP_REMOTE_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)Adds a TCP connection with a specific IP address and port number.
                                    ConnectionResultadd_serial_connection (const std::string & dev_path, int baudrate=DEFAULT_SERIAL_BAUDRATE, bool flow_control=false, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)Adds a serial connection with a specific port (COM or UART dev node) and baudrate as specified.
                                    voidremove_connection (ConnectionHandle handle)
                                    std::vector< std::shared_ptr< System > >systems () constGet a vector of systems which have been discovered or set-up.
                                    std::optional< std::shared_ptr< System > >first_autopilot (double timeout_s)constGet the first autopilot that has been discovered.
                                    voidset_configuration (Configuration configuration)Set Configuration of SDK.
                                    voidset_timeout_s (double timeout_s)Set timeout of MAVLink transfers.
                                    voidset_system_status (uint8_t system_status)Set system status of this MAVLink entity.
                                    NewSystemHandlesubscribe_on_new_system (const NewSystemCallback & callback)Get notification about a change in systems.
                                    voidunsubscribe_on_new_system (NewSystemHandle handle)unsubscribe from subscribe_on_new_system.
                                    std::shared_ptr< ServerComponent >server_component (unsigned instance=0)Get server component with default type of Mavsdk instance.
                                    std::shared_ptr< ServerComponent >server_component_by_type (ComponentType component_type, unsigned instance=0)Get server component by a high level type.
                                    std::shared_ptr< ServerComponent >server_component_by_id (uint8_t component_id)Get server component by the low MAVLink component ID.
                                    voidintercept_incoming_messages_async (std::function< bool(mavlink_message_t &)> callback)Intercept incoming messages.
                                    voidintercept_outgoing_messages_async (std::function< bool(mavlink_message_t &)> callback)Intercept outgoing messages.
                                    +

                                    Static Public Attributes

                                    +

                                    static constexpr auto DEFAULT_UDP_BIND_IP = "0.0.0.0" - Default UDP bind IP (accepts any incoming connections).

                                    +

                                    static constexpr int DEFAULT_UDP_PORT = 14540 - Default UDP bind port (same port as used by MAVROS).

                                    +

                                    static constexpr auto DEFAULT_TCP_REMOTE_IP = "127.0.0.1" - Default TCP remote IP (localhost).

                                    +

                                    static constexpr int DEFAULT_TCP_REMOTE_PORT = 5760 - Default TCP remote port.

                                    +

                                    static constexpr int DEFAULT_SERIAL_BAUDRATE = 57600 - Default serial baudrate.

                                    +

                                    static constexpr double DEFAULT_TIMEOUT_S = 0.5 - Default internal timeout in seconds.

                                    +

                                    Constructor & Destructor Documentation

                                    +

                                    Mavsdk()

                                    +
                                    mavsdk::Mavsdk::Mavsdk()=delete
+
                                    +

                                    Default constructor without configuration, no longer recommended.

                                    +
                                    +

                                    This has been removed because MAVSDK used to identify itself as a ground station by default which isn't always the safest choice. For instance, when MAVSDK is used on a companion computer (set as a ground station) it means that the appropriate failsafe doesn't trigger.

                                    +
                                    +

                                    Mavsdk()

                                    +
                                    mavsdk::Mavsdk::Mavsdk(Configuration configuration)
+
                                    +

                                    Constructor with configuration.

                                    +

                                    Parameters

                                    + +

                                    ~Mavsdk()

                                    +
                                    mavsdk::Mavsdk::~Mavsdk()
+
                                    +

                                    Destructor.

                                    +

                                    Disconnects all connected vehicles and releases all resources.

                                    +

                                    Member Typdef Documentation

                                    +

                                    typedef ConnectionHandle

                                    +
                                    using mavsdk::Mavsdk::ConnectionHandle =  Handle<>
+
                                    +

                                    Handle type to remove a connection.

                                    +

                                    typedef NewSystemCallback

                                    +
                                    using mavsdk::Mavsdk::NewSystemCallback =  std::function<void()>
+
                                    +

                                    Callback type discover and timeout notifications.

                                    +

                                    typedef NewSystemHandle

                                    +
                                    using mavsdk::Mavsdk::NewSystemHandle =  Handle<>
+
                                    +

                                    Handle type to unsubscribe from subscribe_on_new_system.

                                    +

                                    Member Enumeration Documentation

                                    +

                                    enum ComponentType

                                    +

                                    ComponentType of configurations, used for automatic ID setting.

                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                    ValueDescription
                                    AutopilotSDK is used as an autopilot.
                                    GroundStationSDK is used as a ground station.
                                    CompanionComputerSDK is used as a companion computer on board the MAV.
                                    Camera
                                    CustomSDK is used as a camera. <
                                    +

                                    the SDK is used in a custom configuration, no automatic ID will be provided

                                    +

                                    Member Function Documentation

                                    +

                                    version()

                                    +
                                    std::string mavsdk::Mavsdk::version() const
+
                                    +

                                    Returns the version of MAVSDK.

                                    +

                                    Note, you're not supposed to request the version too many times.

                                    +

                                    Returns

                                    +

                                     std::string - A string containing the version.

                                    +

                                    add_any_connection()

                                    +
                                    ConnectionResult mavsdk::Mavsdk::add_any_connection(const std::string &connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+
                                    +

                                    Adds Connection via URL.

                                    +

                                    Supports connection: Serial, TCP or UDP. Connection URL format should be:

                                    +
                                      +

                                    • UDP: udp://[host][:bind_port]

                                      +
                                      • +

                                    • TCP: tcp://[host][:remote_port]

                                      +
                                      • +

                                    • Serial: serial://dev_node[:baudrate]

                                      +
                                      • +
                                    + + +

                                    For UDP, the host can be set to either:

                                    +
                                      +

                                    • zero IP: 0.0.0.0 -> behave like a server and listen for heartbeats.

                                      +
                                      • +

                                    • some IP: 192.168.1.12 -> behave like a client, initiate connection and start sending heartbeats.

                                      +
                                      • +
                                    + +

                                    Parameters

                                    +
                                      +
                                    • const std::string& connection_url - connection URL string.
                                      • +
                                    • ForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).
                                      • +
                                    +

                                    Returns

                                    +

                                     ConnectionResult - The result of adding the connection.

                                    +

                                    add_any_connection_with_handle()

                                    +
                                    std::pair<ConnectionResult, ConnectionHandle> mavsdk::Mavsdk::add_any_connection_with_handle(const std::string &connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+
                                    +

                                    Adds Connection via URL Additionally returns a handle to remove the connection later.

                                    +

                                    Supports connection: Serial, TCP or UDP. Connection URL format should be:

                                    +
                                      +

                                    • UDP: udp://[host][:bind_port]

                                      +
                                      • +

                                    • TCP: tcp://[host][:remote_port]

                                      +
                                      • +

                                    • Serial: serial://dev_node[:baudrate]

                                      +
                                      • +
                                    + + +

                                    For UDP, the host can be set to either:

                                    +
                                      +

                                    • zero IP: 0.0.0.0 -> behave like a server and listen for heartbeats.

                                      +
                                      • +

                                    • some IP: 192.168.1.12 -> behave like a client, initiate connection and start sending heartbeats.

                                      +
                                      • +
                                    + +

                                    Parameters

                                    +
                                      +
                                    • const std::string& connection_url - connection URL string.
                                      • +
                                    • ForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).
                                      • +
                                    +

                                    Returns

                                    +

                                     std::pair< ConnectionResult, ConnectionHandle > - A pair containing the result of adding the connection as well as a handle to remove it later.

                                    +

                                    add_udp_connection()

                                    +
                                    ConnectionResult mavsdk::Mavsdk::add_udp_connection(int local_port=DEFAULT_UDP_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+
                                    +

                                    Adds a UDP connection to the specified port number.

                                    +

                                    Any incoming connections are accepted (0.0.0.0).

                                    +

                                    Parameters

                                    +
                                      +
                                    • int local_port - The local UDP port to listen to (defaults to 14540, the same as MAVROS).
                                      • +
                                    • ForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).
                                      • +
                                    +

                                    Returns

                                    +

                                     ConnectionResult - The result of adding the connection.

                                    +

                                    add_udp_connection()

                                    +
                                    ConnectionResult mavsdk::Mavsdk::add_udp_connection(const std::string &local_ip, int local_port=DEFAULT_UDP_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+
                                    +

                                    Adds a UDP connection to the specified port number and local interface.

                                    +

                                    To accept only local connections of the machine, use 127.0.0.1. For any incoming connections, use 0.0.0.0.

                                    +

                                    Parameters

                                    +
                                      +
                                    • const std::string& local_ip - The local UDP IP address to listen to.
                                      • +
                                    • int local_port - The local UDP port to listen to (defaults to 14540, the same as MAVROS).
                                      • +
                                    • ForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).
                                      • +
                                    +

                                    Returns

                                    +

                                     ConnectionResult - The result of adding the connection.

                                    +

                                    setup_udp_remote()

                                    +
                                    ConnectionResult mavsdk::Mavsdk::setup_udp_remote(const std::string &remote_ip, int remote_port, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+
                                    +

                                    Sets up instance to send heartbeats to the specified remote interface and port number.

                                    +

                                    Parameters

                                    +
                                      +
                                    • const std::string& remote_ip - The remote UDP IP address to report to.
                                      • +
                                    • int remote_port - The local UDP port to report to.
                                      • +
                                    • ForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).
                                      • +
                                    +

                                    Returns

                                    +

                                     ConnectionResult - The result of operation.

                                    +

                                    add_tcp_connection()

                                    +
                                    ConnectionResult mavsdk::Mavsdk::add_tcp_connection(const std::string &remote_ip, int remote_port=DEFAULT_TCP_REMOTE_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+
                                    +

                                    Adds a TCP connection with a specific IP address and port number.

                                    +

                                    Parameters

                                    +
                                      +
                                    • const std::string& remote_ip - Remote IP address to connect to.
                                      • +
                                    • int remote_port - The TCP port to connect to (defaults to 5760).
                                      • +
                                    • ForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).
                                      • +
                                    +

                                    Returns

                                    +

                                     ConnectionResult - The result of adding the connection.

                                    +

                                    add_serial_connection()

                                    +
                                    ConnectionResult mavsdk::Mavsdk::add_serial_connection(const std::string &dev_path, int baudrate=DEFAULT_SERIAL_BAUDRATE, bool flow_control=false, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+
                                    +

                                    Adds a serial connection with a specific port (COM or UART dev node) and baudrate as specified.

                                    +

                                    Parameters

                                    +
                                      +
                                    • const std::string& dev_path - COM or UART dev node name/path (e.g. "/dev/ttyS0", or "COM3" on Windows).
                                      • +
                                    • int baudrate - Baudrate of the serial port (defaults to 57600).
                                      • +
                                    • bool flow_control - enable/disable flow control.
                                      • +
                                    • ForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).
                                      • +
                                    +

                                    Returns

                                    +

                                     ConnectionResult - The result of adding the connection.

                                    +

                                    remove_connection()

                                    +
                                    void mavsdk::Mavsdk::remove_connection(ConnectionHandle handle)
+
                                    +

                                    Remove connection again.

                                    +

                                    Parameters

                                    + +

                                    systems()

                                    +
                                    std::vector<std::shared_ptr<System> > mavsdk::Mavsdk::systems() const
+
                                    +

                                    Get a vector of systems which have been discovered or set-up.

                                    +

                                    Returns

                                    +

                                     std::vector< std::shared_ptr< System > > - The vector of systems which are available.

                                    +

                                    first_autopilot()

                                    +
                                    std::optional<std::shared_ptr<System> > mavsdk::Mavsdk::first_autopilot(double timeout_s) const
+
                                    +

                                    Get the first autopilot that has been discovered.

                                    +
                                    +

                                    This requires a MAVLink component with component ID 1 sending heartbeats.

                                    +
                                    +

                                    Parameters

                                    +
                                      +
                                    • double timeout_s - A timeout in seconds. A timeout of 0 will not wait and return immediately. A negative timeout will wait forever.
                                      • +
                                    +

                                    Returns

                                    +

                                     std::optional< std::shared_ptr< System > > - A system or nothing if nothing was discovered within the timeout.

                                    +

                                    set_configuration()

                                    +
                                    void mavsdk::Mavsdk::set_configuration(Configuration configuration)
+
                                    +

                                    Set Configuration of SDK.

                                    +

                                    The default configuration is Configuration::GroundStation The configuration is used in order to set the MAVLink system ID, the component ID, as well as the MAV_TYPE accordingly.

                                    +

                                    Parameters

                                    + +

                                    set_timeout_s()

                                    +
                                    void mavsdk::Mavsdk::set_timeout_s(double timeout_s)
+
                                    +

                                    Set timeout of MAVLink transfers.

                                    +

                                    The default timeout used is generally DEFAULT_SERIAL_BAUDRATE (0.5 seconds) seconds. If MAVSDK is used on the same host this timeout can be reduced, while if MAVSDK has to communicate over links with high latency it might need to be increased to prevent timeouts.

                                    +

                                    Parameters

                                    +
                                      +
                                    • double timeout_s -
                                      • +
                                    +

                                    set_system_status()

                                    +
                                    void mavsdk::Mavsdk::set_system_status(uint8_t system_status)
+
                                    +

                                    Set system status of this MAVLink entity.

                                    +

                                    The default system status is MAV_STATE_UNINIT.

                                    +

                                    Parameters

                                    +
                                      +
                                    • uint8_t system_status - system status.
                                      • +
                                    +

                                    subscribe_on_new_system()

                                    +
                                    NewSystemHandle mavsdk::Mavsdk::subscribe_on_new_system(const NewSystemCallback &callback)
+
                                    +

                                    Get notification about a change in systems.

                                    +

                                    This gets called whenever a system is added.

                                    +

                                    Parameters

                                    + +

                                    Returns

                                    +

                                     NewSystemHandle - A handle to unsubscribe again.

                                    +

                                    unsubscribe_on_new_system()

                                    +
                                    void mavsdk::Mavsdk::unsubscribe_on_new_system(NewSystemHandle handle)
+
                                    +

                                    unsubscribe from subscribe_on_new_system.

                                    +

                                    Parameters

                                    + +

                                    server_component()

                                    +
                                    std::shared_ptr<ServerComponent> mavsdk::Mavsdk::server_component(unsigned instance=0)
+
                                    +

                                    Get server component with default type of Mavsdk instance.

                                    +

                                    Parameters

                                    +
                                      +
                                    • unsigned instance -
                                      • +
                                    +

                                    Returns

                                    +

                                     std::shared_ptr< ServerComponent > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.

                                    +

                                    server_component_by_type()

                                    +
                                    std::shared_ptr<ServerComponent> mavsdk::Mavsdk::server_component_by_type(ComponentType component_type, unsigned instance=0)
+
                                    +

                                    Get server component by a high level type.

                                    +

                                    This represents a server component of the MAVSDK instance.

                                    +

                                    Parameters

                                    +
                                      +
                                    • ComponentType component_type - The high level type of the component.
                                      • +
                                    • unsigned instance - The instance of the component if there are multiple, starting at 0.
                                      • +
                                    +

                                    Returns

                                    +

                                     std::shared_ptr< ServerComponent > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.

                                    +

                                    server_component_by_id()

                                    +
                                    std::shared_ptr<ServerComponent> mavsdk::Mavsdk::server_component_by_id(uint8_t component_id)
+
                                    +

                                    Get server component by the low MAVLink component ID.

                                    +

                                    This represents a server component of the MAVSDK instance.

                                    +

                                    Parameters

                                    +
                                      +
                                    • uint8_t component_id - MAVLink component ID to use
                                      • +
                                    +

                                    Returns

                                    +

                                     std::shared_ptr< ServerComponent > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.

                                    +

                                    intercept_incoming_messages_async()

                                    +
                                    void mavsdk::Mavsdk::intercept_incoming_messages_async(std::function< bool(mavlink_message_t &)> callback)
+
                                    +

                                    Intercept incoming messages.

                                    +

                                    This is a hook which allows to change or drop MAVLink messages as they are received before they get forwarded any subscribers.

                                    +
                                    +

                                    This functionality is provided primarily for testing in order to simulate packet drops or actors not adhering to the MAVLink protocols.

                                    +
                                    +

                                    Parameters

                                    +
                                      +
                                    • std::function< bool(mavlink_message_t &)> callback - Callback to be called for each incoming message. To drop a message, return 'false' from the callback.
                                      • +
                                    +

                                    intercept_outgoing_messages_async()

                                    +
                                    void mavsdk::Mavsdk::intercept_outgoing_messages_async(std::function< bool(mavlink_message_t &)> callback)
+
                                    +

                                    Intercept outgoing messages.

                                    +

                                    This is a hook which allows to change or drop MAVLink messages before they are sent.

                                    +
                                    +

                                    This functionality is provided primarily for testing in order to simulate packet drops or actors not adhering to the MAVLink protocols.

                                    +
                                    +

                                    Parameters

                                    +
                                      +
                                    • std::function< bool(mavlink_message_t &)> callback - Callback to be called for each outgoing message. To drop a message, return 'false' from the callback.
                                      • +
                                    +

                                    Field Documentation

                                    +

                                    DEFAULT_UDP_BIND_IP

                                    +
                                    constexpr auto mavsdk::Mavsdk::DEFAULT_UDP_BIND_IP = "0.0.0.0"
+
                                    +

                                    Default UDP bind IP (accepts any incoming connections).

                                    +

                                    DEFAULT_UDP_PORT

                                    +
                                    constexpr int mavsdk::Mavsdk::DEFAULT_UDP_PORT = 14540
+
                                    +

                                    Default UDP bind port (same port as used by MAVROS).

                                    +

                                    DEFAULT_TCP_REMOTE_IP

                                    +
                                    constexpr auto mavsdk::Mavsdk::DEFAULT_TCP_REMOTE_IP = "127.0.0.1"
+
                                    +

                                    Default TCP remote IP (localhost).

                                    +

                                    DEFAULT_TCP_REMOTE_PORT

                                    +
                                    constexpr int mavsdk::Mavsdk::DEFAULT_TCP_REMOTE_PORT = 5760
+
                                    +

                                    Default TCP remote port.

                                    +

                                    DEFAULT_SERIAL_BAUDRATE

                                    +
                                    constexpr int mavsdk::Mavsdk::DEFAULT_SERIAL_BAUDRATE = 57600
+
                                    +

                                    Default serial baudrate.

                                    +

                                    DEFAULT_TIMEOUT_S

                                    +
                                    constexpr double mavsdk::Mavsdk::DEFAULT_TIMEOUT_S = 0.5
+
                                    +

                                    Default internal timeout in seconds.

                                    +
                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                    + +
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                                    results matching ""

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                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_mavsdk_1_1_configuration.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_mavsdk_1_1_configuration.html new file mode 100644 index 00000000..9dd83928 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_mavsdk_1_1_configuration.html @@ -0,0 +1,3494 @@ + + + + + + + class Mavsdk::Configuration · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                      +
                                      + +
                                      + +

                                      mavsdk::Mavsdk::Configuration Class Reference

                                      +

                                      #include: mavsdk.h

                                      +
                                      +

                                      Possible configurations.

                                      +

                                      Public Member Functions

                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                      TypeNameDescription
                                       Configuration (uint8_t system_id, uint8_t component_id, bool always_send_heartbeats)Create new Configuration via manually configured system and component ID.
                                       Configuration (ComponentType component_type)Create new Configuration using a component type. In this mode, the system and component ID will be automatically chosen.
                                       Configuration ()=delete
                                       ~Configuration ()=default
                                      uint8_tget_system_id () constGet the system id of this configuration.
                                      voidset_system_id (uint8_t system_id)Set the system id of this configuration.
                                      uint8_tget_component_id () constGet the component id of this configuration.
                                      voidset_component_id (uint8_t component_id)Set the component id of this configuration.
                                      boolget_always_send_heartbeats () constGet whether to send heartbeats by default.
                                      voidset_always_send_heartbeats (bool always_send_heartbeats)Set whether to send heartbeats by default.
                                      ComponentTypeget_component_type () constComponent type of this configuration, used for automatic ID set.
                                      voidset_component_type (ComponentType component_type)Set the component type of this configuration.
                                      +

                                      Constructor & Destructor Documentation

                                      +

                                      Configuration()

                                      +
                                      mavsdk::Mavsdk::Configuration::Configuration(uint8_t system_id, uint8_t component_id, bool always_send_heartbeats)
+
                                      +

                                      Create new Configuration via manually configured system and component ID.

                                      +

                                      Parameters

                                      +
                                        +
                                      • uint8_t system_id - the system id to store in this configuration
                                        • +
                                      • uint8_t component_id - the component id to store in this configuration
                                        • +
                                      • bool always_send_heartbeats - send heartbeats by default even without a system connected
                                        • +
                                      +

                                      Configuration()

                                      +
                                      mavsdk::Mavsdk::Configuration::Configuration(ComponentType component_type)
+
                                      +

                                      Create new Configuration using a component type. In this mode, the system and component ID will be automatically chosen.

                                      +

                                      Parameters

                                      +
                                        +
                                      • ComponentType component_type - the component type, used for automatically choosing ids.
                                        • +
                                      +

                                      Configuration()

                                      +
                                      mavsdk::Mavsdk::Configuration::Configuration()=delete
+
                                      +

                                      ~Configuration()

                                      +
                                      mavsdk::Mavsdk::Configuration::~Configuration()=default
+
                                      +

                                      Member Function Documentation

                                      +

                                      get_system_id()

                                      +
                                      uint8_t mavsdk::Mavsdk::Configuration::get_system_id() const
+
                                      +

                                      Get the system id of this configuration.

                                      +

                                      Returns

                                      +

                                       uint8_t - uint8_t the system id stored in this configuration, from 1-255

                                      +

                                      set_system_id()

                                      +
                                      void mavsdk::Mavsdk::Configuration::set_system_id(uint8_t system_id)
+
                                      +

                                      Set the system id of this configuration.

                                      +

                                      Parameters

                                      +
                                        +
                                      • uint8_t system_id -
                                        • +
                                      +

                                      get_component_id()

                                      +
                                      uint8_t mavsdk::Mavsdk::Configuration::get_component_id() const
+
                                      +

                                      Get the component id of this configuration.

                                      +

                                      Returns

                                      +

                                       uint8_t - uint8_t the component id stored in this configuration,from 1-255

                                      +

                                      set_component_id()

                                      +
                                      void mavsdk::Mavsdk::Configuration::set_component_id(uint8_t component_id)
+
                                      +

                                      Set the component id of this configuration.

                                      +

                                      Parameters

                                      +
                                        +
                                      • uint8_t component_id -
                                        • +
                                      +

                                      get_always_send_heartbeats()

                                      +
                                      bool mavsdk::Mavsdk::Configuration::get_always_send_heartbeats() const
+
                                      +

                                      Get whether to send heartbeats by default.

                                      +

                                      Returns

                                      +

                                       bool - whether to always send heartbeats

                                      +

                                      set_always_send_heartbeats()

                                      +
                                      void mavsdk::Mavsdk::Configuration::set_always_send_heartbeats(bool always_send_heartbeats)
+
                                      +

                                      Set whether to send heartbeats by default.

                                      +

                                      Parameters

                                      +
                                        +
                                      • bool always_send_heartbeats -
                                        • +
                                      +

                                      get_component_type()

                                      +
                                      ComponentType mavsdk::Mavsdk::Configuration::get_component_type() const
+
                                      +

                                      Component type of this configuration, used for automatic ID set.

                                      +

                                      Returns

                                      +

                                       ComponentType -

                                      +

                                      set_component_type()

                                      +
                                      void mavsdk::Mavsdk::Configuration::set_component_type(ComponentType component_type)
+
                                      +

                                      Set the component type of this configuration.

                                      +

                                      Parameters

                                      + +
                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                      + +
                                      + +
                                      +
                                      +
                                      + +

                                      results matching ""

                                      +
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                                        + +

                                        No results matching ""

                                        + +
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                                        + + +
                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_mission.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_mission.html new file mode 100644 index 00000000..3e5d8b80 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_mission.html @@ -0,0 +1,3882 @@ + + + + + + + class Mission · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                        + + + + +
                                        + +
                                        PX4
                                        +
                                        QGroundControl
                                        +
                                        QGC
                                        +
                                        SDK
                                        +
                                        MAVLink
                                        +
                                        Documentation
                                        +
                                        Docs
                                        +
                                        Support
                                        +
                                        Help
                                        + +
                                        +
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                                        + +
                                        +
                                        + +
                                        + +

                                        mavsdk::Mission Class Reference

                                        +

                                        #include: mission.h

                                        +
                                        +

                                        Enable waypoint missions.

                                        +

                                        Data Structures

                                        +

                                        struct MissionItem

                                        +

                                        struct MissionPlan

                                        +

                                        struct MissionProgress

                                        +

                                        struct ProgressData

                                        +

                                        struct ProgressDataOrMission

                                        +

                                        Public Types

                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                        TypeDescription
                                        enum ResultPossible results returned for action requests.
                                        std::function< void(Result)> ResultCallbackCallback type for asynchronous Mission calls.
                                        std::function< void(Result, ProgressData)> UploadMissionWithProgressCallbackCallback type for upload_mission_with_progress_async.
                                        std::function< void(Result, MissionPlan)> DownloadMissionCallbackCallback type for download_mission_async.
                                        std::function< void(Result, ProgressDataOrMission)> DownloadMissionWithProgressCallbackCallback type for download_mission_with_progress_async.
                                        std::function< void(MissionProgress)> MissionProgressCallbackCallback type for subscribe_mission_progress.
                                        Handle< MissionProgress > MissionProgressHandleHandle type for subscribe_mission_progress.
                                        +

                                        Public Member Functions

                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                        TypeNameDescription
                                         Mission (System & system)Constructor. Creates the plugin for a specific System.
                                         Mission (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                         ~Mission () overrideDestructor (internal use only).
                                         Mission (const Mission & other)Copy constructor.
                                        voidupload_mission_async (MissionPlan mission_plan, const ResultCallback callback)Upload a list of mission items to the system.
                                        Resultupload_mission (MissionPlan mission_plan)constUpload a list of mission items to the system.
                                        voidupload_mission_with_progress_async (MissionPlan mission_plan, const UploadMissionWithProgressCallback & callback)Upload a list of mission items to the system and report upload progress.
                                        Resultcancel_mission_upload () constCancel an ongoing mission upload.
                                        voiddownload_mission_async (const DownloadMissionCallback callback)Download a list of mission items from the system (asynchronous).
                                        std::pair< Result, Mission::MissionPlan >download_mission () constDownload a list of mission items from the system (asynchronous).
                                        voiddownload_mission_with_progress_async (const DownloadMissionWithProgressCallback & callback)Download a list of mission items from the system (asynchronous) and report progress.
                                        Resultcancel_mission_download () constCancel an ongoing mission download.
                                        voidstart_mission_async (const ResultCallback callback)Start the mission.
                                        Resultstart_mission () constStart the mission.
                                        voidpause_mission_async (const ResultCallback callback)Pause the mission.
                                        Resultpause_mission () constPause the mission.
                                        voidclear_mission_async (const ResultCallback callback)Clear the mission saved on the vehicle.
                                        Resultclear_mission () constClear the mission saved on the vehicle.
                                        voidset_current_mission_item_async (int32_t index, const ResultCallback callback)Sets the mission item index to go to.
                                        Resultset_current_mission_item (int32_t index)constSets the mission item index to go to.
                                        std::pair< Result, bool >is_mission_finished () constCheck if the mission has been finished.
                                        MissionProgressHandlesubscribe_mission_progress (const MissionProgressCallback & callback)Subscribe to mission progress updates.
                                        voidunsubscribe_mission_progress (MissionProgressHandle handle)Unsubscribe from subscribe_mission_progress.
                                        MissionProgressmission_progress () constPoll for 'MissionProgress' (blocking).
                                        std::pair< Result, bool >get_return_to_launch_after_mission () constGet whether to trigger Return-to-Launch (RTL) after mission is complete.
                                        Resultset_return_to_launch_after_mission (bool enable)constSet whether to trigger Return-to-Launch (RTL) after the mission is complete.
                                        const Mission &operator= (const Mission &)=deleteEquality operator (object is not copyable).
                                        +

                                        Constructor & Destructor Documentation

                                        +

                                        Mission()

                                        +
                                        mavsdk::Mission::Mission(System &system)
+
                                        +

                                        Constructor. Creates the plugin for a specific System.

                                        +

                                        The plugin is typically created as shown below:

                                        +
                                        auto mission = Mission(system);
+
                                        +

                                        Parameters

                                        +
                                          +
                                        • System& system - The specific system associated with this plugin.
                                          • +
                                        +

                                        Mission()

                                        +
                                        mavsdk::Mission::Mission(std::shared_ptr< System > system)
+
                                        +

                                        Constructor. Creates the plugin for a specific System.

                                        +

                                        The plugin is typically created as shown below:

                                        +
                                        auto mission = Mission(system);
+
                                        +

                                        Parameters

                                        +
                                          +
                                        • std::shared_ptr< System > system - The specific system associated with this plugin.
                                          • +
                                        +

                                        ~Mission()

                                        +
                                        mavsdk::Mission::~Mission() override
+
                                        +

                                        Destructor (internal use only).

                                        +

                                        Mission()

                                        +
                                        mavsdk::Mission::Mission(const Mission &other)
+
                                        +

                                        Copy constructor.

                                        +

                                        Parameters

                                        + +

                                        Member Typdef Documentation

                                        +

                                        typedef ResultCallback

                                        +
                                        using mavsdk::Mission::ResultCallback =  std::function<void(Result)>
+
                                        +

                                        Callback type for asynchronous Mission calls.

                                        +

                                        typedef UploadMissionWithProgressCallback

                                        +
                                        using mavsdk::Mission::UploadMissionWithProgressCallback =  std::function<void(Result, ProgressData)>
+
                                        +

                                        Callback type for upload_mission_with_progress_async.

                                        +

                                        typedef DownloadMissionCallback

                                        +
                                        using mavsdk::Mission::DownloadMissionCallback =  std::function<void(Result, MissionPlan)>
+
                                        +

                                        Callback type for download_mission_async.

                                        +

                                        typedef DownloadMissionWithProgressCallback

                                        +
                                        using mavsdk::Mission::DownloadMissionWithProgressCallback =  std::function<void(Result, ProgressDataOrMission)>
+
                                        +

                                        Callback type for download_mission_with_progress_async.

                                        +

                                        typedef MissionProgressCallback

                                        +
                                        using mavsdk::Mission::MissionProgressCallback =  std::function<void(MissionProgress)>
+
                                        +

                                        Callback type for subscribe_mission_progress.

                                        +

                                        typedef MissionProgressHandle

                                        +
                                        using mavsdk::Mission::MissionProgressHandle =  Handle<MissionProgress>
+
                                        +

                                        Handle type for subscribe_mission_progress.

                                        +

                                        Member Enumeration Documentation

                                        +

                                        enum Result

                                        +

                                        Possible results returned for action requests.

                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                        ValueDescription
                                        UnknownUnknown result.
                                        SuccessRequest succeeded.
                                        ErrorError.
                                        TooManyMissionItemsToo many mission items in the mission.
                                        BusyVehicle is busy.
                                        TimeoutRequest timed out.
                                        InvalidArgumentInvalid argument.
                                        UnsupportedMission downloaded from the system is not supported.
                                        NoMissionAvailableNo mission available on the system.
                                        UnsupportedMissionCmdUnsupported mission command.
                                        TransferCancelledMission transfer (upload or download) has been cancelled.
                                        NoSystemNo system connected.
                                        NextIntermediate message showing progress.
                                        DeniedRequest denied.
                                        ProtocolErrorThere was a protocol error.
                                        IntMessagesNotSupportedThe system does not support the MISSION_INT protocol.
                                        +

                                        Member Function Documentation

                                        +

                                        upload_mission_async()

                                        +
                                        void mavsdk::Mission::upload_mission_async(MissionPlan mission_plan, const ResultCallback callback)
+
                                        +

                                        Upload a list of mission items to the system.

                                        +

                                        The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

                                        +

                                        This function is non-blocking. See 'upload_mission' for the blocking counterpart.

                                        +

                                        Parameters

                                        + +

                                        upload_mission()

                                        +
                                        Result mavsdk::Mission::upload_mission(MissionPlan mission_plan) const
+
                                        +

                                        Upload a list of mission items to the system.

                                        +

                                        The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

                                        +

                                        This function is blocking. See 'upload_mission_async' for the non-blocking counterpart.

                                        +

                                        Parameters

                                        + +

                                        Returns

                                        +

                                         Result - Result of request.

                                        +

                                        upload_mission_with_progress_async()

                                        +
                                        void mavsdk::Mission::upload_mission_with_progress_async(MissionPlan mission_plan, const UploadMissionWithProgressCallback &callback)
+
                                        +

                                        Upload a list of mission items to the system and report upload progress.

                                        +

                                        The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

                                        +

                                        Parameters

                                        + +

                                        cancel_mission_upload()

                                        +
                                        Result mavsdk::Mission::cancel_mission_upload() const
+
                                        +

                                        Cancel an ongoing mission upload.

                                        +

                                        This function is blocking.

                                        +

                                        Returns

                                        +

                                         Result - Result of request.

                                        +

                                        download_mission_async()

                                        +
                                        void mavsdk::Mission::download_mission_async(const DownloadMissionCallback callback)
+
                                        +

                                        Download a list of mission items from the system (asynchronous).

                                        +

                                        Will fail if any of the downloaded mission items are not supported by the MAVSDK API.

                                        +

                                        This function is non-blocking. See 'download_mission' for the blocking counterpart.

                                        +

                                        Parameters

                                        + +

                                        download_mission()

                                        +
                                        std::pair<Result, Mission::MissionPlan> mavsdk::Mission::download_mission() const
+
                                        +

                                        Download a list of mission items from the system (asynchronous).

                                        +

                                        Will fail if any of the downloaded mission items are not supported by the MAVSDK API.

                                        +

                                        This function is blocking. See 'download_mission_async' for the non-blocking counterpart.

                                        +

                                        Returns

                                        +

                                         std::pair< Result, Mission::MissionPlan > - Result of request.

                                        +

                                        download_mission_with_progress_async()

                                        +
                                        void mavsdk::Mission::download_mission_with_progress_async(const DownloadMissionWithProgressCallback &callback)
+
                                        +

                                        Download a list of mission items from the system (asynchronous) and report progress.

                                        +

                                        Will fail if any of the downloaded mission items are not supported by the MAVSDK API.

                                        +

                                        Parameters

                                        + +

                                        cancel_mission_download()

                                        +
                                        Result mavsdk::Mission::cancel_mission_download() const
+
                                        +

                                        Cancel an ongoing mission download.

                                        +

                                        This function is blocking.

                                        +

                                        Returns

                                        +

                                         Result - Result of request.

                                        +

                                        start_mission_async()

                                        +
                                        void mavsdk::Mission::start_mission_async(const ResultCallback callback)
+
                                        +

                                        Start the mission.

                                        +

                                        A mission must be uploaded to the vehicle before this can be called.

                                        +

                                        This function is non-blocking. See 'start_mission' for the blocking counterpart.

                                        +

                                        Parameters

                                        + +

                                        start_mission()

                                        +
                                        Result mavsdk::Mission::start_mission() const
+
                                        +

                                        Start the mission.

                                        +

                                        A mission must be uploaded to the vehicle before this can be called.

                                        +

                                        This function is blocking. See 'start_mission_async' for the non-blocking counterpart.

                                        +

                                        Returns

                                        +

                                         Result - Result of request.

                                        +

                                        pause_mission_async()

                                        +
                                        void mavsdk::Mission::pause_mission_async(const ResultCallback callback)
+
                                        +

                                        Pause the mission.

                                        +

                                        Pausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.

                                        +

                                        This function is non-blocking. See 'pause_mission' for the blocking counterpart.

                                        +

                                        Parameters

                                        + +

                                        pause_mission()

                                        +
                                        Result mavsdk::Mission::pause_mission() const
+
                                        +

                                        Pause the mission.

                                        +

                                        Pausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.

                                        +

                                        This function is blocking. See 'pause_mission_async' for the non-blocking counterpart.

                                        +

                                        Returns

                                        +

                                         Result - Result of request.

                                        +

                                        clear_mission_async()

                                        +
                                        void mavsdk::Mission::clear_mission_async(const ResultCallback callback)
+
                                        +

                                        Clear the mission saved on the vehicle.

                                        +

                                        This function is non-blocking. See 'clear_mission' for the blocking counterpart.

                                        +

                                        Parameters

                                        + +

                                        clear_mission()

                                        +
                                        Result mavsdk::Mission::clear_mission() const
+
                                        +

                                        Clear the mission saved on the vehicle.

                                        +

                                        This function is blocking. See 'clear_mission_async' for the non-blocking counterpart.

                                        +

                                        Returns

                                        +

                                         Result - Result of request.

                                        +

                                        set_current_mission_item_async()

                                        +
                                        void mavsdk::Mission::set_current_mission_item_async(int32_t index, const ResultCallback callback)
+
                                        +

                                        Sets the mission item index to go to.

                                        +

                                        By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a mission item, the mission will be set to this item.

                                        +

                                        Note that this is not necessarily true for general missions using MAVLink if loop counters are used.

                                        +

                                        This function is non-blocking. See 'set_current_mission_item' for the blocking counterpart.

                                        +

                                        Parameters

                                        + +

                                        set_current_mission_item()

                                        +
                                        Result mavsdk::Mission::set_current_mission_item(int32_t index) const
+
                                        +

                                        Sets the mission item index to go to.

                                        +

                                        By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a mission item, the mission will be set to this item.

                                        +

                                        Note that this is not necessarily true for general missions using MAVLink if loop counters are used.

                                        +

                                        This function is blocking. See 'set_current_mission_item_async' for the non-blocking counterpart.

                                        +

                                        Parameters

                                        +
                                          +
                                        • int32_t index -
                                          • +
                                        +

                                        Returns

                                        +

                                         Result - Result of request.

                                        +

                                        is_mission_finished()

                                        +
                                        std::pair<Result, bool> mavsdk::Mission::is_mission_finished() const
+
                                        +

                                        Check if the mission has been finished.

                                        +

                                        This function is blocking.

                                        +

                                        Returns

                                        +

                                         std::pair< Result, bool > - Result of request.

                                        +

                                        subscribe_mission_progress()

                                        +
                                        MissionProgressHandle mavsdk::Mission::subscribe_mission_progress(const MissionProgressCallback &callback)
+
                                        +

                                        Subscribe to mission progress updates.

                                        +

                                        Parameters

                                        + +

                                        Returns

                                        +

                                         MissionProgressHandle -

                                        +

                                        unsubscribe_mission_progress()

                                        +
                                        void mavsdk::Mission::unsubscribe_mission_progress(MissionProgressHandle handle)
+
                                        +

                                        Unsubscribe from subscribe_mission_progress.

                                        +

                                        Parameters

                                        + +

                                        mission_progress()

                                        +
                                        MissionProgress mavsdk::Mission::mission_progress() const
+
                                        +

                                        Poll for 'MissionProgress' (blocking).

                                        +

                                        Returns

                                        +

                                         MissionProgress - One MissionProgress update.

                                        +

                                        get_return_to_launch_after_mission()

                                        +
                                        std::pair<Result, bool> mavsdk::Mission::get_return_to_launch_after_mission() const
+
                                        +

                                        Get whether to trigger Return-to-Launch (RTL) after mission is complete.

                                        +

                                        Before getting this option, it needs to be set, or a mission needs to be downloaded.

                                        +

                                        This function is blocking.

                                        +

                                        Returns

                                        +

                                         std::pair< Result, bool > - Result of request.

                                        +

                                        set_return_to_launch_after_mission()

                                        +
                                        Result mavsdk::Mission::set_return_to_launch_after_mission(bool enable) const
+
                                        +

                                        Set whether to trigger Return-to-Launch (RTL) after the mission is complete.

                                        +

                                        This will only take effect for the next mission upload, meaning that the mission may have to be uploaded again.

                                        +

                                        This function is blocking.

                                        +

                                        Parameters

                                        +
                                          +
                                        • bool enable -
                                          • +
                                        +

                                        Returns

                                        +

                                         Result - Result of request.

                                        +

                                        operator=()

                                        +
                                        const Mission& mavsdk::Mission::operator=(const Mission &)=delete
+
                                        +

                                        Equality operator (object is not copyable).

                                        +

                                        Parameters

                                        + +

                                        Returns

                                        +

                                         const Mission & -

                                        +
                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                          mavsdk::MissionRaw Class Reference

                                          +

                                          #include: mission_raw.h

                                          +
                                          +

                                          Enable raw missions as exposed by MAVLink.

                                          +

                                          Data Structures

                                          +

                                          struct MissionImportData

                                          +

                                          struct MissionItem

                                          +

                                          struct MissionProgress

                                          +

                                          Public Types

                                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                          TypeDescription
                                          enum ResultPossible results returned for action requests.
                                          std::function< void(Result)> ResultCallbackCallback type for asynchronous MissionRaw calls.
                                          std::function< void(Result, std::vector< MissionItem >)> DownloadMissionCallbackCallback type for download_mission_async.
                                          std::function< void(MissionProgress)> MissionProgressCallbackCallback type for subscribe_mission_progress.
                                          Handle< MissionProgress > MissionProgressHandleHandle type for subscribe_mission_progress.
                                          std::function< void(bool)> MissionChangedCallbackCallback type for subscribe_mission_changed.
                                          Handle< bool > MissionChangedHandleHandle type for subscribe_mission_changed.
                                          +

                                          Public Member Functions

                                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                          TypeNameDescription
                                           MissionRaw (System & system)Constructor. Creates the plugin for a specific System.
                                           MissionRaw (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                           ~MissionRaw () overrideDestructor (internal use only).
                                           MissionRaw (const MissionRaw & other)Copy constructor.
                                          voidupload_mission_async (std::vector< MissionItem > mission_items, const ResultCallback callback)Upload a list of raw mission items to the system.
                                          Resultupload_mission (std::vector< MissionItem > mission_items)constUpload a list of raw mission items to the system.
                                          voidupload_geofence_async (std::vector< MissionItem > mission_items, const ResultCallback callback)Upload a list of geofence items to the system.
                                          Resultupload_geofence (std::vector< MissionItem > mission_items)constUpload a list of geofence items to the system.
                                          voidupload_rally_points_async (std::vector< MissionItem > mission_items, const ResultCallback callback)Upload a list of rally point items to the system.
                                          Resultupload_rally_points (std::vector< MissionItem > mission_items)constUpload a list of rally point items to the system.
                                          Resultcancel_mission_upload () constCancel an ongoing mission upload.
                                          voiddownload_mission_async (const DownloadMissionCallback callback)Download a list of raw mission items from the system (asynchronous).
                                          std::pair< Result, std::vector< MissionRaw::MissionItem > >download_mission () constDownload a list of raw mission items from the system (asynchronous).
                                          Resultcancel_mission_download () constCancel an ongoing mission download.
                                          voidstart_mission_async (const ResultCallback callback)Start the mission.
                                          Resultstart_mission () constStart the mission.
                                          voidpause_mission_async (const ResultCallback callback)Pause the mission.
                                          Resultpause_mission () constPause the mission.
                                          voidclear_mission_async (const ResultCallback callback)Clear the mission saved on the vehicle.
                                          Resultclear_mission () constClear the mission saved on the vehicle.
                                          voidset_current_mission_item_async (int32_t index, const ResultCallback callback)Sets the raw mission item index to go to.
                                          Resultset_current_mission_item (int32_t index)constSets the raw mission item index to go to.
                                          MissionProgressHandlesubscribe_mission_progress (const MissionProgressCallback & callback)Subscribe to mission progress updates.
                                          voidunsubscribe_mission_progress (MissionProgressHandle handle)Unsubscribe from subscribe_mission_progress.
                                          MissionProgressmission_progress () constPoll for 'MissionProgress' (blocking).
                                          MissionChangedHandlesubscribe_mission_changed (const MissionChangedCallback & callback)
                                            +

                                          • Subscribes to mission changed.

                                            +
                                            • +</ul> +void | unsubscribe_mission_changed (MissionChangedHandle handle) | Unsubscribe from subscribe_mission_changed. +std::pair< Result, MissionRaw::MissionImportData > | import_qgroundcontrol_mission (std::string qgc_plan_path)const | Import a QGroundControl missions in JSON .plan format, from a file. +std::pair< Result, MissionRaw::MissionImportData > | import_qgroundcontrol_mission_from_string (std::string qgc_plan)const | Import a QGroundControl missions in JSON .plan format, from a string. +const MissionRaw & | operator= (const MissionRaw &)=delete | Equality operator (object is not copyable).

                                            +

                                            Constructor & Destructor Documentation

                                            +

                                            MissionRaw()

                                            +
                                            mavsdk::MissionRaw::MissionRaw(System &system)
+
                                            +

                                            Constructor. Creates the plugin for a specific System.

                                            +

                                            The plugin is typically created as shown below:

                                            +
                                            auto mission_raw = MissionRaw(system);
+
                                            +

                                            Parameters

                                            +
                                              +
                                            • System& system - The specific system associated with this plugin.
                                              • +
                                            +

                                            MissionRaw()

                                            +
                                            mavsdk::MissionRaw::MissionRaw(std::shared_ptr< System > system)
+
                                            +

                                            Constructor. Creates the plugin for a specific System.

                                            +

                                            The plugin is typically created as shown below:

                                            +
                                            auto mission_raw = MissionRaw(system);
+
                                            +

                                            Parameters

                                            +
                                              +
                                            • std::shared_ptr< System > system - The specific system associated with this plugin.
                                              • +
                                            +

                                            ~MissionRaw()

                                            +
                                            mavsdk::MissionRaw::~MissionRaw() override
+
                                            +

                                            Destructor (internal use only).

                                            +

                                            MissionRaw()

                                            +
                                            mavsdk::MissionRaw::MissionRaw(const MissionRaw &other)
+
                                            +

                                            Copy constructor.

                                            +

                                            Parameters

                                            + +

                                            Member Typdef Documentation

                                            +

                                            typedef ResultCallback

                                            +
                                            using mavsdk::MissionRaw::ResultCallback =  std::function<void(Result)>
+
                                            +

                                            Callback type for asynchronous MissionRaw calls.

                                            +

                                            typedef DownloadMissionCallback

                                            +
                                            using mavsdk::MissionRaw::DownloadMissionCallback =  std::function<void(Result, std::vector<MissionItem>)>
+
                                            +

                                            Callback type for download_mission_async.

                                            +

                                            typedef MissionProgressCallback

                                            +
                                            using mavsdk::MissionRaw::MissionProgressCallback =  std::function<void(MissionProgress)>
+
                                            +

                                            Callback type for subscribe_mission_progress.

                                            +

                                            typedef MissionProgressHandle

                                            +
                                            using mavsdk::MissionRaw::MissionProgressHandle =  Handle<MissionProgress>
+
                                            +

                                            Handle type for subscribe_mission_progress.

                                            +

                                            typedef MissionChangedCallback

                                            +
                                            using mavsdk::MissionRaw::MissionChangedCallback =  std::function<void(bool)>
+
                                            +

                                            Callback type for subscribe_mission_changed.

                                            +

                                            typedef MissionChangedHandle

                                            +
                                            using mavsdk::MissionRaw::MissionChangedHandle =  Handle<bool>
+
                                            +

                                            Handle type for subscribe_mission_changed.

                                            +

                                            Member Enumeration Documentation

                                            +

                                            enum Result

                                            +

                                            Possible results returned for action requests.

                                            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                            ValueDescription
                                            UnknownUnknown result.
                                            SuccessRequest succeeded.
                                            ErrorError.
                                            TooManyMissionItemsToo many mission items in the mission.
                                            BusyVehicle is busy.
                                            TimeoutRequest timed out.
                                            InvalidArgumentInvalid argument.
                                            UnsupportedMission downloaded from the system is not supported.
                                            NoMissionAvailableNo mission available on the system.
                                            TransferCancelledMission transfer (upload or download) has been cancelled.
                                            FailedToOpenQgcPlanFailed to open the QGroundControl plan.
                                            FailedToParseQgcPlanFailed to parse the QGroundControl plan.
                                            NoSystemNo system connected.
                                            DeniedRequest denied.
                                            MissionTypeNotConsistentMission type is not consistent.
                                            InvalidSequenceThe mission item sequences are not increasing correctly.
                                            CurrentInvalidThe current item is not set correctly.
                                            ProtocolErrorThere was a protocol error.
                                            IntMessagesNotSupportedThe system does not support the MISSION_INT protocol.
                                            +

                                            Member Function Documentation

                                            +

                                            upload_mission_async()

                                            +
                                            void mavsdk::MissionRaw::upload_mission_async(std::vector< MissionItem > mission_items, const ResultCallback callback)
+
                                            +

                                            Upload a list of raw mission items to the system.

                                            +

                                            The raw mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

                                            +

                                            This function is non-blocking. See 'upload_mission' for the blocking counterpart.

                                            +

                                            Parameters

                                            + +

                                            upload_mission()

                                            +
                                            Result mavsdk::MissionRaw::upload_mission(std::vector< MissionItem > mission_items) const
+
                                            +

                                            Upload a list of raw mission items to the system.

                                            +

                                            The raw mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

                                            +

                                            This function is blocking. See 'upload_mission_async' for the non-blocking counterpart.

                                            +

                                            Parameters

                                            + +

                                            Returns

                                            +

                                             Result - Result of request.

                                            +

                                            upload_geofence_async()

                                            +
                                            void mavsdk::MissionRaw::upload_geofence_async(std::vector< MissionItem > mission_items, const ResultCallback callback)
+
                                            +

                                            Upload a list of geofence items to the system.

                                            +

                                            This function is non-blocking. See 'upload_geofence' for the blocking counterpart.

                                            +

                                            Parameters

                                            + +

                                            upload_geofence()

                                            +
                                            Result mavsdk::MissionRaw::upload_geofence(std::vector< MissionItem > mission_items) const
+
                                            +

                                            Upload a list of geofence items to the system.

                                            +

                                            This function is blocking. See 'upload_geofence_async' for the non-blocking counterpart.

                                            +

                                            Parameters

                                            + +

                                            Returns

                                            +

                                             Result - Result of request.

                                            +

                                            upload_rally_points_async()

                                            +
                                            void mavsdk::MissionRaw::upload_rally_points_async(std::vector< MissionItem > mission_items, const ResultCallback callback)
+
                                            +

                                            Upload a list of rally point items to the system.

                                            +

                                            This function is non-blocking. See 'upload_rally_points' for the blocking counterpart.

                                            +

                                            Parameters

                                            + +

                                            upload_rally_points()

                                            +
                                            Result mavsdk::MissionRaw::upload_rally_points(std::vector< MissionItem > mission_items) const
+
                                            +

                                            Upload a list of rally point items to the system.

                                            +

                                            This function is blocking. See 'upload_rally_points_async' for the non-blocking counterpart.

                                            +

                                            Parameters

                                            + +

                                            Returns

                                            +

                                             Result - Result of request.

                                            +

                                            cancel_mission_upload()

                                            +
                                            Result mavsdk::MissionRaw::cancel_mission_upload() const
+
                                            +

                                            Cancel an ongoing mission upload.

                                            +

                                            This function is blocking.

                                            +

                                            Returns

                                            +

                                             Result - Result of request.

                                            +

                                            download_mission_async()

                                            +
                                            void mavsdk::MissionRaw::download_mission_async(const DownloadMissionCallback callback)
+
                                            +

                                            Download a list of raw mission items from the system (asynchronous).

                                            +

                                            This function is non-blocking. See 'download_mission' for the blocking counterpart.

                                            +

                                            Parameters

                                            + +

                                            download_mission()

                                            +
                                            std::pair<Result, std::vector<MissionRaw::MissionItem> > mavsdk::MissionRaw::download_mission() const
+
                                            +

                                            Download a list of raw mission items from the system (asynchronous).

                                            +

                                            This function is blocking. See 'download_mission_async' for the non-blocking counterpart.

                                            +

                                            Returns

                                            +

                                             std::pair< Result, std::vector< MissionRaw::MissionItem > > - Result of request.

                                            +

                                            cancel_mission_download()

                                            +
                                            Result mavsdk::MissionRaw::cancel_mission_download() const
+
                                            +

                                            Cancel an ongoing mission download.

                                            +

                                            This function is blocking.

                                            +

                                            Returns

                                            +

                                             Result - Result of request.

                                            +

                                            start_mission_async()

                                            +
                                            void mavsdk::MissionRaw::start_mission_async(const ResultCallback callback)
+
                                            +

                                            Start the mission.

                                            +

                                            A mission must be uploaded to the vehicle before this can be called.

                                            +

                                            This function is non-blocking. See 'start_mission' for the blocking counterpart.

                                            +

                                            Parameters

                                            + +

                                            start_mission()

                                            +
                                            Result mavsdk::MissionRaw::start_mission() const
+
                                            +

                                            Start the mission.

                                            +

                                            A mission must be uploaded to the vehicle before this can be called.

                                            +

                                            This function is blocking. See 'start_mission_async' for the non-blocking counterpart.

                                            +

                                            Returns

                                            +

                                             Result - Result of request.

                                            +

                                            pause_mission_async()

                                            +
                                            void mavsdk::MissionRaw::pause_mission_async(const ResultCallback callback)
+
                                            +

                                            Pause the mission.

                                            +

                                            Pausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.

                                            +

                                            This function is non-blocking. See 'pause_mission' for the blocking counterpart.

                                            +

                                            Parameters

                                            + +

                                            pause_mission()

                                            +
                                            Result mavsdk::MissionRaw::pause_mission() const
+
                                            +

                                            Pause the mission.

                                            +

                                            Pausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.

                                            +

                                            This function is blocking. See 'pause_mission_async' for the non-blocking counterpart.

                                            +

                                            Returns

                                            +

                                             Result - Result of request.

                                            +

                                            clear_mission_async()

                                            +
                                            void mavsdk::MissionRaw::clear_mission_async(const ResultCallback callback)
+
                                            +

                                            Clear the mission saved on the vehicle.

                                            +

                                            This function is non-blocking. See 'clear_mission' for the blocking counterpart.

                                            +

                                            Parameters

                                            + +

                                            clear_mission()

                                            +
                                            Result mavsdk::MissionRaw::clear_mission() const
+
                                            +

                                            Clear the mission saved on the vehicle.

                                            +

                                            This function is blocking. See 'clear_mission_async' for the non-blocking counterpart.

                                            +

                                            Returns

                                            +

                                             Result - Result of request.

                                            +

                                            set_current_mission_item_async()

                                            +
                                            void mavsdk::MissionRaw::set_current_mission_item_async(int32_t index, const ResultCallback callback)
+
                                            +

                                            Sets the raw mission item index to go to.

                                            +

                                            By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a raw mission item, the mission will be set to this item.

                                            +

                                            This function is non-blocking. See 'set_current_mission_item' for the blocking counterpart.

                                            +

                                            Parameters

                                            + +

                                            set_current_mission_item()

                                            +
                                            Result mavsdk::MissionRaw::set_current_mission_item(int32_t index) const
+
                                            +

                                            Sets the raw mission item index to go to.

                                            +

                                            By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a raw mission item, the mission will be set to this item.

                                            +

                                            This function is blocking. See 'set_current_mission_item_async' for the non-blocking counterpart.

                                            +

                                            Parameters

                                            +
                                              +
                                            • int32_t index -
                                              • +
                                            +

                                            Returns

                                            +

                                             Result - Result of request.

                                            +

                                            subscribe_mission_progress()

                                            +
                                            MissionProgressHandle mavsdk::MissionRaw::subscribe_mission_progress(const MissionProgressCallback &callback)
+
                                            +

                                            Subscribe to mission progress updates.

                                            +

                                            Parameters

                                            + +

                                            Returns

                                            +

                                             MissionProgressHandle -

                                            +

                                            unsubscribe_mission_progress()

                                            +
                                            void mavsdk::MissionRaw::unsubscribe_mission_progress(MissionProgressHandle handle)
+
                                            +

                                            Unsubscribe from subscribe_mission_progress.

                                            +

                                            Parameters

                                            + +

                                            mission_progress()

                                            +
                                            MissionProgress mavsdk::MissionRaw::mission_progress() const
+
                                            +

                                            Poll for 'MissionProgress' (blocking).

                                            +

                                            Returns

                                            +

                                             MissionProgress - One MissionProgress update.

                                            +

                                            subscribe_mission_changed()

                                            +
                                            MissionChangedHandle mavsdk::MissionRaw::subscribe_mission_changed(const MissionChangedCallback &callback)
+
                                            +
                                              +

                                            • Subscribes to mission changed.

                                              +
                                              • +
                                            + +

                                            This notification can be used to be informed if a ground station has been uploaded or changed by a ground station or companion computer.

                                            +

                                            Parameters

                                            + +

                                            Returns

                                            +

                                             MissionChangedHandle -

                                            +

                                            unsubscribe_mission_changed()

                                            +
                                            void mavsdk::MissionRaw::unsubscribe_mission_changed(MissionChangedHandle handle)
+
                                            +

                                            Unsubscribe from subscribe_mission_changed.

                                            +

                                            Parameters

                                            + +

                                            import_qgroundcontrol_mission()

                                            +
                                            std::pair<Result, MissionRaw::MissionImportData> mavsdk::MissionRaw::import_qgroundcontrol_mission(std::string qgc_plan_path) const
+
                                            +

                                            Import a QGroundControl missions in JSON .plan format, from a file.

                                            +

                                            Supported:

                                            +
                                              +

                                            • Waypoints

                                              +
                                              • +

                                            • Survey Not supported:

                                              +
                                              • +

                                            • Structure Scan

                                              +
                                              • +
                                            + + +

                                            This function is blocking.

                                            +

                                            Parameters

                                            +
                                              +
                                            • std::string qgc_plan_path -
                                              • +
                                            +

                                            Returns

                                            +

                                             std::pair< Result, MissionRaw::MissionImportData > - Result of request.

                                            +

                                            import_qgroundcontrol_mission_from_string()

                                            +
                                            std::pair<Result, MissionRaw::MissionImportData> mavsdk::MissionRaw::import_qgroundcontrol_mission_from_string(std::string qgc_plan) const
+
                                            +

                                            Import a QGroundControl missions in JSON .plan format, from a string.

                                            +

                                            Supported:

                                            +
                                              +

                                            • Waypoints

                                              +
                                              • +

                                            • Survey Not supported:

                                              +
                                              • +

                                            • Structure Scan

                                              +
                                              • +
                                            + + +

                                            This function is blocking.

                                            +

                                            Parameters

                                            +
                                              +
                                            • std::string qgc_plan -
                                              • +
                                            +

                                            Returns

                                            +

                                             std::pair< Result, MissionRaw::MissionImportData > - Result of request.

                                            +

                                            operator=()

                                            +
                                            const MissionRaw& mavsdk::MissionRaw::operator=(const MissionRaw &)=delete
+
                                            +

                                            Equality operator (object is not copyable).

                                            +

                                            Parameters

                                            + +

                                            Returns

                                            +

                                             const MissionRaw & -

                                            +
                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_mission_raw_server.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_mission_raw_server.html new file mode 100644 index 00000000..0200cdc7 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_mission_raw_server.html @@ -0,0 +1,3675 @@ + + + + + + + class MissionRawServer · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                              +
                                              + +
                                              + +

                                              mavsdk::MissionRawServer Class Reference

                                              +

                                              #include: mission_raw_server.h

                                              +
                                              +

                                              Acts as a vehicle and receives incoming missions from GCS (in raw MAVLINK format). Provides current mission item state, so the server can progress through missions.

                                              +

                                              Data Structures

                                              +

                                              struct MissionItem

                                              +

                                              struct MissionPlan

                                              +

                                              struct MissionProgress

                                              +

                                              Public Types

                                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                              TypeDescription
                                              enum ResultPossible results returned for action requests.
                                              std::function< void(Result)> ResultCallbackCallback type for asynchronous MissionRawServer calls.
                                              std::function< void(Result, MissionPlan)> IncomingMissionCallbackCallback type for subscribe_incoming_mission.
                                              Handle< Result, MissionPlan > IncomingMissionHandleHandle type for subscribe_incoming_mission.
                                              std::function< void(MissionItem)> CurrentItemChangedCallbackCallback type for subscribe_current_item_changed.
                                              Handle< MissionItem > CurrentItemChangedHandleHandle type for subscribe_current_item_changed.
                                              std::function< void(uint32_t)> ClearAllCallbackCallback type for subscribe_clear_all.
                                              Handle< uint32_t > ClearAllHandleHandle type for subscribe_clear_all.
                                              +

                                              Public Member Functions

                                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                              TypeNameDescription
                                               MissionRawServer (std::shared_ptr< ServerComponent > server_component)Constructor. Creates the plugin for a ServerComponent instance.
                                               ~MissionRawServer () overrideDestructor (internal use only).
                                               MissionRawServer (const MissionRawServer & other)Copy constructor.
                                              IncomingMissionHandlesubscribe_incoming_mission (const IncomingMissionCallback & callback)Subscribe to when a new mission is uploaded (asynchronous).
                                              voidunsubscribe_incoming_mission (IncomingMissionHandle handle)Unsubscribe from subscribe_incoming_mission.
                                              MissionPlanincoming_mission () constPoll for 'MissionPlan' (blocking).
                                              CurrentItemChangedHandlesubscribe_current_item_changed (const CurrentItemChangedCallback & callback)Subscribe to when a new current item is set.
                                              voidunsubscribe_current_item_changed (CurrentItemChangedHandle handle)Unsubscribe from subscribe_current_item_changed.
                                              MissionItemcurrent_item_changed () constPoll for 'MissionItem' (blocking).
                                              voidset_current_item_complete () constSet Current item as completed.
                                              ClearAllHandlesubscribe_clear_all (const ClearAllCallback & callback)Subscribe when a MISSION_CLEAR_ALL is received.
                                              voidunsubscribe_clear_all (ClearAllHandle handle)Unsubscribe from subscribe_clear_all.
                                              uint32_tclear_all () constPoll for 'uint32_t' (blocking).
                                              const MissionRawServer &operator= (const MissionRawServer &)=deleteEquality operator (object is not copyable).
                                              +

                                              Constructor & Destructor Documentation

                                              +

                                              MissionRawServer()

                                              +
                                              mavsdk::MissionRawServer::MissionRawServer(std::shared_ptr< ServerComponent > server_component)
+
                                              +

                                              Constructor. Creates the plugin for a ServerComponent instance.

                                              +

                                              The plugin is typically created as shown below:

                                              +
                                              auto mission_raw_server = MissionRawServer(server_component);
+
                                              +

                                              Parameters

                                              + +

                                              ~MissionRawServer()

                                              +
                                              mavsdk::MissionRawServer::~MissionRawServer() override
+
                                              +

                                              Destructor (internal use only).

                                              +

                                              MissionRawServer()

                                              +
                                              mavsdk::MissionRawServer::MissionRawServer(const MissionRawServer &other)
+
                                              +

                                              Copy constructor.

                                              +

                                              Parameters

                                              + +

                                              Member Typdef Documentation

                                              +

                                              typedef ResultCallback

                                              +
                                              using mavsdk::MissionRawServer::ResultCallback =  std::function<void(Result)>
+
                                              +

                                              Callback type for asynchronous MissionRawServer calls.

                                              +

                                              typedef IncomingMissionCallback

                                              +
                                              using mavsdk::MissionRawServer::IncomingMissionCallback =  std::function<void(Result, MissionPlan)>
+
                                              +

                                              Callback type for subscribe_incoming_mission.

                                              +

                                              typedef IncomingMissionHandle

                                              +
                                              using mavsdk::MissionRawServer::IncomingMissionHandle =  Handle<Result, MissionPlan>
+
                                              +

                                              Handle type for subscribe_incoming_mission.

                                              +

                                              typedef CurrentItemChangedCallback

                                              +
                                              using mavsdk::MissionRawServer::CurrentItemChangedCallback =  std::function<void(MissionItem)>
+
                                              +

                                              Callback type for subscribe_current_item_changed.

                                              +

                                              typedef CurrentItemChangedHandle

                                              +
                                              using mavsdk::MissionRawServer::CurrentItemChangedHandle =  Handle<MissionItem>
+
                                              +

                                              Handle type for subscribe_current_item_changed.

                                              +

                                              typedef ClearAllCallback

                                              +
                                              using mavsdk::MissionRawServer::ClearAllCallback =  std::function<void(uint32_t)>
+
                                              +

                                              Callback type for subscribe_clear_all.

                                              +

                                              typedef ClearAllHandle

                                              +
                                              using mavsdk::MissionRawServer::ClearAllHandle =  Handle<uint32_t>
+
                                              +

                                              Handle type for subscribe_clear_all.

                                              +

                                              Member Enumeration Documentation

                                              +

                                              enum Result

                                              +

                                              Possible results returned for action requests.

                                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                              ValueDescription
                                              UnknownUnknown result.
                                              SuccessRequest succeeded.
                                              ErrorError.
                                              TooManyMissionItemsToo many mission items in the mission.
                                              BusyVehicle is busy.
                                              TimeoutRequest timed out.
                                              InvalidArgumentInvalid argument.
                                              UnsupportedMission downloaded from the system is not supported.
                                              NoMissionAvailableNo mission available on the system.
                                              UnsupportedMissionCmdUnsupported mission command.
                                              TransferCancelledMission transfer (upload or download) has been cancelled.
                                              NoSystemNo system connected.
                                              NextIntermediate message showing progress or instructions on the next steps.
                                              +

                                              Member Function Documentation

                                              +

                                              subscribe_incoming_mission()

                                              +
                                              IncomingMissionHandle mavsdk::MissionRawServer::subscribe_incoming_mission(const IncomingMissionCallback &callback)
+
                                              +

                                              Subscribe to when a new mission is uploaded (asynchronous).

                                              +

                                              Parameters

                                              + +

                                              Returns

                                              +

                                               IncomingMissionHandle -

                                              +

                                              unsubscribe_incoming_mission()

                                              +
                                              void mavsdk::MissionRawServer::unsubscribe_incoming_mission(IncomingMissionHandle handle)
+
                                              +

                                              Unsubscribe from subscribe_incoming_mission.

                                              +

                                              Parameters

                                              + +

                                              incoming_mission()

                                              +
                                              MissionPlan mavsdk::MissionRawServer::incoming_mission() const
+
                                              +

                                              Poll for 'MissionPlan' (blocking).

                                              +

                                              Returns

                                              +

                                               MissionPlan - One MissionPlan update.

                                              +

                                              subscribe_current_item_changed()

                                              +
                                              CurrentItemChangedHandle mavsdk::MissionRawServer::subscribe_current_item_changed(const CurrentItemChangedCallback &callback)
+
                                              +

                                              Subscribe to when a new current item is set.

                                              +

                                              Parameters

                                              + +

                                              Returns

                                              +

                                               CurrentItemChangedHandle -

                                              +

                                              unsubscribe_current_item_changed()

                                              +
                                              void mavsdk::MissionRawServer::unsubscribe_current_item_changed(CurrentItemChangedHandle handle)
+
                                              +

                                              Unsubscribe from subscribe_current_item_changed.

                                              +

                                              Parameters

                                              + +

                                              current_item_changed()

                                              +
                                              MissionItem mavsdk::MissionRawServer::current_item_changed() const
+
                                              +

                                              Poll for 'MissionItem' (blocking).

                                              +

                                              Returns

                                              +

                                               MissionItem - One MissionItem update.

                                              +

                                              set_current_item_complete()

                                              +
                                              void mavsdk::MissionRawServer::set_current_item_complete() const
+
                                              +

                                              Set Current item as completed.

                                              +

                                              This function is blocking.

                                              +

                                              subscribe_clear_all()

                                              +
                                              ClearAllHandle mavsdk::MissionRawServer::subscribe_clear_all(const ClearAllCallback &callback)
+
                                              +

                                              Subscribe when a MISSION_CLEAR_ALL is received.

                                              +

                                              Parameters

                                              + +

                                              Returns

                                              +

                                               ClearAllHandle -

                                              +

                                              unsubscribe_clear_all()

                                              +
                                              void mavsdk::MissionRawServer::unsubscribe_clear_all(ClearAllHandle handle)
+
                                              +

                                              Unsubscribe from subscribe_clear_all.

                                              +

                                              Parameters

                                              + +

                                              clear_all()

                                              +
                                              uint32_t mavsdk::MissionRawServer::clear_all() const
+
                                              +

                                              Poll for 'uint32_t' (blocking).

                                              +

                                              Returns

                                              +

                                               uint32_t - One uint32_t update.

                                              +

                                              operator=()

                                              +
                                              const MissionRawServer& mavsdk::MissionRawServer::operator=(const MissionRawServer &)=delete
+
                                              +

                                              Equality operator (object is not copyable).

                                              +

                                              Parameters

                                              + +

                                              Returns

                                              +

                                               const MissionRawServer & -

                                              +
                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                              + +
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                                              results matching ""

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                                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_mocap.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_mocap.html new file mode 100644 index 00000000..8e7dbd47 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_mocap.html @@ -0,0 +1,3547 @@ + + + + + + + class Mocap · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                mavsdk::Mocap Class Reference

                                                +

                                                #include: mocap.h

                                                +
                                                +
                                                  +

                                                • Allows interfacing a vehicle with a motion capture system in order to allow navigation without global positioning sources available (e.g. indoors, or when flying under a bridge. etc.).

                                                  +
                                                  • +
                                                + + +

                                                Data Structures

                                                +

                                                struct AngleBody

                                                +

                                                struct AngularVelocityBody

                                                +

                                                struct AttitudePositionMocap

                                                +

                                                struct Covariance

                                                +

                                                struct Odometry

                                                +

                                                struct PositionBody

                                                +

                                                struct Quaternion

                                                +

                                                struct SpeedBody

                                                +

                                                struct VisionPositionEstimate

                                                +

                                                Public Types

                                                + + + + + + + + + + + + + + + + + +
                                                TypeDescription
                                                enum ResultPossible results returned for mocap requests.
                                                std::function< void(Result)> ResultCallbackCallback type for asynchronous Mocap calls.
                                                +

                                                Public Member Functions

                                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                TypeNameDescription
                                                 Mocap (System & system)Constructor. Creates the plugin for a specific System.
                                                 Mocap (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                                 ~Mocap () overrideDestructor (internal use only).
                                                 Mocap (const Mocap & other)Copy constructor.
                                                Resultset_vision_position_estimate (VisionPositionEstimate vision_position_estimate)constSend Global position/attitude estimate from a vision source.
                                                Resultset_attitude_position_mocap (AttitudePositionMocap attitude_position_mocap)constSend motion capture attitude and position.
                                                Resultset_odometry (Odometry odometry)constSend odometry information with an external interface.
                                                const Mocap &operator= (const Mocap &)=deleteEquality operator (object is not copyable).
                                                +

                                                Constructor & Destructor Documentation

                                                +

                                                Mocap()

                                                +
                                                mavsdk::Mocap::Mocap(System &system)
+
                                                +

                                                Constructor. Creates the plugin for a specific System.

                                                +

                                                The plugin is typically created as shown below:

                                                +
                                                auto mocap = Mocap(system);
+
                                                +

                                                Parameters

                                                +
                                                  +
                                                • System& system - The specific system associated with this plugin.
                                                  • +
                                                +

                                                Mocap()

                                                +
                                                mavsdk::Mocap::Mocap(std::shared_ptr< System > system)
+
                                                +

                                                Constructor. Creates the plugin for a specific System.

                                                +

                                                The plugin is typically created as shown below:

                                                +
                                                auto mocap = Mocap(system);
+
                                                +

                                                Parameters

                                                +
                                                  +
                                                • std::shared_ptr< System > system - The specific system associated with this plugin.
                                                  • +
                                                +

                                                ~Mocap()

                                                +
                                                mavsdk::Mocap::~Mocap() override
+
                                                +

                                                Destructor (internal use only).

                                                +

                                                Mocap()

                                                +
                                                mavsdk::Mocap::Mocap(const Mocap &other)
+
                                                +

                                                Copy constructor.

                                                +

                                                Parameters

                                                + +

                                                Member Typdef Documentation

                                                +

                                                typedef ResultCallback

                                                +
                                                using mavsdk::Mocap::ResultCallback =  std::function<void(Result)>
+
                                                +

                                                Callback type for asynchronous Mocap calls.

                                                +

                                                Member Enumeration Documentation

                                                +

                                                enum Result

                                                +

                                                Possible results returned for mocap requests.

                                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                ValueDescription
                                                UnknownUnknown error.
                                                SuccessRequest succeeded.
                                                NoSystemNo system is connected.
                                                ConnectionErrorConnection error.
                                                InvalidRequestDataInvalid request data.
                                                UnsupportedFunction unsupported.
                                                +

                                                Member Function Documentation

                                                +

                                                set_vision_position_estimate()

                                                +
                                                Result mavsdk::Mocap::set_vision_position_estimate(VisionPositionEstimate vision_position_estimate) const
+
                                                +

                                                Send Global position/attitude estimate from a vision source.

                                                +

                                                This function is blocking.

                                                +

                                                Parameters

                                                + +

                                                Returns

                                                +

                                                 Result - Result of request.

                                                +

                                                set_attitude_position_mocap()

                                                +
                                                Result mavsdk::Mocap::set_attitude_position_mocap(AttitudePositionMocap attitude_position_mocap) const
+
                                                +

                                                Send motion capture attitude and position.

                                                +

                                                This function is blocking.

                                                +

                                                Parameters

                                                + +

                                                Returns

                                                +

                                                 Result - Result of request.

                                                +

                                                set_odometry()

                                                +
                                                Result mavsdk::Mocap::set_odometry(Odometry odometry) const
+
                                                +

                                                Send odometry information with an external interface.

                                                +

                                                This function is blocking.

                                                +

                                                Parameters

                                                + +

                                                Returns

                                                +

                                                 Result - Result of request.

                                                +

                                                operator=()

                                                +
                                                const Mocap& mavsdk::Mocap::operator=(const Mocap &)=delete
+
                                                +

                                                Equality operator (object is not copyable).

                                                +

                                                Parameters

                                                + +

                                                Returns

                                                +

                                                 const Mocap & -

                                                +
                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                                + +
                                                + +
                                                +
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                                                results matching ""

                                                +
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                                                  + +
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                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_offboard.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_offboard.html new file mode 100644 index 00000000..20d0102e --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_offboard.html @@ -0,0 +1,3744 @@ + + + + + + + class Offboard · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                  mavsdk::Offboard Class Reference

                                                  +

                                                  #include: offboard.h

                                                  +
                                                  +
                                                    +

                                                  • Control a drone with position, velocity, attitude or motor commands.

                                                    +
                                                    • +
                                                  + + +

                                                  The module is called offboard because the commands can be sent from external sources as opposed to onboard control right inside the autopilot "board".

                                                  +

                                                  Client code must specify a setpoint before starting offboard mode. Mavsdk automatically sends setpoints at 20Hz (PX4 Offboard mode requires that setpoints are minimally sent at 2Hz).

                                                  +

                                                  Data Structures

                                                  +

                                                  struct AccelerationNed

                                                  +

                                                  struct ActuatorControl

                                                  +

                                                  struct ActuatorControlGroup

                                                  +

                                                  struct Attitude

                                                  +

                                                  struct AttitudeRate

                                                  +

                                                  struct PositionGlobalYaw

                                                  +

                                                  struct PositionNedYaw

                                                  +

                                                  struct VelocityBodyYawspeed

                                                  +

                                                  struct VelocityNedYaw

                                                  +

                                                  Public Types

                                                  + + + + + + + + + + + + + + + + + +
                                                  TypeDescription
                                                  enum ResultPossible results returned for offboard requests.
                                                  std::function< void(Result)> ResultCallbackCallback type for asynchronous Offboard calls.
                                                  +

                                                  Public Member Functions

                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                  TypeNameDescription
                                                   Offboard (System & system)Constructor. Creates the plugin for a specific System.
                                                   Offboard (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                                   ~Offboard () overrideDestructor (internal use only).
                                                   Offboard (const Offboard & other)Copy constructor.
                                                  voidstart_async (const ResultCallback callback)Start offboard control.
                                                  Resultstart () constStart offboard control.
                                                  voidstop_async (const ResultCallback callback)Stop offboard control.
                                                  Resultstop () constStop offboard control.
                                                  boolis_active () constCheck if offboard control is active.
                                                  Resultset_attitude (Attitude attitude)constSet the attitude in terms of roll, pitch and yaw in degrees with thrust.
                                                  Resultset_actuator_control (ActuatorControl actuator_control)constSet direct actuator control values to groups #0 and #1.
                                                  Resultset_attitude_rate (AttitudeRate attitude_rate)constSet the attitude rate in terms of pitch, roll and yaw angular rate along with thrust.
                                                  Resultset_position_ned (PositionNedYaw position_ned_yaw)constSet the position in NED coordinates and yaw.
                                                  Resultset_position_global (PositionGlobalYaw position_global_yaw)constSet the position in Global coordinates (latitude, longitude, altitude) and yaw.
                                                  Resultset_velocity_body (VelocityBodyYawspeed velocity_body_yawspeed)constSet the velocity in body coordinates and yaw angular rate. Not available for fixed-wing aircraft.
                                                  Resultset_velocity_ned (VelocityNedYaw velocity_ned_yaw)constSet the velocity in NED coordinates and yaw. Not available for fixed-wing aircraft.
                                                  Resultset_position_velocity_ned (PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw)constSet the position in NED coordinates, with the velocity to be used as feed-forward.
                                                  Resultset_position_velocity_acceleration_ned (PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw, AccelerationNed acceleration_ned)constSet the position, velocity and acceleration in NED coordinates, with velocity and acceleration used as feed-forward.
                                                  Resultset_acceleration_ned (AccelerationNed acceleration_ned)constSet the acceleration in NED coordinates.
                                                  const Offboard &operator= (const Offboard &)=deleteEquality operator (object is not copyable).
                                                  +

                                                  Constructor & Destructor Documentation

                                                  +

                                                  Offboard()

                                                  +
                                                  mavsdk::Offboard::Offboard(System &system)
+
                                                  +

                                                  Constructor. Creates the plugin for a specific System.

                                                  +

                                                  The plugin is typically created as shown below:

                                                  +
                                                  auto offboard = Offboard(system);
+
                                                  +

                                                  Parameters

                                                  +
                                                    +
                                                  • System& system - The specific system associated with this plugin.
                                                    • +
                                                  +

                                                  Offboard()

                                                  +
                                                  mavsdk::Offboard::Offboard(std::shared_ptr< System > system)
+
                                                  +

                                                  Constructor. Creates the plugin for a specific System.

                                                  +

                                                  The plugin is typically created as shown below:

                                                  +
                                                  auto offboard = Offboard(system);
+
                                                  +

                                                  Parameters

                                                  +
                                                    +
                                                  • std::shared_ptr< System > system - The specific system associated with this plugin.
                                                    • +
                                                  +

                                                  ~Offboard()

                                                  +
                                                  mavsdk::Offboard::~Offboard() override
+
                                                  +

                                                  Destructor (internal use only).

                                                  +

                                                  Offboard()

                                                  +
                                                  mavsdk::Offboard::Offboard(const Offboard &other)
+
                                                  +

                                                  Copy constructor.

                                                  +

                                                  Parameters

                                                  + +

                                                  Member Typdef Documentation

                                                  +

                                                  typedef ResultCallback

                                                  +
                                                  using mavsdk::Offboard::ResultCallback =  std::function<void(Result)>
+
                                                  +

                                                  Callback type for asynchronous Offboard calls.

                                                  +

                                                  Member Enumeration Documentation

                                                  +

                                                  enum Result

                                                  +

                                                  Possible results returned for offboard requests.

                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                  ValueDescription
                                                  UnknownUnknown result.
                                                  SuccessRequest succeeded.
                                                  NoSystemNo system is connected.
                                                  ConnectionErrorConnection error.
                                                  BusyVehicle is busy.
                                                  CommandDeniedCommand denied.
                                                  TimeoutRequest timed out.
                                                  NoSetpointSetCannot start without setpoint set.
                                                  FailedRequest failed.
                                                  +

                                                  Member Function Documentation

                                                  +

                                                  start_async()

                                                  +
                                                  void mavsdk::Offboard::start_async(const ResultCallback callback)
+
                                                  +

                                                  Start offboard control.

                                                  +

                                                  This function is non-blocking. See 'start' for the blocking counterpart.

                                                  +

                                                  Parameters

                                                  + +

                                                  start()

                                                  +
                                                  Result mavsdk::Offboard::start() const
+
                                                  +

                                                  Start offboard control.

                                                  +

                                                  This function is blocking. See 'start_async' for the non-blocking counterpart.

                                                  +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  stop_async()

                                                  +
                                                  void mavsdk::Offboard::stop_async(const ResultCallback callback)
+
                                                  +

                                                  Stop offboard control.

                                                  +

                                                  The vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html

                                                  +

                                                  This function is non-blocking. See 'stop' for the blocking counterpart.

                                                  +

                                                  Parameters

                                                  + +

                                                  stop()

                                                  +
                                                  Result mavsdk::Offboard::stop() const
+
                                                  +

                                                  Stop offboard control.

                                                  +

                                                  The vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html

                                                  +

                                                  This function is blocking. See 'stop_async' for the non-blocking counterpart.

                                                  +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  is_active()

                                                  +
                                                  bool mavsdk::Offboard::is_active() const
+
                                                  +

                                                  Check if offboard control is active.

                                                  +

                                                  True means that the vehicle is in offboard mode and we are actively sending setpoints.

                                                  +

                                                  This function is blocking.

                                                  +

                                                  Returns

                                                  +

                                                   bool - Result of request.

                                                  +

                                                  set_attitude()

                                                  +
                                                  Result mavsdk::Offboard::set_attitude(Attitude attitude) const
+
                                                  +

                                                  Set the attitude in terms of roll, pitch and yaw in degrees with thrust.

                                                  +

                                                  This function is blocking.

                                                  +

                                                  Parameters

                                                  + +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  set_actuator_control()

                                                  +
                                                  Result mavsdk::Offboard::set_actuator_control(ActuatorControl actuator_control) const
+
                                                  +

                                                  Set direct actuator control values to groups #0 and #1.

                                                  +

                                                  First 8 controls will go to control group 0, the following 8 controls to control group 1 (if actuator_control.num_controls more than 8).

                                                  +

                                                  This function is blocking.

                                                  +

                                                  Parameters

                                                  + +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  set_attitude_rate()

                                                  +
                                                  Result mavsdk::Offboard::set_attitude_rate(AttitudeRate attitude_rate) const
+
                                                  +

                                                  Set the attitude rate in terms of pitch, roll and yaw angular rate along with thrust.

                                                  +

                                                  This function is blocking.

                                                  +

                                                  Parameters

                                                  + +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  set_position_ned()

                                                  +
                                                  Result mavsdk::Offboard::set_position_ned(PositionNedYaw position_ned_yaw) const
+
                                                  +

                                                  Set the position in NED coordinates and yaw.

                                                  +

                                                  This function is blocking.

                                                  +

                                                  Parameters

                                                  + +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  set_position_global()

                                                  +
                                                  Result mavsdk::Offboard::set_position_global(PositionGlobalYaw position_global_yaw) const
+
                                                  +

                                                  Set the position in Global coordinates (latitude, longitude, altitude) and yaw.

                                                  +

                                                  This function is blocking.

                                                  +

                                                  Parameters

                                                  + +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  set_velocity_body()

                                                  +
                                                  Result mavsdk::Offboard::set_velocity_body(VelocityBodyYawspeed velocity_body_yawspeed) const
+
                                                  +

                                                  Set the velocity in body coordinates and yaw angular rate. Not available for fixed-wing aircraft.

                                                  +

                                                  This function is blocking.

                                                  +

                                                  Parameters

                                                  + +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  set_velocity_ned()

                                                  +
                                                  Result mavsdk::Offboard::set_velocity_ned(VelocityNedYaw velocity_ned_yaw) const
+
                                                  +

                                                  Set the velocity in NED coordinates and yaw. Not available for fixed-wing aircraft.

                                                  +

                                                  This function is blocking.

                                                  +

                                                  Parameters

                                                  + +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  set_position_velocity_ned()

                                                  +
                                                  Result mavsdk::Offboard::set_position_velocity_ned(PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw) const
+
                                                  +

                                                  Set the position in NED coordinates, with the velocity to be used as feed-forward.

                                                  +

                                                  This function is blocking.

                                                  +

                                                  Parameters

                                                  + +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  set_position_velocity_acceleration_ned()

                                                  +
                                                  Result mavsdk::Offboard::set_position_velocity_acceleration_ned(PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw, AccelerationNed acceleration_ned) const
+
                                                  +

                                                  Set the position, velocity and acceleration in NED coordinates, with velocity and acceleration used as feed-forward.

                                                  +

                                                  This function is blocking.

                                                  +

                                                  Parameters

                                                  + +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  set_acceleration_ned()

                                                  +
                                                  Result mavsdk::Offboard::set_acceleration_ned(AccelerationNed acceleration_ned) const
+
                                                  +

                                                  Set the acceleration in NED coordinates.

                                                  +

                                                  This function is blocking.

                                                  +

                                                  Parameters

                                                  + +

                                                  Returns

                                                  +

                                                   Result - Result of request.

                                                  +

                                                  operator=()

                                                  +
                                                  const Offboard& mavsdk::Offboard::operator=(const Offboard &)=delete
+
                                                  +

                                                  Equality operator (object is not copyable).

                                                  +

                                                  Parameters

                                                  + +

                                                  Returns

                                                  +

                                                   const Offboard & -

                                                  +
                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                    mavsdk::Param Class Reference

                                                    +

                                                    #include: param.h

                                                    +
                                                    +

                                                    Provide raw access to get and set parameters.

                                                    +

                                                    Data Structures

                                                    +

                                                    struct AllParams

                                                    +

                                                    struct CustomParam

                                                    +

                                                    struct FloatParam

                                                    +

                                                    struct IntParam

                                                    +

                                                    Public Types

                                                    + + + + + + + + + + + + + + + + + + + + + +
                                                    TypeDescription
                                                    enum ProtocolVersionParameter version.
                                                    enum ResultPossible results returned for param requests.
                                                    std::function< void(Result)> ResultCallbackCallback type for asynchronous Param calls.
                                                    +

                                                    Public Member Functions

                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                    TypeNameDescription
                                                     Param (System & system)Constructor. Creates the plugin for a specific System.
                                                     Param (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                                     ~Param () overrideDestructor (internal use only).
                                                     Param (const Param & other)Copy constructor.
                                                    std::pair< Result, int32_t >get_param_int (std::string name)constGet an int parameter.
                                                    Resultset_param_int (std::string name, int32_t value)constSet an int parameter.
                                                    std::pair< Result, float >get_param_float (std::string name)constGet a float parameter.
                                                    Resultset_param_float (std::string name, float value)constSet a float parameter.
                                                    std::pair< Result, std::string >get_param_custom (std::string name)constGet a custom parameter.
                                                    Resultset_param_custom (std::string name, std::string value)constSet a custom parameter.
                                                    Param::AllParamsget_all_params () constGet all parameters.
                                                    Resultselect_component (int32_t component_id, ProtocolVersion protocol_version)constSelect component ID of parameter component to talk to and param protocol version.
                                                    const Param &operator= (const Param &)=deleteEquality operator (object is not copyable).
                                                    +

                                                    Constructor & Destructor Documentation

                                                    +

                                                    Param()

                                                    +
                                                    mavsdk::Param::Param(System &system)
+
                                                    +

                                                    Constructor. Creates the plugin for a specific System.

                                                    +

                                                    The plugin is typically created as shown below:

                                                    +
                                                    auto param = Param(system);
+
                                                    +

                                                    Parameters

                                                    +
                                                      +
                                                    • System& system - The specific system associated with this plugin.
                                                      • +
                                                    +

                                                    Param()

                                                    +
                                                    mavsdk::Param::Param(std::shared_ptr< System > system)
+
                                                    +

                                                    Constructor. Creates the plugin for a specific System.

                                                    +

                                                    The plugin is typically created as shown below:

                                                    +
                                                    auto param = Param(system);
+
                                                    +

                                                    Parameters

                                                    +
                                                      +
                                                    • std::shared_ptr< System > system - The specific system associated with this plugin.
                                                      • +
                                                    +

                                                    ~Param()

                                                    +
                                                    mavsdk::Param::~Param() override
+
                                                    +

                                                    Destructor (internal use only).

                                                    +

                                                    Param()

                                                    +
                                                    mavsdk::Param::Param(const Param &other)
+
                                                    +

                                                    Copy constructor.

                                                    +

                                                    Parameters

                                                    + +

                                                    Member Typdef Documentation

                                                    +

                                                    typedef ResultCallback

                                                    +
                                                    using mavsdk::Param::ResultCallback =  std::function<void(Result)>
+
                                                    +

                                                    Callback type for asynchronous Param calls.

                                                    +

                                                    Member Enumeration Documentation

                                                    +

                                                    enum ProtocolVersion

                                                    +

                                                    Parameter version.

                                                    + + + + + + + + + + + + + + + + + +
                                                    ValueDescription
                                                    V1Original v1 version.
                                                    ExtExtended param version.
                                                    +

                                                    enum Result

                                                    +

                                                    Possible results returned for param requests.

                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                    ValueDescription
                                                    UnknownUnknown result.
                                                    SuccessRequest succeeded.
                                                    TimeoutRequest timed out.
                                                    ConnectionErrorConnection error.
                                                    WrongTypeWrong type.
                                                    ParamNameTooLongParameter name too long (> 16).
                                                    NoSystemNo system connected.
                                                    ParamValueTooLongParam value too long (> 128).
                                                    FailedOperation failed..
                                                    +

                                                    Member Function Documentation

                                                    +

                                                    get_param_int()

                                                    +
                                                    std::pair<Result, int32_t> mavsdk::Param::get_param_int(std::string name) const
+
                                                    +

                                                    Get an int parameter.

                                                    +

                                                    If the type is wrong, the result will be WRONG_TYPE.

                                                    +

                                                    This function is blocking.

                                                    +

                                                    Parameters

                                                    +
                                                      +
                                                    • std::string name -
                                                      • +
                                                    +

                                                    Returns

                                                    +

                                                     std::pair< Result, int32_t > - Result of request.

                                                    +

                                                    set_param_int()

                                                    +
                                                    Result mavsdk::Param::set_param_int(std::string name, int32_t value) const
+
                                                    +

                                                    Set an int parameter.

                                                    +

                                                    If the type is wrong, the result will be WRONG_TYPE.

                                                    +

                                                    This function is blocking.

                                                    +

                                                    Parameters

                                                    +
                                                      +
                                                    • std::string name -
                                                      • +
                                                    • int32_t value -
                                                      • +
                                                    +

                                                    Returns

                                                    +

                                                     Result - Result of request.

                                                    +

                                                    get_param_float()

                                                    +
                                                    std::pair<Result, float> mavsdk::Param::get_param_float(std::string name) const
+
                                                    +

                                                    Get a float parameter.

                                                    +

                                                    If the type is wrong, the result will be WRONG_TYPE.

                                                    +

                                                    This function is blocking.

                                                    +

                                                    Parameters

                                                    +
                                                      +
                                                    • std::string name -
                                                      • +
                                                    +

                                                    Returns

                                                    +

                                                     std::pair< Result, float > - Result of request.

                                                    +

                                                    set_param_float()

                                                    +
                                                    Result mavsdk::Param::set_param_float(std::string name, float value) const
+
                                                    +

                                                    Set a float parameter.

                                                    +

                                                    If the type is wrong, the result will be WRONG_TYPE.

                                                    +

                                                    This function is blocking.

                                                    +

                                                    Parameters

                                                    +
                                                      +
                                                    • std::string name -
                                                      • +
                                                    • float value -
                                                      • +
                                                    +

                                                    Returns

                                                    +

                                                     Result - Result of request.

                                                    +

                                                    get_param_custom()

                                                    +
                                                    std::pair<Result, std::string> mavsdk::Param::get_param_custom(std::string name) const
+
                                                    +

                                                    Get a custom parameter.

                                                    +

                                                    If the type is wrong, the result will be WRONG_TYPE.

                                                    +

                                                    This function is blocking.

                                                    +

                                                    Parameters

                                                    +
                                                      +
                                                    • std::string name -
                                                      • +
                                                    +

                                                    Returns

                                                    +

                                                     std::pair< Result, std::string > - Result of request.

                                                    +

                                                    set_param_custom()

                                                    +
                                                    Result mavsdk::Param::set_param_custom(std::string name, std::string value) const
+
                                                    +

                                                    Set a custom parameter.

                                                    +

                                                    If the type is wrong, the result will be WRONG_TYPE.

                                                    +

                                                    This function is blocking.

                                                    +

                                                    Parameters

                                                    +
                                                      +
                                                    • std::string name -
                                                      • +
                                                    • std::string value -
                                                      • +
                                                    +

                                                    Returns

                                                    +

                                                     Result - Result of request.

                                                    +

                                                    get_all_params()

                                                    +
                                                    Param::AllParams mavsdk::Param::get_all_params() const
+
                                                    +

                                                    Get all parameters.

                                                    +

                                                    This function is blocking.

                                                    +

                                                    Returns

                                                    +

                                                     Param::AllParams - Result of request.

                                                    +

                                                    select_component()

                                                    +
                                                    Result mavsdk::Param::select_component(int32_t component_id, ProtocolVersion protocol_version) const
+
                                                    +

                                                    Select component ID of parameter component to talk to and param protocol version.

                                                    +

                                                    Default is the autopilot component (1), and Version (0).

                                                    +

                                                    This function is blocking.

                                                    +

                                                    Parameters

                                                    + +

                                                    Returns

                                                    +

                                                     Result - Result of request.

                                                    +

                                                    operator=()

                                                    +
                                                    const Param& mavsdk::Param::operator=(const Param &)=delete
+
                                                    +

                                                    Equality operator (object is not copyable).

                                                    +

                                                    Parameters

                                                    + +

                                                    Returns

                                                    +

                                                     const Param & -

                                                    +
                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                                    + +
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                                                      mavsdk::ParamServer Class Reference

                                                      +

                                                      #include: param_server.h

                                                      +
                                                      +

                                                      Provide raw access to retrieve and provide server parameters.

                                                      +

                                                      Data Structures

                                                      +

                                                      struct AllParams

                                                      +

                                                      struct CustomParam

                                                      +

                                                      struct FloatParam

                                                      +

                                                      struct IntParam

                                                      +

                                                      Public Types

                                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                      TypeDescription
                                                      enum ResultPossible results returned for param requests.
                                                      std::function< void(Result)> ResultCallbackCallback type for asynchronous ParamServer calls.
                                                      std::function< void(IntParam)> ChangedParamIntCallbackCallback type for subscribe_changed_param_int.
                                                      Handle< IntParam > ChangedParamIntHandleHandle type for subscribe_changed_param_int.
                                                      std::function< void(FloatParam)> ChangedParamFloatCallbackCallback type for subscribe_changed_param_float.
                                                      Handle< FloatParam > ChangedParamFloatHandleHandle type for subscribe_changed_param_float.
                                                      std::function< void(CustomParam)> ChangedParamCustomCallbackCallback type for subscribe_changed_param_custom.
                                                      Handle< CustomParam > ChangedParamCustomHandleHandle type for subscribe_changed_param_custom.
                                                      +

                                                      Public Member Functions

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                                                      TypeNameDescription
                                                       ParamServer (std::shared_ptr< ServerComponent > server_component)Constructor. Creates the plugin for a ServerComponent instance.
                                                       ~ParamServer () overrideDestructor (internal use only).
                                                       ParamServer (const ParamServer & other)Copy constructor.
                                                      std::pair< Result, int32_t >retrieve_param_int (std::string name)constRetrieve an int parameter.
                                                      Resultprovide_param_int (std::string name, int32_t value)constProvide an int parameter.
                                                      std::pair< Result, float >retrieve_param_float (std::string name)constRetrieve a float parameter.
                                                      Resultprovide_param_float (std::string name, float value)constProvide a float parameter.
                                                      std::pair< Result, std::string >retrieve_param_custom (std::string name)constRetrieve a custom parameter.
                                                      Resultprovide_param_custom (std::string name, std::string value)constProvide a custom parameter.
                                                      ParamServer::AllParamsretrieve_all_params () constRetrieve all parameters.
                                                      ChangedParamIntHandlesubscribe_changed_param_int (const ChangedParamIntCallback & callback)Subscribe to changed int param.
                                                      voidunsubscribe_changed_param_int (ChangedParamIntHandle handle)Unsubscribe from subscribe_changed_param_int.
                                                      ChangedParamFloatHandlesubscribe_changed_param_float (const ChangedParamFloatCallback & callback)Subscribe to changed float param.
                                                      voidunsubscribe_changed_param_float (ChangedParamFloatHandle handle)Unsubscribe from subscribe_changed_param_float.
                                                      ChangedParamCustomHandlesubscribe_changed_param_custom (const ChangedParamCustomCallback & callback)Subscribe to changed custom param.
                                                      voidunsubscribe_changed_param_custom (ChangedParamCustomHandle handle)Unsubscribe from subscribe_changed_param_custom.
                                                      const ParamServer &operator= (const ParamServer &)=deleteEquality operator (object is not copyable).
                                                      +

                                                      Constructor & Destructor Documentation

                                                      +

                                                      ParamServer()

                                                      +
                                                      mavsdk::ParamServer::ParamServer(std::shared_ptr< ServerComponent > server_component)
+
                                                      +

                                                      Constructor. Creates the plugin for a ServerComponent instance.

                                                      +

                                                      The plugin is typically created as shown below:

                                                      +
                                                      auto param_server = ParamServer(server_component);
+
                                                      +

                                                      Parameters

                                                      + +

                                                      ~ParamServer()

                                                      +
                                                      mavsdk::ParamServer::~ParamServer() override
+
                                                      +

                                                      Destructor (internal use only).

                                                      +

                                                      ParamServer()

                                                      +
                                                      mavsdk::ParamServer::ParamServer(const ParamServer &other)
+
                                                      +

                                                      Copy constructor.

                                                      +

                                                      Parameters

                                                      + +

                                                      Member Typdef Documentation

                                                      +

                                                      typedef ResultCallback

                                                      +
                                                      using mavsdk::ParamServer::ResultCallback =  std::function<void(Result)>
+
                                                      +

                                                      Callback type for asynchronous ParamServer calls.

                                                      +

                                                      typedef ChangedParamIntCallback

                                                      +
                                                      using mavsdk::ParamServer::ChangedParamIntCallback =  std::function<void(IntParam)>
+
                                                      +

                                                      Callback type for subscribe_changed_param_int.

                                                      +

                                                      typedef ChangedParamIntHandle

                                                      +
                                                      using mavsdk::ParamServer::ChangedParamIntHandle =  Handle<IntParam>
+
                                                      +

                                                      Handle type for subscribe_changed_param_int.

                                                      +

                                                      typedef ChangedParamFloatCallback

                                                      +
                                                      using mavsdk::ParamServer::ChangedParamFloatCallback =  std::function<void(FloatParam)>
+
                                                      +

                                                      Callback type for subscribe_changed_param_float.

                                                      +

                                                      typedef ChangedParamFloatHandle

                                                      +
                                                      using mavsdk::ParamServer::ChangedParamFloatHandle =  Handle<FloatParam>
+
                                                      +

                                                      Handle type for subscribe_changed_param_float.

                                                      +

                                                      typedef ChangedParamCustomCallback

                                                      +
                                                      using mavsdk::ParamServer::ChangedParamCustomCallback =  std::function<void(CustomParam)>
+
                                                      +

                                                      Callback type for subscribe_changed_param_custom.

                                                      +

                                                      typedef ChangedParamCustomHandle

                                                      +
                                                      using mavsdk::ParamServer::ChangedParamCustomHandle =  Handle<CustomParam>
+
                                                      +

                                                      Handle type for subscribe_changed_param_custom.

                                                      +

                                                      Member Enumeration Documentation

                                                      +

                                                      enum Result

                                                      +

                                                      Possible results returned for param requests.

                                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                      ValueDescription
                                                      UnknownUnknown result.
                                                      SuccessRequest succeeded.
                                                      NotFoundNot Found.
                                                      WrongTypeWrong type.
                                                      ParamNameTooLongParameter name too long (> 16).
                                                      NoSystemNo system available.
                                                      ParamValueTooLongParameter name too long (> 128).
                                                      +

                                                      Member Function Documentation

                                                      +

                                                      retrieve_param_int()

                                                      +
                                                      std::pair<Result, int32_t> mavsdk::ParamServer::retrieve_param_int(std::string name) const
+
                                                      +

                                                      Retrieve an int parameter.

                                                      +

                                                      If the type is wrong, the result will be WRONG_TYPE.

                                                      +

                                                      This function is blocking.

                                                      +

                                                      Parameters

                                                      +
                                                        +
                                                      • std::string name -
                                                        • +
                                                      +

                                                      Returns

                                                      +

                                                       std::pair< Result, int32_t > - Result of request.

                                                      +

                                                      provide_param_int()

                                                      +
                                                      Result mavsdk::ParamServer::provide_param_int(std::string name, int32_t value) const
+
                                                      +

                                                      Provide an int parameter.

                                                      +

                                                      If the type is wrong, the result will be WRONG_TYPE.

                                                      +

                                                      This function is blocking.

                                                      +

                                                      Parameters

                                                      +
                                                        +
                                                      • std::string name -
                                                        • +
                                                      • int32_t value -
                                                        • +
                                                      +

                                                      Returns

                                                      +

                                                       Result - Result of request.

                                                      +

                                                      retrieve_param_float()

                                                      +
                                                      std::pair<Result, float> mavsdk::ParamServer::retrieve_param_float(std::string name) const
+
                                                      +

                                                      Retrieve a float parameter.

                                                      +

                                                      If the type is wrong, the result will be WRONG_TYPE.

                                                      +

                                                      This function is blocking.

                                                      +

                                                      Parameters

                                                      +
                                                        +
                                                      • std::string name -
                                                        • +
                                                      +

                                                      Returns

                                                      +

                                                       std::pair< Result, float > - Result of request.

                                                      +

                                                      provide_param_float()

                                                      +
                                                      Result mavsdk::ParamServer::provide_param_float(std::string name, float value) const
+
                                                      +

                                                      Provide a float parameter.

                                                      +

                                                      If the type is wrong, the result will be WRONG_TYPE.

                                                      +

                                                      This function is blocking.

                                                      +

                                                      Parameters

                                                      +
                                                        +
                                                      • std::string name -
                                                        • +
                                                      • float value -
                                                        • +
                                                      +

                                                      Returns

                                                      +

                                                       Result - Result of request.

                                                      +

                                                      retrieve_param_custom()

                                                      +
                                                      std::pair<Result, std::string> mavsdk::ParamServer::retrieve_param_custom(std::string name) const
+
                                                      +

                                                      Retrieve a custom parameter.

                                                      +

                                                      If the type is wrong, the result will be WRONG_TYPE.

                                                      +

                                                      This function is blocking.

                                                      +

                                                      Parameters

                                                      +
                                                        +
                                                      • std::string name -
                                                        • +
                                                      +

                                                      Returns

                                                      +

                                                       std::pair< Result, std::string > - Result of request.

                                                      +

                                                      provide_param_custom()

                                                      +
                                                      Result mavsdk::ParamServer::provide_param_custom(std::string name, std::string value) const
+
                                                      +

                                                      Provide a custom parameter.

                                                      +

                                                      If the type is wrong, the result will be WRONG_TYPE.

                                                      +

                                                      This function is blocking.

                                                      +

                                                      Parameters

                                                      +
                                                        +
                                                      • std::string name -
                                                        • +
                                                      • std::string value -
                                                        • +
                                                      +

                                                      Returns

                                                      +

                                                       Result - Result of request.

                                                      +

                                                      retrieve_all_params()

                                                      +
                                                      ParamServer::AllParams mavsdk::ParamServer::retrieve_all_params() const
+
                                                      +

                                                      Retrieve all parameters.

                                                      +

                                                      This function is blocking.

                                                      +

                                                      Returns

                                                      +

                                                       ParamServer::AllParams - Result of request.

                                                      +

                                                      subscribe_changed_param_int()

                                                      +
                                                      ChangedParamIntHandle mavsdk::ParamServer::subscribe_changed_param_int(const ChangedParamIntCallback &callback)
+
                                                      +

                                                      Subscribe to changed int param.

                                                      +

                                                      Parameters

                                                      + +

                                                      Returns

                                                      +

                                                       ChangedParamIntHandle -

                                                      +

                                                      unsubscribe_changed_param_int()

                                                      +
                                                      void mavsdk::ParamServer::unsubscribe_changed_param_int(ChangedParamIntHandle handle)
+
                                                      +

                                                      Unsubscribe from subscribe_changed_param_int.

                                                      +

                                                      Parameters

                                                      + +

                                                      subscribe_changed_param_float()

                                                      +
                                                      ChangedParamFloatHandle mavsdk::ParamServer::subscribe_changed_param_float(const ChangedParamFloatCallback &callback)
+
                                                      +

                                                      Subscribe to changed float param.

                                                      +

                                                      Parameters

                                                      + +

                                                      Returns

                                                      +

                                                       ChangedParamFloatHandle -

                                                      +

                                                      unsubscribe_changed_param_float()

                                                      +
                                                      void mavsdk::ParamServer::unsubscribe_changed_param_float(ChangedParamFloatHandle handle)
+
                                                      +

                                                      Unsubscribe from subscribe_changed_param_float.

                                                      +

                                                      Parameters

                                                      + +

                                                      subscribe_changed_param_custom()

                                                      +
                                                      ChangedParamCustomHandle mavsdk::ParamServer::subscribe_changed_param_custom(const ChangedParamCustomCallback &callback)
+
                                                      +

                                                      Subscribe to changed custom param.

                                                      +

                                                      Parameters

                                                      + +

                                                      Returns

                                                      +

                                                       ChangedParamCustomHandle -

                                                      +

                                                      unsubscribe_changed_param_custom()

                                                      +
                                                      void mavsdk::ParamServer::unsubscribe_changed_param_custom(ChangedParamCustomHandle handle)
+
                                                      +

                                                      Unsubscribe from subscribe_changed_param_custom.

                                                      +

                                                      Parameters

                                                      + +

                                                      operator=()

                                                      +
                                                      const ParamServer& mavsdk::ParamServer::operator=(const ParamServer &)=delete
+
                                                      +

                                                      Equality operator (object is not copyable).

                                                      +

                                                      Parameters

                                                      + +

                                                      Returns

                                                      +

                                                       const ParamServer & -

                                                      +
                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                                      + +
                                                      + +
                                                      +
                                                      +
                                                      + +

                                                      results matching ""

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                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_plugin_base.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_plugin_base.html new file mode 100644 index 00000000..4f09a14a --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_plugin_base.html @@ -0,0 +1,3400 @@ + + + + + + + class PluginBase · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                        Documentation
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                                                        Help
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                                                        +
                                                        + +
                                                        +
                                                        + +
                                                        + +

                                                        mavsdk::PluginBase Class Reference

                                                        +

                                                        #include: plugin_base.h

                                                        +
                                                        +

                                                        Base class for every plugin.

                                                        +

                                                        Public Member Functions

                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                        TypeNameDescription
                                                         PluginBase ()=defaultDefault Constructor.
                                                         ~PluginBase ()=defaultDefault Destructor.
                                                         PluginBase (const PluginBase &)=deleteCopy constructor (object is not copyable).
                                                        const PluginBase &operator= (const PluginBase &)=deleteAssign operator (object is not copyable).
                                                        +

                                                        Constructor & Destructor Documentation

                                                        +

                                                        PluginBase()

                                                        +
                                                        mavsdk::PluginBase::PluginBase()=default
+
                                                        +

                                                        Default Constructor.

                                                        +

                                                        ~PluginBase()

                                                        +
                                                        virtual mavsdk::PluginBase::~PluginBase()=default
+
                                                        +

                                                        Default Destructor.

                                                        +

                                                        PluginBase()

                                                        +
                                                        mavsdk::PluginBase::PluginBase(const PluginBase &)=delete
+
                                                        +

                                                        Copy constructor (object is not copyable).

                                                        +

                                                        Parameters

                                                        + +

                                                        Member Function Documentation

                                                        +

                                                        operator=()

                                                        +
                                                        const PluginBase& mavsdk::PluginBase::operator=(const PluginBase &)=delete
+
                                                        +

                                                        Assign operator (object is not copyable).

                                                        +

                                                        Parameters

                                                        + +

                                                        Returns

                                                        +

                                                         const PluginBase & -

                                                        +
                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
                                                        + +
                                                        + +
                                                        +
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                                                        + +

                                                        results matching ""

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                                                          + + + + +
                                                          + +
                                                          PX4
                                                          +
                                                          QGroundControl
                                                          +
                                                          QGC
                                                          +
                                                          SDK
                                                          +
                                                          MAVLink
                                                          +
                                                          Documentation
                                                          +
                                                          Docs
                                                          +
                                                          Support
                                                          +
                                                          Help
                                                          + +
                                                          +
                                                          + + + +
                                                          +
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                                                          + +
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                                                          + + + + + + + + +
                                                          +
                                                          + +
                                                          +
                                                          + +
                                                          + +

                                                          mavsdk::Rtk Class Reference

                                                          +

                                                          #include: rtk.h

                                                          +
                                                          +

                                                          Service to send RTK corrections to the vehicle.

                                                          +

                                                          Data Structures

                                                          +

                                                          struct RtcmData

                                                          +

                                                          Public Types

                                                          + + + + + + + + + + + + + + + + + +
                                                          TypeDescription
                                                          enum ResultPossible results returned for rtk requests.
                                                          std::function< void(Result)> ResultCallbackCallback type for asynchronous Rtk calls.
                                                          +

                                                          Public Member Functions

                                                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                          TypeNameDescription
                                                           Rtk (System & system)Constructor. Creates the plugin for a specific System.
                                                           Rtk (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                                           ~Rtk () overrideDestructor (internal use only).
                                                           Rtk (const Rtk & other)Copy constructor.
                                                          Resultsend_rtcm_data (RtcmData rtcm_data)constSend RTCM data.
                                                          const Rtk &operator= (const Rtk &)=deleteEquality operator (object is not copyable).
                                                          +

                                                          Constructor & Destructor Documentation

                                                          +

                                                          Rtk()

                                                          +
                                                          mavsdk::Rtk::Rtk(System &system)
+
                                                          +

                                                          Constructor. Creates the plugin for a specific System.

                                                          +

                                                          The plugin is typically created as shown below:

                                                          +
                                                          auto rtk = Rtk(system);
+
                                                          +

                                                          Parameters

                                                          +
                                                            +
                                                          • System& system - The specific system associated with this plugin.
                                                            • +
                                                          +

                                                          Rtk()

                                                          +
                                                          mavsdk::Rtk::Rtk(std::shared_ptr< System > system)
+
                                                          +

                                                          Constructor. Creates the plugin for a specific System.

                                                          +

                                                          The plugin is typically created as shown below:

                                                          +
                                                          auto rtk = Rtk(system);
+
                                                          +

                                                          Parameters

                                                          +
                                                            +
                                                          • std::shared_ptr< System > system - The specific system associated with this plugin.
                                                            • +
                                                          +

                                                          ~Rtk()

                                                          +
                                                          mavsdk::Rtk::~Rtk() override
+
                                                          +

                                                          Destructor (internal use only).

                                                          +

                                                          Rtk()

                                                          +
                                                          mavsdk::Rtk::Rtk(const Rtk &other)
+
                                                          +

                                                          Copy constructor.

                                                          +

                                                          Parameters

                                                          +
                                                            +
                                                          • const Rtk& other -
                                                            • +
                                                          +

                                                          Member Typdef Documentation

                                                          +

                                                          typedef ResultCallback

                                                          +
                                                          using mavsdk::Rtk::ResultCallback =  std::function<void(Result)>
+
                                                          +

                                                          Callback type for asynchronous Rtk calls.

                                                          +

                                                          Member Enumeration Documentation

                                                          +

                                                          enum Result

                                                          +

                                                          Possible results returned for rtk requests.

                                                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                          ValueDescription
                                                          UnknownUnknown result.
                                                          SuccessRequest succeeded.
                                                          TooLongPassed data is too long.
                                                          NoSystemNo system connected.
                                                          ConnectionErrorConnection error.
                                                          +

                                                          Member Function Documentation

                                                          +

                                                          send_rtcm_data()

                                                          +
                                                          Result mavsdk::Rtk::send_rtcm_data(RtcmData rtcm_data) const
+
                                                          +

                                                          Send RTCM data.

                                                          +

                                                          This function is blocking.

                                                          +

                                                          Parameters

                                                          + +

                                                          Returns

                                                          +

                                                           Result - Result of request.

                                                          +

                                                          operator=()

                                                          +
                                                          const Rtk& mavsdk::Rtk::operator=(const Rtk &)=delete
+
                                                          +

                                                          Equality operator (object is not copyable).

                                                          +

                                                          Parameters

                                                          +
                                                            +
                                                          • const Rtk& -
                                                            • +
                                                          +

                                                          Returns

                                                          +

                                                           const Rtk & -

                                                          +
                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                                          + +
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                                                          +
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                                                            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_server_component.md b/v2.0/en/cpp/api_reference/classmavsdk_1_1_server_component.md new file mode 100644 index 00000000..8252e620 --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_server_component.md @@ -0,0 +1,45 @@ +# mavsdk::ServerComponent Class Reference +`#include: server_component.h` + +---- + + +This class represents a component, used to initialize a server plugin. + + +## Public Member Functions + + +Type | Name | Description +---: | --- | --- +  | [~ServerComponent](#classmavsdk_1_1_server_component_1aa93dd133c0c5476bfd9269365e4afcec) ()=default | Destructor. +uint8_t | [component_id](#classmavsdk_1_1_server_component_1af05efb79ba6c1ed9992e13671d3268ba) () const | MAVLink component ID of this component. + + +## Constructor & Destructor Documentation + + +### ~ServerComponent() {#classmavsdk_1_1_server_component_1aa93dd133c0c5476bfd9269365e4afcec} +```cpp +mavsdk::ServerComponent::~ServerComponent()=default +``` + + +Destructor. + + +## Member Function Documentation + + +### component_id() {#classmavsdk_1_1_server_component_1af05efb79ba6c1ed9992e13671d3268ba} +```cpp +uint8_t mavsdk::ServerComponent::component_id() const +``` + + +MAVLink component ID of this component. + + +**Returns** + + uint8_t - \ No newline at end of file diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_server_plugin_base.md b/v2.0/en/cpp/api_reference/classmavsdk_1_1_server_plugin_base.md new file mode 100644 index 00000000..7e71da7d --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_server_plugin_base.md @@ -0,0 +1,73 @@ +# mavsdk::ServerPluginBase Class Reference +`#include: server_plugin_base.h` + +---- + + +Base class for every server plugin. + + +## Public Member Functions + + +Type | Name | Description +---: | --- | --- +  | [ServerPluginBase](#classmavsdk_1_1_server_plugin_base_1a77b7c74e4e2a10cf55071e95b53eedae) ()=default | Default Constructor. +  | [~ServerPluginBase](#classmavsdk_1_1_server_plugin_base_1a97e1d14c2b72253d53f9284621b1d248) ()=default | Default Destructor. +  | [ServerPluginBase](#classmavsdk_1_1_server_plugin_base_1a86ef071b10d0afc7d287069ac8d11575) (const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md) &)=delete | Copy constructor (object is not copyable). +const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md) & | [operator=](#classmavsdk_1_1_server_plugin_base_1ab424dcb3a08fcb7159ca326361548301) (const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md) &)=delete | Assign operator (object is not copyable). + + +## Constructor & Destructor Documentation + + +### ServerPluginBase() {#classmavsdk_1_1_server_plugin_base_1a77b7c74e4e2a10cf55071e95b53eedae} +```cpp +mavsdk::ServerPluginBase::ServerPluginBase()=default +``` + + +Default Constructor. + + +### ~ServerPluginBase() {#classmavsdk_1_1_server_plugin_base_1a97e1d14c2b72253d53f9284621b1d248} +```cpp +virtual mavsdk::ServerPluginBase::~ServerPluginBase()=default +``` + + +Default Destructor. + + +### ServerPluginBase() {#classmavsdk_1_1_server_plugin_base_1a86ef071b10d0afc7d287069ac8d11575} +```cpp +mavsdk::ServerPluginBase::ServerPluginBase(const ServerPluginBase &)=delete +``` + + +Copy constructor (object is not copyable). + + +**Parameters** + +* const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md)& - + +## Member Function Documentation + + +### operator=() {#classmavsdk_1_1_server_plugin_base_1ab424dcb3a08fcb7159ca326361548301} +```cpp +const ServerPluginBase& mavsdk::ServerPluginBase::operator=(const ServerPluginBase &)=delete +``` + + +Assign operator (object is not copyable). + + +**Parameters** + +* const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md)& - + +**Returns** + + const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md) & - \ No newline at end of file diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_server_utility.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_server_utility.html new file mode 100644 index 00000000..c547dc4d --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_server_utility.html @@ -0,0 +1,3545 @@ + + + + + + + class ServerUtility · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                            + +
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                                                            Documentation
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                                                            Docs
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                                                            Support
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                                                            Help
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                                                            +
                                                            + +
                                                            +
                                                            + +
                                                            + +

                                                            mavsdk::ServerUtility Class Reference

                                                            +

                                                            #include: server_utility.h

                                                            +
                                                            +

                                                            Utility for onboard MAVSDK instances for common "server" tasks.

                                                            +

                                                            Public Types

                                                            + + + + + + + + + + + + + + + + + + + + + +
                                                            TypeDescription
                                                            enum StatusTextTypeStatus types.
                                                            enum ResultPossible results returned for server utility requests.
                                                            std::function< void(Result)> ResultCallbackCallback type for asynchronous ServerUtility calls.
                                                            +

                                                            Public Member Functions

                                                            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                            TypeNameDescription
                                                             ServerUtility (System & system)Constructor. Creates the plugin for a specific System.
                                                             ServerUtility (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                                             ~ServerUtility () overrideDestructor (internal use only).
                                                             ServerUtility (const ServerUtility & other)Copy constructor.
                                                            Resultsend_status_text (StatusTextType type, std::string text)constSends a statustext.
                                                            const ServerUtility &operator= (const ServerUtility &)=deleteEquality operator (object is not copyable).
                                                            +

                                                            Constructor & Destructor Documentation

                                                            +

                                                            ServerUtility()

                                                            +
                                                            mavsdk::ServerUtility::ServerUtility(System &system)
+
                                                            +

                                                            Constructor. Creates the plugin for a specific System.

                                                            +

                                                            The plugin is typically created as shown below:

                                                            +
                                                            auto server_utility = ServerUtility(system);
+
                                                            +

                                                            Parameters

                                                            +
                                                              +
                                                            • System& system - The specific system associated with this plugin.
                                                              • +
                                                            +

                                                            ServerUtility()

                                                            +
                                                            mavsdk::ServerUtility::ServerUtility(std::shared_ptr< System > system)
+
                                                            +

                                                            Constructor. Creates the plugin for a specific System.

                                                            +

                                                            The plugin is typically created as shown below:

                                                            +
                                                            auto server_utility = ServerUtility(system);
+
                                                            +

                                                            Parameters

                                                            +
                                                              +
                                                            • std::shared_ptr< System > system - The specific system associated with this plugin.
                                                              • +
                                                            +

                                                            ~ServerUtility()

                                                            +
                                                            mavsdk::ServerUtility::~ServerUtility() override
+
                                                            +

                                                            Destructor (internal use only).

                                                            +

                                                            ServerUtility()

                                                            +
                                                            mavsdk::ServerUtility::ServerUtility(const ServerUtility &other)
+
                                                            +

                                                            Copy constructor.

                                                            +

                                                            Parameters

                                                            + +

                                                            Member Typdef Documentation

                                                            +

                                                            typedef ResultCallback

                                                            +
                                                            using mavsdk::ServerUtility::ResultCallback =  std::function<void(Result)>
+
                                                            +

                                                            Callback type for asynchronous ServerUtility calls.

                                                            +

                                                            Member Enumeration Documentation

                                                            +

                                                            enum StatusTextType

                                                            +

                                                            Status types.

                                                            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                            ValueDescription
                                                            DebugDebug.
                                                            InfoInformation.
                                                            NoticeNotice.
                                                            WarningWarning.
                                                            ErrorError.
                                                            CriticalCritical.
                                                            AlertAlert.
                                                            EmergencyEmergency.
                                                            +

                                                            enum Result

                                                            +

                                                            Possible results returned for server utility requests.

                                                            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                            ValueDescription
                                                            UnknownUnknown result.
                                                            SuccessRequest succeeded.
                                                            NoSystemNo system is connected.
                                                            ConnectionErrorConnection error.
                                                            InvalidArgumentInvalid argument.
                                                            +

                                                            Member Function Documentation

                                                            +

                                                            send_status_text()

                                                            +
                                                            Result mavsdk::ServerUtility::send_status_text(StatusTextType type, std::string text) const
+
                                                            +

                                                            Sends a statustext.

                                                            +

                                                            This function is blocking.

                                                            +

                                                            Parameters

                                                            + +

                                                            Returns

                                                            +

                                                             Result - Result of request.

                                                            +

                                                            operator=()

                                                            +
                                                            const ServerUtility& mavsdk::ServerUtility::operator=(const ServerUtility &)=delete
+
                                                            +

                                                            Equality operator (object is not copyable).

                                                            +

                                                            Parameters

                                                            + +

                                                            Returns

                                                            +

                                                             const ServerUtility & -

                                                            +
                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                                            + +
                                                            + +
                                                            +
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                                                            + +

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                                                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_shell.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_shell.html new file mode 100644 index 00000000..90e3c31b --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_shell.html @@ -0,0 +1,3550 @@ + + + + + + + class Shell · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                              + +
                                                              + +

                                                              mavsdk::Shell Class Reference

                                                              +

                                                              #include: shell.h

                                                              +
                                                              +
                                                                +

                                                              • Allow to communicate with the vehicle's system shell.

                                                                +
                                                                • +
                                                              + + +

                                                              Public Types

                                                              + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                              TypeDescription
                                                              enum ResultPossible results returned for shell requests.
                                                              std::function< void(Result)> ResultCallbackCallback type for asynchronous Shell calls.
                                                              std::function< void(std::string)> ReceiveCallbackCallback type for subscribe_receive.
                                                              Handle< std::string > ReceiveHandleHandle type for subscribe_receive.
                                                              +

                                                              Public Member Functions

                                                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                              TypeNameDescription
                                                               Shell (System & system)Constructor. Creates the plugin for a specific System.
                                                               Shell (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                                               ~Shell () overrideDestructor (internal use only).
                                                               Shell (const Shell & other)Copy constructor.
                                                              Resultsend (std::string command)constSend a command line.
                                                              ReceiveHandlesubscribe_receive (const ReceiveCallback & callback)Receive feedback from a sent command line.
                                                              voidunsubscribe_receive (ReceiveHandle handle)Unsubscribe from subscribe_receive.
                                                              const Shell &operator= (const Shell &)=deleteEquality operator (object is not copyable).
                                                              +

                                                              Constructor & Destructor Documentation

                                                              +

                                                              Shell()

                                                              +
                                                              mavsdk::Shell::Shell(System &system)
+
                                                              +

                                                              Constructor. Creates the plugin for a specific System.

                                                              +

                                                              The plugin is typically created as shown below:

                                                              +
                                                              auto shell = Shell(system);
+
                                                              +

                                                              Parameters

                                                              +
                                                                +
                                                              • System& system - The specific system associated with this plugin.
                                                                • +
                                                              +

                                                              Shell()

                                                              +
                                                              mavsdk::Shell::Shell(std::shared_ptr< System > system)
+
                                                              +

                                                              Constructor. Creates the plugin for a specific System.

                                                              +

                                                              The plugin is typically created as shown below:

                                                              +
                                                              auto shell = Shell(system);
+
                                                              +

                                                              Parameters

                                                              +
                                                                +
                                                              • std::shared_ptr< System > system - The specific system associated with this plugin.
                                                                • +
                                                              +

                                                              ~Shell()

                                                              +
                                                              mavsdk::Shell::~Shell() override
+
                                                              +

                                                              Destructor (internal use only).

                                                              +

                                                              Shell()

                                                              +
                                                              mavsdk::Shell::Shell(const Shell &other)
+
                                                              +

                                                              Copy constructor.

                                                              +

                                                              Parameters

                                                              + +

                                                              Member Typdef Documentation

                                                              +

                                                              typedef ResultCallback

                                                              +
                                                              using mavsdk::Shell::ResultCallback =  std::function<void(Result)>
+
                                                              +

                                                              Callback type for asynchronous Shell calls.

                                                              +

                                                              typedef ReceiveCallback

                                                              +
                                                              using mavsdk::Shell::ReceiveCallback =  std::function<void(std::string)>
+
                                                              +

                                                              Callback type for subscribe_receive.

                                                              +

                                                              typedef ReceiveHandle

                                                              +
                                                              using mavsdk::Shell::ReceiveHandle =  Handle<std::string>
+
                                                              +

                                                              Handle type for subscribe_receive.

                                                              +

                                                              Member Enumeration Documentation

                                                              +

                                                              enum Result

                                                              +

                                                              Possible results returned for shell requests.

                                                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                              ValueDescription
                                                              UnknownUnknown result.
                                                              SuccessRequest succeeded.
                                                              NoSystemNo system is connected.
                                                              ConnectionErrorConnection error.
                                                              NoResponseResponse was not received.
                                                              BusyShell busy (transfer in progress).
                                                              +

                                                              Member Function Documentation

                                                              +

                                                              send()

                                                              +
                                                              Result mavsdk::Shell::send(std::string command) const
+
                                                              +

                                                              Send a command line.

                                                              +

                                                              This function is blocking.

                                                              +

                                                              Parameters

                                                              +
                                                                +
                                                              • std::string command -
                                                                • +
                                                              +

                                                              Returns

                                                              +

                                                               Result - Result of request.

                                                              +

                                                              subscribe_receive()

                                                              +
                                                              ReceiveHandle mavsdk::Shell::subscribe_receive(const ReceiveCallback &callback)
+
                                                              +

                                                              Receive feedback from a sent command line.

                                                              +

                                                              This subscription needs to be made before a command line is sent, otherwise, no response will be sent.

                                                              +

                                                              Parameters

                                                              + +

                                                              Returns

                                                              +

                                                               ReceiveHandle -

                                                              +

                                                              unsubscribe_receive()

                                                              +
                                                              void mavsdk::Shell::unsubscribe_receive(ReceiveHandle handle)
+
                                                              +

                                                              Unsubscribe from subscribe_receive.

                                                              +

                                                              Parameters

                                                              + +

                                                              operator=()

                                                              +
                                                              const Shell& mavsdk::Shell::operator=(const Shell &)=delete
+
                                                              +

                                                              Equality operator (object is not copyable).

                                                              +

                                                              Parameters

                                                              + +

                                                              Returns

                                                              +

                                                               const Shell & -

                                                              +
                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                                              + +
                                                              + +
                                                              +
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                                                              + +

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                                                              +
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                                                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1_system.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1_system.html new file mode 100644 index 00000000..9491f91d --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1_system.html @@ -0,0 +1,3682 @@ + + + + + + + class System · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                mavsdk::System Class Reference

                                                                +

                                                                #include: system.h

                                                                +
                                                                +

                                                                This class represents a system, made up of one or more components (e.g. autopilot, cameras, servos, gimbals, etc).

                                                                +

                                                                System objects are used to interact with UAVs (including their components) and standalone cameras. They are not created directly by application code, but are returned by the Mavsdk class.

                                                                +

                                                                Public Types

                                                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                TypeDescription
                                                                enum ComponentTypeComponent Types.
                                                                std::function< void(bool)> IsConnectedCallbacktype for is connected callback.
                                                                Handle< bool > IsConnectedHandlehandle type to unsubscribe from subscribe_is_connected.
                                                                std::function< void(ComponentType)> ComponentDiscoveredCallbacktype for component discovery callback
                                                                Handle< ComponentType > ComponentDiscoveredHandletype for component discovery callback handle
                                                                std::function< void(ComponentType, uint8_t)> ComponentDiscoveredIdCallbacktype for component discovery callback with component ID
                                                                Handle< ComponentType, uint8_t > ComponentDiscoveredIdHandletype for component discovery callback handle with component ID
                                                                +

                                                                Public Member Functions

                                                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                TypeNameDescription
                                                                 ~System ()Destructor.
                                                                 System (const System &)=deleteCopy constructor (object is not copyable).
                                                                voidinit (uint8_t system_id, uint8_t component_id)constInitialize the system.
                                                                boolhas_autopilot () constChecks whether the system has an autopilot.
                                                                boolis_standalone () constChecks whether the system is a standalone (non-autopilot).
                                                                boolhas_camera (int camera_id=-1)constChecks whether the system has a camera with the given camera ID.
                                                                boolhas_gimbal () constChecks whether the system has a gimbal.
                                                                boolis_connected () constChecks if the system is connected.
                                                                uint8_tget_system_id () constMAVLink System ID of connected system.
                                                                std::vector< uint8_t >component_ids () constMAVLink component IDs of connected system.
                                                                IsConnectedHandlesubscribe_is_connected (const IsConnectedCallback & callback)Subscribe to callback to be called when system connection state changes.
                                                                voidunsubscribe_is_connected (IsConnectedHandle handle)Unsubscribe from subscribe_is_connected.
                                                                ComponentDiscoveredHandlesubscribe_component_discovered (const ComponentDiscoveredCallback & callback)Subscribe to be called when a component is discovered.
                                                                voidunsubscribe_component_discovered (ComponentDiscoveredHandle handle)Unsubscribe from subscribe_component_discovered.
                                                                ComponentDiscoveredIdHandlesubscribe_component_discovered_id (const ComponentDiscoveredIdCallback & callback)Subscribe to be called when a component is discovered.
                                                                voidunsubscribe_component_discovered_id (ComponentDiscoveredIdHandle handle)Unsubscribe from subscribe_component_discovered_id.
                                                                voidenable_timesync ()Enable time synchronization using the TIMESYNC messages.
                                                                const System &operator= (const System &)=deleteEquality operator (object is not copyable).
                                                                +

                                                                Constructor & Destructor Documentation

                                                                +

                                                                ~System()

                                                                +
                                                                mavsdk::System::~System()
+
                                                                +

                                                                Destructor.

                                                                +

                                                                System()

                                                                +
                                                                mavsdk::System::System(const System &)=delete
+
                                                                +

                                                                Copy constructor (object is not copyable).

                                                                +

                                                                Parameters

                                                                + +

                                                                Member Typdef Documentation

                                                                +

                                                                typedef IsConnectedCallback

                                                                +
                                                                using mavsdk::System::IsConnectedCallback =  std::function<void(bool)>
+
                                                                +

                                                                type for is connected callback.

                                                                +

                                                                typedef IsConnectedHandle

                                                                +
                                                                using mavsdk::System::IsConnectedHandle =  Handle<bool>
+
                                                                +

                                                                handle type to unsubscribe from subscribe_is_connected.

                                                                +

                                                                typedef ComponentDiscoveredCallback

                                                                +
                                                                using mavsdk::System::ComponentDiscoveredCallback =  std::function<void(ComponentType)>
+
                                                                +

                                                                type for component discovery callback

                                                                +

                                                                typedef ComponentDiscoveredHandle

                                                                +
                                                                using mavsdk::System::ComponentDiscoveredHandle =  Handle<ComponentType>
+
                                                                +

                                                                type for component discovery callback handle

                                                                +

                                                                typedef ComponentDiscoveredIdCallback

                                                                +
                                                                using mavsdk::System::ComponentDiscoveredIdCallback =  std::function<void(ComponentType, uint8_t)>
+
                                                                +

                                                                type for component discovery callback with component ID

                                                                +

                                                                typedef ComponentDiscoveredIdHandle

                                                                +
                                                                using mavsdk::System::ComponentDiscoveredIdHandle =  Handle<ComponentType, uint8_t>
+
                                                                +

                                                                type for component discovery callback handle with component ID

                                                                +

                                                                Member Enumeration Documentation

                                                                +

                                                                enum ComponentType

                                                                +

                                                                Component Types.

                                                                + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                ValueDescription
                                                                UNKNOWN
                                                                AUTOPILOT
                                                                CAMERA
                                                                GIMBAL
                                                                +

                                                                Member Function Documentation

                                                                +

                                                                init()

                                                                +
                                                                void mavsdk::System::init(uint8_t system_id, uint8_t component_id) const
+
                                                                +

                                                                Initialize the system.

                                                                +

                                                                This is not (and should not be) directly called by application code.

                                                                +

                                                                Parameters

                                                                +
                                                                  +
                                                                • uint8_t system_id - System id.
                                                                  • +
                                                                • uint8_t component_id - Component id.
                                                                  • +
                                                                +

                                                                has_autopilot()

                                                                +
                                                                bool mavsdk::System::has_autopilot() const
+
                                                                +

                                                                Checks whether the system has an autopilot.

                                                                +

                                                                Returns

                                                                +

                                                                 bool - true if it has an autopilot, false otherwise.

                                                                +

                                                                is_standalone()

                                                                +
                                                                bool mavsdk::System::is_standalone() const
+
                                                                +

                                                                Checks whether the system is a standalone (non-autopilot).

                                                                +

                                                                Returns

                                                                +

                                                                 bool - true if stand alone, false otherwise.

                                                                +

                                                                has_camera()

                                                                +
                                                                bool mavsdk::System::has_camera(int camera_id=-1) const
+
                                                                +

                                                                Checks whether the system has a camera with the given camera ID.

                                                                +

                                                                A System may have several cameras, with IDs starting from 0. When called without passing a camera ID, it checks whether the system has any camera.

                                                                +

                                                                Parameters

                                                                +
                                                                  +
                                                                • int camera_id - ID of the camera starting from 0 onwards.
                                                                  • +
                                                                +

                                                                Returns

                                                                +

                                                                 bool - true if camera with the given camera ID is found, false otherwise.

                                                                +

                                                                has_gimbal()

                                                                +
                                                                bool mavsdk::System::has_gimbal() const
+
                                                                +

                                                                Checks whether the system has a gimbal.

                                                                +

                                                                Returns

                                                                +

                                                                 bool - true if the system has a gimbal, false otherwise.

                                                                +

                                                                is_connected()

                                                                +
                                                                bool mavsdk::System::is_connected() const
+
                                                                +

                                                                Checks if the system is connected.

                                                                +

                                                                A system is connected when heartbeats are arriving (discovered and not timed out).

                                                                +

                                                                Returns

                                                                +

                                                                 bool - true if the system is connected.

                                                                +

                                                                get_system_id()

                                                                +
                                                                uint8_t mavsdk::System::get_system_id() const
+
                                                                +

                                                                MAVLink System ID of connected system.

                                                                +
                                                                +

                                                                : this is 0 if nothing is connected yet.

                                                                +
                                                                +

                                                                Returns

                                                                +

                                                                 uint8_t - the system ID.

                                                                +

                                                                component_ids()

                                                                +
                                                                std::vector<uint8_t> mavsdk::System::component_ids() const
+
                                                                +

                                                                MAVLink component IDs of connected system.

                                                                +
                                                                +

                                                                : all components that have been seen at least once will be listed.

                                                                +
                                                                +

                                                                Returns

                                                                +

                                                                 std::vector< uint8_t > - a list of all component ids

                                                                +

                                                                subscribe_is_connected()

                                                                +
                                                                IsConnectedHandle mavsdk::System::subscribe_is_connected(const IsConnectedCallback &callback)
+
                                                                +

                                                                Subscribe to callback to be called when system connection state changes.

                                                                +

                                                                Parameters

                                                                + +

                                                                Returns

                                                                +

                                                                 IsConnectedHandle -

                                                                +

                                                                unsubscribe_is_connected()

                                                                +
                                                                void mavsdk::System::unsubscribe_is_connected(IsConnectedHandle handle)
+
                                                                +

                                                                Unsubscribe from subscribe_is_connected.

                                                                +

                                                                Parameters

                                                                + +

                                                                subscribe_component_discovered()

                                                                +
                                                                ComponentDiscoveredHandle mavsdk::System::subscribe_component_discovered(const ComponentDiscoveredCallback &callback)
+
                                                                +

                                                                Subscribe to be called when a component is discovered.

                                                                +

                                                                Parameters

                                                                +
                                                                  +
                                                                • const ComponentDiscoveredCallback& callback - a function of type void(ComponentType) which will be called with the component type of the new component.
                                                                  • +
                                                                +

                                                                Returns

                                                                +

                                                                 ComponentDiscoveredHandle -

                                                                +

                                                                unsubscribe_component_discovered()

                                                                +
                                                                void mavsdk::System::unsubscribe_component_discovered(ComponentDiscoveredHandle handle)
+
                                                                +

                                                                Unsubscribe from subscribe_component_discovered.

                                                                +

                                                                Parameters

                                                                + +

                                                                subscribe_component_discovered_id()

                                                                +
                                                                ComponentDiscoveredIdHandle mavsdk::System::subscribe_component_discovered_id(const ComponentDiscoveredIdCallback &callback)
+
                                                                +

                                                                Subscribe to be called when a component is discovered.

                                                                +

                                                                Parameters

                                                                +
                                                                  +
                                                                • const ComponentDiscoveredIdCallback& callback - a function of type void(ComponentType) which will be called with the component type and the component id of the new component.
                                                                  • +
                                                                +

                                                                Returns

                                                                +

                                                                 ComponentDiscoveredIdHandle -

                                                                +

                                                                unsubscribe_component_discovered_id()

                                                                +
                                                                void mavsdk::System::unsubscribe_component_discovered_id(ComponentDiscoveredIdHandle handle)
+
                                                                +

                                                                Unsubscribe from subscribe_component_discovered_id.

                                                                +

                                                                Parameters

                                                                + +

                                                                enable_timesync()

                                                                +
                                                                void mavsdk::System::enable_timesync()
+
                                                                +

                                                                Enable time synchronization using the TIMESYNC messages.

                                                                +

                                                                operator=()

                                                                +
                                                                const System& mavsdk::System::operator=(const System &)=delete
+
                                                                +

                                                                Equality operator (object is not copyable).

                                                                +

                                                                Parameters

                                                                + +

                                                                Returns

                                                                +

                                                                 const System & -

                                                                +
                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                  mavsdk::Telemetry Class Reference

                                                                  +

                                                                  #include: telemetry.h

                                                                  +
                                                                  +

                                                                  Allow users to get vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates.

                                                                  +

                                                                  Data Structures

                                                                  +

                                                                  struct AccelerationFrd

                                                                  +

                                                                  struct ActuatorControlTarget

                                                                  +

                                                                  struct ActuatorOutputStatus

                                                                  +

                                                                  struct Altitude

                                                                  +

                                                                  struct AngularVelocityBody

                                                                  +

                                                                  struct AngularVelocityFrd

                                                                  +

                                                                  struct Battery

                                                                  +

                                                                  struct Covariance

                                                                  +

                                                                  struct DistanceSensor

                                                                  +

                                                                  struct EulerAngle

                                                                  +

                                                                  struct FixedwingMetrics

                                                                  +

                                                                  struct GpsGlobalOrigin

                                                                  +

                                                                  struct GpsInfo

                                                                  +

                                                                  struct GroundTruth

                                                                  +

                                                                  struct Heading

                                                                  +

                                                                  struct Health

                                                                  +

                                                                  struct Imu

                                                                  +

                                                                  struct MagneticFieldFrd

                                                                  +

                                                                  struct Odometry

                                                                  +

                                                                  struct Position

                                                                  +

                                                                  struct PositionBody

                                                                  +

                                                                  struct PositionNed

                                                                  +

                                                                  struct PositionVelocityNed

                                                                  +

                                                                  struct Quaternion

                                                                  +

                                                                  struct RawGps

                                                                  +

                                                                  struct RcStatus

                                                                  +

                                                                  struct ScaledPressure

                                                                  +

                                                                  struct StatusText

                                                                  +

                                                                  struct VelocityBody

                                                                  +

                                                                  struct VelocityNed

                                                                  +

                                                                  Public Types

                                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                  TypeDescription
                                                                  enum FixTypeGPS fix type.
                                                                  enum FlightModeFlight modes.
                                                                  enum StatusTextTypeStatus types.
                                                                  enum LandedStateLanded State enumeration.
                                                                  enum VtolStateVTOL State enumeration.
                                                                  enum ResultPossible results returned for telemetry requests.
                                                                  std::function< void(Result)> ResultCallbackCallback type for asynchronous Telemetry calls.
                                                                  std::function< void(Position)> PositionCallbackCallback type for subscribe_position.
                                                                  Handle< Position > PositionHandleHandle type for subscribe_position.
                                                                  std::function< void(Position)> HomeCallbackCallback type for subscribe_home.
                                                                  Handle< Position > HomeHandleHandle type for subscribe_home.
                                                                  std::function< void(bool)> InAirCallbackCallback type for subscribe_in_air.
                                                                  Handle< bool > InAirHandleHandle type for subscribe_in_air.
                                                                  std::function< void(LandedState)> LandedStateCallbackCallback type for subscribe_landed_state.
                                                                  Handle< LandedState > LandedStateHandleHandle type for subscribe_landed_state.
                                                                  std::function< void(bool)> ArmedCallbackCallback type for subscribe_armed.
                                                                  Handle< bool > ArmedHandleHandle type for subscribe_armed.
                                                                  std::function< void(VtolState)> VtolStateCallbackCallback type for subscribe_vtol_state.
                                                                  Handle< VtolState > VtolStateHandleHandle type for subscribe_vtol_state.
                                                                  std::function< void(Quaternion)> AttitudeQuaternionCallbackCallback type for subscribe_attitude_quaternion.
                                                                  Handle< Quaternion > AttitudeQuaternionHandleHandle type for subscribe_attitude_quaternion.
                                                                  std::function< void(EulerAngle)> AttitudeEulerCallbackCallback type for subscribe_attitude_euler.
                                                                  Handle< EulerAngle > AttitudeEulerHandleHandle type for subscribe_attitude_euler.
                                                                  std::function< void(AngularVelocityBody)> AttitudeAngularVelocityBodyCallbackCallback type for subscribe_attitude_angular_velocity_body.
                                                                  Handle< AngularVelocityBody > AttitudeAngularVelocityBodyHandleHandle type for subscribe_attitude_angular_velocity_body.
                                                                  std::function< void(Quaternion)> CameraAttitudeQuaternionCallbackCallback type for subscribe_camera_attitude_quaternion.
                                                                  Handle< Quaternion > CameraAttitudeQuaternionHandleHandle type for subscribe_camera_attitude_quaternion.
                                                                  std::function< void(EulerAngle)> CameraAttitudeEulerCallbackCallback type for subscribe_camera_attitude_euler.
                                                                  Handle< EulerAngle > CameraAttitudeEulerHandleHandle type for subscribe_camera_attitude_euler.
                                                                  std::function< void(VelocityNed)> VelocityNedCallbackCallback type for subscribe_velocity_ned.
                                                                  Handle< VelocityNed > VelocityNedHandleHandle type for subscribe_velocity_ned.
                                                                  std::function< void(GpsInfo)> GpsInfoCallbackCallback type for subscribe_gps_info.
                                                                  Handle< GpsInfo > GpsInfoHandleHandle type for subscribe_gps_info.
                                                                  std::function< void(RawGps)> RawGpsCallbackCallback type for subscribe_raw_gps.
                                                                  Handle< RawGps > RawGpsHandleHandle type for subscribe_raw_gps.
                                                                  std::function< void(Battery)> BatteryCallbackCallback type for subscribe_battery.
                                                                  Handle< Battery > BatteryHandleHandle type for subscribe_battery.
                                                                  std::function< void(FlightMode)> FlightModeCallbackCallback type for subscribe_flight_mode.
                                                                  Handle< FlightMode > FlightModeHandleHandle type for subscribe_flight_mode.
                                                                  std::function< void(Health)> HealthCallbackCallback type for subscribe_health.
                                                                  Handle< Health > HealthHandleHandle type for subscribe_health.
                                                                  std::function< void(RcStatus)> RcStatusCallbackCallback type for subscribe_rc_status.
                                                                  Handle< RcStatus > RcStatusHandleHandle type for subscribe_rc_status.
                                                                  std::function< void(StatusText)> StatusTextCallbackCallback type for subscribe_status_text.
                                                                  Handle< StatusText > StatusTextHandleHandle type for subscribe_status_text.
                                                                  std::function< void(ActuatorControlTarget)> ActuatorControlTargetCallbackCallback type for subscribe_actuator_control_target.
                                                                  Handle< ActuatorControlTarget > ActuatorControlTargetHandleHandle type for subscribe_actuator_control_target.
                                                                  std::function< void(ActuatorOutputStatus)> ActuatorOutputStatusCallbackCallback type for subscribe_actuator_output_status.
                                                                  Handle< ActuatorOutputStatus > ActuatorOutputStatusHandleHandle type for subscribe_actuator_output_status.
                                                                  std::function< void(Odometry)> OdometryCallbackCallback type for subscribe_odometry.
                                                                  Handle< Odometry > OdometryHandleHandle type for subscribe_odometry.
                                                                  std::function< void(PositionVelocityNed)> PositionVelocityNedCallbackCallback type for subscribe_position_velocity_ned.
                                                                  Handle< PositionVelocityNed > PositionVelocityNedHandleHandle type for subscribe_position_velocity_ned.
                                                                  std::function< void(GroundTruth)> GroundTruthCallbackCallback type for subscribe_ground_truth.
                                                                  Handle< GroundTruth > GroundTruthHandleHandle type for subscribe_ground_truth.
                                                                  std::function< void(FixedwingMetrics)> FixedwingMetricsCallbackCallback type for subscribe_fixedwing_metrics.
                                                                  Handle< FixedwingMetrics > FixedwingMetricsHandleHandle type for subscribe_fixedwing_metrics.
                                                                  std::function< void(Imu)> ImuCallbackCallback type for subscribe_imu.
                                                                  Handle< Imu > ImuHandleHandle type for subscribe_imu.
                                                                  std::function< void(Imu)> ScaledImuCallbackCallback type for subscribe_scaled_imu.
                                                                  Handle< Imu > ScaledImuHandleHandle type for subscribe_scaled_imu.
                                                                  std::function< void(Imu)> RawImuCallbackCallback type for subscribe_raw_imu.
                                                                  Handle< Imu > RawImuHandleHandle type for subscribe_raw_imu.
                                                                  std::function< void(bool)> HealthAllOkCallbackCallback type for subscribe_health_all_ok.
                                                                  Handle< bool > HealthAllOkHandleHandle type for subscribe_health_all_ok.
                                                                  std::function< void(uint64_t)> UnixEpochTimeCallbackCallback type for subscribe_unix_epoch_time.
                                                                  Handle< uint64_t > UnixEpochTimeHandleHandle type for subscribe_unix_epoch_time.
                                                                  std::function< void(DistanceSensor)> DistanceSensorCallbackCallback type for subscribe_distance_sensor.
                                                                  Handle< DistanceSensor > DistanceSensorHandleHandle type for subscribe_distance_sensor.
                                                                  std::function< void(ScaledPressure)> ScaledPressureCallbackCallback type for subscribe_scaled_pressure.
                                                                  Handle< ScaledPressure > ScaledPressureHandleHandle type for subscribe_scaled_pressure.
                                                                  std::function< void(Heading)> HeadingCallbackCallback type for subscribe_heading.
                                                                  Handle< Heading > HeadingHandleHandle type for subscribe_heading.
                                                                  std::function< void(Altitude)> AltitudeCallbackCallback type for subscribe_altitude.
                                                                  Handle< Altitude > AltitudeHandleHandle type for subscribe_altitude.
                                                                  std::function< void(Result, GpsGlobalOrigin)> GetGpsGlobalOriginCallbackCallback type for get_gps_global_origin_async.
                                                                  +

                                                                  Public Member Functions

                                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                  TypeNameDescription
                                                                   Telemetry (System & system)Constructor. Creates the plugin for a specific System.
                                                                   Telemetry (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                                                   ~Telemetry () overrideDestructor (internal use only).
                                                                   Telemetry (const Telemetry & other)Copy constructor.
                                                                  PositionHandlesubscribe_position (const PositionCallback & callback)Subscribe to 'position' updates.
                                                                  voidunsubscribe_position (PositionHandle handle)Unsubscribe from subscribe_position.
                                                                  Positionposition () constPoll for 'Position' (blocking).
                                                                  HomeHandlesubscribe_home (const HomeCallback & callback)Subscribe to 'home position' updates.
                                                                  voidunsubscribe_home (HomeHandle handle)Unsubscribe from subscribe_home.
                                                                  Positionhome () constPoll for 'Position' (blocking).
                                                                  InAirHandlesubscribe_in_air (const InAirCallback & callback)Subscribe to in-air updates.
                                                                  voidunsubscribe_in_air (InAirHandle handle)Unsubscribe from subscribe_in_air.
                                                                  boolin_air () constPoll for 'bool' (blocking).
                                                                  LandedStateHandlesubscribe_landed_state (const LandedStateCallback & callback)Subscribe to landed state updates.
                                                                  voidunsubscribe_landed_state (LandedStateHandle handle)Unsubscribe from subscribe_landed_state.
                                                                  LandedStatelanded_state () constPoll for 'LandedState' (blocking).
                                                                  ArmedHandlesubscribe_armed (const ArmedCallback & callback)Subscribe to armed updates.
                                                                  voidunsubscribe_armed (ArmedHandle handle)Unsubscribe from subscribe_armed.
                                                                  boolarmed () constPoll for 'bool' (blocking).
                                                                  VtolStateHandlesubscribe_vtol_state (const VtolStateCallback & callback)subscribe to vtol state Updates
                                                                  voidunsubscribe_vtol_state (VtolStateHandle handle)Unsubscribe from subscribe_vtol_state.
                                                                  VtolStatevtol_state () constPoll for 'VtolState' (blocking).
                                                                  AttitudeQuaternionHandlesubscribe_attitude_quaternion (const AttitudeQuaternionCallback & callback)Subscribe to 'attitude' updates (quaternion).
                                                                  voidunsubscribe_attitude_quaternion (AttitudeQuaternionHandle handle)Unsubscribe from subscribe_attitude_quaternion.
                                                                  Quaternionattitude_quaternion () constPoll for 'Quaternion' (blocking).
                                                                  AttitudeEulerHandlesubscribe_attitude_euler (const AttitudeEulerCallback & callback)Subscribe to 'attitude' updates (Euler).
                                                                  voidunsubscribe_attitude_euler (AttitudeEulerHandle handle)Unsubscribe from subscribe_attitude_euler.
                                                                  EulerAngleattitude_euler () constPoll for 'EulerAngle' (blocking).
                                                                  AttitudeAngularVelocityBodyHandlesubscribe_attitude_angular_velocity_body (const AttitudeAngularVelocityBodyCallback & callback)Subscribe to 'attitude' updates (angular velocity)
                                                                  voidunsubscribe_attitude_angular_velocity_body (AttitudeAngularVelocityBodyHandle handle)Unsubscribe from subscribe_attitude_angular_velocity_body.
                                                                  AngularVelocityBodyattitude_angular_velocity_body () constPoll for 'AngularVelocityBody' (blocking).
                                                                  CameraAttitudeQuaternionHandlesubscribe_camera_attitude_quaternion (const CameraAttitudeQuaternionCallback & callback)Subscribe to 'camera attitude' updates (quaternion).
                                                                  voidunsubscribe_camera_attitude_quaternion (CameraAttitudeQuaternionHandle handle)Unsubscribe from subscribe_camera_attitude_quaternion.
                                                                  Quaternioncamera_attitude_quaternion () constPoll for 'Quaternion' (blocking).
                                                                  CameraAttitudeEulerHandlesubscribe_camera_attitude_euler (const CameraAttitudeEulerCallback & callback)Subscribe to 'camera attitude' updates (Euler).
                                                                  voidunsubscribe_camera_attitude_euler (CameraAttitudeEulerHandle handle)Unsubscribe from subscribe_camera_attitude_euler.
                                                                  EulerAnglecamera_attitude_euler () constPoll for 'EulerAngle' (blocking).
                                                                  VelocityNedHandlesubscribe_velocity_ned (const VelocityNedCallback & callback)Subscribe to 'ground speed' updates (NED).
                                                                  voidunsubscribe_velocity_ned (VelocityNedHandle handle)Unsubscribe from subscribe_velocity_ned.
                                                                  VelocityNedvelocity_ned () constPoll for 'VelocityNed' (blocking).
                                                                  GpsInfoHandlesubscribe_gps_info (const GpsInfoCallback & callback)Subscribe to 'GPS info' updates.
                                                                  voidunsubscribe_gps_info (GpsInfoHandle handle)Unsubscribe from subscribe_gps_info.
                                                                  GpsInfogps_info () constPoll for 'GpsInfo' (blocking).
                                                                  RawGpsHandlesubscribe_raw_gps (const RawGpsCallback & callback)Subscribe to 'Raw GPS' updates.
                                                                  voidunsubscribe_raw_gps (RawGpsHandle handle)Unsubscribe from subscribe_raw_gps.
                                                                  RawGpsraw_gps () constPoll for 'RawGps' (blocking).
                                                                  BatteryHandlesubscribe_battery (const BatteryCallback & callback)Subscribe to 'battery' updates.
                                                                  voidunsubscribe_battery (BatteryHandle handle)Unsubscribe from subscribe_battery.
                                                                  Batterybattery () constPoll for 'Battery' (blocking).
                                                                  FlightModeHandlesubscribe_flight_mode (const FlightModeCallback & callback)Subscribe to 'flight mode' updates.
                                                                  voidunsubscribe_flight_mode (FlightModeHandle handle)Unsubscribe from subscribe_flight_mode.
                                                                  FlightModeflight_mode () constPoll for 'FlightMode' (blocking).
                                                                  HealthHandlesubscribe_health (const HealthCallback & callback)Subscribe to 'health' updates.
                                                                  voidunsubscribe_health (HealthHandle handle)Unsubscribe from subscribe_health.
                                                                  Healthhealth () constPoll for 'Health' (blocking).
                                                                  RcStatusHandlesubscribe_rc_status (const RcStatusCallback & callback)Subscribe to 'RC status' updates.
                                                                  voidunsubscribe_rc_status (RcStatusHandle handle)Unsubscribe from subscribe_rc_status.
                                                                  RcStatusrc_status () constPoll for 'RcStatus' (blocking).
                                                                  StatusTextHandlesubscribe_status_text (const StatusTextCallback & callback)Subscribe to 'status text' updates.
                                                                  voidunsubscribe_status_text (StatusTextHandle handle)Unsubscribe from subscribe_status_text.
                                                                  StatusTextstatus_text () constPoll for 'StatusText' (blocking).
                                                                  ActuatorControlTargetHandlesubscribe_actuator_control_target (const ActuatorControlTargetCallback & callback)Subscribe to 'actuator control target' updates.
                                                                  voidunsubscribe_actuator_control_target (ActuatorControlTargetHandle handle)Unsubscribe from subscribe_actuator_control_target.
                                                                  ActuatorControlTargetactuator_control_target () constPoll for 'ActuatorControlTarget' (blocking).
                                                                  ActuatorOutputStatusHandlesubscribe_actuator_output_status (const ActuatorOutputStatusCallback & callback)Subscribe to 'actuator output status' updates.
                                                                  voidunsubscribe_actuator_output_status (ActuatorOutputStatusHandle handle)Unsubscribe from subscribe_actuator_output_status.
                                                                  ActuatorOutputStatusactuator_output_status () constPoll for 'ActuatorOutputStatus' (blocking).
                                                                  OdometryHandlesubscribe_odometry (const OdometryCallback & callback)Subscribe to 'odometry' updates.
                                                                  voidunsubscribe_odometry (OdometryHandle handle)Unsubscribe from subscribe_odometry.
                                                                  Odometryodometry () constPoll for 'Odometry' (blocking).
                                                                  PositionVelocityNedHandlesubscribe_position_velocity_ned (const PositionVelocityNedCallback & callback)Subscribe to 'position velocity' updates.
                                                                  voidunsubscribe_position_velocity_ned (PositionVelocityNedHandle handle)Unsubscribe from subscribe_position_velocity_ned.
                                                                  PositionVelocityNedposition_velocity_ned () constPoll for 'PositionVelocityNed' (blocking).
                                                                  GroundTruthHandlesubscribe_ground_truth (const GroundTruthCallback & callback)Subscribe to 'ground truth' updates.
                                                                  voidunsubscribe_ground_truth (GroundTruthHandle handle)Unsubscribe from subscribe_ground_truth.
                                                                  GroundTruthground_truth () constPoll for 'GroundTruth' (blocking).
                                                                  FixedwingMetricsHandlesubscribe_fixedwing_metrics (const FixedwingMetricsCallback & callback)Subscribe to 'fixedwing metrics' updates.
                                                                  voidunsubscribe_fixedwing_metrics (FixedwingMetricsHandle handle)Unsubscribe from subscribe_fixedwing_metrics.
                                                                  FixedwingMetricsfixedwing_metrics () constPoll for 'FixedwingMetrics' (blocking).
                                                                  ImuHandlesubscribe_imu (const ImuCallback & callback)Subscribe to 'IMU' updates (in SI units in NED body frame).
                                                                  voidunsubscribe_imu (ImuHandle handle)Unsubscribe from subscribe_imu.
                                                                  Imuimu () constPoll for 'Imu' (blocking).
                                                                  ScaledImuHandlesubscribe_scaled_imu (const ScaledImuCallback & callback)Subscribe to 'Scaled IMU' updates.
                                                                  voidunsubscribe_scaled_imu (ScaledImuHandle handle)Unsubscribe from subscribe_scaled_imu.
                                                                  Imuscaled_imu () constPoll for 'Imu' (blocking).
                                                                  RawImuHandlesubscribe_raw_imu (const RawImuCallback & callback)Subscribe to 'Raw IMU' updates.
                                                                  voidunsubscribe_raw_imu (RawImuHandle handle)Unsubscribe from subscribe_raw_imu.
                                                                  Imuraw_imu () constPoll for 'Imu' (blocking).
                                                                  HealthAllOkHandlesubscribe_health_all_ok (const HealthAllOkCallback & callback)Subscribe to 'HealthAllOk' updates.
                                                                  voidunsubscribe_health_all_ok (HealthAllOkHandle handle)Unsubscribe from subscribe_health_all_ok.
                                                                  boolhealth_all_ok () constPoll for 'bool' (blocking).
                                                                  UnixEpochTimeHandlesubscribe_unix_epoch_time (const UnixEpochTimeCallback & callback)Subscribe to 'unix epoch time' updates.
                                                                  voidunsubscribe_unix_epoch_time (UnixEpochTimeHandle handle)Unsubscribe from subscribe_unix_epoch_time.
                                                                  uint64_tunix_epoch_time () constPoll for 'uint64_t' (blocking).
                                                                  DistanceSensorHandlesubscribe_distance_sensor (const DistanceSensorCallback & callback)Subscribe to 'Distance Sensor' updates.
                                                                  voidunsubscribe_distance_sensor (DistanceSensorHandle handle)Unsubscribe from subscribe_distance_sensor.
                                                                  DistanceSensordistance_sensor () constPoll for 'DistanceSensor' (blocking).
                                                                  ScaledPressureHandlesubscribe_scaled_pressure (const ScaledPressureCallback & callback)Subscribe to 'Scaled Pressure' updates.
                                                                  voidunsubscribe_scaled_pressure (ScaledPressureHandle handle)Unsubscribe from subscribe_scaled_pressure.
                                                                  ScaledPressurescaled_pressure () constPoll for 'ScaledPressure' (blocking).
                                                                  HeadingHandlesubscribe_heading (const HeadingCallback & callback)Subscribe to 'Heading' updates.
                                                                  voidunsubscribe_heading (HeadingHandle handle)Unsubscribe from subscribe_heading.
                                                                  Headingheading () constPoll for 'Heading' (blocking).
                                                                  AltitudeHandlesubscribe_altitude (const AltitudeCallback & callback)Subscribe to 'Altitude' updates.
                                                                  voidunsubscribe_altitude (AltitudeHandle handle)Unsubscribe from subscribe_altitude.
                                                                  Altitudealtitude () constPoll for 'Altitude' (blocking).
                                                                  voidset_rate_position_async (double rate_hz, const ResultCallback callback)Set rate to 'position' updates.
                                                                  Resultset_rate_position (double rate_hz)constSet rate to 'position' updates.
                                                                  voidset_rate_home_async (double rate_hz, const ResultCallback callback)Set rate to 'home position' updates.
                                                                  Resultset_rate_home (double rate_hz)constSet rate to 'home position' updates.
                                                                  voidset_rate_in_air_async (double rate_hz, const ResultCallback callback)Set rate to in-air updates.
                                                                  Resultset_rate_in_air (double rate_hz)constSet rate to in-air updates.
                                                                  voidset_rate_landed_state_async (double rate_hz, const ResultCallback callback)Set rate to landed state updates.
                                                                  Resultset_rate_landed_state (double rate_hz)constSet rate to landed state updates.
                                                                  voidset_rate_vtol_state_async (double rate_hz, const ResultCallback callback)Set rate to VTOL state updates.
                                                                  Resultset_rate_vtol_state (double rate_hz)constSet rate to VTOL state updates.
                                                                  voidset_rate_attitude_quaternion_async (double rate_hz, const ResultCallback callback)Set rate to 'attitude euler angle' updates.
                                                                  Resultset_rate_attitude_quaternion (double rate_hz)constSet rate to 'attitude euler angle' updates.
                                                                  voidset_rate_attitude_euler_async (double rate_hz, const ResultCallback callback)Set rate to 'attitude quaternion' updates.
                                                                  Resultset_rate_attitude_euler (double rate_hz)constSet rate to 'attitude quaternion' updates.
                                                                  voidset_rate_camera_attitude_async (double rate_hz, const ResultCallback callback)Set rate of camera attitude updates.
                                                                  Resultset_rate_camera_attitude (double rate_hz)constSet rate of camera attitude updates.
                                                                  voidset_rate_velocity_ned_async (double rate_hz, const ResultCallback callback)Set rate to 'ground speed' updates (NED).
                                                                  Resultset_rate_velocity_ned (double rate_hz)constSet rate to 'ground speed' updates (NED).
                                                                  voidset_rate_gps_info_async (double rate_hz, const ResultCallback callback)Set rate to 'GPS info' updates.
                                                                  Resultset_rate_gps_info (double rate_hz)constSet rate to 'GPS info' updates.
                                                                  voidset_rate_battery_async (double rate_hz, const ResultCallback callback)Set rate to 'battery' updates.
                                                                  Resultset_rate_battery (double rate_hz)constSet rate to 'battery' updates.
                                                                  voidset_rate_rc_status_async (double rate_hz, const ResultCallback callback)Set rate to 'RC status' updates.
                                                                  Resultset_rate_rc_status (double rate_hz)constSet rate to 'RC status' updates.
                                                                  voidset_rate_actuator_control_target_async (double rate_hz, const ResultCallback callback)Set rate to 'actuator control target' updates.
                                                                  Resultset_rate_actuator_control_target (double rate_hz)constSet rate to 'actuator control target' updates.
                                                                  voidset_rate_actuator_output_status_async (double rate_hz, const ResultCallback callback)Set rate to 'actuator output status' updates.
                                                                  Resultset_rate_actuator_output_status (double rate_hz)constSet rate to 'actuator output status' updates.
                                                                  voidset_rate_odometry_async (double rate_hz, const ResultCallback callback)Set rate to 'odometry' updates.
                                                                  Resultset_rate_odometry (double rate_hz)constSet rate to 'odometry' updates.
                                                                  voidset_rate_position_velocity_ned_async (double rate_hz, const ResultCallback callback)Set rate to 'position velocity' updates.
                                                                  Resultset_rate_position_velocity_ned (double rate_hz)constSet rate to 'position velocity' updates.
                                                                  voidset_rate_ground_truth_async (double rate_hz, const ResultCallback callback)Set rate to 'ground truth' updates.
                                                                  Resultset_rate_ground_truth (double rate_hz)constSet rate to 'ground truth' updates.
                                                                  voidset_rate_fixedwing_metrics_async (double rate_hz, const ResultCallback callback)Set rate to 'fixedwing metrics' updates.
                                                                  Resultset_rate_fixedwing_metrics (double rate_hz)constSet rate to 'fixedwing metrics' updates.
                                                                  voidset_rate_imu_async (double rate_hz, const ResultCallback callback)Set rate to 'IMU' updates.
                                                                  Resultset_rate_imu (double rate_hz)constSet rate to 'IMU' updates.
                                                                  voidset_rate_scaled_imu_async (double rate_hz, const ResultCallback callback)Set rate to 'Scaled IMU' updates.
                                                                  Resultset_rate_scaled_imu (double rate_hz)constSet rate to 'Scaled IMU' updates.
                                                                  voidset_rate_raw_imu_async (double rate_hz, const ResultCallback callback)Set rate to 'Raw IMU' updates.
                                                                  Resultset_rate_raw_imu (double rate_hz)constSet rate to 'Raw IMU' updates.
                                                                  voidset_rate_unix_epoch_time_async (double rate_hz, const ResultCallback callback)Set rate to 'unix epoch time' updates.
                                                                  Resultset_rate_unix_epoch_time (double rate_hz)constSet rate to 'unix epoch time' updates.
                                                                  voidset_rate_distance_sensor_async (double rate_hz, const ResultCallback callback)Set rate to 'Distance Sensor' updates.
                                                                  Resultset_rate_distance_sensor (double rate_hz)constSet rate to 'Distance Sensor' updates.
                                                                  voidset_rate_altitude_async (double rate_hz, const ResultCallback callback)Set rate to 'Altitude' updates.
                                                                  Resultset_rate_altitude (double rate_hz)constSet rate to 'Altitude' updates.
                                                                  voidget_gps_global_origin_async (const GetGpsGlobalOriginCallback callback)Get the GPS location of where the estimator has been initialized.
                                                                  std::pair< Result, Telemetry::GpsGlobalOrigin >get_gps_global_origin () constGet the GPS location of where the estimator has been initialized.
                                                                  const Telemetry &operator= (const Telemetry &)=deleteEquality operator (object is not copyable).
                                                                  +

                                                                  Constructor & Destructor Documentation

                                                                  +

                                                                  Telemetry()

                                                                  +
                                                                  mavsdk::Telemetry::Telemetry(System &system)
+
                                                                  +

                                                                  Constructor. Creates the plugin for a specific System.

                                                                  +

                                                                  The plugin is typically created as shown below:

                                                                  +
                                                                  auto telemetry = Telemetry(system);
+
                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • System& system - The specific system associated with this plugin.
                                                                    • +
                                                                  +

                                                                  Telemetry()

                                                                  +
                                                                  mavsdk::Telemetry::Telemetry(std::shared_ptr< System > system)
+
                                                                  +

                                                                  Constructor. Creates the plugin for a specific System.

                                                                  +

                                                                  The plugin is typically created as shown below:

                                                                  +
                                                                  auto telemetry = Telemetry(system);
+
                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • std::shared_ptr< System > system - The specific system associated with this plugin.
                                                                    • +
                                                                  +

                                                                  ~Telemetry()

                                                                  +
                                                                  mavsdk::Telemetry::~Telemetry() override
+
                                                                  +

                                                                  Destructor (internal use only).

                                                                  +

                                                                  Telemetry()

                                                                  +
                                                                  mavsdk::Telemetry::Telemetry(const Telemetry &other)
+
                                                                  +

                                                                  Copy constructor.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Member Typdef Documentation

                                                                  +

                                                                  typedef ResultCallback

                                                                  +
                                                                  using mavsdk::Telemetry::ResultCallback =  std::function<void(Result)>
+
                                                                  +

                                                                  Callback type for asynchronous Telemetry calls.

                                                                  +

                                                                  typedef PositionCallback

                                                                  +
                                                                  using mavsdk::Telemetry::PositionCallback =  std::function<void(Position)>
+
                                                                  +

                                                                  Callback type for subscribe_position.

                                                                  +

                                                                  typedef PositionHandle

                                                                  +
                                                                  using mavsdk::Telemetry::PositionHandle =  Handle<Position>
+
                                                                  +

                                                                  Handle type for subscribe_position.

                                                                  +

                                                                  typedef HomeCallback

                                                                  +
                                                                  using mavsdk::Telemetry::HomeCallback =  std::function<void(Position)>
+
                                                                  +

                                                                  Callback type for subscribe_home.

                                                                  +

                                                                  typedef HomeHandle

                                                                  +
                                                                  using mavsdk::Telemetry::HomeHandle =  Handle<Position>
+
                                                                  +

                                                                  Handle type for subscribe_home.

                                                                  +

                                                                  typedef InAirCallback

                                                                  +
                                                                  using mavsdk::Telemetry::InAirCallback =  std::function<void(bool)>
+
                                                                  +

                                                                  Callback type for subscribe_in_air.

                                                                  +

                                                                  typedef InAirHandle

                                                                  +
                                                                  using mavsdk::Telemetry::InAirHandle =  Handle<bool>
+
                                                                  +

                                                                  Handle type for subscribe_in_air.

                                                                  +

                                                                  typedef LandedStateCallback

                                                                  +
                                                                  using mavsdk::Telemetry::LandedStateCallback =  std::function<void(LandedState)>
+
                                                                  +

                                                                  Callback type for subscribe_landed_state.

                                                                  +

                                                                  typedef LandedStateHandle

                                                                  +
                                                                  using mavsdk::Telemetry::LandedStateHandle =  Handle<LandedState>
+
                                                                  +

                                                                  Handle type for subscribe_landed_state.

                                                                  +

                                                                  typedef ArmedCallback

                                                                  +
                                                                  using mavsdk::Telemetry::ArmedCallback =  std::function<void(bool)>
+
                                                                  +

                                                                  Callback type for subscribe_armed.

                                                                  +

                                                                  typedef ArmedHandle

                                                                  +
                                                                  using mavsdk::Telemetry::ArmedHandle =  Handle<bool>
+
                                                                  +

                                                                  Handle type for subscribe_armed.

                                                                  +

                                                                  typedef VtolStateCallback

                                                                  +
                                                                  using mavsdk::Telemetry::VtolStateCallback =  std::function<void(VtolState)>
+
                                                                  +

                                                                  Callback type for subscribe_vtol_state.

                                                                  +

                                                                  typedef VtolStateHandle

                                                                  +
                                                                  using mavsdk::Telemetry::VtolStateHandle =  Handle<VtolState>
+
                                                                  +

                                                                  Handle type for subscribe_vtol_state.

                                                                  +

                                                                  typedef AttitudeQuaternionCallback

                                                                  +
                                                                  using mavsdk::Telemetry::AttitudeQuaternionCallback =  std::function<void(Quaternion)>
+
                                                                  +

                                                                  Callback type for subscribe_attitude_quaternion.

                                                                  +

                                                                  typedef AttitudeQuaternionHandle

                                                                  +
                                                                  using mavsdk::Telemetry::AttitudeQuaternionHandle =  Handle<Quaternion>
+
                                                                  +

                                                                  Handle type for subscribe_attitude_quaternion.

                                                                  +

                                                                  typedef AttitudeEulerCallback

                                                                  +
                                                                  using mavsdk::Telemetry::AttitudeEulerCallback =  std::function<void(EulerAngle)>
+
                                                                  +

                                                                  Callback type for subscribe_attitude_euler.

                                                                  +

                                                                  typedef AttitudeEulerHandle

                                                                  +
                                                                  using mavsdk::Telemetry::AttitudeEulerHandle =  Handle<EulerAngle>
+
                                                                  +

                                                                  Handle type for subscribe_attitude_euler.

                                                                  +

                                                                  typedef AttitudeAngularVelocityBodyCallback

                                                                  +
                                                                  using mavsdk::Telemetry::AttitudeAngularVelocityBodyCallback =  std::function<void(AngularVelocityBody)>
+
                                                                  +

                                                                  Callback type for subscribe_attitude_angular_velocity_body.

                                                                  +

                                                                  typedef AttitudeAngularVelocityBodyHandle

                                                                  +
                                                                  using mavsdk::Telemetry::AttitudeAngularVelocityBodyHandle =  Handle<AngularVelocityBody>
+
                                                                  +

                                                                  Handle type for subscribe_attitude_angular_velocity_body.

                                                                  +

                                                                  typedef CameraAttitudeQuaternionCallback

                                                                  +
                                                                  using mavsdk::Telemetry::CameraAttitudeQuaternionCallback =  std::function<void(Quaternion)>
+
                                                                  +

                                                                  Callback type for subscribe_camera_attitude_quaternion.

                                                                  +

                                                                  typedef CameraAttitudeQuaternionHandle

                                                                  +
                                                                  using mavsdk::Telemetry::CameraAttitudeQuaternionHandle =  Handle<Quaternion>
+
                                                                  +

                                                                  Handle type for subscribe_camera_attitude_quaternion.

                                                                  +

                                                                  typedef CameraAttitudeEulerCallback

                                                                  +
                                                                  using mavsdk::Telemetry::CameraAttitudeEulerCallback =  std::function<void(EulerAngle)>
+
                                                                  +

                                                                  Callback type for subscribe_camera_attitude_euler.

                                                                  +

                                                                  typedef CameraAttitudeEulerHandle

                                                                  +
                                                                  using mavsdk::Telemetry::CameraAttitudeEulerHandle =  Handle<EulerAngle>
+
                                                                  +

                                                                  Handle type for subscribe_camera_attitude_euler.

                                                                  +

                                                                  typedef VelocityNedCallback

                                                                  +
                                                                  using mavsdk::Telemetry::VelocityNedCallback =  std::function<void(VelocityNed)>
+
                                                                  +

                                                                  Callback type for subscribe_velocity_ned.

                                                                  +

                                                                  typedef VelocityNedHandle

                                                                  +
                                                                  using mavsdk::Telemetry::VelocityNedHandle =  Handle<VelocityNed>
+
                                                                  +

                                                                  Handle type for subscribe_velocity_ned.

                                                                  +

                                                                  typedef GpsInfoCallback

                                                                  +
                                                                  using mavsdk::Telemetry::GpsInfoCallback =  std::function<void(GpsInfo)>
+
                                                                  +

                                                                  Callback type for subscribe_gps_info.

                                                                  +

                                                                  typedef GpsInfoHandle

                                                                  +
                                                                  using mavsdk::Telemetry::GpsInfoHandle =  Handle<GpsInfo>
+
                                                                  +

                                                                  Handle type for subscribe_gps_info.

                                                                  +

                                                                  typedef RawGpsCallback

                                                                  +
                                                                  using mavsdk::Telemetry::RawGpsCallback =  std::function<void(RawGps)>
+
                                                                  +

                                                                  Callback type for subscribe_raw_gps.

                                                                  +

                                                                  typedef RawGpsHandle

                                                                  +
                                                                  using mavsdk::Telemetry::RawGpsHandle =  Handle<RawGps>
+
                                                                  +

                                                                  Handle type for subscribe_raw_gps.

                                                                  +

                                                                  typedef BatteryCallback

                                                                  +
                                                                  using mavsdk::Telemetry::BatteryCallback =  std::function<void(Battery)>
+
                                                                  +

                                                                  Callback type for subscribe_battery.

                                                                  +

                                                                  typedef BatteryHandle

                                                                  +
                                                                  using mavsdk::Telemetry::BatteryHandle =  Handle<Battery>
+
                                                                  +

                                                                  Handle type for subscribe_battery.

                                                                  +

                                                                  typedef FlightModeCallback

                                                                  +
                                                                  using mavsdk::Telemetry::FlightModeCallback =  std::function<void(FlightMode)>
+
                                                                  +

                                                                  Callback type for subscribe_flight_mode.

                                                                  +

                                                                  typedef FlightModeHandle

                                                                  +
                                                                  using mavsdk::Telemetry::FlightModeHandle =  Handle<FlightMode>
+
                                                                  +

                                                                  Handle type for subscribe_flight_mode.

                                                                  +

                                                                  typedef HealthCallback

                                                                  +
                                                                  using mavsdk::Telemetry::HealthCallback =  std::function<void(Health)>
+
                                                                  +

                                                                  Callback type for subscribe_health.

                                                                  +

                                                                  typedef HealthHandle

                                                                  +
                                                                  using mavsdk::Telemetry::HealthHandle =  Handle<Health>
+
                                                                  +

                                                                  Handle type for subscribe_health.

                                                                  +

                                                                  typedef RcStatusCallback

                                                                  +
                                                                  using mavsdk::Telemetry::RcStatusCallback =  std::function<void(RcStatus)>
+
                                                                  +

                                                                  Callback type for subscribe_rc_status.

                                                                  +

                                                                  typedef RcStatusHandle

                                                                  +
                                                                  using mavsdk::Telemetry::RcStatusHandle =  Handle<RcStatus>
+
                                                                  +

                                                                  Handle type for subscribe_rc_status.

                                                                  +

                                                                  typedef StatusTextCallback

                                                                  +
                                                                  using mavsdk::Telemetry::StatusTextCallback =  std::function<void(StatusText)>
+
                                                                  +

                                                                  Callback type for subscribe_status_text.

                                                                  +

                                                                  typedef StatusTextHandle

                                                                  +
                                                                  using mavsdk::Telemetry::StatusTextHandle =  Handle<StatusText>
+
                                                                  +

                                                                  Handle type for subscribe_status_text.

                                                                  +

                                                                  typedef ActuatorControlTargetCallback

                                                                  +
                                                                  using mavsdk::Telemetry::ActuatorControlTargetCallback =  std::function<void(ActuatorControlTarget)>
+
                                                                  +

                                                                  Callback type for subscribe_actuator_control_target.

                                                                  +

                                                                  typedef ActuatorControlTargetHandle

                                                                  +
                                                                  using mavsdk::Telemetry::ActuatorControlTargetHandle =  Handle<ActuatorControlTarget>
+
                                                                  +

                                                                  Handle type for subscribe_actuator_control_target.

                                                                  +

                                                                  typedef ActuatorOutputStatusCallback

                                                                  +
                                                                  using mavsdk::Telemetry::ActuatorOutputStatusCallback =  std::function<void(ActuatorOutputStatus)>
+
                                                                  +

                                                                  Callback type for subscribe_actuator_output_status.

                                                                  +

                                                                  typedef ActuatorOutputStatusHandle

                                                                  +
                                                                  using mavsdk::Telemetry::ActuatorOutputStatusHandle =  Handle<ActuatorOutputStatus>
+
                                                                  +

                                                                  Handle type for subscribe_actuator_output_status.

                                                                  +

                                                                  typedef OdometryCallback

                                                                  +
                                                                  using mavsdk::Telemetry::OdometryCallback =  std::function<void(Odometry)>
+
                                                                  +

                                                                  Callback type for subscribe_odometry.

                                                                  +

                                                                  typedef OdometryHandle

                                                                  +
                                                                  using mavsdk::Telemetry::OdometryHandle =  Handle<Odometry>
+
                                                                  +

                                                                  Handle type for subscribe_odometry.

                                                                  +

                                                                  typedef PositionVelocityNedCallback

                                                                  +
                                                                  using mavsdk::Telemetry::PositionVelocityNedCallback =  std::function<void(PositionVelocityNed)>
+
                                                                  +

                                                                  Callback type for subscribe_position_velocity_ned.

                                                                  +

                                                                  typedef PositionVelocityNedHandle

                                                                  +
                                                                  using mavsdk::Telemetry::PositionVelocityNedHandle =  Handle<PositionVelocityNed>
+
                                                                  +

                                                                  Handle type for subscribe_position_velocity_ned.

                                                                  +

                                                                  typedef GroundTruthCallback

                                                                  +
                                                                  using mavsdk::Telemetry::GroundTruthCallback =  std::function<void(GroundTruth)>
+
                                                                  +

                                                                  Callback type for subscribe_ground_truth.

                                                                  +

                                                                  typedef GroundTruthHandle

                                                                  +
                                                                  using mavsdk::Telemetry::GroundTruthHandle =  Handle<GroundTruth>
+
                                                                  +

                                                                  Handle type for subscribe_ground_truth.

                                                                  +

                                                                  typedef FixedwingMetricsCallback

                                                                  +
                                                                  using mavsdk::Telemetry::FixedwingMetricsCallback =  std::function<void(FixedwingMetrics)>
+
                                                                  +

                                                                  Callback type for subscribe_fixedwing_metrics.

                                                                  +

                                                                  typedef FixedwingMetricsHandle

                                                                  +
                                                                  using mavsdk::Telemetry::FixedwingMetricsHandle =  Handle<FixedwingMetrics>
+
                                                                  +

                                                                  Handle type for subscribe_fixedwing_metrics.

                                                                  +

                                                                  typedef ImuCallback

                                                                  +
                                                                  using mavsdk::Telemetry::ImuCallback =  std::function<void(Imu)>
+
                                                                  +

                                                                  Callback type for subscribe_imu.

                                                                  +

                                                                  typedef ImuHandle

                                                                  +
                                                                  using mavsdk::Telemetry::ImuHandle =  Handle<Imu>
+
                                                                  +

                                                                  Handle type for subscribe_imu.

                                                                  +

                                                                  typedef ScaledImuCallback

                                                                  +
                                                                  using mavsdk::Telemetry::ScaledImuCallback =  std::function<void(Imu)>
+
                                                                  +

                                                                  Callback type for subscribe_scaled_imu.

                                                                  +

                                                                  typedef ScaledImuHandle

                                                                  +
                                                                  using mavsdk::Telemetry::ScaledImuHandle =  Handle<Imu>
+
                                                                  +

                                                                  Handle type for subscribe_scaled_imu.

                                                                  +

                                                                  typedef RawImuCallback

                                                                  +
                                                                  using mavsdk::Telemetry::RawImuCallback =  std::function<void(Imu)>
+
                                                                  +

                                                                  Callback type for subscribe_raw_imu.

                                                                  +

                                                                  typedef RawImuHandle

                                                                  +
                                                                  using mavsdk::Telemetry::RawImuHandle =  Handle<Imu>
+
                                                                  +

                                                                  Handle type for subscribe_raw_imu.

                                                                  +

                                                                  typedef HealthAllOkCallback

                                                                  +
                                                                  using mavsdk::Telemetry::HealthAllOkCallback =  std::function<void(bool)>
+
                                                                  +

                                                                  Callback type for subscribe_health_all_ok.

                                                                  +

                                                                  typedef HealthAllOkHandle

                                                                  +
                                                                  using mavsdk::Telemetry::HealthAllOkHandle =  Handle<bool>
+
                                                                  +

                                                                  Handle type for subscribe_health_all_ok.

                                                                  +

                                                                  typedef UnixEpochTimeCallback

                                                                  +
                                                                  using mavsdk::Telemetry::UnixEpochTimeCallback =  std::function<void(uint64_t)>
+
                                                                  +

                                                                  Callback type for subscribe_unix_epoch_time.

                                                                  +

                                                                  typedef UnixEpochTimeHandle

                                                                  +
                                                                  using mavsdk::Telemetry::UnixEpochTimeHandle =  Handle<uint64_t>
+
                                                                  +

                                                                  Handle type for subscribe_unix_epoch_time.

                                                                  +

                                                                  typedef DistanceSensorCallback

                                                                  +
                                                                  using mavsdk::Telemetry::DistanceSensorCallback =  std::function<void(DistanceSensor)>
+
                                                                  +

                                                                  Callback type for subscribe_distance_sensor.

                                                                  +

                                                                  typedef DistanceSensorHandle

                                                                  +
                                                                  using mavsdk::Telemetry::DistanceSensorHandle =  Handle<DistanceSensor>
+
                                                                  +

                                                                  Handle type for subscribe_distance_sensor.

                                                                  +

                                                                  typedef ScaledPressureCallback

                                                                  +
                                                                  using mavsdk::Telemetry::ScaledPressureCallback =  std::function<void(ScaledPressure)>
+
                                                                  +

                                                                  Callback type for subscribe_scaled_pressure.

                                                                  +

                                                                  typedef ScaledPressureHandle

                                                                  +
                                                                  using mavsdk::Telemetry::ScaledPressureHandle =  Handle<ScaledPressure>
+
                                                                  +

                                                                  Handle type for subscribe_scaled_pressure.

                                                                  +

                                                                  typedef HeadingCallback

                                                                  +
                                                                  using mavsdk::Telemetry::HeadingCallback =  std::function<void(Heading)>
+
                                                                  +

                                                                  Callback type for subscribe_heading.

                                                                  +

                                                                  typedef HeadingHandle

                                                                  +
                                                                  using mavsdk::Telemetry::HeadingHandle =  Handle<Heading>
+
                                                                  +

                                                                  Handle type for subscribe_heading.

                                                                  +

                                                                  typedef AltitudeCallback

                                                                  +
                                                                  using mavsdk::Telemetry::AltitudeCallback =  std::function<void(Altitude)>
+
                                                                  +

                                                                  Callback type for subscribe_altitude.

                                                                  +

                                                                  typedef AltitudeHandle

                                                                  +
                                                                  using mavsdk::Telemetry::AltitudeHandle =  Handle<Altitude>
+
                                                                  +

                                                                  Handle type for subscribe_altitude.

                                                                  +

                                                                  typedef GetGpsGlobalOriginCallback

                                                                  +
                                                                  using mavsdk::Telemetry::GetGpsGlobalOriginCallback =  std::function<void(Result, GpsGlobalOrigin)>
+
                                                                  +

                                                                  Callback type for get_gps_global_origin_async.

                                                                  +

                                                                  Member Enumeration Documentation

                                                                  +

                                                                  enum FixType

                                                                  +

                                                                  GPS fix type.

                                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                  ValueDescription
                                                                  NoGpsNo GPS connected.
                                                                  NoFixNo position information, GPS is connected.
                                                                  Fix2D2D position.
                                                                  Fix3D3D position.
                                                                  FixDgpsDGPS/SBAS aided 3D position.
                                                                  RtkFloatRTK float, 3D position.
                                                                  RtkFixedRTK Fixed, 3D position.
                                                                  +

                                                                  enum FlightMode

                                                                  +

                                                                  Flight modes.

                                                                  +

                                                                  For more information about flight modes, check out https://docs.px4.io/master/en/config/flight_mode.html.

                                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                  ValueDescription
                                                                  UnknownMode not known.
                                                                  ReadyArmed and ready to take off.
                                                                  TakeoffTaking off.
                                                                  HoldHolding (hovering in place (or circling for fixed-wing vehicles).
                                                                  MissionIn mission.
                                                                  ReturnToLaunchReturning to launch position (then landing).
                                                                  LandLanding.
                                                                  OffboardIn 'offboard' mode.
                                                                  FollowMeIn 'follow-me' mode.
                                                                  ManualIn 'Manual' mode.
                                                                  AltctlIn 'Altitude Control' mode.
                                                                  PosctlIn 'Position Control' mode.
                                                                  AcroIn 'Acro' mode.
                                                                  StabilizedIn 'Stabilize' mode.
                                                                  RattitudeIn 'Rattitude' mode.
                                                                  +

                                                                  enum StatusTextType

                                                                  +

                                                                  Status types.

                                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                  ValueDescription
                                                                  DebugDebug.
                                                                  InfoInformation.
                                                                  NoticeNotice.
                                                                  WarningWarning.
                                                                  ErrorError.
                                                                  CriticalCritical.
                                                                  AlertAlert.
                                                                  EmergencyEmergency.
                                                                  +

                                                                  enum LandedState

                                                                  +

                                                                  Landed State enumeration.

                                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                  ValueDescription
                                                                  UnknownLanded state is unknown.
                                                                  OnGroundThe vehicle is on the ground.
                                                                  InAirThe vehicle is in the air.
                                                                  TakingOffThe vehicle is taking off.
                                                                  LandingThe vehicle is landing.
                                                                  +

                                                                  enum VtolState

                                                                  +

                                                                  VTOL State enumeration.

                                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                  ValueDescription
                                                                  UndefinedMAV is not configured as VTOL.
                                                                  TransitionToFwVTOL is in transition from multicopter to fixed-wing.
                                                                  TransitionToMcVTOL is in transition from fixed-wing to multicopter.
                                                                  McVTOL is in multicopter state.
                                                                  FwVTOL is in fixed-wing state.
                                                                  +

                                                                  enum Result

                                                                  +

                                                                  Possible results returned for telemetry requests.

                                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                  ValueDescription
                                                                  UnknownUnknown result.
                                                                  SuccessSuccess: the telemetry command was accepted by the vehicle.
                                                                  NoSystemNo system connected.
                                                                  ConnectionErrorConnection error.
                                                                  BusyVehicle is busy.
                                                                  CommandDeniedCommand refused by vehicle.
                                                                  TimeoutRequest timed out.
                                                                  UnsupportedRequest not supported.
                                                                  +

                                                                  Member Function Documentation

                                                                  +

                                                                  subscribe_position()

                                                                  +
                                                                  PositionHandle mavsdk::Telemetry::subscribe_position(const PositionCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'position' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   PositionHandle -

                                                                  +

                                                                  unsubscribe_position()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_position(PositionHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_position.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  position()

                                                                  +
                                                                  Position mavsdk::Telemetry::position() const
+
                                                                  +

                                                                  Poll for 'Position' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Position - One Position update.

                                                                  +

                                                                  subscribe_home()

                                                                  +
                                                                  HomeHandle mavsdk::Telemetry::subscribe_home(const HomeCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'home position' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   HomeHandle -

                                                                  +

                                                                  unsubscribe_home()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_home(HomeHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_home.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  home()

                                                                  +
                                                                  Position mavsdk::Telemetry::home() const
+
                                                                  +

                                                                  Poll for 'Position' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Position - One Position update.

                                                                  +

                                                                  subscribe_in_air()

                                                                  +
                                                                  InAirHandle mavsdk::Telemetry::subscribe_in_air(const InAirCallback &callback)
+
                                                                  +

                                                                  Subscribe to in-air updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   InAirHandle -

                                                                  +

                                                                  unsubscribe_in_air()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_in_air(InAirHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_in_air.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  in_air()

                                                                  +
                                                                  bool mavsdk::Telemetry::in_air() const
+
                                                                  +

                                                                  Poll for 'bool' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   bool - One bool update.

                                                                  +

                                                                  subscribe_landed_state()

                                                                  +
                                                                  LandedStateHandle mavsdk::Telemetry::subscribe_landed_state(const LandedStateCallback &callback)
+
                                                                  +

                                                                  Subscribe to landed state updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   LandedStateHandle -

                                                                  +

                                                                  unsubscribe_landed_state()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_landed_state(LandedStateHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_landed_state.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  landed_state()

                                                                  +
                                                                  LandedState mavsdk::Telemetry::landed_state() const
+
                                                                  +

                                                                  Poll for 'LandedState' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   LandedState - One LandedState update.

                                                                  +

                                                                  subscribe_armed()

                                                                  +
                                                                  ArmedHandle mavsdk::Telemetry::subscribe_armed(const ArmedCallback &callback)
+
                                                                  +

                                                                  Subscribe to armed updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   ArmedHandle -

                                                                  +

                                                                  unsubscribe_armed()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_armed(ArmedHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_armed.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  armed()

                                                                  +
                                                                  bool mavsdk::Telemetry::armed() const
+
                                                                  +

                                                                  Poll for 'bool' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   bool - One bool update.

                                                                  +

                                                                  subscribe_vtol_state()

                                                                  +
                                                                  VtolStateHandle mavsdk::Telemetry::subscribe_vtol_state(const VtolStateCallback &callback)
+
                                                                  +

                                                                  subscribe to vtol state Updates

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   VtolStateHandle -

                                                                  +

                                                                  unsubscribe_vtol_state()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_vtol_state(VtolStateHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_vtol_state.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  vtol_state()

                                                                  +
                                                                  VtolState mavsdk::Telemetry::vtol_state() const
+
                                                                  +

                                                                  Poll for 'VtolState' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   VtolState - One VtolState update.

                                                                  +

                                                                  subscribe_attitude_quaternion()

                                                                  +
                                                                  AttitudeQuaternionHandle mavsdk::Telemetry::subscribe_attitude_quaternion(const AttitudeQuaternionCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'attitude' updates (quaternion).

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   AttitudeQuaternionHandle -

                                                                  +

                                                                  unsubscribe_attitude_quaternion()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_attitude_quaternion(AttitudeQuaternionHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_attitude_quaternion.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  attitude_quaternion()

                                                                  +
                                                                  Quaternion mavsdk::Telemetry::attitude_quaternion() const
+
                                                                  +

                                                                  Poll for 'Quaternion' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Quaternion - One Quaternion update.

                                                                  +

                                                                  subscribe_attitude_euler()

                                                                  +
                                                                  AttitudeEulerHandle mavsdk::Telemetry::subscribe_attitude_euler(const AttitudeEulerCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'attitude' updates (Euler).

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   AttitudeEulerHandle -

                                                                  +

                                                                  unsubscribe_attitude_euler()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_attitude_euler(AttitudeEulerHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_attitude_euler.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  attitude_euler()

                                                                  +
                                                                  EulerAngle mavsdk::Telemetry::attitude_euler() const
+
                                                                  +

                                                                  Poll for 'EulerAngle' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   EulerAngle - One EulerAngle update.

                                                                  +

                                                                  subscribe_attitude_angular_velocity_body()

                                                                  +
                                                                  AttitudeAngularVelocityBodyHandle mavsdk::Telemetry::subscribe_attitude_angular_velocity_body(const AttitudeAngularVelocityBodyCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'attitude' updates (angular velocity)

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   AttitudeAngularVelocityBodyHandle -

                                                                  +

                                                                  unsubscribe_attitude_angular_velocity_body()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_attitude_angular_velocity_body(AttitudeAngularVelocityBodyHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_attitude_angular_velocity_body.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  attitude_angular_velocity_body()

                                                                  +
                                                                  AngularVelocityBody mavsdk::Telemetry::attitude_angular_velocity_body() const
+
                                                                  +

                                                                  Poll for 'AngularVelocityBody' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   AngularVelocityBody - One AngularVelocityBody update.

                                                                  +

                                                                  subscribe_camera_attitude_quaternion()

                                                                  +
                                                                  CameraAttitudeQuaternionHandle mavsdk::Telemetry::subscribe_camera_attitude_quaternion(const CameraAttitudeQuaternionCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'camera attitude' updates (quaternion).

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   CameraAttitudeQuaternionHandle -

                                                                  +

                                                                  unsubscribe_camera_attitude_quaternion()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_camera_attitude_quaternion(CameraAttitudeQuaternionHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_camera_attitude_quaternion.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  camera_attitude_quaternion()

                                                                  +
                                                                  Quaternion mavsdk::Telemetry::camera_attitude_quaternion() const
+
                                                                  +

                                                                  Poll for 'Quaternion' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Quaternion - One Quaternion update.

                                                                  +

                                                                  subscribe_camera_attitude_euler()

                                                                  +
                                                                  CameraAttitudeEulerHandle mavsdk::Telemetry::subscribe_camera_attitude_euler(const CameraAttitudeEulerCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'camera attitude' updates (Euler).

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   CameraAttitudeEulerHandle -

                                                                  +

                                                                  unsubscribe_camera_attitude_euler()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_camera_attitude_euler(CameraAttitudeEulerHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_camera_attitude_euler.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  camera_attitude_euler()

                                                                  +
                                                                  EulerAngle mavsdk::Telemetry::camera_attitude_euler() const
+
                                                                  +

                                                                  Poll for 'EulerAngle' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   EulerAngle - One EulerAngle update.

                                                                  +

                                                                  subscribe_velocity_ned()

                                                                  +
                                                                  VelocityNedHandle mavsdk::Telemetry::subscribe_velocity_ned(const VelocityNedCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'ground speed' updates (NED).

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   VelocityNedHandle -

                                                                  +

                                                                  unsubscribe_velocity_ned()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_velocity_ned(VelocityNedHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_velocity_ned.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  velocity_ned()

                                                                  +
                                                                  VelocityNed mavsdk::Telemetry::velocity_ned() const
+
                                                                  +

                                                                  Poll for 'VelocityNed' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   VelocityNed - One VelocityNed update.

                                                                  +

                                                                  subscribe_gps_info()

                                                                  +
                                                                  GpsInfoHandle mavsdk::Telemetry::subscribe_gps_info(const GpsInfoCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'GPS info' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   GpsInfoHandle -

                                                                  +

                                                                  unsubscribe_gps_info()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_gps_info(GpsInfoHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_gps_info.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  gps_info()

                                                                  +
                                                                  GpsInfo mavsdk::Telemetry::gps_info() const
+
                                                                  +

                                                                  Poll for 'GpsInfo' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   GpsInfo - One GpsInfo update.

                                                                  +

                                                                  subscribe_raw_gps()

                                                                  +
                                                                  RawGpsHandle mavsdk::Telemetry::subscribe_raw_gps(const RawGpsCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'Raw GPS' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   RawGpsHandle -

                                                                  +

                                                                  unsubscribe_raw_gps()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_raw_gps(RawGpsHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_raw_gps.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  raw_gps()

                                                                  +
                                                                  RawGps mavsdk::Telemetry::raw_gps() const
+
                                                                  +

                                                                  Poll for 'RawGps' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   RawGps - One RawGps update.

                                                                  +

                                                                  subscribe_battery()

                                                                  +
                                                                  BatteryHandle mavsdk::Telemetry::subscribe_battery(const BatteryCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'battery' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   BatteryHandle -

                                                                  +

                                                                  unsubscribe_battery()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_battery(BatteryHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_battery.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  battery()

                                                                  +
                                                                  Battery mavsdk::Telemetry::battery() const
+
                                                                  +

                                                                  Poll for 'Battery' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Battery - One Battery update.

                                                                  +

                                                                  subscribe_flight_mode()

                                                                  +
                                                                  FlightModeHandle mavsdk::Telemetry::subscribe_flight_mode(const FlightModeCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'flight mode' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   FlightModeHandle -

                                                                  +

                                                                  unsubscribe_flight_mode()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_flight_mode(FlightModeHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_flight_mode.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  flight_mode()

                                                                  +
                                                                  FlightMode mavsdk::Telemetry::flight_mode() const
+
                                                                  +

                                                                  Poll for 'FlightMode' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   FlightMode - One FlightMode update.

                                                                  +

                                                                  subscribe_health()

                                                                  +
                                                                  HealthHandle mavsdk::Telemetry::subscribe_health(const HealthCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'health' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   HealthHandle -

                                                                  +

                                                                  unsubscribe_health()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_health(HealthHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_health.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  health()

                                                                  +
                                                                  Health mavsdk::Telemetry::health() const
+
                                                                  +

                                                                  Poll for 'Health' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Health - One Health update.

                                                                  +

                                                                  subscribe_rc_status()

                                                                  +
                                                                  RcStatusHandle mavsdk::Telemetry::subscribe_rc_status(const RcStatusCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'RC status' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   RcStatusHandle -

                                                                  +

                                                                  unsubscribe_rc_status()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_rc_status(RcStatusHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_rc_status.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  rc_status()

                                                                  +
                                                                  RcStatus mavsdk::Telemetry::rc_status() const
+
                                                                  +

                                                                  Poll for 'RcStatus' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   RcStatus - One RcStatus update.

                                                                  +

                                                                  subscribe_status_text()

                                                                  +
                                                                  StatusTextHandle mavsdk::Telemetry::subscribe_status_text(const StatusTextCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'status text' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   StatusTextHandle -

                                                                  +

                                                                  unsubscribe_status_text()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_status_text(StatusTextHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_status_text.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  status_text()

                                                                  +
                                                                  StatusText mavsdk::Telemetry::status_text() const
+
                                                                  +

                                                                  Poll for 'StatusText' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   StatusText - One StatusText update.

                                                                  +

                                                                  subscribe_actuator_control_target()

                                                                  +
                                                                  ActuatorControlTargetHandle mavsdk::Telemetry::subscribe_actuator_control_target(const ActuatorControlTargetCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'actuator control target' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   ActuatorControlTargetHandle -

                                                                  +

                                                                  unsubscribe_actuator_control_target()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_actuator_control_target(ActuatorControlTargetHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_actuator_control_target.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  actuator_control_target()

                                                                  +
                                                                  ActuatorControlTarget mavsdk::Telemetry::actuator_control_target() const
+
                                                                  +

                                                                  Poll for 'ActuatorControlTarget' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   ActuatorControlTarget - One ActuatorControlTarget update.

                                                                  +

                                                                  subscribe_actuator_output_status()

                                                                  +
                                                                  ActuatorOutputStatusHandle mavsdk::Telemetry::subscribe_actuator_output_status(const ActuatorOutputStatusCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'actuator output status' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   ActuatorOutputStatusHandle -

                                                                  +

                                                                  unsubscribe_actuator_output_status()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_actuator_output_status(ActuatorOutputStatusHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_actuator_output_status.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  actuator_output_status()

                                                                  +
                                                                  ActuatorOutputStatus mavsdk::Telemetry::actuator_output_status() const
+
                                                                  +

                                                                  Poll for 'ActuatorOutputStatus' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   ActuatorOutputStatus - One ActuatorOutputStatus update.

                                                                  +

                                                                  subscribe_odometry()

                                                                  +
                                                                  OdometryHandle mavsdk::Telemetry::subscribe_odometry(const OdometryCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'odometry' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   OdometryHandle -

                                                                  +

                                                                  unsubscribe_odometry()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_odometry(OdometryHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_odometry.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  odometry()

                                                                  +
                                                                  Odometry mavsdk::Telemetry::odometry() const
+
                                                                  +

                                                                  Poll for 'Odometry' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Odometry - One Odometry update.

                                                                  +

                                                                  subscribe_position_velocity_ned()

                                                                  +
                                                                  PositionVelocityNedHandle mavsdk::Telemetry::subscribe_position_velocity_ned(const PositionVelocityNedCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'position velocity' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   PositionVelocityNedHandle -

                                                                  +

                                                                  unsubscribe_position_velocity_ned()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_position_velocity_ned(PositionVelocityNedHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_position_velocity_ned.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  position_velocity_ned()

                                                                  +
                                                                  PositionVelocityNed mavsdk::Telemetry::position_velocity_ned() const
+
                                                                  +

                                                                  Poll for 'PositionVelocityNed' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   PositionVelocityNed - One PositionVelocityNed update.

                                                                  +

                                                                  subscribe_ground_truth()

                                                                  +
                                                                  GroundTruthHandle mavsdk::Telemetry::subscribe_ground_truth(const GroundTruthCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'ground truth' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   GroundTruthHandle -

                                                                  +

                                                                  unsubscribe_ground_truth()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_ground_truth(GroundTruthHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_ground_truth.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  ground_truth()

                                                                  +
                                                                  GroundTruth mavsdk::Telemetry::ground_truth() const
+
                                                                  +

                                                                  Poll for 'GroundTruth' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   GroundTruth - One GroundTruth update.

                                                                  +

                                                                  subscribe_fixedwing_metrics()

                                                                  +
                                                                  FixedwingMetricsHandle mavsdk::Telemetry::subscribe_fixedwing_metrics(const FixedwingMetricsCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'fixedwing metrics' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   FixedwingMetricsHandle -

                                                                  +

                                                                  unsubscribe_fixedwing_metrics()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_fixedwing_metrics(FixedwingMetricsHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_fixedwing_metrics.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  fixedwing_metrics()

                                                                  +
                                                                  FixedwingMetrics mavsdk::Telemetry::fixedwing_metrics() const
+
                                                                  +

                                                                  Poll for 'FixedwingMetrics' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   FixedwingMetrics - One FixedwingMetrics update.

                                                                  +

                                                                  subscribe_imu()

                                                                  +
                                                                  ImuHandle mavsdk::Telemetry::subscribe_imu(const ImuCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'IMU' updates (in SI units in NED body frame).

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   ImuHandle -

                                                                  +

                                                                  unsubscribe_imu()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_imu(ImuHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_imu.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  imu()

                                                                  +
                                                                  Imu mavsdk::Telemetry::imu() const
+
                                                                  +

                                                                  Poll for 'Imu' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Imu - One Imu update.

                                                                  +

                                                                  subscribe_scaled_imu()

                                                                  +
                                                                  ScaledImuHandle mavsdk::Telemetry::subscribe_scaled_imu(const ScaledImuCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'Scaled IMU' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   ScaledImuHandle -

                                                                  +

                                                                  unsubscribe_scaled_imu()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_scaled_imu(ScaledImuHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_scaled_imu.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  scaled_imu()

                                                                  +
                                                                  Imu mavsdk::Telemetry::scaled_imu() const
+
                                                                  +

                                                                  Poll for 'Imu' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Imu - One Imu update.

                                                                  +

                                                                  subscribe_raw_imu()

                                                                  +
                                                                  RawImuHandle mavsdk::Telemetry::subscribe_raw_imu(const RawImuCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'Raw IMU' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   RawImuHandle -

                                                                  +

                                                                  unsubscribe_raw_imu()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_raw_imu(RawImuHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_raw_imu.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  raw_imu()

                                                                  +
                                                                  Imu mavsdk::Telemetry::raw_imu() const
+
                                                                  +

                                                                  Poll for 'Imu' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Imu - One Imu update.

                                                                  +

                                                                  subscribe_health_all_ok()

                                                                  +
                                                                  HealthAllOkHandle mavsdk::Telemetry::subscribe_health_all_ok(const HealthAllOkCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'HealthAllOk' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   HealthAllOkHandle -

                                                                  +

                                                                  unsubscribe_health_all_ok()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_health_all_ok(HealthAllOkHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_health_all_ok.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  health_all_ok()

                                                                  +
                                                                  bool mavsdk::Telemetry::health_all_ok() const
+
                                                                  +

                                                                  Poll for 'bool' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   bool - One bool update.

                                                                  +

                                                                  subscribe_unix_epoch_time()

                                                                  +
                                                                  UnixEpochTimeHandle mavsdk::Telemetry::subscribe_unix_epoch_time(const UnixEpochTimeCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'unix epoch time' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   UnixEpochTimeHandle -

                                                                  +

                                                                  unsubscribe_unix_epoch_time()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_unix_epoch_time(UnixEpochTimeHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_unix_epoch_time.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  unix_epoch_time()

                                                                  +
                                                                  uint64_t mavsdk::Telemetry::unix_epoch_time() const
+
                                                                  +

                                                                  Poll for 'uint64_t' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   uint64_t - One uint64_t update.

                                                                  +

                                                                  subscribe_distance_sensor()

                                                                  +
                                                                  DistanceSensorHandle mavsdk::Telemetry::subscribe_distance_sensor(const DistanceSensorCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'Distance Sensor' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   DistanceSensorHandle -

                                                                  +

                                                                  unsubscribe_distance_sensor()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_distance_sensor(DistanceSensorHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_distance_sensor.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  distance_sensor()

                                                                  +
                                                                  DistanceSensor mavsdk::Telemetry::distance_sensor() const
+
                                                                  +

                                                                  Poll for 'DistanceSensor' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   DistanceSensor - One DistanceSensor update.

                                                                  +

                                                                  subscribe_scaled_pressure()

                                                                  +
                                                                  ScaledPressureHandle mavsdk::Telemetry::subscribe_scaled_pressure(const ScaledPressureCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'Scaled Pressure' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   ScaledPressureHandle -

                                                                  +

                                                                  unsubscribe_scaled_pressure()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_scaled_pressure(ScaledPressureHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_scaled_pressure.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  scaled_pressure()

                                                                  +
                                                                  ScaledPressure mavsdk::Telemetry::scaled_pressure() const
+
                                                                  +

                                                                  Poll for 'ScaledPressure' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   ScaledPressure - One ScaledPressure update.

                                                                  +

                                                                  subscribe_heading()

                                                                  +
                                                                  HeadingHandle mavsdk::Telemetry::subscribe_heading(const HeadingCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'Heading' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   HeadingHandle -

                                                                  +

                                                                  unsubscribe_heading()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_heading(HeadingHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_heading.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  heading()

                                                                  +
                                                                  Heading mavsdk::Telemetry::heading() const
+
                                                                  +

                                                                  Poll for 'Heading' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Heading - One Heading update.

                                                                  +

                                                                  subscribe_altitude()

                                                                  +
                                                                  AltitudeHandle mavsdk::Telemetry::subscribe_altitude(const AltitudeCallback &callback)
+
                                                                  +

                                                                  Subscribe to 'Altitude' updates.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   AltitudeHandle -

                                                                  +

                                                                  unsubscribe_altitude()

                                                                  +
                                                                  void mavsdk::Telemetry::unsubscribe_altitude(AltitudeHandle handle)
+
                                                                  +

                                                                  Unsubscribe from subscribe_altitude.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  altitude()

                                                                  +
                                                                  Altitude mavsdk::Telemetry::altitude() const
+
                                                                  +

                                                                  Poll for 'Altitude' (blocking).

                                                                  +

                                                                  Returns

                                                                  +

                                                                   Altitude - One Altitude update.

                                                                  +

                                                                  set_rate_position_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_position_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'position' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_position' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_position()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_position(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'position' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_position_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_home_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_home_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'home position' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_home' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_home()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_home(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'home position' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_home_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_in_air_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_in_air_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to in-air updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_in_air' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_in_air()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_in_air(double rate_hz) const
+
                                                                  +

                                                                  Set rate to in-air updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_in_air_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_landed_state_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_landed_state_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to landed state updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_landed_state' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_landed_state()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_landed_state(double rate_hz) const
+
                                                                  +

                                                                  Set rate to landed state updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_landed_state_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_vtol_state_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_vtol_state_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to VTOL state updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_vtol_state' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_vtol_state()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_vtol_state(double rate_hz) const
+
                                                                  +

                                                                  Set rate to VTOL state updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_vtol_state_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_attitude_quaternion_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_attitude_quaternion_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'attitude euler angle' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_attitude_quaternion' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_attitude_quaternion()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_attitude_quaternion(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'attitude euler angle' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_attitude_quaternion_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_attitude_euler_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_attitude_euler_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'attitude quaternion' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_attitude_euler' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_attitude_euler()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_attitude_euler(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'attitude quaternion' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_attitude_euler_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_camera_attitude_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_camera_attitude_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate of camera attitude updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_camera_attitude' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_camera_attitude()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_camera_attitude(double rate_hz) const
+
                                                                  +

                                                                  Set rate of camera attitude updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_camera_attitude_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_velocity_ned_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_velocity_ned_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'ground speed' updates (NED).

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_velocity_ned' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_velocity_ned()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_velocity_ned(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'ground speed' updates (NED).

                                                                  +

                                                                  This function is blocking. See 'set_rate_velocity_ned_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_gps_info_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_gps_info_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'GPS info' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_gps_info' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_gps_info()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_gps_info(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'GPS info' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_gps_info_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_battery_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_battery_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'battery' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_battery' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_battery()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_battery(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'battery' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_battery_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_rc_status_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_rc_status_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'RC status' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_rc_status' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_rc_status()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_rc_status(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'RC status' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_rc_status_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_actuator_control_target_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_actuator_control_target_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'actuator control target' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_actuator_control_target' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_actuator_control_target()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_actuator_control_target(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'actuator control target' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_actuator_control_target_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_actuator_output_status_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_actuator_output_status_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'actuator output status' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_actuator_output_status' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_actuator_output_status()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_actuator_output_status(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'actuator output status' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_actuator_output_status_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_odometry_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_odometry_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'odometry' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_odometry' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_odometry()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_odometry(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'odometry' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_odometry_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_position_velocity_ned_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_position_velocity_ned_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'position velocity' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_position_velocity_ned' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_position_velocity_ned()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_position_velocity_ned(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'position velocity' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_position_velocity_ned_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_ground_truth_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_ground_truth_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'ground truth' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_ground_truth' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_ground_truth()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_ground_truth(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'ground truth' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_ground_truth_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_fixedwing_metrics_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_fixedwing_metrics_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'fixedwing metrics' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_fixedwing_metrics' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_fixedwing_metrics()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_fixedwing_metrics(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'fixedwing metrics' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_fixedwing_metrics_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_imu_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_imu_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'IMU' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_imu' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_imu()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_imu(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'IMU' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_imu_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_scaled_imu_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_scaled_imu_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'Scaled IMU' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_scaled_imu' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_scaled_imu()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_scaled_imu(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'Scaled IMU' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_scaled_imu_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_raw_imu_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_raw_imu_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'Raw IMU' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_raw_imu' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_raw_imu()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_raw_imu(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'Raw IMU' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_raw_imu_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_unix_epoch_time_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_unix_epoch_time_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'unix epoch time' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_unix_epoch_time' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_unix_epoch_time()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_unix_epoch_time(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'unix epoch time' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_unix_epoch_time_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_distance_sensor_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_distance_sensor_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'Distance Sensor' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_distance_sensor' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_distance_sensor()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_distance_sensor(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'Distance Sensor' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_distance_sensor_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  set_rate_altitude_async()

                                                                  +
                                                                  void mavsdk::Telemetry::set_rate_altitude_async(double rate_hz, const ResultCallback callback)
+
                                                                  +

                                                                  Set rate to 'Altitude' updates.

                                                                  +

                                                                  This function is non-blocking. See 'set_rate_altitude' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  set_rate_altitude()

                                                                  +
                                                                  Result mavsdk::Telemetry::set_rate_altitude(double rate_hz) const
+
                                                                  +

                                                                  Set rate to 'Altitude' updates.

                                                                  +

                                                                  This function is blocking. See 'set_rate_altitude_async' for the non-blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  +
                                                                    +
                                                                  • double rate_hz -
                                                                    • +
                                                                  +

                                                                  Returns

                                                                  +

                                                                   Result - Result of request.

                                                                  +

                                                                  get_gps_global_origin_async()

                                                                  +
                                                                  void mavsdk::Telemetry::get_gps_global_origin_async(const GetGpsGlobalOriginCallback callback)
+
                                                                  +

                                                                  Get the GPS location of where the estimator has been initialized.

                                                                  +

                                                                  This function is non-blocking. See 'get_gps_global_origin' for the blocking counterpart.

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  get_gps_global_origin()

                                                                  +
                                                                  std::pair<Result, Telemetry::GpsGlobalOrigin> mavsdk::Telemetry::get_gps_global_origin() const
+
                                                                  +

                                                                  Get the GPS location of where the estimator has been initialized.

                                                                  +

                                                                  This function is blocking. See 'get_gps_global_origin_async' for the non-blocking counterpart.

                                                                  +

                                                                  Returns

                                                                  +

                                                                   std::pair< Result, Telemetry::GpsGlobalOrigin > - Result of request.

                                                                  +

                                                                  operator=()

                                                                  +
                                                                  const Telemetry& mavsdk::Telemetry::operator=(const Telemetry &)=delete
+
                                                                  +

                                                                  Equality operator (object is not copyable).

                                                                  +

                                                                  Parameters

                                                                  + +

                                                                  Returns

                                                                  +

                                                                   const Telemetry & -

                                                                  +
                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                    mavsdk::TelemetryServer Class Reference

                                                                    +

                                                                    #include: telemetry_server.h

                                                                    +
                                                                    +

                                                                    Allow users to provide vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates.

                                                                    +

                                                                    Data Structures

                                                                    +

                                                                    struct AccelerationFrd

                                                                    +

                                                                    struct ActuatorControlTarget

                                                                    +

                                                                    struct ActuatorOutputStatus

                                                                    +

                                                                    struct AngularVelocityBody

                                                                    +

                                                                    struct AngularVelocityFrd

                                                                    +

                                                                    struct Battery

                                                                    +

                                                                    struct Covariance

                                                                    +

                                                                    struct DistanceSensor

                                                                    +

                                                                    struct EulerAngle

                                                                    +

                                                                    struct FixedwingMetrics

                                                                    +

                                                                    struct GpsInfo

                                                                    +

                                                                    struct GroundTruth

                                                                    +

                                                                    struct Heading

                                                                    +

                                                                    struct Imu

                                                                    +

                                                                    struct MagneticFieldFrd

                                                                    +

                                                                    struct Odometry

                                                                    +

                                                                    struct Position

                                                                    +

                                                                    struct PositionBody

                                                                    +

                                                                    struct PositionNed

                                                                    +

                                                                    struct PositionVelocityNed

                                                                    +

                                                                    struct Quaternion

                                                                    +

                                                                    struct RawGps

                                                                    +

                                                                    struct RcStatus

                                                                    +

                                                                    struct ScaledPressure

                                                                    +

                                                                    struct StatusText

                                                                    +

                                                                    struct VelocityBody

                                                                    +

                                                                    struct VelocityNed

                                                                    +

                                                                    Public Types

                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                    TypeDescription
                                                                    enum FixTypeGPS fix type.
                                                                    enum VtolStateMaps to MAV_VTOL_STATE.
                                                                    enum StatusTextTypeStatus types.
                                                                    enum LandedStateLanded State enumeration.
                                                                    enum ResultPossible results returned for telemetry requests.
                                                                    std::function< void(Result)> ResultCallbackCallback type for asynchronous TelemetryServer calls.
                                                                    +

                                                                    Public Member Functions

                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                    TypeNameDescription
                                                                     TelemetryServer (std::shared_ptr< ServerComponent > server_component)Constructor. Creates the plugin for a ServerComponent instance.
                                                                     ~TelemetryServer () overrideDestructor (internal use only).
                                                                     TelemetryServer (const TelemetryServer & other)Copy constructor.
                                                                    Resultpublish_position (Position position, VelocityNed velocity_ned, Heading heading)constPublish to 'position' updates.
                                                                    Resultpublish_home (Position home)constPublish to 'home position' updates.
                                                                    Resultpublish_sys_status (Battery battery, bool rc_receiver_status, bool gyro_status, bool accel_status, bool mag_status, bool gps_status)constPublish 'sys status' updates.
                                                                    Resultpublish_extended_sys_state (VtolState vtol_state, LandedState landed_state)constPublish 'extended sys state' updates.
                                                                    Resultpublish_raw_gps (RawGps raw_gps, GpsInfo gps_info)constPublish to 'Raw GPS' updates.
                                                                    Resultpublish_battery (Battery battery)constPublish to 'battery' updates.
                                                                    Resultpublish_status_text (StatusText status_text)constPublish to 'status text' updates.
                                                                    Resultpublish_odometry (Odometry odometry)constPublish to 'odometry' updates.
                                                                    Resultpublish_position_velocity_ned (PositionVelocityNed position_velocity_ned)constPublish to 'position velocity' updates.
                                                                    Resultpublish_ground_truth (GroundTruth ground_truth)constPublish to 'ground truth' updates.
                                                                    Resultpublish_imu (Imu imu)constPublish to 'IMU' updates (in SI units in NED body frame).
                                                                    Resultpublish_scaled_imu (Imu imu)constPublish to 'Scaled IMU' updates.
                                                                    Resultpublish_raw_imu (Imu imu)constPublish to 'Raw IMU' updates.
                                                                    Resultpublish_unix_epoch_time (uint64_t time_us)constPublish to 'unix epoch time' updates.
                                                                    Resultpublish_distance_sensor (DistanceSensor distance_sensor)constPublish to "distance sensor" updates.
                                                                    const TelemetryServer &operator= (const TelemetryServer &)=deleteEquality operator (object is not copyable).
                                                                    +

                                                                    Constructor & Destructor Documentation

                                                                    +

                                                                    TelemetryServer()

                                                                    +
                                                                    mavsdk::TelemetryServer::TelemetryServer(std::shared_ptr< ServerComponent > server_component)
+
                                                                    +

                                                                    Constructor. Creates the plugin for a ServerComponent instance.

                                                                    +

                                                                    The plugin is typically created as shown below:

                                                                    +
                                                                    auto telemetry_server = TelemetryServer(server_component);
+
                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    ~TelemetryServer()

                                                                    +
                                                                    mavsdk::TelemetryServer::~TelemetryServer() override
+
                                                                    +

                                                                    Destructor (internal use only).

                                                                    +

                                                                    TelemetryServer()

                                                                    +
                                                                    mavsdk::TelemetryServer::TelemetryServer(const TelemetryServer &other)
+
                                                                    +

                                                                    Copy constructor.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Member Typdef Documentation

                                                                    +

                                                                    typedef ResultCallback

                                                                    +
                                                                    using mavsdk::TelemetryServer::ResultCallback =  std::function<void(Result)>
+
                                                                    +

                                                                    Callback type for asynchronous TelemetryServer calls.

                                                                    +

                                                                    Member Enumeration Documentation

                                                                    +

                                                                    enum FixType

                                                                    +

                                                                    GPS fix type.

                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                    ValueDescription
                                                                    NoGpsNo GPS connected.
                                                                    NoFixNo position information, GPS is connected.
                                                                    Fix2D2D position.
                                                                    Fix3D3D position.
                                                                    FixDgpsDGPS/SBAS aided 3D position.
                                                                    RtkFloatRTK float, 3D position.
                                                                    RtkFixedRTK Fixed, 3D position.
                                                                    +

                                                                    enum VtolState

                                                                    +

                                                                    Maps to MAV_VTOL_STATE.

                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                    ValueDescription
                                                                    UndefinedNot VTOL.
                                                                    TransitionToFwTransitioning to fixed-wing.
                                                                    TransitionToMcTransitioning to multi-copter.
                                                                    McMulti-copter.
                                                                    FwFixed-wing.
                                                                    +

                                                                    enum StatusTextType

                                                                    +

                                                                    Status types.

                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                    ValueDescription
                                                                    DebugDebug.
                                                                    InfoInformation.
                                                                    NoticeNotice.
                                                                    WarningWarning.
                                                                    ErrorError.
                                                                    CriticalCritical.
                                                                    AlertAlert.
                                                                    EmergencyEmergency.
                                                                    +

                                                                    enum LandedState

                                                                    +

                                                                    Landed State enumeration.

                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                    ValueDescription
                                                                    UnknownLanded state is unknown.
                                                                    OnGroundThe vehicle is on the ground.
                                                                    InAirThe vehicle is in the air.
                                                                    TakingOffThe vehicle is taking off.
                                                                    LandingThe vehicle is landing.
                                                                    +

                                                                    enum Result

                                                                    +

                                                                    Possible results returned for telemetry requests.

                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                    ValueDescription
                                                                    UnknownUnknown result.
                                                                    SuccessSuccess: the telemetry command was accepted by the vehicle.
                                                                    NoSystemNo system connected.
                                                                    ConnectionErrorConnection error.
                                                                    BusyVehicle is busy.
                                                                    CommandDeniedCommand refused by vehicle.
                                                                    TimeoutRequest timed out.
                                                                    UnsupportedRequest not supported.
                                                                    +

                                                                    Member Function Documentation

                                                                    +

                                                                    publish_position()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_position(Position position, VelocityNed velocity_ned, Heading heading) const
+
                                                                    +

                                                                    Publish to 'position' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_home()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_home(Position home) const
+
                                                                    +

                                                                    Publish to 'home position' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_sys_status()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_sys_status(Battery battery, bool rc_receiver_status, bool gyro_status, bool accel_status, bool mag_status, bool gps_status) const
+
                                                                    +

                                                                    Publish 'sys status' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    +
                                                                      +
                                                                    • Battery battery -
                                                                      • +
                                                                    • bool rc_receiver_status -
                                                                      • +
                                                                    • bool gyro_status -
                                                                      • +
                                                                    • bool accel_status -
                                                                      • +
                                                                    • bool mag_status -
                                                                      • +
                                                                    • bool gps_status -
                                                                      • +
                                                                    +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_extended_sys_state()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_extended_sys_state(VtolState vtol_state, LandedState landed_state) const
+
                                                                    +

                                                                    Publish 'extended sys state' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_raw_gps()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_raw_gps(RawGps raw_gps, GpsInfo gps_info) const
+
                                                                    +

                                                                    Publish to 'Raw GPS' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_battery()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_battery(Battery battery) const
+
                                                                    +

                                                                    Publish to 'battery' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_status_text()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_status_text(StatusText status_text) const
+
                                                                    +

                                                                    Publish to 'status text' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_odometry()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_odometry(Odometry odometry) const
+
                                                                    +

                                                                    Publish to 'odometry' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_position_velocity_ned()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_position_velocity_ned(PositionVelocityNed position_velocity_ned) const
+
                                                                    +

                                                                    Publish to 'position velocity' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_ground_truth()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_ground_truth(GroundTruth ground_truth) const
+
                                                                    +

                                                                    Publish to 'ground truth' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_imu()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_imu(Imu imu) const
+
                                                                    +

                                                                    Publish to 'IMU' updates (in SI units in NED body frame).

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_scaled_imu()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_scaled_imu(Imu imu) const
+
                                                                    +

                                                                    Publish to 'Scaled IMU' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_raw_imu()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_raw_imu(Imu imu) const
+
                                                                    +

                                                                    Publish to 'Raw IMU' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_unix_epoch_time()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_unix_epoch_time(uint64_t time_us) const
+
                                                                    +

                                                                    Publish to 'unix epoch time' updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    +
                                                                      +
                                                                    • uint64_t time_us -
                                                                      • +
                                                                    +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    publish_distance_sensor()

                                                                    +
                                                                    Result mavsdk::TelemetryServer::publish_distance_sensor(DistanceSensor distance_sensor) const
+
                                                                    +

                                                                    Publish to "distance sensor" updates.

                                                                    +

                                                                    This function is blocking.

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     Result - Result of request.

                                                                    +

                                                                    operator=()

                                                                    +
                                                                    const TelemetryServer& mavsdk::TelemetryServer::operator=(const TelemetryServer &)=delete
+
                                                                    +

                                                                    Equality operator (object is not copyable).

                                                                    +

                                                                    Parameters

                                                                    + +

                                                                    Returns

                                                                    +

                                                                     const TelemetryServer & -

                                                                    +
                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                                                    + +
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                                                                      + +

                                                                      mavsdk::TrackingServer Class Reference

                                                                      +

                                                                      #include: tracking_server.h

                                                                      +
                                                                      +

                                                                      API for an onboard image tracking software.

                                                                      +

                                                                      Data Structures

                                                                      +

                                                                      struct TrackPoint

                                                                      +

                                                                      struct TrackRectangle

                                                                      +

                                                                      Public Types

                                                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                      TypeDescription
                                                                      enum CommandAnswerAnswer to respond to an incoming command.
                                                                      enum ResultPossible results returned for tracking_server requests.
                                                                      std::function< void(Result)> ResultCallbackCallback type for asynchronous TrackingServer calls.
                                                                      std::function< void(TrackPoint)> TrackingPointCommandCallbackCallback type for subscribe_tracking_point_command.
                                                                      Handle< TrackPoint > TrackingPointCommandHandleHandle type for subscribe_tracking_point_command.
                                                                      std::function< void(TrackRectangle)> TrackingRectangleCommandCallbackCallback type for subscribe_tracking_rectangle_command.
                                                                      Handle< TrackRectangle > TrackingRectangleCommandHandleHandle type for subscribe_tracking_rectangle_command.
                                                                      std::function< void(int32_t)> TrackingOffCommandCallbackCallback type for subscribe_tracking_off_command.
                                                                      Handle< int32_t > TrackingOffCommandHandleHandle type for subscribe_tracking_off_command.
                                                                      +

                                                                      Public Member Functions

                                                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                      TypeNameDescription
                                                                       TrackingServer (std::shared_ptr< ServerComponent > server_component)Constructor. Creates the plugin for a ServerComponent instance.
                                                                       ~TrackingServer () overrideDestructor (internal use only).
                                                                       TrackingServer (const TrackingServer & other)Copy constructor.
                                                                      voidset_tracking_point_status (TrackPoint tracked_point)constSet/update the current point tracking status.
                                                                      voidset_tracking_rectangle_status (TrackRectangle tracked_rectangle)constSet/update the current rectangle tracking status.
                                                                      voidset_tracking_off_status () constSet the current tracking status to off.
                                                                      TrackingPointCommandHandlesubscribe_tracking_point_command (const TrackingPointCommandCallback & callback)Subscribe to incoming tracking point command.
                                                                      voidunsubscribe_tracking_point_command (TrackingPointCommandHandle handle)Unsubscribe from subscribe_tracking_point_command.
                                                                      TrackingRectangleCommandHandlesubscribe_tracking_rectangle_command (const TrackingRectangleCommandCallback & callback)Subscribe to incoming tracking rectangle command.
                                                                      voidunsubscribe_tracking_rectangle_command (TrackingRectangleCommandHandle handle)Unsubscribe from subscribe_tracking_rectangle_command.
                                                                      TrackingOffCommandHandlesubscribe_tracking_off_command (const TrackingOffCommandCallback & callback)Subscribe to incoming tracking off command.
                                                                      voidunsubscribe_tracking_off_command (TrackingOffCommandHandle handle)Unsubscribe from subscribe_tracking_off_command.
                                                                      Resultrespond_tracking_point_command (CommandAnswer command_answer)constRespond to an incoming tracking point command.
                                                                      Resultrespond_tracking_rectangle_command (CommandAnswer command_answer)constRespond to an incoming tracking rectangle command.
                                                                      Resultrespond_tracking_off_command (CommandAnswer command_answer)constRespond to an incoming tracking off command.
                                                                      const TrackingServer &operator= (const TrackingServer &)=deleteEquality operator (object is not copyable).
                                                                      +

                                                                      Constructor & Destructor Documentation

                                                                      +

                                                                      TrackingServer()

                                                                      +
                                                                      mavsdk::TrackingServer::TrackingServer(std::shared_ptr< ServerComponent > server_component)
+
                                                                      +

                                                                      Constructor. Creates the plugin for a ServerComponent instance.

                                                                      +

                                                                      The plugin is typically created as shown below:

                                                                      +
                                                                      auto tracking_server = TrackingServer(server_component);
+
                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      ~TrackingServer()

                                                                      +
                                                                      mavsdk::TrackingServer::~TrackingServer() override
+
                                                                      +

                                                                      Destructor (internal use only).

                                                                      +

                                                                      TrackingServer()

                                                                      +
                                                                      mavsdk::TrackingServer::TrackingServer(const TrackingServer &other)
+
                                                                      +

                                                                      Copy constructor.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      Member Typdef Documentation

                                                                      +

                                                                      typedef ResultCallback

                                                                      +
                                                                      using mavsdk::TrackingServer::ResultCallback =  std::function<void(Result)>
+
                                                                      +

                                                                      Callback type for asynchronous TrackingServer calls.

                                                                      +

                                                                      typedef TrackingPointCommandCallback

                                                                      +
                                                                      using mavsdk::TrackingServer::TrackingPointCommandCallback =  std::function<void(TrackPoint)>
+
                                                                      +

                                                                      Callback type for subscribe_tracking_point_command.

                                                                      +

                                                                      typedef TrackingPointCommandHandle

                                                                      +
                                                                      using mavsdk::TrackingServer::TrackingPointCommandHandle =  Handle<TrackPoint>
+
                                                                      +

                                                                      Handle type for subscribe_tracking_point_command.

                                                                      +

                                                                      typedef TrackingRectangleCommandCallback

                                                                      +
                                                                      using mavsdk::TrackingServer::TrackingRectangleCommandCallback =  std::function<void(TrackRectangle)>
+
                                                                      +

                                                                      Callback type for subscribe_tracking_rectangle_command.

                                                                      +

                                                                      typedef TrackingRectangleCommandHandle

                                                                      +
                                                                      using mavsdk::TrackingServer::TrackingRectangleCommandHandle =  Handle<TrackRectangle>
+
                                                                      +

                                                                      Handle type for subscribe_tracking_rectangle_command.

                                                                      +

                                                                      typedef TrackingOffCommandCallback

                                                                      +
                                                                      using mavsdk::TrackingServer::TrackingOffCommandCallback =  std::function<void(int32_t)>
+
                                                                      +

                                                                      Callback type for subscribe_tracking_off_command.

                                                                      +

                                                                      typedef TrackingOffCommandHandle

                                                                      +
                                                                      using mavsdk::TrackingServer::TrackingOffCommandHandle =  Handle<int32_t>
+
                                                                      +

                                                                      Handle type for subscribe_tracking_off_command.

                                                                      +

                                                                      Member Enumeration Documentation

                                                                      +

                                                                      enum CommandAnswer

                                                                      +

                                                                      Answer to respond to an incoming command.

                                                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                      ValueDescription
                                                                      AcceptedCommand accepted.
                                                                      TemporarilyRejectedCommand temporarily rejected.
                                                                      DeniedCommand denied.
                                                                      UnsupportedCommand unsupported.
                                                                      FailedCommand failed.
                                                                      +

                                                                      enum Result

                                                                      +

                                                                      Possible results returned for tracking_server requests.

                                                                      + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                      ValueDescription
                                                                      UnknownUnknown result.
                                                                      SuccessRequest succeeded.
                                                                      NoSystemNo system is connected.
                                                                      ConnectionErrorConnection error.
                                                                      +

                                                                      Member Function Documentation

                                                                      +

                                                                      set_tracking_point_status()

                                                                      +
                                                                      void mavsdk::TrackingServer::set_tracking_point_status(TrackPoint tracked_point) const
+
                                                                      +

                                                                      Set/update the current point tracking status.

                                                                      +

                                                                      This function is blocking.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      set_tracking_rectangle_status()

                                                                      +
                                                                      void mavsdk::TrackingServer::set_tracking_rectangle_status(TrackRectangle tracked_rectangle) const
+
                                                                      +

                                                                      Set/update the current rectangle tracking status.

                                                                      +

                                                                      This function is blocking.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      set_tracking_off_status()

                                                                      +
                                                                      void mavsdk::TrackingServer::set_tracking_off_status() const
+
                                                                      +

                                                                      Set the current tracking status to off.

                                                                      +

                                                                      This function is blocking.

                                                                      +

                                                                      subscribe_tracking_point_command()

                                                                      +
                                                                      TrackingPointCommandHandle mavsdk::TrackingServer::subscribe_tracking_point_command(const TrackingPointCommandCallback &callback)
+
                                                                      +

                                                                      Subscribe to incoming tracking point command.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      Returns

                                                                      +

                                                                       TrackingPointCommandHandle -

                                                                      +

                                                                      unsubscribe_tracking_point_command()

                                                                      +
                                                                      void mavsdk::TrackingServer::unsubscribe_tracking_point_command(TrackingPointCommandHandle handle)
+
                                                                      +

                                                                      Unsubscribe from subscribe_tracking_point_command.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      subscribe_tracking_rectangle_command()

                                                                      +
                                                                      TrackingRectangleCommandHandle mavsdk::TrackingServer::subscribe_tracking_rectangle_command(const TrackingRectangleCommandCallback &callback)
+
                                                                      +

                                                                      Subscribe to incoming tracking rectangle command.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      Returns

                                                                      +

                                                                       TrackingRectangleCommandHandle -

                                                                      +

                                                                      unsubscribe_tracking_rectangle_command()

                                                                      +
                                                                      void mavsdk::TrackingServer::unsubscribe_tracking_rectangle_command(TrackingRectangleCommandHandle handle)
+
                                                                      +

                                                                      Unsubscribe from subscribe_tracking_rectangle_command.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      subscribe_tracking_off_command()

                                                                      +
                                                                      TrackingOffCommandHandle mavsdk::TrackingServer::subscribe_tracking_off_command(const TrackingOffCommandCallback &callback)
+
                                                                      +

                                                                      Subscribe to incoming tracking off command.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      Returns

                                                                      +

                                                                       TrackingOffCommandHandle -

                                                                      +

                                                                      unsubscribe_tracking_off_command()

                                                                      +
                                                                      void mavsdk::TrackingServer::unsubscribe_tracking_off_command(TrackingOffCommandHandle handle)
+
                                                                      +

                                                                      Unsubscribe from subscribe_tracking_off_command.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      respond_tracking_point_command()

                                                                      +
                                                                      Result mavsdk::TrackingServer::respond_tracking_point_command(CommandAnswer command_answer) const
+
                                                                      +

                                                                      Respond to an incoming tracking point command.

                                                                      +

                                                                      This function is blocking.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      Returns

                                                                      +

                                                                       Result - Result of request.

                                                                      +

                                                                      respond_tracking_rectangle_command()

                                                                      +
                                                                      Result mavsdk::TrackingServer::respond_tracking_rectangle_command(CommandAnswer command_answer) const
+
                                                                      +

                                                                      Respond to an incoming tracking rectangle command.

                                                                      +

                                                                      This function is blocking.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      Returns

                                                                      +

                                                                       Result - Result of request.

                                                                      +

                                                                      respond_tracking_off_command()

                                                                      +
                                                                      Result mavsdk::TrackingServer::respond_tracking_off_command(CommandAnswer command_answer) const
+
                                                                      +

                                                                      Respond to an incoming tracking off command.

                                                                      +

                                                                      This function is blocking.

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      Returns

                                                                      +

                                                                       Result - Result of request.

                                                                      +

                                                                      operator=()

                                                                      +
                                                                      const TrackingServer& mavsdk::TrackingServer::operator=(const TrackingServer &)=delete
+
                                                                      +

                                                                      Equality operator (object is not copyable).

                                                                      +

                                                                      Parameters

                                                                      + +

                                                                      Returns

                                                                      +

                                                                       const TrackingServer & -

                                                                      +
                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
                                                                      + +
                                                                      + +
                                                                      +
                                                                      +
                                                                      + +

                                                                      results matching ""

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                                                                        mavsdk::Transponder Class Reference

                                                                        +

                                                                        #include: transponder.h

                                                                        +
                                                                        +

                                                                        Allow users to get ADS-B information and set ADS-B update rates.

                                                                        +

                                                                        Data Structures

                                                                        +

                                                                        struct AdsbVehicle

                                                                        +

                                                                        Public Types

                                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                        TypeDescription
                                                                        enum AdsbEmitterTypeADSB classification for the type of vehicle emitting the transponder signal.
                                                                        enum AdsbAltitudeTypeAltitude type used in AdsbVehicle message.
                                                                        enum ResultPossible results returned for transponder requests.
                                                                        std::function< void(Result)> ResultCallbackCallback type for asynchronous Transponder calls.
                                                                        std::function< void(AdsbVehicle)> TransponderCallbackCallback type for subscribe_transponder.
                                                                        Handle< AdsbVehicle > TransponderHandleHandle type for subscribe_transponder.
                                                                        +

                                                                        Public Member Functions

                                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                        TypeNameDescription
                                                                         Transponder (System & system)Constructor. Creates the plugin for a specific System.
                                                                         Transponder (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                                                         ~Transponder () overrideDestructor (internal use only).
                                                                         Transponder (const Transponder & other)Copy constructor.
                                                                        TransponderHandlesubscribe_transponder (const TransponderCallback & callback)Subscribe to 'transponder' updates.
                                                                        voidunsubscribe_transponder (TransponderHandle handle)Unsubscribe from subscribe_transponder.
                                                                        AdsbVehicletransponder () constPoll for 'AdsbVehicle' (blocking).
                                                                        voidset_rate_transponder_async (double rate_hz, const ResultCallback callback)Set rate to 'transponder' updates.
                                                                        Resultset_rate_transponder (double rate_hz)constSet rate to 'transponder' updates.
                                                                        const Transponder &operator= (const Transponder &)=deleteEquality operator (object is not copyable).
                                                                        +

                                                                        Constructor & Destructor Documentation

                                                                        +

                                                                        Transponder()

                                                                        +
                                                                        mavsdk::Transponder::Transponder(System &system)
+
                                                                        +

                                                                        Constructor. Creates the plugin for a specific System.

                                                                        +

                                                                        The plugin is typically created as shown below:

                                                                        +
                                                                        auto transponder = Transponder(system);
+
                                                                        +

                                                                        Parameters

                                                                        +
                                                                          +
                                                                        • System& system - The specific system associated with this plugin.
                                                                          • +
                                                                        +

                                                                        Transponder()

                                                                        +
                                                                        mavsdk::Transponder::Transponder(std::shared_ptr< System > system)
+
                                                                        +

                                                                        Constructor. Creates the plugin for a specific System.

                                                                        +

                                                                        The plugin is typically created as shown below:

                                                                        +
                                                                        auto transponder = Transponder(system);
+
                                                                        +

                                                                        Parameters

                                                                        +
                                                                          +
                                                                        • std::shared_ptr< System > system - The specific system associated with this plugin.
                                                                          • +
                                                                        +

                                                                        ~Transponder()

                                                                        +
                                                                        mavsdk::Transponder::~Transponder() override
+
                                                                        +

                                                                        Destructor (internal use only).

                                                                        +

                                                                        Transponder()

                                                                        +
                                                                        mavsdk::Transponder::Transponder(const Transponder &other)
+
                                                                        +

                                                                        Copy constructor.

                                                                        +

                                                                        Parameters

                                                                        + +

                                                                        Member Typdef Documentation

                                                                        +

                                                                        typedef ResultCallback

                                                                        +
                                                                        using mavsdk::Transponder::ResultCallback =  std::function<void(Result)>
+
                                                                        +

                                                                        Callback type for asynchronous Transponder calls.

                                                                        +

                                                                        typedef TransponderCallback

                                                                        +
                                                                        using mavsdk::Transponder::TransponderCallback =  std::function<void(AdsbVehicle)>
+
                                                                        +

                                                                        Callback type for subscribe_transponder.

                                                                        +

                                                                        typedef TransponderHandle

                                                                        +
                                                                        using mavsdk::Transponder::TransponderHandle =  Handle<AdsbVehicle>
+
                                                                        +

                                                                        Handle type for subscribe_transponder.

                                                                        +

                                                                        Member Enumeration Documentation

                                                                        +

                                                                        enum AdsbEmitterType

                                                                        +

                                                                        ADSB classification for the type of vehicle emitting the transponder signal.

                                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                        ValueDescription
                                                                        NoInfoNo emitter info..
                                                                        LightLight emitter..
                                                                        SmallSmall emitter..
                                                                        LargeLarge emitter..
                                                                        HighVortexLargeHigh vortex emitter..
                                                                        HeavyHeavy emitter..
                                                                        HighlyManuvHighly maneuverable emitter..
                                                                        RotocraftRotorcraft emitter..
                                                                        UnassignedUnassigned emitter..
                                                                        GliderGlider emitter..
                                                                        LighterAirLighter air emitter..
                                                                        ParachuteParachute emitter..
                                                                        UltraLightUltra light emitter..
                                                                        Unassigned2Unassigned2 emitter..
                                                                        UavUAV emitter..
                                                                        SpaceSpace emitter..
                                                                        Unassgined3Unassigned3 emitter..
                                                                        EmergencySurfaceEmergency emitter..
                                                                        ServiceSurfaceService surface emitter..
                                                                        PointObstaclePoint obstacle emitter..
                                                                        +

                                                                        enum AdsbAltitudeType

                                                                        +

                                                                        Altitude type used in AdsbVehicle message.

                                                                        + + + + + + + + + + + + + + + + + +
                                                                        ValueDescription
                                                                        PressureQnhAltitude reported from a Baro source using QNH reference.
                                                                        GeometricAltitude reported from a GNSS source.
                                                                        +

                                                                        enum Result

                                                                        +

                                                                        Possible results returned for transponder requests.

                                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                        ValueDescription
                                                                        UnknownUnknown result.
                                                                        SuccessSuccess: the transponder command was accepted by the vehicle.
                                                                        NoSystemNo system connected.
                                                                        ConnectionErrorConnection error.
                                                                        BusyVehicle is busy.
                                                                        CommandDeniedCommand refused by vehicle.
                                                                        TimeoutRequest timed out.
                                                                        +

                                                                        Member Function Documentation

                                                                        +

                                                                        subscribe_transponder()

                                                                        +
                                                                        TransponderHandle mavsdk::Transponder::subscribe_transponder(const TransponderCallback &callback)
+
                                                                        +

                                                                        Subscribe to 'transponder' updates.

                                                                        +

                                                                        Parameters

                                                                        + +

                                                                        Returns

                                                                        +

                                                                         TransponderHandle -

                                                                        +

                                                                        unsubscribe_transponder()

                                                                        +
                                                                        void mavsdk::Transponder::unsubscribe_transponder(TransponderHandle handle)
+
                                                                        +

                                                                        Unsubscribe from subscribe_transponder.

                                                                        +

                                                                        Parameters

                                                                        + +

                                                                        transponder()

                                                                        +
                                                                        AdsbVehicle mavsdk::Transponder::transponder() const
+
                                                                        +

                                                                        Poll for 'AdsbVehicle' (blocking).

                                                                        +

                                                                        Returns

                                                                        +

                                                                         AdsbVehicle - One AdsbVehicle update.

                                                                        +

                                                                        set_rate_transponder_async()

                                                                        +
                                                                        void mavsdk::Transponder::set_rate_transponder_async(double rate_hz, const ResultCallback callback)
+
                                                                        +

                                                                        Set rate to 'transponder' updates.

                                                                        +

                                                                        This function is non-blocking. See 'set_rate_transponder' for the blocking counterpart.

                                                                        +

                                                                        Parameters

                                                                        + +

                                                                        set_rate_transponder()

                                                                        +
                                                                        Result mavsdk::Transponder::set_rate_transponder(double rate_hz) const
+
                                                                        +

                                                                        Set rate to 'transponder' updates.

                                                                        +

                                                                        This function is blocking. See 'set_rate_transponder_async' for the non-blocking counterpart.

                                                                        +

                                                                        Parameters

                                                                        +
                                                                          +
                                                                        • double rate_hz -
                                                                          • +
                                                                        +

                                                                        Returns

                                                                        +

                                                                         Result - Result of request.

                                                                        +

                                                                        operator=()

                                                                        +
                                                                        const Transponder& mavsdk::Transponder::operator=(const Transponder &)=delete
+
                                                                        +

                                                                        Equality operator (object is not copyable).

                                                                        +

                                                                        Parameters

                                                                        + +

                                                                        Returns

                                                                        +

                                                                         const Transponder & -

                                                                        +
                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                          mavsdk::Tune Class Reference

                                                                          +

                                                                          #include: tune.h

                                                                          +
                                                                          +

                                                                          Enable creating and sending a tune to be played on the system.

                                                                          +

                                                                          Data Structures

                                                                          +

                                                                          struct TuneDescription

                                                                          +

                                                                          Public Types

                                                                          + + + + + + + + + + + + + + + + + + + + + +
                                                                          TypeDescription
                                                                          enum SongElementAn element of the tune.
                                                                          enum ResultPossible results returned for tune requests.
                                                                          std::function< void(Result)> ResultCallbackCallback type for asynchronous Tune calls.
                                                                          +

                                                                          Public Member Functions

                                                                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                          TypeNameDescription
                                                                           Tune (System & system)Constructor. Creates the plugin for a specific System.
                                                                           Tune (std::shared_ptr< System > system)Constructor. Creates the plugin for a specific System.
                                                                           ~Tune () overrideDestructor (internal use only).
                                                                           Tune (const Tune & other)Copy constructor.
                                                                          voidplay_tune_async (TuneDescription tune_description, const ResultCallback callback)Send a tune to be played by the system.
                                                                          Resultplay_tune (TuneDescription tune_description)constSend a tune to be played by the system.
                                                                          const Tune &operator= (const Tune &)=deleteEquality operator (object is not copyable).
                                                                          +

                                                                          Constructor & Destructor Documentation

                                                                          +

                                                                          Tune()

                                                                          +
                                                                          mavsdk::Tune::Tune(System &system)
+
                                                                          +

                                                                          Constructor. Creates the plugin for a specific System.

                                                                          +

                                                                          The plugin is typically created as shown below:

                                                                          +
                                                                          auto tune = Tune(system);
+
                                                                          +

                                                                          Parameters

                                                                          +
                                                                            +
                                                                          • System& system - The specific system associated with this plugin.
                                                                            • +
                                                                          +

                                                                          Tune()

                                                                          +
                                                                          mavsdk::Tune::Tune(std::shared_ptr< System > system)
+
                                                                          +

                                                                          Constructor. Creates the plugin for a specific System.

                                                                          +

                                                                          The plugin is typically created as shown below:

                                                                          +
                                                                          auto tune = Tune(system);
+
                                                                          +

                                                                          Parameters

                                                                          +
                                                                            +
                                                                          • std::shared_ptr< System > system - The specific system associated with this plugin.
                                                                            • +
                                                                          +

                                                                          ~Tune()

                                                                          +
                                                                          mavsdk::Tune::~Tune() override
+
                                                                          +

                                                                          Destructor (internal use only).

                                                                          +

                                                                          Tune()

                                                                          +
                                                                          mavsdk::Tune::Tune(const Tune &other)
+
                                                                          +

                                                                          Copy constructor.

                                                                          +

                                                                          Parameters

                                                                          +
                                                                            +
                                                                          • const Tune& other -
                                                                            • +
                                                                          +

                                                                          Member Typdef Documentation

                                                                          +

                                                                          typedef ResultCallback

                                                                          +
                                                                          using mavsdk::Tune::ResultCallback =  std::function<void(Result)>
+
                                                                          +

                                                                          Callback type for asynchronous Tune calls.

                                                                          +

                                                                          Member Enumeration Documentation

                                                                          +

                                                                          enum SongElement

                                                                          +

                                                                          An element of the tune.

                                                                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                          ValueDescription
                                                                          StyleLegatoAfter this element, start playing legato.
                                                                          StyleNormalAfter this element, start playing normal.
                                                                          StyleStaccatoAfter this element, start playing staccato.
                                                                          Duration1After this element, set the note duration to 1.
                                                                          Duration2After this element, set the note duration to 2.
                                                                          Duration4After this element, set the note duration to 4.
                                                                          Duration8After this element, set the note duration to 8.
                                                                          Duration16After this element, set the note duration to 16.
                                                                          Duration32After this element, set the note duration to 32.
                                                                          NoteAPlay note A.
                                                                          NoteBPlay note B.
                                                                          NoteCPlay note C.
                                                                          NoteDPlay note D.
                                                                          NoteEPlay note E.
                                                                          NoteFPlay note F.
                                                                          NoteGPlay note G.
                                                                          NotePausePlay a rest.
                                                                          SharpAfter this element, sharp the note (half a step up).
                                                                          FlatAfter this element, flat the note (half a step down).
                                                                          OctaveUpAfter this element, shift the note 1 octave up.
                                                                          OctaveDownAfter this element, shift the note 1 octave down.
                                                                          +

                                                                          enum Result

                                                                          +

                                                                          Possible results returned for tune requests.

                                                                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                          ValueDescription
                                                                          UnknownUnknown result.
                                                                          SuccessRequest succeeded.
                                                                          InvalidTempoInvalid tempo (range: 32 - 255).
                                                                          TuneTooLongInvalid tune: encoded string must be at most 247 chars.
                                                                          ErrorFailed to send the request.
                                                                          NoSystemNo system connected.
                                                                          +

                                                                          Member Function Documentation

                                                                          +

                                                                          play_tune_async()

                                                                          +
                                                                          void mavsdk::Tune::play_tune_async(TuneDescription tune_description, const ResultCallback callback)
+
                                                                          +

                                                                          Send a tune to be played by the system.

                                                                          +

                                                                          This function is non-blocking. See 'play_tune' for the blocking counterpart.

                                                                          +

                                                                          Parameters

                                                                          + +

                                                                          play_tune()

                                                                          +
                                                                          Result mavsdk::Tune::play_tune(TuneDescription tune_description) const
+
                                                                          +

                                                                          Send a tune to be played by the system.

                                                                          +

                                                                          This function is blocking. See 'play_tune_async' for the non-blocking counterpart.

                                                                          +

                                                                          Parameters

                                                                          + +

                                                                          Returns

                                                                          +

                                                                           Result - Result of request.

                                                                          +

                                                                          operator=()

                                                                          +
                                                                          const Tune& mavsdk::Tune::operator=(const Tune &)=delete
+
                                                                          +

                                                                          Equality operator (object is not copyable).

                                                                          +

                                                                          Parameters

                                                                          + +

                                                                          Returns

                                                                          +

                                                                           const Tune & -

                                                                          +
                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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Creates the plugin for a specific [System](classmavsdk_1_1_system.md). +  | [Winch](#classmavsdk_1_1_winch_1a7546040a07899cc9fe3edb00cb1b2007) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md). +  | [~Winch](#classmavsdk_1_1_winch_1a06330946e884dae7415003aa89c3010e) () override | Destructor (internal use only). +  | [Winch](#classmavsdk_1_1_winch_1a9125a173b929f9a1a2e5ca0199961fb4) (const [Winch](classmavsdk_1_1_winch.md) & other) | Copy constructor. +[StatusHandle](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a78284180b73b3092c37e45b3c2bdc2ab) | [subscribe_status](#classmavsdk_1_1_winch_1a92363df861842edf0b81aa18fba26bc8) (const [StatusCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a6c84089eac00fc9de890ab7e8c0eb32a) & callback) | Subscribe to 'winch status' updates. +void | [unsubscribe_status](#classmavsdk_1_1_winch_1af1176a4992e0a6850dbd44ea2b1f0bad) ([StatusHandle](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a78284180b73b3092c37e45b3c2bdc2ab) handle) | Unsubscribe from subscribe_status. +[Status](structmavsdk_1_1_winch_1_1_status.md) | [status](#classmavsdk_1_1_winch_1aa24ccd5e6e44db1fbf96e4aca6947689) () const | Poll for '[Status](structmavsdk_1_1_winch_1_1_status.md)' (blocking). +void | [relax_async](#classmavsdk_1_1_winch_1a48eec9e1fb693620e452234e0a740989) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Allow motor to freewheel. +[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [relax](#classmavsdk_1_1_winch_1ae1fa0d57d8d72e3bbbb4833770047ab3) (uint32_t instance)const | Allow motor to freewheel. +void | [relative_length_control_async](#classmavsdk_1_1_winch_1aa2cb382d36cda8e0fe918ae07fb7a9ec) (uint32_t instance, float length_m, float rate_m_s, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Wind or unwind specified length of line, optionally using specified rate. +[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [relative_length_control](#classmavsdk_1_1_winch_1ae39f5844dd5b6d93b6ccf3953781cee0) (uint32_t instance, float length_m, float rate_m_s)const | Wind or unwind specified length of line, optionally using specified rate. +void | [rate_control_async](#classmavsdk_1_1_winch_1a21ce05ef8cedd2601d22209d31a980f8) (uint32_t instance, float rate_m_s, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Wind or unwind line at specified rate. +[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [rate_control](#classmavsdk_1_1_winch_1aaec8a2bac41941e1f696cd9541abd4ca) (uint32_t instance, float rate_m_s)const | Wind or unwind line at specified rate. +void | [lock_async](#classmavsdk_1_1_winch_1a0ff91279058752931bee2bc5dfd7c711) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Perform the locking sequence to relieve motor while in the fully retracted position. +[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [lock](#classmavsdk_1_1_winch_1ad0f907f0164a724f8e8a57fe9796ecb3) (uint32_t instance)const | Perform the locking sequence to relieve motor while in the fully retracted position. +void | [deliver_async](#classmavsdk_1_1_winch_1acbd43a3f00ab1e910b6b05654afc9458) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Sequence of drop, slow down, touch down, reel up, lock. +[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [deliver](#classmavsdk_1_1_winch_1a8910df835085243a366290dbc4492680) (uint32_t instance)const | Sequence of drop, slow down, touch down, reel up, lock. +void | [hold_async](#classmavsdk_1_1_winch_1a6c97626d33532469871a687e8043e27e) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Engage motor and hold current position. +[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [hold](#classmavsdk_1_1_winch_1a2e7ae05d09b82964024c70211b1920d9) (uint32_t instance)const | Engage motor and hold current position. +void | [retract_async](#classmavsdk_1_1_winch_1a6485b743115d441b43f3d0e39341412d) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Return the reel to the fully retracted position. +[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [retract](#classmavsdk_1_1_winch_1a353cad0259d2eb8201e2884e037422eb) (uint32_t instance)const | Return the reel to the fully retracted position. +void | [load_line_async](#classmavsdk_1_1_winch_1ad0588792ef3fbd469511f99988140637) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Load the reel with line. +[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [load_line](#classmavsdk_1_1_winch_1aabeb779b2e03632176799c92058adb92) (uint32_t instance)const | Load the reel with line. +void | [abandon_line_async](#classmavsdk_1_1_winch_1a3970c74e067d3734ba8dd3382c534b0a) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Spool out the entire length of the line. +[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [abandon_line](#classmavsdk_1_1_winch_1a625f6d58d5447afbe0c40e3d896071b0) (uint32_t instance)const | Spool out the entire length of the line. +void | [load_payload_async](#classmavsdk_1_1_winch_1af715b6c01dc75c44868c2936af04d40a) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Spools out just enough to present the hook to the user to load the payload. +[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [load_payload](#classmavsdk_1_1_winch_1a01fec2758f7f09d8aef5de23f4566d47) (uint32_t instance)const | Spools out just enough to present the hook to the user to load the payload. +const [Winch](classmavsdk_1_1_winch.md) & | [operator=](#classmavsdk_1_1_winch_1a5216eb2d1533b1e737ad30f31b7eff7a) (const [Winch](classmavsdk_1_1_winch.md) &)=delete | Equality operator (object is not copyable). + + +## Constructor & Destructor Documentation + + +### Winch() {#classmavsdk_1_1_winch_1a222e543b5ef54c89ee41411e800d3b88} +```cpp +mavsdk::Winch::Winch(System &system) +``` + + +Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md). + +The plugin is typically created as shown below: + +```cpp +auto winch = Winch(system); +``` + +**Parameters** + +* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin. + +### Winch() {#classmavsdk_1_1_winch_1a7546040a07899cc9fe3edb00cb1b2007} +```cpp +mavsdk::Winch::Winch(std::shared_ptr< System > system) +``` + + +Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md). + +The plugin is typically created as shown below: + +```cpp +auto winch = Winch(system); +``` + +**Parameters** + +* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin. + +### ~Winch() {#classmavsdk_1_1_winch_1a06330946e884dae7415003aa89c3010e} +```cpp +mavsdk::Winch::~Winch() override +``` + + +Destructor (internal use only). + + +### Winch() {#classmavsdk_1_1_winch_1a9125a173b929f9a1a2e5ca0199961fb4} +```cpp +mavsdk::Winch::Winch(const Winch &other) +``` + + +Copy constructor. + + +**Parameters** + +* const [Winch](classmavsdk_1_1_winch.md)& **other** - + +## Member Typdef Documentation + + +### typedef ResultCallback {#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7} + +```cpp +using mavsdk::Winch::ResultCallback = std::function +``` + + +Callback type for asynchronous [Winch](classmavsdk_1_1_winch.md) calls. + + +### typedef StatusCallback {#classmavsdk_1_1_winch_1a6c84089eac00fc9de890ab7e8c0eb32a} + +```cpp +using mavsdk::Winch::StatusCallback = std::function +``` + + +Callback type for subscribe_status. + + +### typedef StatusHandle {#classmavsdk_1_1_winch_1a78284180b73b3092c37e45b3c2bdc2ab} + +```cpp +using mavsdk::Winch::StatusHandle = Handle +``` + + +[Handle](classmavsdk_1_1_handle.md) type for subscribe_status. + + +## Member Enumeration Documentation + + +### enum WinchAction {#classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83} + + +[Winch](classmavsdk_1_1_winch.md) [Action](classmavsdk_1_1_action.md) type. + + +Value | Description +--- | --- + `Relaxed` | Allow motor to freewheel. + `RelativeLengthControl` | Wind or unwind specified length of line, optionally using specified rate. + `RateControl` | Wind or unwind line at specified rate. + `Lock` | Perform the locking sequence to relieve motor while in the fully retracted position. + `Deliver` | Sequence of drop, slow down, touch down, reel up, lock. + `Hold` | Engage motor and hold current position. + `Retract` | Return the reel to the fully retracted position. + `LoadLine` | Load the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. + `AbandonLine` | Spool out the entire length of the line. + `LoadPayload` | Spools out just enough to present the hook to the user to load the payload. + +### enum Result {#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091} + + +Possible results returned for winch action requests. + + +Value | Description +--- | --- + `Unknown` | Unknown result. + `Success` | Request was successful. + `NoSystem` | No system is connected. + `Busy` | Temporarily rejected. + `Timeout` | Request timed out. + `Unsupported` | [Action](classmavsdk_1_1_action.md) not supported. + `Failed` | [Action](classmavsdk_1_1_action.md) failed. + +## Member Function Documentation + + +### subscribe_status() {#classmavsdk_1_1_winch_1a92363df861842edf0b81aa18fba26bc8} +```cpp +StatusHandle mavsdk::Winch::subscribe_status(const StatusCallback &callback) +``` + + +Subscribe to 'winch status' updates. + + +**Parameters** + +* const [StatusCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a6c84089eac00fc9de890ab7e8c0eb32a)& **callback** - + +**Returns** + + [StatusHandle](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a78284180b73b3092c37e45b3c2bdc2ab) - + +### unsubscribe_status() {#classmavsdk_1_1_winch_1af1176a4992e0a6850dbd44ea2b1f0bad} +```cpp +void mavsdk::Winch::unsubscribe_status(StatusHandle handle) +``` + + +Unsubscribe from subscribe_status. + + +**Parameters** + +* [StatusHandle](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a78284180b73b3092c37e45b3c2bdc2ab) **handle** - + +### status() {#classmavsdk_1_1_winch_1aa24ccd5e6e44db1fbf96e4aca6947689} +```cpp +Status mavsdk::Winch::status() const +``` + + +Poll for '[Status](structmavsdk_1_1_winch_1_1_status.md)' (blocking). + + +**Returns** + + [Status](structmavsdk_1_1_winch_1_1_status.md) - One [Status](structmavsdk_1_1_winch_1_1_status.md) update. + +### relax_async() {#classmavsdk_1_1_winch_1a48eec9e1fb693620e452234e0a740989} +```cpp +void mavsdk::Winch::relax_async(uint32_t instance, const ResultCallback callback) +``` + + +Allow motor to freewheel. + +This function is non-blocking. See 'relax' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - + +### relax() {#classmavsdk_1_1_winch_1ae1fa0d57d8d72e3bbbb4833770047ab3} +```cpp +Result mavsdk::Winch::relax(uint32_t instance) const +``` + + +Allow motor to freewheel. + +This function is blocking. See 'relax_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - + +**Returns** + + [Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request. + +### relative_length_control_async() {#classmavsdk_1_1_winch_1aa2cb382d36cda8e0fe918ae07fb7a9ec} +```cpp +void mavsdk::Winch::relative_length_control_async(uint32_t instance, float length_m, float rate_m_s, const ResultCallback callback) +``` + + +Wind or unwind specified length of line, optionally using specified rate. + +This function is non-blocking. See 'relative_length_control' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* float **length_m** - +* float **rate_m_s** - +* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - + +### relative_length_control() {#classmavsdk_1_1_winch_1ae39f5844dd5b6d93b6ccf3953781cee0} +```cpp +Result mavsdk::Winch::relative_length_control(uint32_t instance, float length_m, float rate_m_s) const +``` + + +Wind or unwind specified length of line, optionally using specified rate. + +This function is blocking. See 'relative_length_control_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* float **length_m** - +* float **rate_m_s** - + +**Returns** + + [Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request. + +### rate_control_async() {#classmavsdk_1_1_winch_1a21ce05ef8cedd2601d22209d31a980f8} +```cpp +void mavsdk::Winch::rate_control_async(uint32_t instance, float rate_m_s, const ResultCallback callback) +``` + + +Wind or unwind line at specified rate. + +This function is non-blocking. See 'rate_control' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* float **rate_m_s** - +* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - + +### rate_control() {#classmavsdk_1_1_winch_1aaec8a2bac41941e1f696cd9541abd4ca} +```cpp +Result mavsdk::Winch::rate_control(uint32_t instance, float rate_m_s) const +``` + + +Wind or unwind line at specified rate. + +This function is blocking. See 'rate_control_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* float **rate_m_s** - + +**Returns** + + [Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request. + +### lock_async() {#classmavsdk_1_1_winch_1a0ff91279058752931bee2bc5dfd7c711} +```cpp +void mavsdk::Winch::lock_async(uint32_t instance, const ResultCallback callback) +``` + + +Perform the locking sequence to relieve motor while in the fully retracted position. + +This function is non-blocking. See 'lock' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - + +### lock() {#classmavsdk_1_1_winch_1ad0f907f0164a724f8e8a57fe9796ecb3} +```cpp +Result mavsdk::Winch::lock(uint32_t instance) const +``` + + +Perform the locking sequence to relieve motor while in the fully retracted position. + +This function is blocking. See 'lock_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - + +**Returns** + + [Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request. + +### deliver_async() {#classmavsdk_1_1_winch_1acbd43a3f00ab1e910b6b05654afc9458} +```cpp +void mavsdk::Winch::deliver_async(uint32_t instance, const ResultCallback callback) +``` + + +Sequence of drop, slow down, touch down, reel up, lock. + +This function is non-blocking. See 'deliver' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - + +### deliver() {#classmavsdk_1_1_winch_1a8910df835085243a366290dbc4492680} +```cpp +Result mavsdk::Winch::deliver(uint32_t instance) const +``` + + +Sequence of drop, slow down, touch down, reel up, lock. + +This function is blocking. See 'deliver_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - + +**Returns** + + [Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request. + +### hold_async() {#classmavsdk_1_1_winch_1a6c97626d33532469871a687e8043e27e} +```cpp +void mavsdk::Winch::hold_async(uint32_t instance, const ResultCallback callback) +``` + + +Engage motor and hold current position. + +This function is non-blocking. See 'hold' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - + +### hold() {#classmavsdk_1_1_winch_1a2e7ae05d09b82964024c70211b1920d9} +```cpp +Result mavsdk::Winch::hold(uint32_t instance) const +``` + + +Engage motor and hold current position. + +This function is blocking. See 'hold_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - + +**Returns** + + [Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request. + +### retract_async() {#classmavsdk_1_1_winch_1a6485b743115d441b43f3d0e39341412d} +```cpp +void mavsdk::Winch::retract_async(uint32_t instance, const ResultCallback callback) +``` + + +Return the reel to the fully retracted position. + +This function is non-blocking. See 'retract' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - + +### retract() {#classmavsdk_1_1_winch_1a353cad0259d2eb8201e2884e037422eb} +```cpp +Result mavsdk::Winch::retract(uint32_t instance) const +``` + + +Return the reel to the fully retracted position. + +This function is blocking. See 'retract_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - + +**Returns** + + [Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request. + +### load_line_async() {#classmavsdk_1_1_winch_1ad0588792ef3fbd469511f99988140637} +```cpp +void mavsdk::Winch::load_line_async(uint32_t instance, const ResultCallback callback) +``` + + +Load the reel with line. + +The winch will calculate the total loaded length and stop when the tension exceeds a threshold. + + +This function is non-blocking. See 'load_line' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - + +### load_line() {#classmavsdk_1_1_winch_1aabeb779b2e03632176799c92058adb92} +```cpp +Result mavsdk::Winch::load_line(uint32_t instance) const +``` + + +Load the reel with line. + +The winch will calculate the total loaded length and stop when the tension exceeds a threshold. + + +This function is blocking. See 'load_line_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - + +**Returns** + + [Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request. + +### abandon_line_async() {#classmavsdk_1_1_winch_1a3970c74e067d3734ba8dd3382c534b0a} +```cpp +void mavsdk::Winch::abandon_line_async(uint32_t instance, const ResultCallback callback) +``` + + +Spool out the entire length of the line. + +This function is non-blocking. See 'abandon_line' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - + +### abandon_line() {#classmavsdk_1_1_winch_1a625f6d58d5447afbe0c40e3d896071b0} +```cpp +Result mavsdk::Winch::abandon_line(uint32_t instance) const +``` + + +Spool out the entire length of the line. + +This function is blocking. See 'abandon_line_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - + +**Returns** + + [Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request. + +### load_payload_async() {#classmavsdk_1_1_winch_1af715b6c01dc75c44868c2936af04d40a} +```cpp +void mavsdk::Winch::load_payload_async(uint32_t instance, const ResultCallback callback) +``` + + +Spools out just enough to present the hook to the user to load the payload. + +This function is non-blocking. See 'load_payload' for the blocking counterpart. + +**Parameters** + +* uint32_t **instance** - +* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - + +### load_payload() {#classmavsdk_1_1_winch_1a01fec2758f7f09d8aef5de23f4566d47} +```cpp +Result mavsdk::Winch::load_payload(uint32_t instance) const +``` + + +Spools out just enough to present the hook to the user to load the payload. + +This function is blocking. See 'load_payload_async' for the non-blocking counterpart. + +**Parameters** + +* uint32_t **instance** - + +**Returns** + + [Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request. + +### operator=() {#classmavsdk_1_1_winch_1a5216eb2d1533b1e737ad30f31b7eff7a} +```cpp +const Winch& mavsdk::Winch::operator=(const Winch &)=delete +``` + + +Equality operator (object is not copyable). + + +**Parameters** + +* const [Winch](classmavsdk_1_1_winch.md)& - + +**Returns** + + const [Winch](classmavsdk_1_1_winch.md) & - \ No newline at end of file diff --git a/v2.0/en/cpp/api_reference/classmavsdk_1_1geometry_1_1_coordinate_transformation.html b/v2.0/en/cpp/api_reference/classmavsdk_1_1geometry_1_1_coordinate_transformation.html new file mode 100644 index 00000000..7847751e --- /dev/null +++ b/v2.0/en/cpp/api_reference/classmavsdk_1_1geometry_1_1_coordinate_transformation.html @@ -0,0 +1,3419 @@ + + + + + + + class geometry::CoordinateTransformation · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                            mavsdk::geometry::CoordinateTransformation Class Reference

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                                                                            #include: geometry.h

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                                                                            This is a utility class for coordinate transformations.

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                                                                            The projections used to transform from global (lat/lon) to local (meter) coordinates are taken from: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html and inspired by the implementations in: https://github.com/PX4/ecl/blob/master/geo/geo.cpp

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                                                                            Data Structures

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                                                                            struct GlobalCoordinate

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                                                                            struct LocalCoordinate

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                                                                            Public Member Functions

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                                                                            TypeNameDescription
                                                                             CoordinateTransformation ()=deleteDefault constructor not available.
                                                                             CoordinateTransformation (GlobalCoordinate reference)Constructor to initialize projection reference.
                                                                             ~CoordinateTransformation ()=defaultDestructor.
                                                                            LocalCoordinatelocal_from_global (GlobalCoordinate global_coordinate)constCalculate local coordinates from global coordinates.
                                                                            GlobalCoordinateglobal_from_local (LocalCoordinate local_coordinate)constCalculate global coordinates from local coordinates.
                                                                            +

                                                                            Constructor & Destructor Documentation

                                                                            +

                                                                            CoordinateTransformation()

                                                                            +
                                                                            mavsdk::geometry::CoordinateTransformation::CoordinateTransformation()=delete
+
                                                                            +

                                                                            Default constructor not available.

                                                                            +

                                                                            CoordinateTransformation()

                                                                            +
                                                                            mavsdk::geometry::CoordinateTransformation::CoordinateTransformation(GlobalCoordinate reference)
+
                                                                            +

                                                                            Constructor to initialize projection reference.

                                                                            +

                                                                            Parameters

                                                                            + +

                                                                            ~CoordinateTransformation()

                                                                            +
                                                                            mavsdk::geometry::CoordinateTransformation::~CoordinateTransformation()=default
+
                                                                            +

                                                                            Destructor.

                                                                            +

                                                                            Member Function Documentation

                                                                            +

                                                                            local_from_global()

                                                                            +
                                                                            LocalCoordinate mavsdk::geometry::CoordinateTransformation::local_from_global(GlobalCoordinate global_coordinate) const
+
                                                                            +

                                                                            Calculate local coordinates from global coordinates.

                                                                            +

                                                                            Parameters

                                                                            + +

                                                                            Returns

                                                                            +

                                                                             LocalCoordinate -

                                                                            +

                                                                            global_from_local()

                                                                            +
                                                                            GlobalCoordinate mavsdk::geometry::CoordinateTransformation::global_from_local(LocalCoordinate local_coordinate) const
+
                                                                            +

                                                                            Calculate global coordinates from local coordinates.

                                                                            +

                                                                            Parameters

                                                                            +
                                                                              +
                                                                            • LocalCoordinate local_coordinate - The local coordinate to project from.
                                                                              • +
                                                                            +

                                                                            Returns

                                                                            +

                                                                             GlobalCoordinate -

                                                                            +
                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                              C++ API Reference

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                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                mavsdk Namespace Reference

                                                                                +
                                                                                +

                                                                                Namespace for all mavsdk types.

                                                                                +

                                                                                Data Structures

                                                                                + +

                                                                                Enumerations

                                                                                + + + + + + + + + + + + + + + + + +
                                                                                TypeDescription
                                                                                enum ConnectionResultResult type returned when adding a connection.
                                                                                enum ForwardingOptionForwardingOption for Connection, used to set message forwarding option.
                                                                                +

                                                                                Functions

                                                                                + + + + + + + + + + + + + + + + + + + + +
                                                                                TypeNameDescription
                                                                                std::ostream &operator<< (std::ostream & str, const ConnectionResult & result)Stream operator to print information about a ConnectionResult.
                                                                                 overloaded (Ts...)-> overloaded< Ts... >Template deduction helper for overloaded
                                                                                +

                                                                                Enumeration Type Documentation

                                                                                +

                                                                                enum ConnectionResult

                                                                                +
                                                                                #include: connection_result.h
+

                                                                                Result type returned when adding a connection.

                                                                                +

                                                                                Note: Mavsdk does not throw exceptions. Instead a result of this type will be returned when you add a connection: add_udp_connection().

                                                                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                ValueDescription
                                                                                SuccessConnection succeeded.
                                                                                TimeoutConnection timed out.
                                                                                SocketErrorSocket error.
                                                                                BindErrorBind error.
                                                                                SocketConnectionErrorSocket connection error.
                                                                                ConnectionErrorConnection error.
                                                                                NotImplementedConnection type not implemented.
                                                                                SystemNotConnectedNo system is connected.
                                                                                SystemBusySystem is busy.
                                                                                CommandDeniedCommand is denied.
                                                                                DestinationIpUnknownConnection IP is unknown.
                                                                                ConnectionsExhaustedConnections exhausted.
                                                                                ConnectionUrlInvalidURL invalid.
                                                                                BaudrateUnknownBaudrate unknown.
                                                                                +

                                                                                enum ForwardingOption

                                                                                +
                                                                                #include: mavsdk.h
+

                                                                                ForwardingOption for Connection, used to set message forwarding option.

                                                                                + + + + + + + + + + + + + + + + + +
                                                                                ValueDescription
                                                                                ForwardingOff
                                                                                ForwardingOn
                                                                                +

                                                                                Function Documentation

                                                                                +

                                                                                operator<<()

                                                                                +
                                                                                #include: connection_result.h
+
                                                                                std::ostream& mavsdk::operator<<(std::ostream &str, const ConnectionResult &result)
+
                                                                                +

                                                                                Stream operator to print information about a ConnectionResult.

                                                                                +

                                                                                Parameters

                                                                                + +

                                                                                Returns

                                                                                +

                                                                                 std::ostream & - A reference to the stream.

                                                                                +

                                                                                overloaded()

                                                                                +
                                                                                #include: plugin_base.h
+
                                                                                mavsdk::overloaded(Ts...) -> overloaded< Ts... >
+
                                                                                +

                                                                                Template deduction helper for overloaded

                                                                                +

                                                                                Parameters

                                                                                +
                                                                                  +
                                                                                • Ts... -
                                                                                  • +
                                                                                +
                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                  mavsdk::ActionServer::AllowableFlightModes Struct Reference

                                                                                  +

                                                                                  #include: action_server.h

                                                                                  +
                                                                                  +

                                                                                  State to check if the vehicle can transition to respective flightmodes.

                                                                                  +

                                                                                  Data Fields

                                                                                  +

                                                                                  bool can_auto_mode {} - Auto/mission mode.

                                                                                  +

                                                                                  bool can_guided_mode {} - Guided mode.

                                                                                  +

                                                                                  bool can_stabilize_mode {} - Stabilize mode.

                                                                                  +

                                                                                  Field Documentation

                                                                                  +

                                                                                  can_auto_mode

                                                                                  +
                                                                                  bool mavsdk::ActionServer::AllowableFlightModes::can_auto_mode {}
+
                                                                                  +

                                                                                  Auto/mission mode.

                                                                                  +

                                                                                  can_guided_mode

                                                                                  +
                                                                                  bool mavsdk::ActionServer::AllowableFlightModes::can_guided_mode {}
+
                                                                                  +

                                                                                  Guided mode.

                                                                                  +

                                                                                  can_stabilize_mode

                                                                                  +
                                                                                  bool mavsdk::ActionServer::AllowableFlightModes::can_stabilize_mode {}
+
                                                                                  +

                                                                                  Stabilize mode.

                                                                                  +
                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                    mavsdk::ActionServer::ArmDisarm Struct Reference

                                                                                    +

                                                                                    #include: action_server.h

                                                                                    +
                                                                                    +

                                                                                    Arming message type.

                                                                                    +

                                                                                    Data Fields

                                                                                    +

                                                                                    bool arm {} - Should vehicle arm.

                                                                                    +

                                                                                    bool force {} - Should arm override pre-flight checks.

                                                                                    +

                                                                                    Field Documentation

                                                                                    +

                                                                                    arm

                                                                                    +
                                                                                    bool mavsdk::ActionServer::ArmDisarm::arm {}
+
                                                                                    +

                                                                                    Should vehicle arm.

                                                                                    +

                                                                                    force

                                                                                    +
                                                                                    bool mavsdk::ActionServer::ArmDisarm::force {}
+
                                                                                    +

                                                                                    Should arm override pre-flight checks.

                                                                                    +
                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_calibration_1_1_progress_data.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_calibration_1_1_progress_data.html new file mode 100644 index 00000000..d216c23a --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_calibration_1_1_progress_data.html @@ -0,0 +1,3363 @@ + + + + + + + struct ProgressData · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                      mavsdk::Calibration::ProgressData Struct Reference

                                                                                      +

                                                                                      #include: calibration.h

                                                                                      +
                                                                                      +

                                                                                      Progress data coming from calibration.

                                                                                      +

                                                                                      Can be a progress percentage, or an instruction text.

                                                                                      +

                                                                                      Data Fields

                                                                                      +

                                                                                      bool has_progress { false} - Whether this ProgressData contains a 'progress' status or not.

                                                                                      +

                                                                                      float progress {float(NAN)} - Progress (percentage)

                                                                                      +

                                                                                      bool has_status_text { false} - Whether this ProgressData contains a 'status_text' or not.

                                                                                      +

                                                                                      std::string status_text {} - Instruction text.

                                                                                      +

                                                                                      Field Documentation

                                                                                      +

                                                                                      has_progress

                                                                                      +
                                                                                      bool mavsdk::Calibration::ProgressData::has_progress { false}
+
                                                                                      +

                                                                                      Whether this ProgressData contains a 'progress' status or not.

                                                                                      +

                                                                                      progress

                                                                                      +
                                                                                      float mavsdk::Calibration::ProgressData::progress {float(NAN)}
+
                                                                                      +

                                                                                      Progress (percentage)

                                                                                      +

                                                                                      has_status_text

                                                                                      +
                                                                                      bool mavsdk::Calibration::ProgressData::has_status_text { false}
+
                                                                                      +

                                                                                      Whether this ProgressData contains a 'status_text' or not.

                                                                                      +

                                                                                      status_text

                                                                                      +
                                                                                      std::string mavsdk::Calibration::ProgressData::status_text {}
+
                                                                                      +

                                                                                      Instruction text.

                                                                                      +
                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                        mavsdk::Camera::CaptureInfo Struct Reference

                                                                                        +

                                                                                        #include: camera.h

                                                                                        +
                                                                                        +

                                                                                        Information about a picture just captured.

                                                                                        +

                                                                                        Data Fields

                                                                                        +

                                                                                        Position position {} - Location where the picture was taken.

                                                                                        +

                                                                                        Quaternion attitude_quaternion {} - Attitude of the camera when the picture was taken (quaternion)

                                                                                        +

                                                                                        EulerAngle attitude_euler_angle {} - Attitude of the camera when the picture was taken (euler angle)

                                                                                        +

                                                                                        uint64_t time_utc_us {} - Timestamp in UTC (since UNIX epoch) in microseconds.

                                                                                        +

                                                                                        bool is_success {} - True if the capture was successful.

                                                                                        +

                                                                                        int32_t index {} - Zero-based index of this image since vehicle was armed.

                                                                                        +

                                                                                        std::string file_url {} - Download URL of this image.

                                                                                        +

                                                                                        Field Documentation

                                                                                        +

                                                                                        position

                                                                                        +
                                                                                        Position mavsdk::Camera::CaptureInfo::position {}
+
                                                                                        +

                                                                                        Location where the picture was taken.

                                                                                        +

                                                                                        attitude_quaternion

                                                                                        +
                                                                                        Quaternion mavsdk::Camera::CaptureInfo::attitude_quaternion {}
+
                                                                                        +

                                                                                        Attitude of the camera when the picture was taken (quaternion)

                                                                                        +

                                                                                        attitude_euler_angle

                                                                                        +
                                                                                        EulerAngle mavsdk::Camera::CaptureInfo::attitude_euler_angle {}
+
                                                                                        +

                                                                                        Attitude of the camera when the picture was taken (euler angle)

                                                                                        +

                                                                                        time_utc_us

                                                                                        +
                                                                                        uint64_t mavsdk::Camera::CaptureInfo::time_utc_us {}
+
                                                                                        +

                                                                                        Timestamp in UTC (since UNIX epoch) in microseconds.

                                                                                        +

                                                                                        is_success

                                                                                        +
                                                                                        bool mavsdk::Camera::CaptureInfo::is_success {}
+
                                                                                        +

                                                                                        True if the capture was successful.

                                                                                        +

                                                                                        index

                                                                                        +
                                                                                        int32_t mavsdk::Camera::CaptureInfo::index {}
+
                                                                                        +

                                                                                        Zero-based index of this image since vehicle was armed.

                                                                                        +

                                                                                        file_url

                                                                                        +
                                                                                        std::string mavsdk::Camera::CaptureInfo::file_url {}
+
                                                                                        +

                                                                                        Download URL of this image.

                                                                                        +
                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                          mavsdk::Camera::EulerAngle Struct Reference

                                                                                          +

                                                                                          #include: camera.h

                                                                                          +
                                                                                          +

                                                                                          Euler angle type.

                                                                                          +

                                                                                          All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.

                                                                                          +

                                                                                          For more info see https://en.wikipedia.org/wiki/Euler_angles

                                                                                          +

                                                                                          Data Fields

                                                                                          +

                                                                                          float roll_deg {} - Roll angle in degrees, positive is banking to the right.

                                                                                          +

                                                                                          float pitch_deg {} - Pitch angle in degrees, positive is pitching nose up.

                                                                                          +

                                                                                          float yaw_deg {} - Yaw angle in degrees, positive is clock-wise seen from above.

                                                                                          +

                                                                                          Field Documentation

                                                                                          +

                                                                                          roll_deg

                                                                                          +
                                                                                          float mavsdk::Camera::EulerAngle::roll_deg {}
+
                                                                                          +

                                                                                          Roll angle in degrees, positive is banking to the right.

                                                                                          +

                                                                                          pitch_deg

                                                                                          +
                                                                                          float mavsdk::Camera::EulerAngle::pitch_deg {}
+
                                                                                          +

                                                                                          Pitch angle in degrees, positive is pitching nose up.

                                                                                          +

                                                                                          yaw_deg

                                                                                          +
                                                                                          float mavsdk::Camera::EulerAngle::yaw_deg {}
+
                                                                                          +

                                                                                          Yaw angle in degrees, positive is clock-wise seen from above.

                                                                                          +
                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                            mavsdk::Camera::Information Struct Reference

                                                                                            +

                                                                                            #include: camera.h

                                                                                            +
                                                                                            +

                                                                                            Type to represent a camera information.

                                                                                            +

                                                                                            Data Fields

                                                                                            +

                                                                                            std::string vendor_name {} - Name of the camera vendor.

                                                                                            +

                                                                                            std::string model_name {} - Name of the camera model.

                                                                                            +

                                                                                            float focal_length_mm {} - Focal length.

                                                                                            +

                                                                                            float horizontal_sensor_size_mm {} - Horizontal sensor size.

                                                                                            +

                                                                                            float vertical_sensor_size_mm {} - Vertical sensor size.

                                                                                            +

                                                                                            uint32_t horizontal_resolution_px {} - Horizontal image resolution in pixels.

                                                                                            +

                                                                                            uint32_t vertical_resolution_px {} - Vertical image resolution in pixels.

                                                                                            +

                                                                                            Field Documentation

                                                                                            +

                                                                                            vendor_name

                                                                                            +
                                                                                            std::string mavsdk::Camera::Information::vendor_name {}
+
                                                                                            +

                                                                                            Name of the camera vendor.

                                                                                            +

                                                                                            model_name

                                                                                            +
                                                                                            std::string mavsdk::Camera::Information::model_name {}
+
                                                                                            +

                                                                                            Name of the camera model.

                                                                                            +

                                                                                            focal_length_mm

                                                                                            +
                                                                                            float mavsdk::Camera::Information::focal_length_mm {}
+
                                                                                            +

                                                                                            Focal length.

                                                                                            +

                                                                                            horizontal_sensor_size_mm

                                                                                            +
                                                                                            float mavsdk::Camera::Information::horizontal_sensor_size_mm {}
+
                                                                                            +

                                                                                            Horizontal sensor size.

                                                                                            +

                                                                                            vertical_sensor_size_mm

                                                                                            +
                                                                                            float mavsdk::Camera::Information::vertical_sensor_size_mm {}
+
                                                                                            +

                                                                                            Vertical sensor size.

                                                                                            +

                                                                                            horizontal_resolution_px

                                                                                            +
                                                                                            uint32_t mavsdk::Camera::Information::horizontal_resolution_px {}
+
                                                                                            +

                                                                                            Horizontal image resolution in pixels.

                                                                                            +

                                                                                            vertical_resolution_px

                                                                                            +
                                                                                            uint32_t mavsdk::Camera::Information::vertical_resolution_px {}
+
                                                                                            +

                                                                                            Vertical image resolution in pixels.

                                                                                            +
                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                              mavsdk::Camera::Option Struct Reference

                                                                                              +

                                                                                              #include: camera.h

                                                                                              +
                                                                                              +

                                                                                              Type to represent a setting option.

                                                                                              +

                                                                                              Data Fields

                                                                                              +

                                                                                              std::string option_id {} - Name of the option (machine readable)

                                                                                              +

                                                                                              std::string option_description {} - Description of the option (human readable)

                                                                                              +

                                                                                              Field Documentation

                                                                                              +

                                                                                              option_id

                                                                                              +
                                                                                              std::string mavsdk::Camera::Option::option_id {}
+
                                                                                              +

                                                                                              Name of the option (machine readable)

                                                                                              +

                                                                                              option_description

                                                                                              +
                                                                                              std::string mavsdk::Camera::Option::option_description {}
+
                                                                                              +

                                                                                              Description of the option (human readable)

                                                                                              +
                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                mavsdk::Camera::Position Struct Reference

                                                                                                +

                                                                                                #include: camera.h

                                                                                                +
                                                                                                +

                                                                                                Position type in global coordinates.

                                                                                                +

                                                                                                Data Fields

                                                                                                +

                                                                                                double latitude_deg {} - Latitude in degrees (range: -90 to +90)

                                                                                                +

                                                                                                double longitude_deg {} - Longitude in degrees (range: -180 to +180)

                                                                                                +

                                                                                                float absolute_altitude_m {} - Altitude AMSL (above mean sea level) in metres.

                                                                                                +

                                                                                                float relative_altitude_m {} - Altitude relative to takeoff altitude in metres.

                                                                                                +

                                                                                                Field Documentation

                                                                                                +

                                                                                                latitude_deg

                                                                                                +
                                                                                                double mavsdk::Camera::Position::latitude_deg {}
+
                                                                                                +

                                                                                                Latitude in degrees (range: -90 to +90)

                                                                                                +

                                                                                                longitude_deg

                                                                                                +
                                                                                                double mavsdk::Camera::Position::longitude_deg {}
+
                                                                                                +

                                                                                                Longitude in degrees (range: -180 to +180)

                                                                                                +

                                                                                                absolute_altitude_m

                                                                                                +
                                                                                                float mavsdk::Camera::Position::absolute_altitude_m {}
+
                                                                                                +

                                                                                                Altitude AMSL (above mean sea level) in metres.

                                                                                                +

                                                                                                relative_altitude_m

                                                                                                +
                                                                                                float mavsdk::Camera::Position::relative_altitude_m {}
+
                                                                                                +

                                                                                                Altitude relative to takeoff altitude in metres.

                                                                                                +
                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                  mavsdk::Camera::Quaternion Struct Reference

                                                                                                  +

                                                                                                  #include: camera.h

                                                                                                  +
                                                                                                  +

                                                                                                  Quaternion type.

                                                                                                  +

                                                                                                  All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.

                                                                                                  +

                                                                                                  For more info see: https://en.wikipedia.org/wiki/Quaternion

                                                                                                  +

                                                                                                  Data Fields

                                                                                                  +

                                                                                                  float w {} - Quaternion entry 0, also denoted as a.

                                                                                                  +

                                                                                                  float x {} - Quaternion entry 1, also denoted as b.

                                                                                                  +

                                                                                                  float y {} - Quaternion entry 2, also denoted as c.

                                                                                                  +

                                                                                                  float z {} - Quaternion entry 3, also denoted as d.

                                                                                                  +

                                                                                                  Field Documentation

                                                                                                  +

                                                                                                  w

                                                                                                  +
                                                                                                  float mavsdk::Camera::Quaternion::w {}
+
                                                                                                  +

                                                                                                  Quaternion entry 0, also denoted as a.

                                                                                                  +

                                                                                                  x

                                                                                                  +
                                                                                                  float mavsdk::Camera::Quaternion::x {}
+
                                                                                                  +

                                                                                                  Quaternion entry 1, also denoted as b.

                                                                                                  +

                                                                                                  y

                                                                                                  +
                                                                                                  float mavsdk::Camera::Quaternion::y {}
+
                                                                                                  +

                                                                                                  Quaternion entry 2, also denoted as c.

                                                                                                  +

                                                                                                  z

                                                                                                  +
                                                                                                  float mavsdk::Camera::Quaternion::z {}
+
                                                                                                  +

                                                                                                  Quaternion entry 3, also denoted as d.

                                                                                                  +
                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                    mavsdk::Camera::Setting Struct Reference

                                                                                                    +

                                                                                                    #include: camera.h

                                                                                                    +
                                                                                                    +

                                                                                                    Type to represent a setting with a selected option.

                                                                                                    +

                                                                                                    Data Fields

                                                                                                    +

                                                                                                    std::string setting_id {} - Name of a setting (machine readable)

                                                                                                    +

                                                                                                    std::string setting_description {} - Description of the setting (human readable). This field is meant to be read from the drone, ignore it when setting.

                                                                                                    +

                                                                                                    Option option {} - Selected option.

                                                                                                    +

                                                                                                    bool is_range {} - If option is given as a range. This field is meant to be read from the drone, ignore it when setting.

                                                                                                    +

                                                                                                    Field Documentation

                                                                                                    +

                                                                                                    setting_id

                                                                                                    +
                                                                                                    std::string mavsdk::Camera::Setting::setting_id {}
+
                                                                                                    +

                                                                                                    Name of a setting (machine readable)

                                                                                                    +

                                                                                                    setting_description

                                                                                                    +
                                                                                                    std::string mavsdk::Camera::Setting::setting_description {}
+
                                                                                                    +

                                                                                                    Description of the setting (human readable). This field is meant to be read from the drone, ignore it when setting.

                                                                                                    +

                                                                                                    option

                                                                                                    +
                                                                                                    Option mavsdk::Camera::Setting::option {}
+
                                                                                                    +

                                                                                                    Selected option.

                                                                                                    +

                                                                                                    is_range

                                                                                                    +
                                                                                                    bool mavsdk::Camera::Setting::is_range {}
+
                                                                                                    +

                                                                                                    If option is given as a range. This field is meant to be read from the drone, ignore it when setting.

                                                                                                    +
                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                      +
                                                                                                      + +
                                                                                                      + +

                                                                                                      mavsdk::Camera::SettingOptions Struct Reference

                                                                                                      +

                                                                                                      #include: camera.h

                                                                                                      +
                                                                                                      +

                                                                                                      Type to represent a setting with a list of options to choose from.

                                                                                                      +

                                                                                                      Data Fields

                                                                                                      +

                                                                                                      std::string setting_id {} - Name of the setting (machine readable)

                                                                                                      +

                                                                                                      std::string setting_description {} - Description of the setting (human readable)

                                                                                                      +

                                                                                                      std::vector< Option > options {} - List of options or if range [min, max] or [min, max, interval].

                                                                                                      +

                                                                                                      bool is_range {} - If option is given as a range.

                                                                                                      +

                                                                                                      Field Documentation

                                                                                                      +

                                                                                                      setting_id

                                                                                                      +
                                                                                                      std::string mavsdk::Camera::SettingOptions::setting_id {}
+
                                                                                                      +

                                                                                                      Name of the setting (machine readable)

                                                                                                      +

                                                                                                      setting_description

                                                                                                      +
                                                                                                      std::string mavsdk::Camera::SettingOptions::setting_description {}
+
                                                                                                      +

                                                                                                      Description of the setting (human readable)

                                                                                                      +

                                                                                                      options

                                                                                                      +
                                                                                                      std::vector<Option> mavsdk::Camera::SettingOptions::options {}
+
                                                                                                      +

                                                                                                      List of options or if range [min, max] or [min, max, interval].

                                                                                                      +

                                                                                                      is_range

                                                                                                      +
                                                                                                      bool mavsdk::Camera::SettingOptions::is_range {}
+
                                                                                                      +

                                                                                                      If option is given as a range.

                                                                                                      +
                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                        +
                                                                                                        + +
                                                                                                        + +

                                                                                                        mavsdk::Camera::Status Struct Reference

                                                                                                        +

                                                                                                        #include: camera.h

                                                                                                        +
                                                                                                        +

                                                                                                        Information about the camera status.

                                                                                                        +

                                                                                                        Public Types

                                                                                                        + + + + + + + + + + + + + + + + + +
                                                                                                        TypeDescription
                                                                                                        enum StorageStatusStorage status type.
                                                                                                        enum StorageTypeStorage type.
                                                                                                        +

                                                                                                        Data Fields

                                                                                                        +

                                                                                                        bool video_on {} - Whether video recording is currently in process.

                                                                                                        +

                                                                                                        bool photo_interval_on {} - Whether a photo interval is currently in process.

                                                                                                        +

                                                                                                        float used_storage_mib {} - Used storage (in MiB)

                                                                                                        +

                                                                                                        float available_storage_mib {} - Available storage (in MiB)

                                                                                                        +

                                                                                                        float total_storage_mib {} - Total storage (in MiB)

                                                                                                        +

                                                                                                        float recording_time_s {} - Elapsed time since starting the video recording (in seconds)

                                                                                                        +

                                                                                                        std::string media_folder_name {} - Current folder name where media are saved.

                                                                                                        +

                                                                                                        StorageStatus storage_status {} - Storage status.

                                                                                                        +

                                                                                                        uint32_t storage_id {} - Storage ID starting at 1.

                                                                                                        +

                                                                                                        StorageType storage_type {} - Storage type.

                                                                                                        +

                                                                                                        Member Enumeration Documentation

                                                                                                        +

                                                                                                        enum StorageStatus

                                                                                                        +

                                                                                                        Storage status type.

                                                                                                        + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                        ValueDescription
                                                                                                        NotAvailableStatus not available.
                                                                                                        UnformattedStorage is not formatted (i.e. has no recognized file system).
                                                                                                        FormattedStorage is formatted (i.e. has recognized a file system).
                                                                                                        NotSupportedStorage status is not supported.
                                                                                                        +

                                                                                                        enum StorageType

                                                                                                        +

                                                                                                        Storage type.

                                                                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                        ValueDescription
                                                                                                        UnknownStorage type unknown.
                                                                                                        UsbStickStorage type USB stick.
                                                                                                        SdStorage type SD card.
                                                                                                        MicrosdStorage type MicroSD card.
                                                                                                        HdStorage type HD mass storage.
                                                                                                        OtherStorage type other, not listed.
                                                                                                        +

                                                                                                        Field Documentation

                                                                                                        +

                                                                                                        video_on

                                                                                                        +
                                                                                                        bool mavsdk::Camera::Status::video_on {}
+
                                                                                                        +

                                                                                                        Whether video recording is currently in process.

                                                                                                        +

                                                                                                        photo_interval_on

                                                                                                        +
                                                                                                        bool mavsdk::Camera::Status::photo_interval_on {}
+
                                                                                                        +

                                                                                                        Whether a photo interval is currently in process.

                                                                                                        +

                                                                                                        used_storage_mib

                                                                                                        +
                                                                                                        float mavsdk::Camera::Status::used_storage_mib {}
+
                                                                                                        +

                                                                                                        Used storage (in MiB)

                                                                                                        +

                                                                                                        available_storage_mib

                                                                                                        +
                                                                                                        float mavsdk::Camera::Status::available_storage_mib {}
+
                                                                                                        +

                                                                                                        Available storage (in MiB)

                                                                                                        +

                                                                                                        total_storage_mib

                                                                                                        +
                                                                                                        float mavsdk::Camera::Status::total_storage_mib {}
+
                                                                                                        +

                                                                                                        Total storage (in MiB)

                                                                                                        +

                                                                                                        recording_time_s

                                                                                                        +
                                                                                                        float mavsdk::Camera::Status::recording_time_s {}
+
                                                                                                        +

                                                                                                        Elapsed time since starting the video recording (in seconds)

                                                                                                        +

                                                                                                        media_folder_name

                                                                                                        +
                                                                                                        std::string mavsdk::Camera::Status::media_folder_name {}
+
                                                                                                        +

                                                                                                        Current folder name where media are saved.

                                                                                                        +

                                                                                                        storage_status

                                                                                                        +
                                                                                                        StorageStatus mavsdk::Camera::Status::storage_status {}
+
                                                                                                        +

                                                                                                        Storage status.

                                                                                                        +

                                                                                                        storage_id

                                                                                                        +
                                                                                                        uint32_t mavsdk::Camera::Status::storage_id {}
+
                                                                                                        +

                                                                                                        Storage ID starting at 1.

                                                                                                        +

                                                                                                        storage_type

                                                                                                        +
                                                                                                        StorageType mavsdk::Camera::Status::storage_type {}
+
                                                                                                        +

                                                                                                        Storage type.

                                                                                                        +
                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                          + + +
                                                                                                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_info.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_info.html new file mode 100644 index 00000000..9ace2517 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_info.html @@ -0,0 +1,3421 @@ + + + + + + + struct VideoStreamInfo · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                          +
                                                                                                          + +
                                                                                                          + +

                                                                                                          mavsdk::Camera::VideoStreamInfo Struct Reference

                                                                                                          +

                                                                                                          #include: camera.h

                                                                                                          +
                                                                                                          +

                                                                                                          Information about the video stream.

                                                                                                          +

                                                                                                          Public Types

                                                                                                          + + + + + + + + + + + + + + + + + +
                                                                                                          TypeDescription
                                                                                                          enum VideoStreamStatusVideo stream status type.
                                                                                                          enum VideoStreamSpectrumVideo stream light spectrum type.
                                                                                                          +

                                                                                                          Data Fields

                                                                                                          +

                                                                                                          VideoStreamSettings settings {} - Video stream settings.

                                                                                                          +

                                                                                                          VideoStreamStatus status {} - Current status of video streaming.

                                                                                                          +

                                                                                                          VideoStreamSpectrum spectrum {} - Light-spectrum of the video stream.

                                                                                                          +

                                                                                                          Member Enumeration Documentation

                                                                                                          +

                                                                                                          enum VideoStreamStatus

                                                                                                          +

                                                                                                          Video stream status type.

                                                                                                          + + + + + + + + + + + + + + + + + +
                                                                                                          ValueDescription
                                                                                                          NotRunningVideo stream is not running.
                                                                                                          InProgressVideo stream is running.
                                                                                                          +

                                                                                                          enum VideoStreamSpectrum

                                                                                                          +

                                                                                                          Video stream light spectrum type.

                                                                                                          + + + + + + + + + + + + + + + + + + + + + +
                                                                                                          ValueDescription
                                                                                                          UnknownUnknown.
                                                                                                          VisibleLightVisible light.
                                                                                                          InfraredInfrared.
                                                                                                          +

                                                                                                          Field Documentation

                                                                                                          +

                                                                                                          settings

                                                                                                          +
                                                                                                          VideoStreamSettings mavsdk::Camera::VideoStreamInfo::settings {}
+
                                                                                                          +

                                                                                                          Video stream settings.

                                                                                                          +

                                                                                                          status

                                                                                                          +
                                                                                                          VideoStreamStatus mavsdk::Camera::VideoStreamInfo::status {}
+
                                                                                                          +

                                                                                                          Current status of video streaming.

                                                                                                          +

                                                                                                          spectrum

                                                                                                          +
                                                                                                          VideoStreamSpectrum mavsdk::Camera::VideoStreamInfo::spectrum {}
+
                                                                                                          +

                                                                                                          Light-spectrum of the video stream.

                                                                                                          +
                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_settings.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_settings.html new file mode 100644 index 00000000..2a278d9c --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_settings.html @@ -0,0 +1,3377 @@ + + + + + + + struct VideoStreamSettings · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                            +
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                                                                                                            + +

                                                                                                            mavsdk::Camera::VideoStreamSettings Struct Reference

                                                                                                            +

                                                                                                            #include: camera.h

                                                                                                            +
                                                                                                            +

                                                                                                            Type for video stream settings.

                                                                                                            +

                                                                                                            Data Fields

                                                                                                            +

                                                                                                            float frame_rate_hz {} - Frames per second.

                                                                                                            +

                                                                                                            uint32_t horizontal_resolution_pix {} - Horizontal resolution (in pixels)

                                                                                                            +

                                                                                                            uint32_t vertical_resolution_pix {} - Vertical resolution (in pixels)

                                                                                                            +

                                                                                                            uint32_t bit_rate_b_s {} - Bit rate (in bits per second)

                                                                                                            +

                                                                                                            uint32_t rotation_deg {} - Video image rotation (clockwise, 0-359 degrees)

                                                                                                            +

                                                                                                            std::string uri {} - Video stream URI.

                                                                                                            +

                                                                                                            float horizontal_fov_deg {} - Horizontal fov in degrees.

                                                                                                            +

                                                                                                            Field Documentation

                                                                                                            +

                                                                                                            frame_rate_hz

                                                                                                            +
                                                                                                            float mavsdk::Camera::VideoStreamSettings::frame_rate_hz {}
+
                                                                                                            +

                                                                                                            Frames per second.

                                                                                                            +

                                                                                                            horizontal_resolution_pix

                                                                                                            +
                                                                                                            uint32_t mavsdk::Camera::VideoStreamSettings::horizontal_resolution_pix {}
+
                                                                                                            +

                                                                                                            Horizontal resolution (in pixels)

                                                                                                            +

                                                                                                            vertical_resolution_pix

                                                                                                            +
                                                                                                            uint32_t mavsdk::Camera::VideoStreamSettings::vertical_resolution_pix {}
+
                                                                                                            +

                                                                                                            Vertical resolution (in pixels)

                                                                                                            +

                                                                                                            bit_rate_b_s

                                                                                                            +
                                                                                                            uint32_t mavsdk::Camera::VideoStreamSettings::bit_rate_b_s {}
+
                                                                                                            +

                                                                                                            Bit rate (in bits per second)

                                                                                                            +

                                                                                                            rotation_deg

                                                                                                            +
                                                                                                            uint32_t mavsdk::Camera::VideoStreamSettings::rotation_deg {}
+
                                                                                                            +

                                                                                                            Video image rotation (clockwise, 0-359 degrees)

                                                                                                            +

                                                                                                            uri

                                                                                                            +
                                                                                                            std::string mavsdk::Camera::VideoStreamSettings::uri {}
+
                                                                                                            +

                                                                                                            Video stream URI.

                                                                                                            +

                                                                                                            horizontal_fov_deg

                                                                                                            +
                                                                                                            float mavsdk::Camera::VideoStreamSettings::horizontal_fov_deg {}
+
                                                                                                            +

                                                                                                            Horizontal fov in degrees.

                                                                                                            +
                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_info.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_info.html new file mode 100644 index 00000000..3f1cefed --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_info.html @@ -0,0 +1,3372 @@ + + + + + + + struct CaptureInfo · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                              mavsdk::CameraServer::CaptureInfo Struct Reference

                                                                                                              +

                                                                                                              #include: camera_server.h

                                                                                                              +
                                                                                                              +

                                                                                                              Information about a picture just captured.

                                                                                                              +

                                                                                                              Data Fields

                                                                                                              +

                                                                                                              Position position {} - Location where the picture was taken.

                                                                                                              +

                                                                                                              Quaternion attitude_quaternion {} - Attitude of the camera when the picture was taken (quaternion)

                                                                                                              +

                                                                                                              uint64_t time_utc_us {} - Timestamp in UTC (since UNIX epoch) in microseconds.

                                                                                                              +

                                                                                                              bool is_success {} - True if the capture was successful.

                                                                                                              +

                                                                                                              int32_t index {} - Index from TakePhotoResponse.

                                                                                                              +

                                                                                                              std::string file_url {} - Download URL of this image.

                                                                                                              +

                                                                                                              Field Documentation

                                                                                                              +

                                                                                                              position

                                                                                                              +
                                                                                                              Position mavsdk::CameraServer::CaptureInfo::position {}
+
                                                                                                              +

                                                                                                              Location where the picture was taken.

                                                                                                              +

                                                                                                              attitude_quaternion

                                                                                                              +
                                                                                                              Quaternion mavsdk::CameraServer::CaptureInfo::attitude_quaternion {}
+
                                                                                                              +

                                                                                                              Attitude of the camera when the picture was taken (quaternion)

                                                                                                              +

                                                                                                              time_utc_us

                                                                                                              +
                                                                                                              uint64_t mavsdk::CameraServer::CaptureInfo::time_utc_us {}
+
                                                                                                              +

                                                                                                              Timestamp in UTC (since UNIX epoch) in microseconds.

                                                                                                              +

                                                                                                              is_success

                                                                                                              +
                                                                                                              bool mavsdk::CameraServer::CaptureInfo::is_success {}
+
                                                                                                              +

                                                                                                              True if the capture was successful.

                                                                                                              +

                                                                                                              index

                                                                                                              +
                                                                                                              int32_t mavsdk::CameraServer::CaptureInfo::index {}
+
                                                                                                              +

                                                                                                              Index from TakePhotoResponse.

                                                                                                              +

                                                                                                              file_url

                                                                                                              +
                                                                                                              std::string mavsdk::CameraServer::CaptureInfo::file_url {}
+
                                                                                                              +

                                                                                                              Download URL of this image.

                                                                                                              +
                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_status.md b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_status.md new file mode 100644 index 00000000..76967526 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_status.md @@ -0,0 +1,113 @@ +# mavsdk::CameraServer::CaptureStatus Struct Reference +`#include: UNKNOWN` + +---- + + +## Public Types + + +Type | Description +--- | --- +enum [ImageStatus](#structmavsdk_1_1_camera_server_1_1_capture_status_1ab9567d4fc7a19f6549f233684f2657cc) | +enum [VideoStatus](#structmavsdk_1_1_camera_server_1_1_capture_status_1aa5805c521b56d734ab6d78be2084397a) | + +## Data Fields + + +float [image_interval_s](#structmavsdk_1_1_camera_server_1_1_capture_status_1a89f9eb4eddb220da0c29f7da2452ab81) {} - Image capture interval (in s) + +float [recording_time_s](#structmavsdk_1_1_camera_server_1_1_capture_status_1afcbb06ba085b5c7d85779712301edfda) {} - Elapsed time since recording started (in s) + +float [available_capacity_mib](#structmavsdk_1_1_camera_server_1_1_capture_status_1a1c6911a20d88dfbfd7ec46c97a490ea3) {} - Available storage capacity. (in MiB) + +[ImageStatus](structmavsdk_1_1_camera_server_1_1_capture_status.md#structmavsdk_1_1_camera_server_1_1_capture_status_1ab9567d4fc7a19f6549f233684f2657cc) [image_status](#structmavsdk_1_1_camera_server_1_1_capture_status_1a89d5deb5ae03057ac7275ce4278e4db9) {} - Current status of image capturing. + +[VideoStatus](structmavsdk_1_1_camera_server_1_1_capture_status.md#structmavsdk_1_1_camera_server_1_1_capture_status_1aa5805c521b56d734ab6d78be2084397a) [video_status](#structmavsdk_1_1_camera_server_1_1_capture_status_1ac8317772ba04bb716f96c1227a1cd2d4) {} - Current status of video capturing. + +int32_t [image_count](#structmavsdk_1_1_camera_server_1_1_capture_status_1a64feb9833b8f6df4ff6858109112ebbe) {} - Total number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT) + + +## Member Enumeration Documentation + + +### enum ImageStatus {#structmavsdk_1_1_camera_server_1_1_capture_status_1ab9567d4fc7a19f6549f233684f2657cc} + + +Value | Description +--- | --- + `Idle` | idle. + `CaptureInProgress` | capture in progress. + `IntervalIdle` | interval set but idle. + `IntervalInProgress` | interval set and capture in progress). + +### enum VideoStatus {#structmavsdk_1_1_camera_server_1_1_capture_status_1aa5805c521b56d734ab6d78be2084397a} + + +Value | Description +--- | --- + `Idle` | idle. + `CaptureInProgress` | capture in progress. + +## Field Documentation + + +### image_interval_s {#structmavsdk_1_1_camera_server_1_1_capture_status_1a89f9eb4eddb220da0c29f7da2452ab81} + +```cpp +float mavsdk::CameraServer::CaptureStatus::image_interval_s {} +``` + + +Image capture interval (in s) + + +### recording_time_s {#structmavsdk_1_1_camera_server_1_1_capture_status_1afcbb06ba085b5c7d85779712301edfda} + +```cpp +float mavsdk::CameraServer::CaptureStatus::recording_time_s {} +``` + + +Elapsed time since recording started (in s) + + +### available_capacity_mib {#structmavsdk_1_1_camera_server_1_1_capture_status_1a1c6911a20d88dfbfd7ec46c97a490ea3} + +```cpp +float mavsdk::CameraServer::CaptureStatus::available_capacity_mib {} +``` + + +Available storage capacity. (in MiB) + + +### image_status {#structmavsdk_1_1_camera_server_1_1_capture_status_1a89d5deb5ae03057ac7275ce4278e4db9} + +```cpp +ImageStatus mavsdk::CameraServer::CaptureStatus::image_status {} +``` + + +Current status of image capturing. + + +### video_status {#structmavsdk_1_1_camera_server_1_1_capture_status_1ac8317772ba04bb716f96c1227a1cd2d4} + +```cpp +VideoStatus mavsdk::CameraServer::CaptureStatus::video_status {} +``` + + +Current status of video capturing. + + +### image_count {#structmavsdk_1_1_camera_server_1_1_capture_status_1a64feb9833b8f6df4ff6858109112ebbe} + +```cpp +int32_t mavsdk::CameraServer::CaptureStatus::image_count {} +``` + + +Total number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT) + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_information.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_information.html new file mode 100644 index 00000000..86b29137 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_information.html @@ -0,0 +1,3397 @@ + + + + + + + struct Information · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                mavsdk::CameraServer::Information Struct Reference

                                                                                                                +

                                                                                                                #include: camera_server.h

                                                                                                                +
                                                                                                                +

                                                                                                                Type to represent a camera information.

                                                                                                                +

                                                                                                                Data Fields

                                                                                                                +

                                                                                                                std::string vendor_name {} - Name of the camera vendor.

                                                                                                                +

                                                                                                                std::string model_name {} - Name of the camera model.

                                                                                                                +

                                                                                                                std::string firmware_version {} - Camera firmware version in major[.minor[.patch[.dev]]] format.

                                                                                                                +

                                                                                                                float focal_length_mm {} - Focal length.

                                                                                                                +

                                                                                                                float horizontal_sensor_size_mm {} - Horizontal sensor size.

                                                                                                                +

                                                                                                                float vertical_sensor_size_mm {} - Vertical sensor size.

                                                                                                                +

                                                                                                                uint32_t horizontal_resolution_px {} - Horizontal image resolution in pixels.

                                                                                                                +

                                                                                                                uint32_t vertical_resolution_px {} - Vertical image resolution in pixels.

                                                                                                                +

                                                                                                                uint32_t lens_id {} - Lens ID.

                                                                                                                +

                                                                                                                uint32_t definition_file_version {} - Camera definition file version (iteration)

                                                                                                                +

                                                                                                                std::string definition_file_uri {} - Camera definition URI (http or mavlink ftp)

                                                                                                                +

                                                                                                                Field Documentation

                                                                                                                +

                                                                                                                vendor_name

                                                                                                                +
                                                                                                                std::string mavsdk::CameraServer::Information::vendor_name {}
+
                                                                                                                +

                                                                                                                Name of the camera vendor.

                                                                                                                +

                                                                                                                model_name

                                                                                                                +
                                                                                                                std::string mavsdk::CameraServer::Information::model_name {}
+
                                                                                                                +

                                                                                                                Name of the camera model.

                                                                                                                +

                                                                                                                firmware_version

                                                                                                                +
                                                                                                                std::string mavsdk::CameraServer::Information::firmware_version {}
+
                                                                                                                +

                                                                                                                Camera firmware version in major[.minor[.patch[.dev]]] format.

                                                                                                                +

                                                                                                                focal_length_mm

                                                                                                                +
                                                                                                                float mavsdk::CameraServer::Information::focal_length_mm {}
+
                                                                                                                +

                                                                                                                Focal length.

                                                                                                                +

                                                                                                                horizontal_sensor_size_mm

                                                                                                                +
                                                                                                                float mavsdk::CameraServer::Information::horizontal_sensor_size_mm {}
+
                                                                                                                +

                                                                                                                Horizontal sensor size.

                                                                                                                +

                                                                                                                vertical_sensor_size_mm

                                                                                                                +
                                                                                                                float mavsdk::CameraServer::Information::vertical_sensor_size_mm {}
+
                                                                                                                +

                                                                                                                Vertical sensor size.

                                                                                                                +

                                                                                                                horizontal_resolution_px

                                                                                                                +
                                                                                                                uint32_t mavsdk::CameraServer::Information::horizontal_resolution_px {}
+
                                                                                                                +

                                                                                                                Horizontal image resolution in pixels.

                                                                                                                +

                                                                                                                vertical_resolution_px

                                                                                                                +
                                                                                                                uint32_t mavsdk::CameraServer::Information::vertical_resolution_px {}
+
                                                                                                                +

                                                                                                                Vertical image resolution in pixels.

                                                                                                                +

                                                                                                                lens_id

                                                                                                                +
                                                                                                                uint32_t mavsdk::CameraServer::Information::lens_id {}
+
                                                                                                                +

                                                                                                                Lens ID.

                                                                                                                +

                                                                                                                definition_file_version

                                                                                                                +
                                                                                                                uint32_t mavsdk::CameraServer::Information::definition_file_version {}
+
                                                                                                                +

                                                                                                                Camera definition file version (iteration)

                                                                                                                +

                                                                                                                definition_file_uri

                                                                                                                +
                                                                                                                std::string mavsdk::CameraServer::Information::definition_file_uri {}
+
                                                                                                                +

                                                                                                                Camera definition URI (http or mavlink ftp)

                                                                                                                +
                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                  mavsdk::CameraServer::Position Struct Reference

                                                                                                                  +

                                                                                                                  #include: camera_server.h

                                                                                                                  +
                                                                                                                  +

                                                                                                                  Position type in global coordinates.

                                                                                                                  +

                                                                                                                  Data Fields

                                                                                                                  +

                                                                                                                  double latitude_deg {} - Latitude in degrees (range: -90 to +90)

                                                                                                                  +

                                                                                                                  double longitude_deg {} - Longitude in degrees (range: -180 to +180)

                                                                                                                  +

                                                                                                                  float absolute_altitude_m {} - Altitude AMSL (above mean sea level) in metres.

                                                                                                                  +

                                                                                                                  float relative_altitude_m {} - Altitude relative to takeoff altitude in metres.

                                                                                                                  +

                                                                                                                  Field Documentation

                                                                                                                  +

                                                                                                                  latitude_deg

                                                                                                                  +
                                                                                                                  double mavsdk::CameraServer::Position::latitude_deg {}
+
                                                                                                                  +

                                                                                                                  Latitude in degrees (range: -90 to +90)

                                                                                                                  +

                                                                                                                  longitude_deg

                                                                                                                  +
                                                                                                                  double mavsdk::CameraServer::Position::longitude_deg {}
+
                                                                                                                  +

                                                                                                                  Longitude in degrees (range: -180 to +180)

                                                                                                                  +

                                                                                                                  absolute_altitude_m

                                                                                                                  +
                                                                                                                  float mavsdk::CameraServer::Position::absolute_altitude_m {}
+
                                                                                                                  +

                                                                                                                  Altitude AMSL (above mean sea level) in metres.

                                                                                                                  +

                                                                                                                  relative_altitude_m

                                                                                                                  +
                                                                                                                  float mavsdk::CameraServer::Position::relative_altitude_m {}
+
                                                                                                                  +

                                                                                                                  Altitude relative to takeoff altitude in metres.

                                                                                                                  +
                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                    mavsdk::CameraServer::Quaternion Struct Reference

                                                                                                                    +

                                                                                                                    #include: camera_server.h

                                                                                                                    +
                                                                                                                    +

                                                                                                                    Quaternion type.

                                                                                                                    +

                                                                                                                    All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.

                                                                                                                    +

                                                                                                                    For more info see: https://en.wikipedia.org/wiki/Quaternion

                                                                                                                    +

                                                                                                                    Data Fields

                                                                                                                    +

                                                                                                                    float w {} - Quaternion entry 0, also denoted as a.

                                                                                                                    +

                                                                                                                    float x {} - Quaternion entry 1, also denoted as b.

                                                                                                                    +

                                                                                                                    float y {} - Quaternion entry 2, also denoted as c.

                                                                                                                    +

                                                                                                                    float z {} - Quaternion entry 3, also denoted as d.

                                                                                                                    +

                                                                                                                    Field Documentation

                                                                                                                    +

                                                                                                                    w

                                                                                                                    +
                                                                                                                    float mavsdk::CameraServer::Quaternion::w {}
+
                                                                                                                    +

                                                                                                                    Quaternion entry 0, also denoted as a.

                                                                                                                    +

                                                                                                                    x

                                                                                                                    +
                                                                                                                    float mavsdk::CameraServer::Quaternion::x {}
+
                                                                                                                    +

                                                                                                                    Quaternion entry 1, also denoted as b.

                                                                                                                    +

                                                                                                                    y

                                                                                                                    +
                                                                                                                    float mavsdk::CameraServer::Quaternion::y {}
+
                                                                                                                    +

                                                                                                                    Quaternion entry 2, also denoted as c.

                                                                                                                    +

                                                                                                                    z

                                                                                                                    +
                                                                                                                    float mavsdk::CameraServer::Quaternion::z {}
+
                                                                                                                    +

                                                                                                                    Quaternion entry 3, also denoted as d.

                                                                                                                    +
                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_storage_information.md b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_storage_information.md new file mode 100644 index 00000000..23fcec1e --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_storage_information.md @@ -0,0 +1,150 @@ +# mavsdk::CameraServer::StorageInformation Struct Reference +`#include: camera_server.h` + +---- + + +[Information](structmavsdk_1_1_camera_server_1_1_information.md) about the camera storage. + + +## Public Types + + +Type | Description +--- | --- +enum [StorageStatus](#structmavsdk_1_1_camera_server_1_1_storage_information_1a82d24373786c582c377ac9671282910f) | Storage status type. +enum [StorageType](#structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7) | Storage type. + +## Data Fields + + +float [used_storage_mib](#structmavsdk_1_1_camera_server_1_1_storage_information_1a94040916ab463c2ddba0d68852ea382a) {} - Used storage (in MiB) + +float [available_storage_mib](#structmavsdk_1_1_camera_server_1_1_storage_information_1ae781ac7b52fa2c140f2633e13dacf4b2) {} - Available storage (in MiB) + +float [total_storage_mib](#structmavsdk_1_1_camera_server_1_1_storage_information_1a72aa03291a20f7985ab73f933348d8cc) {} - Total storage (in MiB) + +[StorageStatus](structmavsdk_1_1_camera_server_1_1_storage_information.md#structmavsdk_1_1_camera_server_1_1_storage_information_1a82d24373786c582c377ac9671282910f) [storage_status](#structmavsdk_1_1_camera_server_1_1_storage_information_1a78f55db7073e7d96c4a606b65c304f2a) {} - Storage status. + +uint32_t [storage_id](#structmavsdk_1_1_camera_server_1_1_storage_information_1a3ba45bcbdd1bfd6402d09ee82828e56d) {} - Storage ID starting at 1. + +[StorageType](structmavsdk_1_1_camera_server_1_1_storage_information.md#structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7) [storage_type](#structmavsdk_1_1_camera_server_1_1_storage_information_1a12f4d2dfa4429adebe0a38749f052794) {} - Storage type. + +float [read_speed_mib_s](#structmavsdk_1_1_camera_server_1_1_storage_information_1a8df6bf66e2d436c388cb834a1e5bbe98) {} - Read speed [MiB/s]. + +float [write_speed_mib_s](#structmavsdk_1_1_camera_server_1_1_storage_information_1ac7aeae4770a810cd226cb05f4d6db982) {} - Write speed [MiB/s]. + + +## Member Enumeration Documentation + + +### enum StorageStatus {#structmavsdk_1_1_camera_server_1_1_storage_information_1a82d24373786c582c377ac9671282910f} + + +Storage status type. + + +Value | Description +--- | --- + `NotAvailable` | Storage not available. + `Unformatted` | Storage is not formatted (i.e. has no recognized file system). + `Formatted` | Storage is formatted (i.e. has recognized a file system). + `NotSupported` | Storage status is not supported. + +### enum StorageType {#structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7} + + +Storage type. + + +Value | Description +--- | --- + `Unknown` | Storage type unknown. + `UsbStick` | Storage type USB stick. + `Sd` | Storage type SD card. + `Microsd` | Storage type MicroSD card. + `Hd` | Storage type HD mass storage. + `Other` | Storage type other, not listed. + +## Field Documentation + + +### used_storage_mib {#structmavsdk_1_1_camera_server_1_1_storage_information_1a94040916ab463c2ddba0d68852ea382a} + +```cpp +float mavsdk::CameraServer::StorageInformation::used_storage_mib {} +``` + + +Used storage (in MiB) + + +### available_storage_mib {#structmavsdk_1_1_camera_server_1_1_storage_information_1ae781ac7b52fa2c140f2633e13dacf4b2} + +```cpp +float mavsdk::CameraServer::StorageInformation::available_storage_mib {} +``` + + +Available storage (in MiB) + + +### total_storage_mib {#structmavsdk_1_1_camera_server_1_1_storage_information_1a72aa03291a20f7985ab73f933348d8cc} + +```cpp +float mavsdk::CameraServer::StorageInformation::total_storage_mib {} +``` + + +Total storage (in MiB) + + +### storage_status {#structmavsdk_1_1_camera_server_1_1_storage_information_1a78f55db7073e7d96c4a606b65c304f2a} + +```cpp +StorageStatus mavsdk::CameraServer::StorageInformation::storage_status {} +``` + + +Storage status. + + +### storage_id {#structmavsdk_1_1_camera_server_1_1_storage_information_1a3ba45bcbdd1bfd6402d09ee82828e56d} + +```cpp +uint32_t mavsdk::CameraServer::StorageInformation::storage_id {} +``` + + +Storage ID starting at 1. + + +### storage_type {#structmavsdk_1_1_camera_server_1_1_storage_information_1a12f4d2dfa4429adebe0a38749f052794} + +```cpp +StorageType mavsdk::CameraServer::StorageInformation::storage_type {} +``` + + +Storage type. + + +### read_speed_mib_s {#structmavsdk_1_1_camera_server_1_1_storage_information_1a8df6bf66e2d436c388cb834a1e5bbe98} + +```cpp +float mavsdk::CameraServer::StorageInformation::read_speed_mib_s {} +``` + + +Read speed [MiB/s]. + + +### write_speed_mib_s {#structmavsdk_1_1_camera_server_1_1_storage_information_1ac7aeae4770a810cd226cb05f4d6db982} + +```cpp +float mavsdk::CameraServer::StorageInformation::write_speed_mib_s {} +``` + + +Write speed [MiB/s]. + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_video_streaming.md b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_video_streaming.md new file mode 100644 index 00000000..a4edeb30 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_video_streaming.md @@ -0,0 +1,39 @@ +# mavsdk::CameraServer::VideoStreaming Struct Reference +`#include: camera_server.h` + +---- + + +Type to represent video streaming settings. + + +## Data Fields + + +bool [has_rtsp_server](#structmavsdk_1_1_camera_server_1_1_video_streaming_1aae5b34470f3594cf7e46404d77dc8bee) {} - True if the capture was successful. + +std::string [rtsp_uri](#structmavsdk_1_1_camera_server_1_1_video_streaming_1a29a2555577945dc6d64de15772c4a8ab) {} - RTSP URI (e.g. rtsp://192.168.1.42:8554/live) + + +## Field Documentation + + +### has_rtsp_server {#structmavsdk_1_1_camera_server_1_1_video_streaming_1aae5b34470f3594cf7e46404d77dc8bee} + +```cpp +bool mavsdk::CameraServer::VideoStreaming::has_rtsp_server {} +``` + + +True if the capture was successful. + + +### rtsp_uri {#structmavsdk_1_1_camera_server_1_1_video_streaming_1a29a2555577945dc6d64de15772c4a8ab} + +```cpp +std::string mavsdk::CameraServer::VideoStreaming::rtsp_uri {} +``` + + +RTSP URI (e.g. rtsp://192.168.1.42:8554/live) + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param.html new file mode 100644 index 00000000..2ef3ddb0 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param.html @@ -0,0 +1,3387 @@ + + + + + + + struct FloatParam · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                      mavsdk::ComponentInformation::FloatParam Struct Reference

                                                                                                                      +

                                                                                                                      #include: component_information.h

                                                                                                                      +
                                                                                                                      +

                                                                                                                      Meta information for parameter of type float.

                                                                                                                      +

                                                                                                                      Data Fields

                                                                                                                      +

                                                                                                                      std::string name {} - Name (max 16 chars)

                                                                                                                      +

                                                                                                                      std::string short_description {} - Short description.

                                                                                                                      +

                                                                                                                      std::string long_description {} - Long description.

                                                                                                                      +

                                                                                                                      std::string unit {} - Unit.

                                                                                                                      +

                                                                                                                      int32_t decimal_places {} - Decimal places for user to show.

                                                                                                                      +

                                                                                                                      float start_value {} - Current/starting value.

                                                                                                                      +

                                                                                                                      float default_value {} - Default value.

                                                                                                                      +

                                                                                                                      float min_value {} - Minimum value.

                                                                                                                      +

                                                                                                                      float max_value {} - Maximum value.

                                                                                                                      +

                                                                                                                      Field Documentation

                                                                                                                      +

                                                                                                                      name

                                                                                                                      +
                                                                                                                      std::string mavsdk::ComponentInformation::FloatParam::name {}
+
                                                                                                                      +

                                                                                                                      Name (max 16 chars)

                                                                                                                      +

                                                                                                                      short_description

                                                                                                                      +
                                                                                                                      std::string mavsdk::ComponentInformation::FloatParam::short_description {}
+
                                                                                                                      +

                                                                                                                      Short description.

                                                                                                                      +

                                                                                                                      long_description

                                                                                                                      +
                                                                                                                      std::string mavsdk::ComponentInformation::FloatParam::long_description {}
+
                                                                                                                      +

                                                                                                                      Long description.

                                                                                                                      +

                                                                                                                      unit

                                                                                                                      +
                                                                                                                      std::string mavsdk::ComponentInformation::FloatParam::unit {}
+
                                                                                                                      +

                                                                                                                      Unit.

                                                                                                                      +

                                                                                                                      decimal_places

                                                                                                                      +
                                                                                                                      int32_t mavsdk::ComponentInformation::FloatParam::decimal_places {}
+
                                                                                                                      +

                                                                                                                      Decimal places for user to show.

                                                                                                                      +

                                                                                                                      start_value

                                                                                                                      +
                                                                                                                      float mavsdk::ComponentInformation::FloatParam::start_value {}
+
                                                                                                                      +

                                                                                                                      Current/starting value.

                                                                                                                      +

                                                                                                                      default_value

                                                                                                                      +
                                                                                                                      float mavsdk::ComponentInformation::FloatParam::default_value {}
+
                                                                                                                      +

                                                                                                                      Default value.

                                                                                                                      +

                                                                                                                      min_value

                                                                                                                      +
                                                                                                                      float mavsdk::ComponentInformation::FloatParam::min_value {}
+
                                                                                                                      +

                                                                                                                      Minimum value.

                                                                                                                      +

                                                                                                                      max_value

                                                                                                                      +
                                                                                                                      float mavsdk::ComponentInformation::FloatParam::max_value {}
+
                                                                                                                      +

                                                                                                                      Maximum value.

                                                                                                                      +
                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
                                                                                                                      + +
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                                                                                                                        mavsdk::ComponentInformation::FloatParamUpdate Struct Reference

                                                                                                                        +

                                                                                                                        #include: component_information.h

                                                                                                                        +
                                                                                                                        +

                                                                                                                        A float param that has been updated.

                                                                                                                        +

                                                                                                                        Data Fields

                                                                                                                        +

                                                                                                                        std::string name {} - Name of param that changed.

                                                                                                                        +

                                                                                                                        float value {} - New value of param.

                                                                                                                        +

                                                                                                                        Field Documentation

                                                                                                                        +

                                                                                                                        name

                                                                                                                        +
                                                                                                                        std::string mavsdk::ComponentInformation::FloatParamUpdate::name {}
+
                                                                                                                        +

                                                                                                                        Name of param that changed.

                                                                                                                        +

                                                                                                                        value

                                                                                                                        +
                                                                                                                        float mavsdk::ComponentInformation::FloatParamUpdate::value {}
+
                                                                                                                        +

                                                                                                                        New value of param.

                                                                                                                        +
                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                          mavsdk::ComponentInformationServer::FloatParam Struct Reference

                                                                                                                          +

                                                                                                                          #include: component_information_server.h

                                                                                                                          +
                                                                                                                          +

                                                                                                                          Meta information for parameter of type float.

                                                                                                                          +

                                                                                                                          Data Fields

                                                                                                                          +

                                                                                                                          std::string name {} - Name (max 16 chars)

                                                                                                                          +

                                                                                                                          std::string short_description {} - Short description.

                                                                                                                          +

                                                                                                                          std::string long_description {} - Long description.

                                                                                                                          +

                                                                                                                          std::string unit {} - Unit.

                                                                                                                          +

                                                                                                                          int32_t decimal_places {} - Decimal places for user to show.

                                                                                                                          +

                                                                                                                          float start_value {} - Current/starting value.

                                                                                                                          +

                                                                                                                          float default_value {} - Default value.

                                                                                                                          +

                                                                                                                          float min_value {} - Minimum value.

                                                                                                                          +

                                                                                                                          float max_value {} - Maximum value.

                                                                                                                          +

                                                                                                                          Field Documentation

                                                                                                                          +

                                                                                                                          name

                                                                                                                          +
                                                                                                                          std::string mavsdk::ComponentInformationServer::FloatParam::name {}
+
                                                                                                                          +

                                                                                                                          Name (max 16 chars)

                                                                                                                          +

                                                                                                                          short_description

                                                                                                                          +
                                                                                                                          std::string mavsdk::ComponentInformationServer::FloatParam::short_description {}
+
                                                                                                                          +

                                                                                                                          Short description.

                                                                                                                          +

                                                                                                                          long_description

                                                                                                                          +
                                                                                                                          std::string mavsdk::ComponentInformationServer::FloatParam::long_description {}
+
                                                                                                                          +

                                                                                                                          Long description.

                                                                                                                          +

                                                                                                                          unit

                                                                                                                          +
                                                                                                                          std::string mavsdk::ComponentInformationServer::FloatParam::unit {}
+
                                                                                                                          +

                                                                                                                          Unit.

                                                                                                                          +

                                                                                                                          decimal_places

                                                                                                                          +
                                                                                                                          int32_t mavsdk::ComponentInformationServer::FloatParam::decimal_places {}
+
                                                                                                                          +

                                                                                                                          Decimal places for user to show.

                                                                                                                          +

                                                                                                                          start_value

                                                                                                                          +
                                                                                                                          float mavsdk::ComponentInformationServer::FloatParam::start_value {}
+
                                                                                                                          +

                                                                                                                          Current/starting value.

                                                                                                                          +

                                                                                                                          default_value

                                                                                                                          +
                                                                                                                          float mavsdk::ComponentInformationServer::FloatParam::default_value {}
+
                                                                                                                          +

                                                                                                                          Default value.

                                                                                                                          +

                                                                                                                          min_value

                                                                                                                          +
                                                                                                                          float mavsdk::ComponentInformationServer::FloatParam::min_value {}
+
                                                                                                                          +

                                                                                                                          Minimum value.

                                                                                                                          +

                                                                                                                          max_value

                                                                                                                          +
                                                                                                                          float mavsdk::ComponentInformationServer::FloatParam::max_value {}
+
                                                                                                                          +

                                                                                                                          Maximum value.

                                                                                                                          +
                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                            mavsdk::ComponentInformationServer::FloatParamUpdate Struct Reference

                                                                                                                            +

                                                                                                                            #include: component_information_server.h

                                                                                                                            +
                                                                                                                            +

                                                                                                                            A float param that has been updated.

                                                                                                                            +

                                                                                                                            Data Fields

                                                                                                                            +

                                                                                                                            std::string name {} - Name of param that changed.

                                                                                                                            +

                                                                                                                            float value {} - New value of param.

                                                                                                                            +

                                                                                                                            Field Documentation

                                                                                                                            +

                                                                                                                            name

                                                                                                                            +
                                                                                                                            std::string mavsdk::ComponentInformationServer::FloatParamUpdate::name {}
+
                                                                                                                            +

                                                                                                                            Name of param that changed.

                                                                                                                            +

                                                                                                                            value

                                                                                                                            +
                                                                                                                            float mavsdk::ComponentInformationServer::FloatParamUpdate::value {}
+
                                                                                                                            +

                                                                                                                            New value of param.

                                                                                                                            +
                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                              + +

                                                                                                                              mavsdk::FollowMe::Config Struct Reference

                                                                                                                              +

                                                                                                                              #include: follow_me.h

                                                                                                                              +
                                                                                                                              +

                                                                                                                              Configuration type.

                                                                                                                              +

                                                                                                                              Public Types

                                                                                                                              + + + + + + + + + + + + + +
                                                                                                                              TypeDescription
                                                                                                                              enum FollowAltitudeModeAltitude mode to configure which altitude the follow me will assume the target to be at.
                                                                                                                              +

                                                                                                                              Data Fields

                                                                                                                              +

                                                                                                                              float follow_height_m { 8.0f} - [m] Follow height in meters (recommended minimum 8 meters)

                                                                                                                              +

                                                                                                                              float follow_distance_m {8.0f} - [m] Follow distance to target in meters (recommended minimum 4 meter)

                                                                                                                              +

                                                                                                                              float responsiveness {0.1f} - How responsive the vehicle is to the motion of the target, Lower value = More responsive (range 0.0 to 1.0)

                                                                                                                              +

                                                                                                                              FollowAltitudeMode altitude_mode {} - Follow Altitude control mode.

                                                                                                                              +

                                                                                                                              float max_tangential_vel_m_s { 8.0f} - [m/s] Maximum orbit tangential velocity relative to the target, in meters per second. Higher value = More aggressive follow angle tracking.

                                                                                                                              +

                                                                                                                              float follow_angle_deg { 180.0f} - [deg] Follow Angle relative to the target. 0 equals following in front of the target's direction. Angle increases in Clockwise direction, so following from right would be 90 degrees, from the left is -90 degrees, and so on.

                                                                                                                              +

                                                                                                                              Member Enumeration Documentation

                                                                                                                              +

                                                                                                                              enum FollowAltitudeMode

                                                                                                                              +

                                                                                                                              Altitude mode to configure which altitude the follow me will assume the target to be at.

                                                                                                                              + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                              ValueDescription
                                                                                                                              ConstantTarget assumed to be mobing at a constant altitude of home position (where the vehicle armed).
                                                                                                                              TerrainTarget assumed to be at the terrain level sensed by the distance sensor.
                                                                                                                              TargetGpsTarget GPS altitude taken into account to do 3D tracking.
                                                                                                                              +

                                                                                                                              Field Documentation

                                                                                                                              +

                                                                                                                              follow_height_m

                                                                                                                              +
                                                                                                                              float mavsdk::FollowMe::Config::follow_height_m { 8.0f}
+
                                                                                                                              +

                                                                                                                              [m] Follow height in meters (recommended minimum 8 meters)

                                                                                                                              +

                                                                                                                              follow_distance_m

                                                                                                                              +
                                                                                                                              float mavsdk::FollowMe::Config::follow_distance_m {8.0f}
+
                                                                                                                              +

                                                                                                                              [m] Follow distance to target in meters (recommended minimum 4 meter)

                                                                                                                              +

                                                                                                                              responsiveness

                                                                                                                              +
                                                                                                                              float mavsdk::FollowMe::Config::responsiveness {0.1f}
+
                                                                                                                              +

                                                                                                                              How responsive the vehicle is to the motion of the target, Lower value = More responsive (range 0.0 to 1.0)

                                                                                                                              +

                                                                                                                              altitude_mode

                                                                                                                              +
                                                                                                                              FollowAltitudeMode mavsdk::FollowMe::Config::altitude_mode {}
+
                                                                                                                              +

                                                                                                                              Follow Altitude control mode.

                                                                                                                              +

                                                                                                                              max_tangential_vel_m_s

                                                                                                                              +
                                                                                                                              float mavsdk::FollowMe::Config::max_tangential_vel_m_s { 8.0f}
+
                                                                                                                              +

                                                                                                                              [m/s] Maximum orbit tangential velocity relative to the target, in meters per second. Higher value = More aggressive follow angle tracking.

                                                                                                                              +

                                                                                                                              follow_angle_deg

                                                                                                                              +
                                                                                                                              float mavsdk::FollowMe::Config::follow_angle_deg { 180.0f}
+
                                                                                                                              +

                                                                                                                              [deg] Follow Angle relative to the target. 0 equals following in front of the target's direction. Angle increases in Clockwise direction, so following from right would be 90 degrees, from the left is -90 degrees, and so on.

                                                                                                                              +
                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                mavsdk::FollowMe::TargetLocation Struct Reference

                                                                                                                                +

                                                                                                                                #include: follow_me.h

                                                                                                                                +
                                                                                                                                +

                                                                                                                                Target location for the vehicle to follow.

                                                                                                                                +

                                                                                                                                Data Fields

                                                                                                                                +

                                                                                                                                double latitude_deg {double(NAN)} - Target latitude in degrees.

                                                                                                                                +

                                                                                                                                double longitude_deg {double(NAN)} - Target longitude in degrees.

                                                                                                                                +

                                                                                                                                float absolute_altitude_m {float(NAN)} - Target altitude in meters above MSL.

                                                                                                                                +

                                                                                                                                float velocity_x_m_s { float(NAN)} - Target velocity in X axis, in meters per second.

                                                                                                                                +

                                                                                                                                float velocity_y_m_s { float(NAN)} - Target velocity in Y axis, in meters per second.

                                                                                                                                +

                                                                                                                                float velocity_z_m_s { float(NAN)} - Target velocity in Z axis, in meters per second.

                                                                                                                                +

                                                                                                                                Field Documentation

                                                                                                                                +

                                                                                                                                latitude_deg

                                                                                                                                +
                                                                                                                                double mavsdk::FollowMe::TargetLocation::latitude_deg {double(NAN)}
+
                                                                                                                                +

                                                                                                                                Target latitude in degrees.

                                                                                                                                +

                                                                                                                                longitude_deg

                                                                                                                                +
                                                                                                                                double mavsdk::FollowMe::TargetLocation::longitude_deg {double(NAN)}
+
                                                                                                                                +

                                                                                                                                Target longitude in degrees.

                                                                                                                                +

                                                                                                                                absolute_altitude_m

                                                                                                                                +
                                                                                                                                float mavsdk::FollowMe::TargetLocation::absolute_altitude_m {float(NAN)}
+
                                                                                                                                +

                                                                                                                                Target altitude in meters above MSL.

                                                                                                                                +

                                                                                                                                velocity_x_m_s

                                                                                                                                +
                                                                                                                                float mavsdk::FollowMe::TargetLocation::velocity_x_m_s { float(NAN)}
+
                                                                                                                                +

                                                                                                                                Target velocity in X axis, in meters per second.

                                                                                                                                +

                                                                                                                                velocity_y_m_s

                                                                                                                                +
                                                                                                                                float mavsdk::FollowMe::TargetLocation::velocity_y_m_s { float(NAN)}
+
                                                                                                                                +

                                                                                                                                Target velocity in Y axis, in meters per second.

                                                                                                                                +

                                                                                                                                velocity_z_m_s

                                                                                                                                +
                                                                                                                                float mavsdk::FollowMe::TargetLocation::velocity_z_m_s { float(NAN)}
+
                                                                                                                                +

                                                                                                                                Target velocity in Z axis, in meters per second.

                                                                                                                                +
                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_ftp_1_1_progress_data.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_ftp_1_1_progress_data.html new file mode 100644 index 00000000..be2d5a53 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_ftp_1_1_progress_data.html @@ -0,0 +1,3352 @@ + + + + + + + struct ProgressData · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                  mavsdk::Ftp::ProgressData Struct Reference

                                                                                                                                  +

                                                                                                                                  #include: ftp.h

                                                                                                                                  +
                                                                                                                                  +

                                                                                                                                  Progress data type for file transfer.

                                                                                                                                  +

                                                                                                                                  Data Fields

                                                                                                                                  +

                                                                                                                                  uint32_t bytes_transferred {} - The number of bytes already transferred.

                                                                                                                                  +

                                                                                                                                  uint32_t total_bytes {} - The total bytes to transfer.

                                                                                                                                  +

                                                                                                                                  Field Documentation

                                                                                                                                  +

                                                                                                                                  bytes_transferred

                                                                                                                                  +
                                                                                                                                  uint32_t mavsdk::Ftp::ProgressData::bytes_transferred {}
+
                                                                                                                                  +

                                                                                                                                  The number of bytes already transferred.

                                                                                                                                  +

                                                                                                                                  total_bytes

                                                                                                                                  +
                                                                                                                                  uint32_t mavsdk::Ftp::ProgressData::total_bytes {}
+
                                                                                                                                  +

                                                                                                                                  The total bytes to transfer.

                                                                                                                                  +
                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_circle.md b/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_circle.md new file mode 100644 index 00000000..cd6c7d62 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_circle.md @@ -0,0 +1,51 @@ +# mavsdk::Geofence::Circle Struct Reference +`#include: geofence.h` + +---- + + +Circular type. + + +## Data Fields + + +[Point](structmavsdk_1_1_geofence_1_1_point.md) [point](#structmavsdk_1_1_geofence_1_1_circle_1a1a5f524763f0c53358c176772a6241c7) {} - [Point](structmavsdk_1_1_geofence_1_1_point.md) defining the center. + +float [radius](#structmavsdk_1_1_geofence_1_1_circle_1aa3aa9b0190d21db9a11f2f117ed42583) {float(NAN)} - Radius of the circular fence. + +[FenceType](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1a51196ded958aa9d4b3f25cde95da48e5) [fence_type](#structmavsdk_1_1_geofence_1_1_circle_1a52d26200a0a5098402f3a64760ed5f5f) {} - Fence type. + + +## Field Documentation + + +### point {#structmavsdk_1_1_geofence_1_1_circle_1a1a5f524763f0c53358c176772a6241c7} + +```cpp +Point mavsdk::Geofence::Circle::point {} +``` + + +[Point](structmavsdk_1_1_geofence_1_1_point.md) defining the center. + + +### radius {#structmavsdk_1_1_geofence_1_1_circle_1aa3aa9b0190d21db9a11f2f117ed42583} + +```cpp +float mavsdk::Geofence::Circle::radius {float(NAN)} +``` + + +Radius of the circular fence. + + +### fence_type {#structmavsdk_1_1_geofence_1_1_circle_1a52d26200a0a5098402f3a64760ed5f5f} + +```cpp +FenceType mavsdk::Geofence::Circle::fence_type {} +``` + + +Fence type. + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_geofence_data.md b/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_geofence_data.md new file mode 100644 index 00000000..52b66ac8 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_geofence_data.md @@ -0,0 +1,39 @@ +# mavsdk::Geofence::GeofenceData Struct Reference +`#include: geofence.h` + +---- + + +[Geofence](classmavsdk_1_1_geofence.md) data type. + + +## Data Fields + + +std::vector< [Polygon](structmavsdk_1_1_geofence_1_1_polygon.md) > [polygons](#structmavsdk_1_1_geofence_1_1_geofence_data_1afd56d809a063b2db3d8c10a52f335dc6) {} - Polygon(s) representing the geofence(s) + +std::vector< [Circle](structmavsdk_1_1_geofence_1_1_circle.md) > [circles](#structmavsdk_1_1_geofence_1_1_geofence_data_1a1cd2e75c86f477b217314e66929425f3) {} - Circle(s) representing the geofence(s) + + +## Field Documentation + + +### polygons {#structmavsdk_1_1_geofence_1_1_geofence_data_1afd56d809a063b2db3d8c10a52f335dc6} + +```cpp +std::vector mavsdk::Geofence::GeofenceData::polygons {} +``` + + +Polygon(s) representing the geofence(s) + + +### circles {#structmavsdk_1_1_geofence_1_1_geofence_data_1a1cd2e75c86f477b217314e66929425f3} + +```cpp +std::vector mavsdk::Geofence::GeofenceData::circles {} +``` + + +Circle(s) representing the geofence(s) + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_point.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_point.html new file mode 100644 index 00000000..892f5127 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_point.html @@ -0,0 +1,3352 @@ + + + + + + + struct Point · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                    mavsdk::Geofence::Point Struct Reference

                                                                                                                                    +

                                                                                                                                    #include: geofence.h

                                                                                                                                    +
                                                                                                                                    +

                                                                                                                                    Point type.

                                                                                                                                    +

                                                                                                                                    Data Fields

                                                                                                                                    +

                                                                                                                                    double latitude_deg {} - Latitude in degrees (range: -90 to +90)

                                                                                                                                    +

                                                                                                                                    double longitude_deg {} - Longitude in degrees (range: -180 to +180)

                                                                                                                                    +

                                                                                                                                    Field Documentation

                                                                                                                                    +

                                                                                                                                    latitude_deg

                                                                                                                                    +
                                                                                                                                    double mavsdk::Geofence::Point::latitude_deg {}
+
                                                                                                                                    +

                                                                                                                                    Latitude in degrees (range: -90 to +90)

                                                                                                                                    +

                                                                                                                                    longitude_deg

                                                                                                                                    +
                                                                                                                                    double mavsdk::Geofence::Point::longitude_deg {}
+
                                                                                                                                    +

                                                                                                                                    Longitude in degrees (range: -180 to +180)

                                                                                                                                    +
                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_polygon.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_polygon.html new file mode 100644 index 00000000..9621fbe4 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_polygon.html @@ -0,0 +1,3352 @@ + + + + + + + struct Polygon · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                      mavsdk::Geofence::Polygon Struct Reference

                                                                                                                                      +

                                                                                                                                      #include: geofence.h

                                                                                                                                      +
                                                                                                                                      +

                                                                                                                                      Polygon type.

                                                                                                                                      +

                                                                                                                                      Data Fields

                                                                                                                                      +

                                                                                                                                      std::vector< Point > points {} - Points defining the polygon.

                                                                                                                                      +

                                                                                                                                      FenceType fence_type {} - Fence type.

                                                                                                                                      +

                                                                                                                                      Field Documentation

                                                                                                                                      +

                                                                                                                                      points

                                                                                                                                      +
                                                                                                                                      std::vector<Point> mavsdk::Geofence::Polygon::points {}
+
                                                                                                                                      +

                                                                                                                                      Points defining the polygon.

                                                                                                                                      +

                                                                                                                                      fence_type

                                                                                                                                      +
                                                                                                                                      FenceType mavsdk::Geofence::Polygon::fence_type {}
+
                                                                                                                                      +

                                                                                                                                      Fence type.

                                                                                                                                      +
                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                        mavsdk::Gimbal::ControlStatus Struct Reference

                                                                                                                                        +

                                                                                                                                        #include: gimbal.h

                                                                                                                                        +
                                                                                                                                        +

                                                                                                                                        Control status.

                                                                                                                                        +

                                                                                                                                        Data Fields

                                                                                                                                        +

                                                                                                                                        ControlMode control_mode {} - Control mode (none, primary or secondary)

                                                                                                                                        +

                                                                                                                                        int32_t sysid_primary_control {} - Sysid of the component that has primary control over the gimbal (0 if no one is in control)

                                                                                                                                        +

                                                                                                                                        int32_t compid_primary_control {} - Compid of the component that has primary control over the gimbal (0 if no one is in control)

                                                                                                                                        +

                                                                                                                                        int32_t sysid_secondary_control {} - Sysid of the component that has secondary control over the gimbal (0 if no one is in control)

                                                                                                                                        +

                                                                                                                                        int32_t compid_secondary_control {} - Compid of the component that has secondary control over the gimbal (0 if no one is in control)

                                                                                                                                        +

                                                                                                                                        Field Documentation

                                                                                                                                        +

                                                                                                                                        control_mode

                                                                                                                                        +
                                                                                                                                        ControlMode mavsdk::Gimbal::ControlStatus::control_mode {}
+
                                                                                                                                        +

                                                                                                                                        Control mode (none, primary or secondary)

                                                                                                                                        +

                                                                                                                                        sysid_primary_control

                                                                                                                                        +
                                                                                                                                        int32_t mavsdk::Gimbal::ControlStatus::sysid_primary_control {}
+
                                                                                                                                        +

                                                                                                                                        Sysid of the component that has primary control over the gimbal (0 if no one is in control)

                                                                                                                                        +

                                                                                                                                        compid_primary_control

                                                                                                                                        +
                                                                                                                                        int32_t mavsdk::Gimbal::ControlStatus::compid_primary_control {}
+
                                                                                                                                        +

                                                                                                                                        Compid of the component that has primary control over the gimbal (0 if no one is in control)

                                                                                                                                        +

                                                                                                                                        sysid_secondary_control

                                                                                                                                        +
                                                                                                                                        int32_t mavsdk::Gimbal::ControlStatus::sysid_secondary_control {}
+
                                                                                                                                        +

                                                                                                                                        Sysid of the component that has secondary control over the gimbal (0 if no one is in control)

                                                                                                                                        +

                                                                                                                                        compid_secondary_control

                                                                                                                                        +
                                                                                                                                        int32_t mavsdk::Gimbal::ControlStatus::compid_secondary_control {}
+
                                                                                                                                        +

                                                                                                                                        Compid of the component that has secondary control over the gimbal (0 if no one is in control)

                                                                                                                                        +
                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                          + +

                                                                                                                                          mavsdk::Info::FlightInfo Struct Reference

                                                                                                                                          +

                                                                                                                                          #include: info.h

                                                                                                                                          +
                                                                                                                                          +

                                                                                                                                          System flight information.

                                                                                                                                          +

                                                                                                                                          Data Fields

                                                                                                                                          +

                                                                                                                                          uint32_t time_boot_ms {} - Time since system boot.

                                                                                                                                          +

                                                                                                                                          uint64_t flight_uid {} - Flight counter. Starts from zero, is incremented at every disarm and is never reset (even after reboot)

                                                                                                                                          +

                                                                                                                                          Field Documentation

                                                                                                                                          +

                                                                                                                                          time_boot_ms

                                                                                                                                          +
                                                                                                                                          uint32_t mavsdk::Info::FlightInfo::time_boot_ms {}
+
                                                                                                                                          +

                                                                                                                                          Time since system boot.

                                                                                                                                          +

                                                                                                                                          flight_uid

                                                                                                                                          +
                                                                                                                                          uint64_t mavsdk::Info::FlightInfo::flight_uid {}
+
                                                                                                                                          +

                                                                                                                                          Flight counter. Starts from zero, is incremented at every disarm and is never reset (even after reboot)

                                                                                                                                          +
                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                            + +

                                                                                                                                            mavsdk::Info::Identification Struct Reference

                                                                                                                                            +

                                                                                                                                            #include: info.h

                                                                                                                                            +
                                                                                                                                            +

                                                                                                                                            System identification.

                                                                                                                                            +

                                                                                                                                            Data Fields

                                                                                                                                            +

                                                                                                                                            std::string hardware_uid {} - UID of the hardware. This refers to uid2 of MAVLink. If the system does not support uid2 yet, this is all zeros.

                                                                                                                                            +

                                                                                                                                            uint64_t legacy_uid {} - Legacy UID of the hardware, referred to as uid in MAVLink (formerly exposed during system discovery as UUID).

                                                                                                                                            +

                                                                                                                                            Field Documentation

                                                                                                                                            +

                                                                                                                                            hardware_uid

                                                                                                                                            +
                                                                                                                                            std::string mavsdk::Info::Identification::hardware_uid {}
+
                                                                                                                                            +

                                                                                                                                            UID of the hardware. This refers to uid2 of MAVLink. If the system does not support uid2 yet, this is all zeros.

                                                                                                                                            +

                                                                                                                                            legacy_uid

                                                                                                                                            +
                                                                                                                                            uint64_t mavsdk::Info::Identification::legacy_uid {}
+
                                                                                                                                            +

                                                                                                                                            Legacy UID of the hardware, referred to as uid in MAVLink (formerly exposed during system discovery as UUID).

                                                                                                                                            +
                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                              mavsdk::Info::Product Struct Reference

                                                                                                                                              +

                                                                                                                                              #include: info.h

                                                                                                                                              +
                                                                                                                                              +

                                                                                                                                              System product information.

                                                                                                                                              +

                                                                                                                                              Data Fields

                                                                                                                                              +

                                                                                                                                              int32_t vendor_id {} - ID of the board vendor.

                                                                                                                                              +

                                                                                                                                              std::string vendor_name {} - Name of the vendor.

                                                                                                                                              +

                                                                                                                                              int32_t product_id {} - ID of the product.

                                                                                                                                              +

                                                                                                                                              std::string product_name {} - Name of the product.

                                                                                                                                              +

                                                                                                                                              Field Documentation

                                                                                                                                              +

                                                                                                                                              vendor_id

                                                                                                                                              +
                                                                                                                                              int32_t mavsdk::Info::Product::vendor_id {}
+
                                                                                                                                              +

                                                                                                                                              ID of the board vendor.

                                                                                                                                              +

                                                                                                                                              vendor_name

                                                                                                                                              +
                                                                                                                                              std::string mavsdk::Info::Product::vendor_name {}
+
                                                                                                                                              +

                                                                                                                                              Name of the vendor.

                                                                                                                                              +

                                                                                                                                              product_id

                                                                                                                                              +
                                                                                                                                              int32_t mavsdk::Info::Product::product_id {}
+
                                                                                                                                              +

                                                                                                                                              ID of the product.

                                                                                                                                              +

                                                                                                                                              product_name

                                                                                                                                              +
                                                                                                                                              std::string mavsdk::Info::Product::product_name {}
+
                                                                                                                                              +

                                                                                                                                              Name of the product.

                                                                                                                                              +
                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                + +

                                                                                                                                                mavsdk::Info::Version Struct Reference

                                                                                                                                                +

                                                                                                                                                #include: info.h

                                                                                                                                                +
                                                                                                                                                +

                                                                                                                                                System version information.

                                                                                                                                                +

                                                                                                                                                Public Types

                                                                                                                                                + + + + + + + + + + + + + +
                                                                                                                                                TypeDescription
                                                                                                                                                enum FlightSoftwareVersionTypeThese values define the type of firmware/flight software release.
                                                                                                                                                +

                                                                                                                                                Data Fields

                                                                                                                                                +

                                                                                                                                                int32_t flight_sw_major {} - Flight software major version.

                                                                                                                                                +

                                                                                                                                                int32_t flight_sw_minor {} - Flight software minor version.

                                                                                                                                                +

                                                                                                                                                int32_t flight_sw_patch {} - Flight software patch version.

                                                                                                                                                +

                                                                                                                                                int32_t flight_sw_vendor_major {} - Flight software vendor major version.

                                                                                                                                                +

                                                                                                                                                int32_t flight_sw_vendor_minor {} - Flight software vendor minor version.

                                                                                                                                                +

                                                                                                                                                int32_t flight_sw_vendor_patch {} - Flight software vendor patch version.

                                                                                                                                                +

                                                                                                                                                int32_t os_sw_major {} - Operating system software major version.

                                                                                                                                                +

                                                                                                                                                int32_t os_sw_minor {} - Operating system software minor version.

                                                                                                                                                +

                                                                                                                                                int32_t os_sw_patch {} - Operating system software patch version.

                                                                                                                                                +

                                                                                                                                                std::string flight_sw_git_hash {} - Flight software git hash.

                                                                                                                                                +

                                                                                                                                                std::string os_sw_git_hash {} - Operating system software git hash.

                                                                                                                                                +

                                                                                                                                                FlightSoftwareVersionType flight_sw_version_type {} - Flight software version type.

                                                                                                                                                +

                                                                                                                                                Member Enumeration Documentation

                                                                                                                                                +

                                                                                                                                                enum FlightSoftwareVersionType

                                                                                                                                                +

                                                                                                                                                These values define the type of firmware/flight software release.

                                                                                                                                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                ValueDescription
                                                                                                                                                UnknownUnknown type.
                                                                                                                                                DevDevelopment release.
                                                                                                                                                AlphaAlpha release.
                                                                                                                                                BetaBeta release.
                                                                                                                                                RcRelease candidate.
                                                                                                                                                ReleaseOfficial stable release.
                                                                                                                                                +

                                                                                                                                                Field Documentation

                                                                                                                                                +

                                                                                                                                                flight_sw_major

                                                                                                                                                +
                                                                                                                                                int32_t mavsdk::Info::Version::flight_sw_major {}
+
                                                                                                                                                +

                                                                                                                                                Flight software major version.

                                                                                                                                                +

                                                                                                                                                flight_sw_minor

                                                                                                                                                +
                                                                                                                                                int32_t mavsdk::Info::Version::flight_sw_minor {}
+
                                                                                                                                                +

                                                                                                                                                Flight software minor version.

                                                                                                                                                +

                                                                                                                                                flight_sw_patch

                                                                                                                                                +
                                                                                                                                                int32_t mavsdk::Info::Version::flight_sw_patch {}
+
                                                                                                                                                +

                                                                                                                                                Flight software patch version.

                                                                                                                                                +

                                                                                                                                                flight_sw_vendor_major

                                                                                                                                                +
                                                                                                                                                int32_t mavsdk::Info::Version::flight_sw_vendor_major {}
+
                                                                                                                                                +

                                                                                                                                                Flight software vendor major version.

                                                                                                                                                +

                                                                                                                                                flight_sw_vendor_minor

                                                                                                                                                +
                                                                                                                                                int32_t mavsdk::Info::Version::flight_sw_vendor_minor {}
+
                                                                                                                                                +

                                                                                                                                                Flight software vendor minor version.

                                                                                                                                                +

                                                                                                                                                flight_sw_vendor_patch

                                                                                                                                                +
                                                                                                                                                int32_t mavsdk::Info::Version::flight_sw_vendor_patch {}
+
                                                                                                                                                +

                                                                                                                                                Flight software vendor patch version.

                                                                                                                                                +

                                                                                                                                                os_sw_major

                                                                                                                                                +
                                                                                                                                                int32_t mavsdk::Info::Version::os_sw_major {}
+
                                                                                                                                                +

                                                                                                                                                Operating system software major version.

                                                                                                                                                +

                                                                                                                                                os_sw_minor

                                                                                                                                                +
                                                                                                                                                int32_t mavsdk::Info::Version::os_sw_minor {}
+
                                                                                                                                                +

                                                                                                                                                Operating system software minor version.

                                                                                                                                                +

                                                                                                                                                os_sw_patch

                                                                                                                                                +
                                                                                                                                                int32_t mavsdk::Info::Version::os_sw_patch {}
+
                                                                                                                                                +

                                                                                                                                                Operating system software patch version.

                                                                                                                                                +

                                                                                                                                                flight_sw_git_hash

                                                                                                                                                +
                                                                                                                                                std::string mavsdk::Info::Version::flight_sw_git_hash {}
+
                                                                                                                                                +

                                                                                                                                                Flight software git hash.

                                                                                                                                                +

                                                                                                                                                os_sw_git_hash

                                                                                                                                                +
                                                                                                                                                std::string mavsdk::Info::Version::os_sw_git_hash {}
+
                                                                                                                                                +

                                                                                                                                                Operating system software git hash.

                                                                                                                                                +

                                                                                                                                                flight_sw_version_type

                                                                                                                                                +
                                                                                                                                                FlightSoftwareVersionType mavsdk::Info::Version::flight_sw_version_type {}
+
                                                                                                                                                +

                                                                                                                                                Flight software version type.

                                                                                                                                                +
                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                                  mavsdk::LogFiles::Entry Struct Reference

                                                                                                                                                  +

                                                                                                                                                  #include: log_files.h

                                                                                                                                                  +
                                                                                                                                                  +

                                                                                                                                                  Log file entry type.

                                                                                                                                                  +

                                                                                                                                                  Data Fields

                                                                                                                                                  +

                                                                                                                                                  uint32_t id {} - ID of the log file, to specify a file to be downloaded.

                                                                                                                                                  +

                                                                                                                                                  std::string date {} - Date of the log file in UTC in ISO 8601 format "yyyy-mm-ddThh:mm:ssZ".

                                                                                                                                                  +

                                                                                                                                                  uint32_t size_bytes {} - Size of file in bytes.

                                                                                                                                                  +

                                                                                                                                                  Field Documentation

                                                                                                                                                  +

                                                                                                                                                  id

                                                                                                                                                  +
                                                                                                                                                  uint32_t mavsdk::LogFiles::Entry::id {}
+
                                                                                                                                                  +

                                                                                                                                                  ID of the log file, to specify a file to be downloaded.

                                                                                                                                                  +

                                                                                                                                                  date

                                                                                                                                                  +
                                                                                                                                                  std::string mavsdk::LogFiles::Entry::date {}
+
                                                                                                                                                  +

                                                                                                                                                  Date of the log file in UTC in ISO 8601 format "yyyy-mm-ddThh:mm:ssZ".

                                                                                                                                                  +

                                                                                                                                                  size_bytes

                                                                                                                                                  +
                                                                                                                                                  uint32_t mavsdk::LogFiles::Entry::size_bytes {}
+
                                                                                                                                                  +

                                                                                                                                                  Size of file in bytes.

                                                                                                                                                  +
                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_log_files_1_1_progress_data.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_log_files_1_1_progress_data.html new file mode 100644 index 00000000..2b13ed59 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_log_files_1_1_progress_data.html @@ -0,0 +1,3347 @@ + + + + + + + struct ProgressData · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                                    PX4
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                                                                                                                                                    +
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                                                                                                                                                    + +
                                                                                                                                                    + +

                                                                                                                                                    mavsdk::LogFiles::ProgressData Struct Reference

                                                                                                                                                    +

                                                                                                                                                    #include: log_files.h

                                                                                                                                                    +
                                                                                                                                                    +

                                                                                                                                                    Progress data coming when downloading a log file.

                                                                                                                                                    +

                                                                                                                                                    Data Fields

                                                                                                                                                    +

                                                                                                                                                    float progress {float(NAN)} - Progress from 0 to 1.

                                                                                                                                                    +

                                                                                                                                                    Field Documentation

                                                                                                                                                    +

                                                                                                                                                    progress

                                                                                                                                                    +
                                                                                                                                                    float mavsdk::LogFiles::ProgressData::progress {float(NAN)}
+
                                                                                                                                                    +

                                                                                                                                                    Progress from 0 to 1.

                                                                                                                                                    +
                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                      + + + + +
                                                                                                                                                      + +
                                                                                                                                                      PX4
                                                                                                                                                      +
                                                                                                                                                      QGroundControl
                                                                                                                                                      +
                                                                                                                                                      QGC
                                                                                                                                                      +
                                                                                                                                                      SDK
                                                                                                                                                      +
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                                                                                                                                                      +
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                                                                                                                                                      mavsdk::MavlinkPassthrough::CommandInt Struct Reference

                                                                                                                                                      +

                                                                                                                                                      #include: mavlink_passthrough.h

                                                                                                                                                      +
                                                                                                                                                      +

                                                                                                                                                      Type for MAVLink command_int.

                                                                                                                                                      +

                                                                                                                                                      Data Fields

                                                                                                                                                      +

                                                                                                                                                      uint8_t target_sysid - System ID to send command to.

                                                                                                                                                      +

                                                                                                                                                      uint8_t target_compid - Component ID to send command to.

                                                                                                                                                      +

                                                                                                                                                      uint16_t command - command to send.

                                                                                                                                                      +

                                                                                                                                                      MAV_FRAME frame -

                                                                                                                                                      +

                                                                                                                                                      float param1 - param1.

                                                                                                                                                      +

                                                                                                                                                      float param2 - param2.

                                                                                                                                                      +

                                                                                                                                                      float param3 - param3.

                                                                                                                                                      +

                                                                                                                                                      float param4 - param4.

                                                                                                                                                      +

                                                                                                                                                      int32_t x - x.

                                                                                                                                                      +

                                                                                                                                                      int32_t y - y.

                                                                                                                                                      +

                                                                                                                                                      float z - z.

                                                                                                                                                      +

                                                                                                                                                      Field Documentation

                                                                                                                                                      + +
                                                                                                                                                      uint8_t mavsdk::MavlinkPassthrough::CommandInt::target_sysid
+
                                                                                                                                                      +

                                                                                                                                                      System ID to send command to.

                                                                                                                                                      + +
                                                                                                                                                      uint8_t mavsdk::MavlinkPassthrough::CommandInt::target_compid
+
                                                                                                                                                      +

                                                                                                                                                      Component ID to send command to.

                                                                                                                                                      + +
                                                                                                                                                      uint16_t mavsdk::MavlinkPassthrough::CommandInt::command
+
                                                                                                                                                      +

                                                                                                                                                      command to send.

                                                                                                                                                      + +
                                                                                                                                                      MAV_FRAME mavsdk::MavlinkPassthrough::CommandInt::frame
+
                                                                                                                                                      +

                                                                                                                                                      Frame of command.

                                                                                                                                                      + +
                                                                                                                                                      float mavsdk::MavlinkPassthrough::CommandInt::param1
+
                                                                                                                                                      +

                                                                                                                                                      param1.

                                                                                                                                                      + +
                                                                                                                                                      float mavsdk::MavlinkPassthrough::CommandInt::param2
+
                                                                                                                                                      +

                                                                                                                                                      param2.

                                                                                                                                                      + +
                                                                                                                                                      float mavsdk::MavlinkPassthrough::CommandInt::param3
+
                                                                                                                                                      +

                                                                                                                                                      param3.

                                                                                                                                                      + +
                                                                                                                                                      float mavsdk::MavlinkPassthrough::CommandInt::param4
+
                                                                                                                                                      +

                                                                                                                                                      param4.

                                                                                                                                                      + +
                                                                                                                                                      int32_t mavsdk::MavlinkPassthrough::CommandInt::x
+
                                                                                                                                                      +

                                                                                                                                                      x.

                                                                                                                                                      + +
                                                                                                                                                      int32_t mavsdk::MavlinkPassthrough::CommandInt::y
+
                                                                                                                                                      +

                                                                                                                                                      y.

                                                                                                                                                      + +
                                                                                                                                                      float mavsdk::MavlinkPassthrough::CommandInt::z
+
                                                                                                                                                      +

                                                                                                                                                      z.

                                                                                                                                                      +
                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_long.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_long.html new file mode 100644 index 00000000..2ae23140 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_long.html @@ -0,0 +1,3392 @@ + + + + + + + struct CommandLong · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                        + + + + +
                                                                                                                                                        + +
                                                                                                                                                        PX4
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                                                                                                                                                        QGroundControl
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                                                                                                                                                        + +

                                                                                                                                                        mavsdk::MavlinkPassthrough::CommandLong Struct Reference

                                                                                                                                                        +

                                                                                                                                                        #include: mavlink_passthrough.h

                                                                                                                                                        +
                                                                                                                                                        +

                                                                                                                                                        Type for MAVLink command_long.

                                                                                                                                                        +

                                                                                                                                                        Data Fields

                                                                                                                                                        +

                                                                                                                                                        uint8_t target_sysid - System ID to send command to.

                                                                                                                                                        +

                                                                                                                                                        uint8_t target_compid - Component ID to send command to.

                                                                                                                                                        +

                                                                                                                                                        uint16_t command - command to send.

                                                                                                                                                        +

                                                                                                                                                        float param1 - param1.

                                                                                                                                                        +

                                                                                                                                                        float param2 - param2.

                                                                                                                                                        +

                                                                                                                                                        float param3 - param3.

                                                                                                                                                        +

                                                                                                                                                        float param4 - param4.

                                                                                                                                                        +

                                                                                                                                                        float param5 - param5.

                                                                                                                                                        +

                                                                                                                                                        float param6 - param6.

                                                                                                                                                        +

                                                                                                                                                        float param7 - param7.

                                                                                                                                                        +

                                                                                                                                                        Field Documentation

                                                                                                                                                        + +
                                                                                                                                                        uint8_t mavsdk::MavlinkPassthrough::CommandLong::target_sysid
+
                                                                                                                                                        +

                                                                                                                                                        System ID to send command to.

                                                                                                                                                        + +
                                                                                                                                                        uint8_t mavsdk::MavlinkPassthrough::CommandLong::target_compid
+
                                                                                                                                                        +

                                                                                                                                                        Component ID to send command to.

                                                                                                                                                        + +
                                                                                                                                                        uint16_t mavsdk::MavlinkPassthrough::CommandLong::command
+
                                                                                                                                                        +

                                                                                                                                                        command to send.

                                                                                                                                                        + +
                                                                                                                                                        float mavsdk::MavlinkPassthrough::CommandLong::param1
+
                                                                                                                                                        +

                                                                                                                                                        param1.

                                                                                                                                                        + +
                                                                                                                                                        float mavsdk::MavlinkPassthrough::CommandLong::param2
+
                                                                                                                                                        +

                                                                                                                                                        param2.

                                                                                                                                                        + +
                                                                                                                                                        float mavsdk::MavlinkPassthrough::CommandLong::param3
+
                                                                                                                                                        +

                                                                                                                                                        param3.

                                                                                                                                                        + +
                                                                                                                                                        float mavsdk::MavlinkPassthrough::CommandLong::param4
+
                                                                                                                                                        +

                                                                                                                                                        param4.

                                                                                                                                                        + +
                                                                                                                                                        float mavsdk::MavlinkPassthrough::CommandLong::param5
+
                                                                                                                                                        +

                                                                                                                                                        param5.

                                                                                                                                                        + +
                                                                                                                                                        float mavsdk::MavlinkPassthrough::CommandLong::param6
+
                                                                                                                                                        +

                                                                                                                                                        param6.

                                                                                                                                                        + +
                                                                                                                                                        float mavsdk::MavlinkPassthrough::CommandLong::param7
+
                                                                                                                                                        +

                                                                                                                                                        param7.

                                                                                                                                                        +
                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                          + +

                                                                                                                                                          mavsdk::Mission::MissionItem Struct Reference

                                                                                                                                                          +

                                                                                                                                                          #include: mission.h

                                                                                                                                                          +
                                                                                                                                                          +

                                                                                                                                                          Type representing a mission item.

                                                                                                                                                          +

                                                                                                                                                          A MissionItem can contain a position and/or actions. Mission items are building blocks to assemble a mission, which can be sent to (or received from) a system. They cannot be used independently.

                                                                                                                                                          +

                                                                                                                                                          Public Types

                                                                                                                                                          + + + + + + + + + + + + + + + + + +
                                                                                                                                                          TypeDescription
                                                                                                                                                          enum CameraActionPossible camera actions at a mission item.
                                                                                                                                                          enum VehicleActionPossible vehicle actions at a mission item.
                                                                                                                                                          +

                                                                                                                                                          Data Fields

                                                                                                                                                          +

                                                                                                                                                          double latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)

                                                                                                                                                          +

                                                                                                                                                          double longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to +180)

                                                                                                                                                          +

                                                                                                                                                          float relative_altitude_m { float(NAN)} - Altitude relative to takeoff altitude in metres.

                                                                                                                                                          +

                                                                                                                                                          float speed_m_s { float(NAN)} - Speed to use after this mission item (in metres/second)

                                                                                                                                                          +

                                                                                                                                                          bool is_fly_through { false} - True will make the drone fly through without stopping, while false will make the drone stop on the waypoint.

                                                                                                                                                          +

                                                                                                                                                          float gimbal_pitch_deg {float(NAN)} - Gimbal pitch (in degrees)

                                                                                                                                                          +

                                                                                                                                                          float gimbal_yaw_deg {float(NAN)} - Gimbal yaw (in degrees)

                                                                                                                                                          +

                                                                                                                                                          CameraAction camera_action {} - Camera action to trigger at this mission item.

                                                                                                                                                          +

                                                                                                                                                          float loiter_time_s {float(NAN)} - Loiter time (in seconds)

                                                                                                                                                          +

                                                                                                                                                          double camera_photo_interval_s { 1.0} - Camera photo interval to use after this mission item (in seconds)

                                                                                                                                                          +

                                                                                                                                                          float acceptance_radius_m { float(NAN)} - Radius for completing a mission item (in metres)

                                                                                                                                                          +

                                                                                                                                                          float yaw_deg {float(NAN)} - Absolute yaw angle (in degrees)

                                                                                                                                                          +

                                                                                                                                                          float camera_photo_distance_m { NAN} - Camera photo distance to use after this mission item (in meters)

                                                                                                                                                          +

                                                                                                                                                          VehicleAction vehicle_action {} - Vehicle action to trigger at this mission item.

                                                                                                                                                          +

                                                                                                                                                          Member Enumeration Documentation

                                                                                                                                                          +

                                                                                                                                                          enum CameraAction

                                                                                                                                                          +

                                                                                                                                                          Possible camera actions at a mission item.

                                                                                                                                                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                          ValueDescription
                                                                                                                                                          NoneNo action.
                                                                                                                                                          TakePhotoTake a single photo.
                                                                                                                                                          StartPhotoIntervalStart capturing photos at regular intervals.
                                                                                                                                                          StopPhotoIntervalStop capturing photos at regular intervals.
                                                                                                                                                          StartVideoStart capturing video.
                                                                                                                                                          StopVideoStop capturing video.
                                                                                                                                                          StartPhotoDistanceStart capturing photos at regular distance.
                                                                                                                                                          StopPhotoDistanceStop capturing photos at regular distance.
                                                                                                                                                          +

                                                                                                                                                          enum VehicleAction

                                                                                                                                                          +

                                                                                                                                                          Possible vehicle actions at a mission item.

                                                                                                                                                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                          ValueDescription
                                                                                                                                                          NoneNo action.
                                                                                                                                                          TakeoffVehicle will takeoff and go to defined waypoint.
                                                                                                                                                          LandWhen a waypoint is reached vehicle will land at current position.
                                                                                                                                                          TransitionToFwWhen a waypoint is reached vehicle will transition to fixed-wing mode.
                                                                                                                                                          TransitionToMcWhen a waypoint is reached vehicle will transition to multi-copter mode.
                                                                                                                                                          +

                                                                                                                                                          Field Documentation

                                                                                                                                                          +

                                                                                                                                                          latitude_deg

                                                                                                                                                          +
                                                                                                                                                          double mavsdk::Mission::MissionItem::latitude_deg {double(NAN)}
+
                                                                                                                                                          +

                                                                                                                                                          Latitude in degrees (range: -90 to +90)

                                                                                                                                                          +

                                                                                                                                                          longitude_deg

                                                                                                                                                          +
                                                                                                                                                          double mavsdk::Mission::MissionItem::longitude_deg {double(NAN)}
+
                                                                                                                                                          +

                                                                                                                                                          Longitude in degrees (range: -180 to +180)

                                                                                                                                                          +

                                                                                                                                                          relative_altitude_m

                                                                                                                                                          +
                                                                                                                                                          float mavsdk::Mission::MissionItem::relative_altitude_m { float(NAN)}
+
                                                                                                                                                          +

                                                                                                                                                          Altitude relative to takeoff altitude in metres.

                                                                                                                                                          +

                                                                                                                                                          speed_m_s

                                                                                                                                                          +
                                                                                                                                                          float mavsdk::Mission::MissionItem::speed_m_s { float(NAN)}
+
                                                                                                                                                          +

                                                                                                                                                          Speed to use after this mission item (in metres/second)

                                                                                                                                                          +

                                                                                                                                                          is_fly_through

                                                                                                                                                          +
                                                                                                                                                          bool mavsdk::Mission::MissionItem::is_fly_through { false}
+
                                                                                                                                                          +

                                                                                                                                                          True will make the drone fly through without stopping, while false will make the drone stop on the waypoint.

                                                                                                                                                          +

                                                                                                                                                          gimbal_pitch_deg

                                                                                                                                                          +
                                                                                                                                                          float mavsdk::Mission::MissionItem::gimbal_pitch_deg {float(NAN)}
+
                                                                                                                                                          +

                                                                                                                                                          Gimbal pitch (in degrees)

                                                                                                                                                          +

                                                                                                                                                          gimbal_yaw_deg

                                                                                                                                                          +
                                                                                                                                                          float mavsdk::Mission::MissionItem::gimbal_yaw_deg {float(NAN)}
+
                                                                                                                                                          +

                                                                                                                                                          Gimbal yaw (in degrees)

                                                                                                                                                          +

                                                                                                                                                          camera_action

                                                                                                                                                          +
                                                                                                                                                          CameraAction mavsdk::Mission::MissionItem::camera_action {}
+
                                                                                                                                                          +

                                                                                                                                                          Camera action to trigger at this mission item.

                                                                                                                                                          +

                                                                                                                                                          loiter_time_s

                                                                                                                                                          +
                                                                                                                                                          float mavsdk::Mission::MissionItem::loiter_time_s {float(NAN)}
+
                                                                                                                                                          +

                                                                                                                                                          Loiter time (in seconds)

                                                                                                                                                          +

                                                                                                                                                          camera_photo_interval_s

                                                                                                                                                          +
                                                                                                                                                          double mavsdk::Mission::MissionItem::camera_photo_interval_s { 1.0}
+
                                                                                                                                                          +

                                                                                                                                                          Camera photo interval to use after this mission item (in seconds)

                                                                                                                                                          +

                                                                                                                                                          acceptance_radius_m

                                                                                                                                                          +
                                                                                                                                                          float mavsdk::Mission::MissionItem::acceptance_radius_m { float(NAN)}
+
                                                                                                                                                          +

                                                                                                                                                          Radius for completing a mission item (in metres)

                                                                                                                                                          +

                                                                                                                                                          yaw_deg

                                                                                                                                                          +
                                                                                                                                                          float mavsdk::Mission::MissionItem::yaw_deg {float(NAN)}
+
                                                                                                                                                          +

                                                                                                                                                          Absolute yaw angle (in degrees)

                                                                                                                                                          +

                                                                                                                                                          camera_photo_distance_m

                                                                                                                                                          +
                                                                                                                                                          float mavsdk::Mission::MissionItem::camera_photo_distance_m { NAN}
+
                                                                                                                                                          +

                                                                                                                                                          Camera photo distance to use after this mission item (in meters)

                                                                                                                                                          +

                                                                                                                                                          vehicle_action

                                                                                                                                                          +
                                                                                                                                                          VehicleAction mavsdk::Mission::MissionItem::vehicle_action {}
+
                                                                                                                                                          +

                                                                                                                                                          Vehicle action to trigger at this mission item.

                                                                                                                                                          +
                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                                            mavsdk::Mission::MissionPlan Struct Reference

                                                                                                                                                            +

                                                                                                                                                            #include: mission.h

                                                                                                                                                            +
                                                                                                                                                            +

                                                                                                                                                            Mission plan type.

                                                                                                                                                            +

                                                                                                                                                            Data Fields

                                                                                                                                                            +

                                                                                                                                                            std::vector< MissionItem > mission_items {} - The mission items.

                                                                                                                                                            +

                                                                                                                                                            Field Documentation

                                                                                                                                                            +

                                                                                                                                                            mission_items

                                                                                                                                                            +
                                                                                                                                                            std::vector<MissionItem> mavsdk::Mission::MissionPlan::mission_items {}
+
                                                                                                                                                            +

                                                                                                                                                            The mission items.

                                                                                                                                                            +
                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                              PX4
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                                                                                                                                                              mavsdk::Mission::MissionProgress Struct Reference

                                                                                                                                                              +

                                                                                                                                                              #include: mission.h

                                                                                                                                                              +
                                                                                                                                                              +

                                                                                                                                                              Mission progress type.

                                                                                                                                                              +

                                                                                                                                                              Data Fields

                                                                                                                                                              +

                                                                                                                                                              int32_t current {} - Current mission item index (0-based), if equal to total, the mission is finished.

                                                                                                                                                              +

                                                                                                                                                              int32_t total {} - Total number of mission items.

                                                                                                                                                              +

                                                                                                                                                              Field Documentation

                                                                                                                                                              +

                                                                                                                                                              current

                                                                                                                                                              +
                                                                                                                                                              int32_t mavsdk::Mission::MissionProgress::current {}
+
                                                                                                                                                              +

                                                                                                                                                              Current mission item index (0-based), if equal to total, the mission is finished.

                                                                                                                                                              +

                                                                                                                                                              total

                                                                                                                                                              +
                                                                                                                                                              int32_t mavsdk::Mission::MissionProgress::total {}
+
                                                                                                                                                              +

                                                                                                                                                              Total number of mission items.

                                                                                                                                                              +
                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                mavsdk::Mission::ProgressData Struct Reference

                                                                                                                                                                +

                                                                                                                                                                #include: mission.h

                                                                                                                                                                +
                                                                                                                                                                +

                                                                                                                                                                Progress data coming from mission upload.

                                                                                                                                                                +

                                                                                                                                                                Data Fields

                                                                                                                                                                +

                                                                                                                                                                float progress {float(NAN)} - Progress (0..1.0)

                                                                                                                                                                +

                                                                                                                                                                Field Documentation

                                                                                                                                                                +

                                                                                                                                                                progress

                                                                                                                                                                +
                                                                                                                                                                float mavsdk::Mission::ProgressData::progress {float(NAN)}
+
                                                                                                                                                                +

                                                                                                                                                                Progress (0..1.0)

                                                                                                                                                                +
                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                  mavsdk::Mission::ProgressDataOrMission Struct Reference

                                                                                                                                                                  +

                                                                                                                                                                  #include: mission.h

                                                                                                                                                                  +
                                                                                                                                                                  +

                                                                                                                                                                  Progress data coming from mission download, or the mission itself (if the transfer succeeds).

                                                                                                                                                                  +

                                                                                                                                                                  Data Fields

                                                                                                                                                                  +

                                                                                                                                                                  bool has_progress { false} - Whether this ProgressData contains a 'progress' status or not.

                                                                                                                                                                  +

                                                                                                                                                                  float progress {float(NAN)} - Progress (0..1.0)

                                                                                                                                                                  +

                                                                                                                                                                  bool has_mission {} - Whether this ProgressData contains a 'mission_plan' or not.

                                                                                                                                                                  +

                                                                                                                                                                  MissionPlan mission_plan {} - Mission plan.

                                                                                                                                                                  +

                                                                                                                                                                  Field Documentation

                                                                                                                                                                  +

                                                                                                                                                                  has_progress

                                                                                                                                                                  +
                                                                                                                                                                  bool mavsdk::Mission::ProgressDataOrMission::has_progress { false}
+
                                                                                                                                                                  +

                                                                                                                                                                  Whether this ProgressData contains a 'progress' status or not.

                                                                                                                                                                  +

                                                                                                                                                                  progress

                                                                                                                                                                  +
                                                                                                                                                                  float mavsdk::Mission::ProgressDataOrMission::progress {float(NAN)}
+
                                                                                                                                                                  +

                                                                                                                                                                  Progress (0..1.0)

                                                                                                                                                                  +

                                                                                                                                                                  has_mission

                                                                                                                                                                  +
                                                                                                                                                                  bool mavsdk::Mission::ProgressDataOrMission::has_mission {}
+
                                                                                                                                                                  +

                                                                                                                                                                  Whether this ProgressData contains a 'mission_plan' or not.

                                                                                                                                                                  +

                                                                                                                                                                  mission_plan

                                                                                                                                                                  +
                                                                                                                                                                  MissionPlan mavsdk::Mission::ProgressDataOrMission::mission_plan {}
+
                                                                                                                                                                  +

                                                                                                                                                                  Mission plan.

                                                                                                                                                                  +
                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_import_data.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_import_data.html new file mode 100644 index 00000000..579b117e --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_import_data.html @@ -0,0 +1,3357 @@ + + + + + + + struct MissionImportData · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                                                    mavsdk::MissionRaw::MissionImportData Struct Reference

                                                                                                                                                                    +

                                                                                                                                                                    #include: mission_raw.h

                                                                                                                                                                    +
                                                                                                                                                                    +

                                                                                                                                                                    Mission import data.

                                                                                                                                                                    +

                                                                                                                                                                    Data Fields

                                                                                                                                                                    +

                                                                                                                                                                    std::vector< MissionItem > mission_items {} - Mission items.

                                                                                                                                                                    +

                                                                                                                                                                    std::vector< MissionItem > geofence_items {} - Geofence items.

                                                                                                                                                                    +

                                                                                                                                                                    std::vector< MissionItem > rally_items {} - Rally items.

                                                                                                                                                                    +

                                                                                                                                                                    Field Documentation

                                                                                                                                                                    +

                                                                                                                                                                    mission_items

                                                                                                                                                                    +
                                                                                                                                                                    std::vector<MissionItem> mavsdk::MissionRaw::MissionImportData::mission_items {}
+
                                                                                                                                                                    +

                                                                                                                                                                    Mission items.

                                                                                                                                                                    +

                                                                                                                                                                    geofence_items

                                                                                                                                                                    +
                                                                                                                                                                    std::vector<MissionItem> mavsdk::MissionRaw::MissionImportData::geofence_items {}
+
                                                                                                                                                                    +

                                                                                                                                                                    Geofence items.

                                                                                                                                                                    +

                                                                                                                                                                    rally_items

                                                                                                                                                                    +
                                                                                                                                                                    std::vector<MissionItem> mavsdk::MissionRaw::MissionImportData::rally_items {}
+
                                                                                                                                                                    +

                                                                                                                                                                    Rally items.

                                                                                                                                                                    +
                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_item.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_item.html new file mode 100644 index 00000000..720513ed --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_item.html @@ -0,0 +1,3407 @@ + + + + + + + struct MissionItem · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                                                      + +
                                                                                                                                                                      + +

                                                                                                                                                                      mavsdk::MissionRaw::MissionItem Struct Reference

                                                                                                                                                                      +

                                                                                                                                                                      #include: mission_raw.h

                                                                                                                                                                      +
                                                                                                                                                                      +

                                                                                                                                                                      Mission item exactly identical to MAVLink MISSION_ITEM_INT.

                                                                                                                                                                      +

                                                                                                                                                                      Data Fields

                                                                                                                                                                      +

                                                                                                                                                                      uint32_t seq {} - Sequence (uint16_t)

                                                                                                                                                                      +

                                                                                                                                                                      uint32_t frame {} - The coordinate system of the waypoint (actually uint8_t)

                                                                                                                                                                      +

                                                                                                                                                                      uint32_t command {} - The scheduled action for the waypoint (actually uint16_t)

                                                                                                                                                                      +

                                                                                                                                                                      uint32_t current {} - false:0, true:1 (actually uint8_t)

                                                                                                                                                                      +

                                                                                                                                                                      uint32_t autocontinue {} - Autocontinue to next waypoint (actually uint8_t)

                                                                                                                                                                      +

                                                                                                                                                                      float param1 {} - PARAM1, see MAV_CMD enum.

                                                                                                                                                                      +

                                                                                                                                                                      float param2 {} - PARAM2, see MAV_CMD enum.

                                                                                                                                                                      +

                                                                                                                                                                      float param3 {} - PARAM3, see MAV_CMD enum.

                                                                                                                                                                      +

                                                                                                                                                                      float param4 {} - PARAM4, see MAV_CMD enum.

                                                                                                                                                                      +

                                                                                                                                                                      int32_t x {} - PARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7.

                                                                                                                                                                      +

                                                                                                                                                                      int32_t y {} - PARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7.

                                                                                                                                                                      +

                                                                                                                                                                      float z {} - PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)

                                                                                                                                                                      +

                                                                                                                                                                      uint32_t mission_type {} - Mission type (actually uint8_t)

                                                                                                                                                                      +

                                                                                                                                                                      Field Documentation

                                                                                                                                                                      +

                                                                                                                                                                      seq

                                                                                                                                                                      +
                                                                                                                                                                      uint32_t mavsdk::MissionRaw::MissionItem::seq {}
+
                                                                                                                                                                      +

                                                                                                                                                                      Sequence (uint16_t)

                                                                                                                                                                      +

                                                                                                                                                                      frame

                                                                                                                                                                      +
                                                                                                                                                                      uint32_t mavsdk::MissionRaw::MissionItem::frame {}
+
                                                                                                                                                                      +

                                                                                                                                                                      The coordinate system of the waypoint (actually uint8_t)

                                                                                                                                                                      +

                                                                                                                                                                      command

                                                                                                                                                                      +
                                                                                                                                                                      uint32_t mavsdk::MissionRaw::MissionItem::command {}
+
                                                                                                                                                                      +

                                                                                                                                                                      The scheduled action for the waypoint (actually uint16_t)

                                                                                                                                                                      +

                                                                                                                                                                      current

                                                                                                                                                                      +
                                                                                                                                                                      uint32_t mavsdk::MissionRaw::MissionItem::current {}
+
                                                                                                                                                                      +

                                                                                                                                                                      false:0, true:1 (actually uint8_t)

                                                                                                                                                                      +

                                                                                                                                                                      autocontinue

                                                                                                                                                                      +
                                                                                                                                                                      uint32_t mavsdk::MissionRaw::MissionItem::autocontinue {}
+
                                                                                                                                                                      +

                                                                                                                                                                      Autocontinue to next waypoint (actually uint8_t)

                                                                                                                                                                      +

                                                                                                                                                                      param1

                                                                                                                                                                      +
                                                                                                                                                                      float mavsdk::MissionRaw::MissionItem::param1 {}
+
                                                                                                                                                                      +

                                                                                                                                                                      PARAM1, see MAV_CMD enum.

                                                                                                                                                                      +

                                                                                                                                                                      param2

                                                                                                                                                                      +
                                                                                                                                                                      float mavsdk::MissionRaw::MissionItem::param2 {}
+
                                                                                                                                                                      +

                                                                                                                                                                      PARAM2, see MAV_CMD enum.

                                                                                                                                                                      +

                                                                                                                                                                      param3

                                                                                                                                                                      +
                                                                                                                                                                      float mavsdk::MissionRaw::MissionItem::param3 {}
+
                                                                                                                                                                      +

                                                                                                                                                                      PARAM3, see MAV_CMD enum.

                                                                                                                                                                      +

                                                                                                                                                                      param4

                                                                                                                                                                      +
                                                                                                                                                                      float mavsdk::MissionRaw::MissionItem::param4 {}
+
                                                                                                                                                                      +

                                                                                                                                                                      PARAM4, see MAV_CMD enum.

                                                                                                                                                                      +

                                                                                                                                                                      x

                                                                                                                                                                      +
                                                                                                                                                                      int32_t mavsdk::MissionRaw::MissionItem::x {}
+
                                                                                                                                                                      +

                                                                                                                                                                      PARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7.

                                                                                                                                                                      +

                                                                                                                                                                      y

                                                                                                                                                                      +
                                                                                                                                                                      int32_t mavsdk::MissionRaw::MissionItem::y {}
+
                                                                                                                                                                      +

                                                                                                                                                                      PARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7.

                                                                                                                                                                      +

                                                                                                                                                                      z

                                                                                                                                                                      +
                                                                                                                                                                      float mavsdk::MissionRaw::MissionItem::z {}
+
                                                                                                                                                                      +

                                                                                                                                                                      PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)

                                                                                                                                                                      +

                                                                                                                                                                      mission_type

                                                                                                                                                                      +
                                                                                                                                                                      uint32_t mavsdk::MissionRaw::MissionItem::mission_type {}
+
                                                                                                                                                                      +

                                                                                                                                                                      Mission type (actually uint8_t)

                                                                                                                                                                      +
                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                        mavsdk::MissionRaw::MissionProgress Struct Reference

                                                                                                                                                                        +

                                                                                                                                                                        #include: mission_raw.h

                                                                                                                                                                        +
                                                                                                                                                                        +

                                                                                                                                                                        Mission progress type.

                                                                                                                                                                        +

                                                                                                                                                                        Data Fields

                                                                                                                                                                        +

                                                                                                                                                                        int32_t current {} - Current mission item index (0-based), if equal to total, the mission is finished.

                                                                                                                                                                        +

                                                                                                                                                                        int32_t total {} - Total number of mission items.

                                                                                                                                                                        +

                                                                                                                                                                        Field Documentation

                                                                                                                                                                        +

                                                                                                                                                                        current

                                                                                                                                                                        +
                                                                                                                                                                        int32_t mavsdk::MissionRaw::MissionProgress::current {}
+
                                                                                                                                                                        +

                                                                                                                                                                        Current mission item index (0-based), if equal to total, the mission is finished.

                                                                                                                                                                        +

                                                                                                                                                                        total

                                                                                                                                                                        +
                                                                                                                                                                        int32_t mavsdk::MissionRaw::MissionProgress::total {}
+
                                                                                                                                                                        +

                                                                                                                                                                        Total number of mission items.

                                                                                                                                                                        +
                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_item.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_item.html new file mode 100644 index 00000000..8f509778 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_item.html @@ -0,0 +1,3407 @@ + + + + + + + struct MissionItem · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                                                          mavsdk::MissionRawServer::MissionItem Struct Reference

                                                                                                                                                                          +

                                                                                                                                                                          #include: mission_raw_server.h

                                                                                                                                                                          +
                                                                                                                                                                          +

                                                                                                                                                                          Mission item exactly identical to MAVLink MISSION_ITEM_INT.

                                                                                                                                                                          +

                                                                                                                                                                          Data Fields

                                                                                                                                                                          +

                                                                                                                                                                          uint32_t seq {} - Sequence (uint16_t)

                                                                                                                                                                          +

                                                                                                                                                                          uint32_t frame {} - The coordinate system of the waypoint (actually uint8_t)

                                                                                                                                                                          +

                                                                                                                                                                          uint32_t command {} - The scheduled action for the waypoint (actually uint16_t)

                                                                                                                                                                          +

                                                                                                                                                                          uint32_t current {} - false:0, true:1 (actually uint8_t)

                                                                                                                                                                          +

                                                                                                                                                                          uint32_t autocontinue {} - Autocontinue to next waypoint (actually uint8_t)

                                                                                                                                                                          +

                                                                                                                                                                          float param1 {} - PARAM1, see MAV_CMD enum.

                                                                                                                                                                          +

                                                                                                                                                                          float param2 {} - PARAM2, see MAV_CMD enum.

                                                                                                                                                                          +

                                                                                                                                                                          float param3 {} - PARAM3, see MAV_CMD enum.

                                                                                                                                                                          +

                                                                                                                                                                          float param4 {} - PARAM4, see MAV_CMD enum.

                                                                                                                                                                          +

                                                                                                                                                                          int32_t x {} - PARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7.

                                                                                                                                                                          +

                                                                                                                                                                          int32_t y {} - PARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7.

                                                                                                                                                                          +

                                                                                                                                                                          float z {} - PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)

                                                                                                                                                                          +

                                                                                                                                                                          uint32_t mission_type {} - Mission type (actually uint8_t)

                                                                                                                                                                          +

                                                                                                                                                                          Field Documentation

                                                                                                                                                                          +

                                                                                                                                                                          seq

                                                                                                                                                                          +
                                                                                                                                                                          uint32_t mavsdk::MissionRawServer::MissionItem::seq {}
+
                                                                                                                                                                          +

                                                                                                                                                                          Sequence (uint16_t)

                                                                                                                                                                          +

                                                                                                                                                                          frame

                                                                                                                                                                          +
                                                                                                                                                                          uint32_t mavsdk::MissionRawServer::MissionItem::frame {}
+
                                                                                                                                                                          +

                                                                                                                                                                          The coordinate system of the waypoint (actually uint8_t)

                                                                                                                                                                          +

                                                                                                                                                                          command

                                                                                                                                                                          +
                                                                                                                                                                          uint32_t mavsdk::MissionRawServer::MissionItem::command {}
+
                                                                                                                                                                          +

                                                                                                                                                                          The scheduled action for the waypoint (actually uint16_t)

                                                                                                                                                                          +

                                                                                                                                                                          current

                                                                                                                                                                          +
                                                                                                                                                                          uint32_t mavsdk::MissionRawServer::MissionItem::current {}
+
                                                                                                                                                                          +

                                                                                                                                                                          false:0, true:1 (actually uint8_t)

                                                                                                                                                                          +

                                                                                                                                                                          autocontinue

                                                                                                                                                                          +
                                                                                                                                                                          uint32_t mavsdk::MissionRawServer::MissionItem::autocontinue {}
+
                                                                                                                                                                          +

                                                                                                                                                                          Autocontinue to next waypoint (actually uint8_t)

                                                                                                                                                                          +

                                                                                                                                                                          param1

                                                                                                                                                                          +
                                                                                                                                                                          float mavsdk::MissionRawServer::MissionItem::param1 {}
+
                                                                                                                                                                          +

                                                                                                                                                                          PARAM1, see MAV_CMD enum.

                                                                                                                                                                          +

                                                                                                                                                                          param2

                                                                                                                                                                          +
                                                                                                                                                                          float mavsdk::MissionRawServer::MissionItem::param2 {}
+
                                                                                                                                                                          +

                                                                                                                                                                          PARAM2, see MAV_CMD enum.

                                                                                                                                                                          +

                                                                                                                                                                          param3

                                                                                                                                                                          +
                                                                                                                                                                          float mavsdk::MissionRawServer::MissionItem::param3 {}
+
                                                                                                                                                                          +

                                                                                                                                                                          PARAM3, see MAV_CMD enum.

                                                                                                                                                                          +

                                                                                                                                                                          param4

                                                                                                                                                                          +
                                                                                                                                                                          float mavsdk::MissionRawServer::MissionItem::param4 {}
+
                                                                                                                                                                          +

                                                                                                                                                                          PARAM4, see MAV_CMD enum.

                                                                                                                                                                          +

                                                                                                                                                                          x

                                                                                                                                                                          +
                                                                                                                                                                          int32_t mavsdk::MissionRawServer::MissionItem::x {}
+
                                                                                                                                                                          +

                                                                                                                                                                          PARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7.

                                                                                                                                                                          +

                                                                                                                                                                          y

                                                                                                                                                                          +
                                                                                                                                                                          int32_t mavsdk::MissionRawServer::MissionItem::y {}
+
                                                                                                                                                                          +

                                                                                                                                                                          PARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7.

                                                                                                                                                                          +

                                                                                                                                                                          z

                                                                                                                                                                          +
                                                                                                                                                                          float mavsdk::MissionRawServer::MissionItem::z {}
+
                                                                                                                                                                          +

                                                                                                                                                                          PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)

                                                                                                                                                                          +

                                                                                                                                                                          mission_type

                                                                                                                                                                          +
                                                                                                                                                                          uint32_t mavsdk::MissionRawServer::MissionItem::mission_type {}
+
                                                                                                                                                                          +

                                                                                                                                                                          Mission type (actually uint8_t)

                                                                                                                                                                          +
                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                            + +

                                                                                                                                                                            mavsdk::MissionRawServer::MissionPlan Struct Reference

                                                                                                                                                                            +

                                                                                                                                                                            #include: mission_raw_server.h

                                                                                                                                                                            +
                                                                                                                                                                            +

                                                                                                                                                                            Mission plan type.

                                                                                                                                                                            +

                                                                                                                                                                            Data Fields

                                                                                                                                                                            +

                                                                                                                                                                            std::vector< MissionItem > mission_items {} - The mission items.

                                                                                                                                                                            +

                                                                                                                                                                            Field Documentation

                                                                                                                                                                            +

                                                                                                                                                                            mission_items

                                                                                                                                                                            +
                                                                                                                                                                            std::vector<MissionItem> mavsdk::MissionRawServer::MissionPlan::mission_items {}
+
                                                                                                                                                                            +

                                                                                                                                                                            The mission items.

                                                                                                                                                                            +
                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                              PX4
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                                                                                                                                                                              + +

                                                                                                                                                                              mavsdk::MissionRawServer::MissionProgress Struct Reference

                                                                                                                                                                              +

                                                                                                                                                                              #include: mission_raw_server.h

                                                                                                                                                                              +
                                                                                                                                                                              +

                                                                                                                                                                              Mission progress type.

                                                                                                                                                                              +

                                                                                                                                                                              Data Fields

                                                                                                                                                                              +

                                                                                                                                                                              int32_t current {} - Current mission item index (0-based), if equal to total, the mission is finished.

                                                                                                                                                                              +

                                                                                                                                                                              int32_t total {} - Total number of mission items.

                                                                                                                                                                              +

                                                                                                                                                                              Field Documentation

                                                                                                                                                                              +

                                                                                                                                                                              current

                                                                                                                                                                              +
                                                                                                                                                                              int32_t mavsdk::MissionRawServer::MissionProgress::current {}
+
                                                                                                                                                                              +

                                                                                                                                                                              Current mission item index (0-based), if equal to total, the mission is finished.

                                                                                                                                                                              +

                                                                                                                                                                              total

                                                                                                                                                                              +
                                                                                                                                                                              int32_t mavsdk::MissionRawServer::MissionProgress::total {}
+
                                                                                                                                                                              +

                                                                                                                                                                              Total number of mission items.

                                                                                                                                                                              +
                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                mavsdk::Mocap::AngleBody Struct Reference

                                                                                                                                                                                +

                                                                                                                                                                                #include: mocap.h

                                                                                                                                                                                +
                                                                                                                                                                                +

                                                                                                                                                                                Body angle type.

                                                                                                                                                                                +

                                                                                                                                                                                Data Fields

                                                                                                                                                                                +

                                                                                                                                                                                float roll_rad {} - Roll angle in radians.

                                                                                                                                                                                +

                                                                                                                                                                                float pitch_rad {} - Pitch angle in radians.

                                                                                                                                                                                +

                                                                                                                                                                                float yaw_rad {} - Yaw angle in radians.

                                                                                                                                                                                +

                                                                                                                                                                                Field Documentation

                                                                                                                                                                                +

                                                                                                                                                                                roll_rad

                                                                                                                                                                                +
                                                                                                                                                                                float mavsdk::Mocap::AngleBody::roll_rad {}
+
                                                                                                                                                                                +

                                                                                                                                                                                Roll angle in radians.

                                                                                                                                                                                +

                                                                                                                                                                                pitch_rad

                                                                                                                                                                                +
                                                                                                                                                                                float mavsdk::Mocap::AngleBody::pitch_rad {}
+
                                                                                                                                                                                +

                                                                                                                                                                                Pitch angle in radians.

                                                                                                                                                                                +

                                                                                                                                                                                yaw_rad

                                                                                                                                                                                +
                                                                                                                                                                                float mavsdk::Mocap::AngleBody::yaw_rad {}
+
                                                                                                                                                                                +

                                                                                                                                                                                Yaw angle in radians.

                                                                                                                                                                                +
                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                  mavsdk::Mocap::AngularVelocityBody Struct Reference

                                                                                                                                                                                  +

                                                                                                                                                                                  #include: mocap.h

                                                                                                                                                                                  +
                                                                                                                                                                                  +

                                                                                                                                                                                  Angular velocity type.

                                                                                                                                                                                  +

                                                                                                                                                                                  Data Fields

                                                                                                                                                                                  +

                                                                                                                                                                                  float roll_rad_s {} - Roll angular velocity in radians/second.

                                                                                                                                                                                  +

                                                                                                                                                                                  float pitch_rad_s {} - Pitch angular velocity in radians/second.

                                                                                                                                                                                  +

                                                                                                                                                                                  float yaw_rad_s {} - Yaw angular velocity in radians/second.

                                                                                                                                                                                  +

                                                                                                                                                                                  Field Documentation

                                                                                                                                                                                  +

                                                                                                                                                                                  roll_rad_s

                                                                                                                                                                                  +
                                                                                                                                                                                  float mavsdk::Mocap::AngularVelocityBody::roll_rad_s {}
+
                                                                                                                                                                                  +

                                                                                                                                                                                  Roll angular velocity in radians/second.

                                                                                                                                                                                  +

                                                                                                                                                                                  pitch_rad_s

                                                                                                                                                                                  +
                                                                                                                                                                                  float mavsdk::Mocap::AngularVelocityBody::pitch_rad_s {}
+
                                                                                                                                                                                  +

                                                                                                                                                                                  Pitch angular velocity in radians/second.

                                                                                                                                                                                  +

                                                                                                                                                                                  yaw_rad_s

                                                                                                                                                                                  +
                                                                                                                                                                                  float mavsdk::Mocap::AngularVelocityBody::yaw_rad_s {}
+
                                                                                                                                                                                  +

                                                                                                                                                                                  Yaw angular velocity in radians/second.

                                                                                                                                                                                  +
                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                    mavsdk::Mocap::AttitudePositionMocap Struct Reference

                                                                                                                                                                                    +

                                                                                                                                                                                    #include: mocap.h

                                                                                                                                                                                    +
                                                                                                                                                                                    +

                                                                                                                                                                                    Motion capture attitude and position.

                                                                                                                                                                                    +

                                                                                                                                                                                    Data Fields

                                                                                                                                                                                    +

                                                                                                                                                                                    uint64_t time_usec {} - PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)

                                                                                                                                                                                    +

                                                                                                                                                                                    Quaternion q {} - Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)

                                                                                                                                                                                    +

                                                                                                                                                                                    PositionBody position_body {} - Body Position (NED)

                                                                                                                                                                                    +

                                                                                                                                                                                    Covariance pose_covariance {} - Pose cross-covariance matrix.

                                                                                                                                                                                    +

                                                                                                                                                                                    Field Documentation

                                                                                                                                                                                    +

                                                                                                                                                                                    time_usec

                                                                                                                                                                                    +
                                                                                                                                                                                    uint64_t mavsdk::Mocap::AttitudePositionMocap::time_usec {}
+
                                                                                                                                                                                    +

                                                                                                                                                                                    PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)

                                                                                                                                                                                    +

                                                                                                                                                                                    q

                                                                                                                                                                                    +
                                                                                                                                                                                    Quaternion mavsdk::Mocap::AttitudePositionMocap::q {}
+
                                                                                                                                                                                    +

                                                                                                                                                                                    Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)

                                                                                                                                                                                    +

                                                                                                                                                                                    position_body

                                                                                                                                                                                    +
                                                                                                                                                                                    PositionBody mavsdk::Mocap::AttitudePositionMocap::position_body {}
+
                                                                                                                                                                                    +

                                                                                                                                                                                    Body Position (NED)

                                                                                                                                                                                    +

                                                                                                                                                                                    pose_covariance

                                                                                                                                                                                    +
                                                                                                                                                                                    Covariance mavsdk::Mocap::AttitudePositionMocap::pose_covariance {}
+
                                                                                                                                                                                    +

                                                                                                                                                                                    Pose cross-covariance matrix.

                                                                                                                                                                                    +
                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                      mavsdk::Mocap::Covariance Struct Reference

                                                                                                                                                                                      +

                                                                                                                                                                                      #include: mocap.h

                                                                                                                                                                                      +
                                                                                                                                                                                      +

                                                                                                                                                                                      Covariance type. Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Needs to be 21 entries or 1 entry with NaN if unknown.

                                                                                                                                                                                      +

                                                                                                                                                                                      Data Fields

                                                                                                                                                                                      +

                                                                                                                                                                                      std::vector< float > covariance_matrix {} - The covariance matrix.

                                                                                                                                                                                      +

                                                                                                                                                                                      Field Documentation

                                                                                                                                                                                      +

                                                                                                                                                                                      covariance_matrix

                                                                                                                                                                                      +
                                                                                                                                                                                      std::vector<float> mavsdk::Mocap::Covariance::covariance_matrix {}
+
                                                                                                                                                                                      +

                                                                                                                                                                                      The covariance matrix.

                                                                                                                                                                                      +
                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                        mavsdk::Mocap::Odometry Struct Reference

                                                                                                                                                                                        +

                                                                                                                                                                                        #include: mocap.h

                                                                                                                                                                                        +
                                                                                                                                                                                        +

                                                                                                                                                                                        Odometry message to communicate odometry information with an external interface.

                                                                                                                                                                                        +

                                                                                                                                                                                        Public Types

                                                                                                                                                                                        + + + + + + + + + + + + + +
                                                                                                                                                                                        TypeDescription
                                                                                                                                                                                        enum MavFrameMavlink frame id.
                                                                                                                                                                                        +

                                                                                                                                                                                        Data Fields

                                                                                                                                                                                        +

                                                                                                                                                                                        uint64_t time_usec {} - Timestamp (0 to use Backend timestamp).

                                                                                                                                                                                        +

                                                                                                                                                                                        MavFrame frame_id {} - Coordinate frame of reference for the pose data.

                                                                                                                                                                                        +

                                                                                                                                                                                        PositionBody position_body {} - Body Position.

                                                                                                                                                                                        +

                                                                                                                                                                                        Quaternion q {} - Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

                                                                                                                                                                                        +

                                                                                                                                                                                        SpeedBody speed_body {} - Linear speed (m/s).

                                                                                                                                                                                        +

                                                                                                                                                                                        AngularVelocityBody angular_velocity_body {} - Angular speed (rad/s).

                                                                                                                                                                                        +

                                                                                                                                                                                        Covariance pose_covariance {} - Pose cross-covariance matrix.

                                                                                                                                                                                        +

                                                                                                                                                                                        Covariance velocity_covariance {} - Velocity cross-covariance matrix.

                                                                                                                                                                                        +

                                                                                                                                                                                        Member Enumeration Documentation

                                                                                                                                                                                        +

                                                                                                                                                                                        enum MavFrame

                                                                                                                                                                                        +

                                                                                                                                                                                        Mavlink frame id.

                                                                                                                                                                                        + + + + + + + + + + + + + + + + + +
                                                                                                                                                                                        ValueDescription
                                                                                                                                                                                        MocapNedMAVLink number: 14. Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down)..
                                                                                                                                                                                        LocalFrdMAVLink number: 20. Forward, Right, Down coordinate frame. This is a local frame with Z-down and arbitrary F/R alignment (i.e. not aligned with NED/earth frame). Replacement for MAV_FRAME_MOCAP_NED, MAV_FRAME_VISION_NED, MAV_FRAME_ESTIM_NED..
                                                                                                                                                                                        +

                                                                                                                                                                                        Field Documentation

                                                                                                                                                                                        +

                                                                                                                                                                                        time_usec

                                                                                                                                                                                        +
                                                                                                                                                                                        uint64_t mavsdk::Mocap::Odometry::time_usec {}
+
                                                                                                                                                                                        +

                                                                                                                                                                                        Timestamp (0 to use Backend timestamp).

                                                                                                                                                                                        +

                                                                                                                                                                                        frame_id

                                                                                                                                                                                        +
                                                                                                                                                                                        MavFrame mavsdk::Mocap::Odometry::frame_id {}
+
                                                                                                                                                                                        +

                                                                                                                                                                                        Coordinate frame of reference for the pose data.

                                                                                                                                                                                        +

                                                                                                                                                                                        position_body

                                                                                                                                                                                        +
                                                                                                                                                                                        PositionBody mavsdk::Mocap::Odometry::position_body {}
+
                                                                                                                                                                                        +

                                                                                                                                                                                        Body Position.

                                                                                                                                                                                        +

                                                                                                                                                                                        q

                                                                                                                                                                                        +
                                                                                                                                                                                        Quaternion mavsdk::Mocap::Odometry::q {}
+
                                                                                                                                                                                        +

                                                                                                                                                                                        Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

                                                                                                                                                                                        +

                                                                                                                                                                                        speed_body

                                                                                                                                                                                        +
                                                                                                                                                                                        SpeedBody mavsdk::Mocap::Odometry::speed_body {}
+
                                                                                                                                                                                        +

                                                                                                                                                                                        Linear speed (m/s).

                                                                                                                                                                                        +

                                                                                                                                                                                        angular_velocity_body

                                                                                                                                                                                        +
                                                                                                                                                                                        AngularVelocityBody mavsdk::Mocap::Odometry::angular_velocity_body {}
+
                                                                                                                                                                                        +

                                                                                                                                                                                        Angular speed (rad/s).

                                                                                                                                                                                        +

                                                                                                                                                                                        pose_covariance

                                                                                                                                                                                        +
                                                                                                                                                                                        Covariance mavsdk::Mocap::Odometry::pose_covariance {}
+
                                                                                                                                                                                        +

                                                                                                                                                                                        Pose cross-covariance matrix.

                                                                                                                                                                                        +

                                                                                                                                                                                        velocity_covariance

                                                                                                                                                                                        +
                                                                                                                                                                                        Covariance mavsdk::Mocap::Odometry::velocity_covariance {}
+
                                                                                                                                                                                        +

                                                                                                                                                                                        Velocity cross-covariance matrix.

                                                                                                                                                                                        +
                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                        results matching ""

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                                                                                                                                                                                          PX4
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                                                                                                                                                                                          mavsdk::Mocap::PositionBody Struct Reference

                                                                                                                                                                                          +

                                                                                                                                                                                          #include: mocap.h

                                                                                                                                                                                          +
                                                                                                                                                                                          +

                                                                                                                                                                                          Body position type.

                                                                                                                                                                                          +

                                                                                                                                                                                          Data Fields

                                                                                                                                                                                          +

                                                                                                                                                                                          float x_m {} - X position in metres.

                                                                                                                                                                                          +

                                                                                                                                                                                          float y_m {} - Y position in metres.

                                                                                                                                                                                          +

                                                                                                                                                                                          float z_m {} - Z position in metres.

                                                                                                                                                                                          +

                                                                                                                                                                                          Field Documentation

                                                                                                                                                                                          +

                                                                                                                                                                                          x_m

                                                                                                                                                                                          +
                                                                                                                                                                                          float mavsdk::Mocap::PositionBody::x_m {}
+
                                                                                                                                                                                          +

                                                                                                                                                                                          X position in metres.

                                                                                                                                                                                          +

                                                                                                                                                                                          y_m

                                                                                                                                                                                          +
                                                                                                                                                                                          float mavsdk::Mocap::PositionBody::y_m {}
+
                                                                                                                                                                                          +

                                                                                                                                                                                          Y position in metres.

                                                                                                                                                                                          +

                                                                                                                                                                                          z_m

                                                                                                                                                                                          +
                                                                                                                                                                                          float mavsdk::Mocap::PositionBody::z_m {}
+
                                                                                                                                                                                          +

                                                                                                                                                                                          Z position in metres.

                                                                                                                                                                                          +
                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                            mavsdk::Mocap::Quaternion Struct Reference

                                                                                                                                                                                            +

                                                                                                                                                                                            #include: mocap.h

                                                                                                                                                                                            +
                                                                                                                                                                                            +

                                                                                                                                                                                            Quaternion type.

                                                                                                                                                                                            +

                                                                                                                                                                                            All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.

                                                                                                                                                                                            +

                                                                                                                                                                                            For more info see: https://en.wikipedia.org/wiki/Quaternion

                                                                                                                                                                                            +

                                                                                                                                                                                            Data Fields

                                                                                                                                                                                            +

                                                                                                                                                                                            float w {} - Quaternion entry 0, also denoted as a.

                                                                                                                                                                                            +

                                                                                                                                                                                            float x {} - Quaternion entry 1, also denoted as b.

                                                                                                                                                                                            +

                                                                                                                                                                                            float y {} - Quaternion entry 2, also denoted as c.

                                                                                                                                                                                            +

                                                                                                                                                                                            float z {} - Quaternion entry 3, also denoted as d.

                                                                                                                                                                                            +

                                                                                                                                                                                            Field Documentation

                                                                                                                                                                                            +

                                                                                                                                                                                            w

                                                                                                                                                                                            +
                                                                                                                                                                                            float mavsdk::Mocap::Quaternion::w {}
+
                                                                                                                                                                                            +

                                                                                                                                                                                            Quaternion entry 0, also denoted as a.

                                                                                                                                                                                            +

                                                                                                                                                                                            x

                                                                                                                                                                                            +
                                                                                                                                                                                            float mavsdk::Mocap::Quaternion::x {}
+
                                                                                                                                                                                            +

                                                                                                                                                                                            Quaternion entry 1, also denoted as b.

                                                                                                                                                                                            +

                                                                                                                                                                                            y

                                                                                                                                                                                            +
                                                                                                                                                                                            float mavsdk::Mocap::Quaternion::y {}
+
                                                                                                                                                                                            +

                                                                                                                                                                                            Quaternion entry 2, also denoted as c.

                                                                                                                                                                                            +

                                                                                                                                                                                            z

                                                                                                                                                                                            +
                                                                                                                                                                                            float mavsdk::Mocap::Quaternion::z {}
+
                                                                                                                                                                                            +

                                                                                                                                                                                            Quaternion entry 3, also denoted as d.

                                                                                                                                                                                            +
                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                              mavsdk::Mocap::SpeedBody Struct Reference

                                                                                                                                                                                              +

                                                                                                                                                                                              #include: mocap.h

                                                                                                                                                                                              +
                                                                                                                                                                                              +

                                                                                                                                                                                              Speed type, represented in the Body (X Y Z) frame and in metres/second.

                                                                                                                                                                                              +

                                                                                                                                                                                              Data Fields

                                                                                                                                                                                              +

                                                                                                                                                                                              float x_m_s {} - Velocity in X in metres/second.

                                                                                                                                                                                              +

                                                                                                                                                                                              float y_m_s {} - Velocity in Y in metres/second.

                                                                                                                                                                                              +

                                                                                                                                                                                              float z_m_s {} - Velocity in Z in metres/second.

                                                                                                                                                                                              +

                                                                                                                                                                                              Field Documentation

                                                                                                                                                                                              +

                                                                                                                                                                                              x_m_s

                                                                                                                                                                                              +
                                                                                                                                                                                              float mavsdk::Mocap::SpeedBody::x_m_s {}
+
                                                                                                                                                                                              +

                                                                                                                                                                                              Velocity in X in metres/second.

                                                                                                                                                                                              +

                                                                                                                                                                                              y_m_s

                                                                                                                                                                                              +
                                                                                                                                                                                              float mavsdk::Mocap::SpeedBody::y_m_s {}
+
                                                                                                                                                                                              +

                                                                                                                                                                                              Velocity in Y in metres/second.

                                                                                                                                                                                              +

                                                                                                                                                                                              z_m_s

                                                                                                                                                                                              +
                                                                                                                                                                                              float mavsdk::Mocap::SpeedBody::z_m_s {}
+
                                                                                                                                                                                              +

                                                                                                                                                                                              Velocity in Z in metres/second.

                                                                                                                                                                                              +
                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_vision_position_estimate.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_vision_position_estimate.html new file mode 100644 index 00000000..29b5ae39 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_vision_position_estimate.html @@ -0,0 +1,3362 @@ + + + + + + + struct VisionPositionEstimate · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                                                                                mavsdk::Mocap::VisionPositionEstimate Struct Reference

                                                                                                                                                                                                +

                                                                                                                                                                                                #include: mocap.h

                                                                                                                                                                                                +
                                                                                                                                                                                                +

                                                                                                                                                                                                Global position/attitude estimate from a vision source.

                                                                                                                                                                                                +

                                                                                                                                                                                                Data Fields

                                                                                                                                                                                                +

                                                                                                                                                                                                uint64_t time_usec {} - PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)

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                                                                                                                                                                                                PositionBody position_body {} - Global position (m)

                                                                                                                                                                                                +

                                                                                                                                                                                                AngleBody angle_body {} - Body angle (rad).

                                                                                                                                                                                                +

                                                                                                                                                                                                Covariance pose_covariance {} - Pose cross-covariance matrix.

                                                                                                                                                                                                +

                                                                                                                                                                                                Field Documentation

                                                                                                                                                                                                +

                                                                                                                                                                                                time_usec

                                                                                                                                                                                                +
                                                                                                                                                                                                uint64_t mavsdk::Mocap::VisionPositionEstimate::time_usec {}
+
                                                                                                                                                                                                +

                                                                                                                                                                                                PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)

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                                                                                                                                                                                                position_body

                                                                                                                                                                                                +
                                                                                                                                                                                                PositionBody mavsdk::Mocap::VisionPositionEstimate::position_body {}
+
                                                                                                                                                                                                +

                                                                                                                                                                                                Global position (m)

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                                                                                                                                                                                                angle_body

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                                                                                                                                                                                                AngleBody mavsdk::Mocap::VisionPositionEstimate::angle_body {}
+
                                                                                                                                                                                                +

                                                                                                                                                                                                Body angle (rad).

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                                                                                                                                                                                                pose_covariance

                                                                                                                                                                                                +
                                                                                                                                                                                                Covariance mavsdk::Mocap::VisionPositionEstimate::pose_covariance {}
+
                                                                                                                                                                                                +

                                                                                                                                                                                                Pose cross-covariance matrix.

                                                                                                                                                                                                +
                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                  mavsdk::Offboard::AccelerationNed Struct Reference

                                                                                                                                                                                                  +

                                                                                                                                                                                                  #include: offboard.h

                                                                                                                                                                                                  +
                                                                                                                                                                                                  +

                                                                                                                                                                                                  Type for acceleration commands in NED (North East Down) coordinates.

                                                                                                                                                                                                  +

                                                                                                                                                                                                  Data Fields

                                                                                                                                                                                                  +

                                                                                                                                                                                                  float north_m_s2 {} - Acceleration North (in metres/second^2)

                                                                                                                                                                                                  +

                                                                                                                                                                                                  float east_m_s2 {} - Acceleration East (in metres/second^2)

                                                                                                                                                                                                  +

                                                                                                                                                                                                  float down_m_s2 {} - Acceleration Down (in metres/second^2)

                                                                                                                                                                                                  +

                                                                                                                                                                                                  Field Documentation

                                                                                                                                                                                                  +

                                                                                                                                                                                                  north_m_s2

                                                                                                                                                                                                  +
                                                                                                                                                                                                  float mavsdk::Offboard::AccelerationNed::north_m_s2 {}
+
                                                                                                                                                                                                  +

                                                                                                                                                                                                  Acceleration North (in metres/second^2)

                                                                                                                                                                                                  +

                                                                                                                                                                                                  east_m_s2

                                                                                                                                                                                                  +
                                                                                                                                                                                                  float mavsdk::Offboard::AccelerationNed::east_m_s2 {}
+
                                                                                                                                                                                                  +

                                                                                                                                                                                                  Acceleration East (in metres/second^2)

                                                                                                                                                                                                  +

                                                                                                                                                                                                  down_m_s2

                                                                                                                                                                                                  +
                                                                                                                                                                                                  float mavsdk::Offboard::AccelerationNed::down_m_s2 {}
+
                                                                                                                                                                                                  +

                                                                                                                                                                                                  Acceleration Down (in metres/second^2)

                                                                                                                                                                                                  +
                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                    mavsdk::Offboard::ActuatorControl Struct Reference

                                                                                                                                                                                                    +

                                                                                                                                                                                                    #include: offboard.h

                                                                                                                                                                                                    +
                                                                                                                                                                                                    +

                                                                                                                                                                                                    Type for actuator control.

                                                                                                                                                                                                    +

                                                                                                                                                                                                    Control members should be normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction.

                                                                                                                                                                                                    +

                                                                                                                                                                                                    One group support eight controls.

                                                                                                                                                                                                    +

                                                                                                                                                                                                    Up to 16 actuator controls can be set. To ignore an output group, set all it controls to NaN. If one or more controls in group is not NaN, then all NaN controls will sent as zero. The first 8 actuator controls internally map to control group 0, the latter 8 actuator controls map to control group 1. Depending on what controls are set (instead of NaN) 1 or 2 MAVLink messages are actually sent.

                                                                                                                                                                                                    +

                                                                                                                                                                                                    In PX4 v1.9.0 Only first four Control Groups are supported (https://github.com/PX4/Firmware/blob/v1.9.0/src/modules/mavlink/mavlink_receiver.cpp#L980).

                                                                                                                                                                                                    +

                                                                                                                                                                                                    Data Fields

                                                                                                                                                                                                    +

                                                                                                                                                                                                    std::vector< ActuatorControlGroup > groups {} - Control groups.

                                                                                                                                                                                                    +

                                                                                                                                                                                                    Field Documentation

                                                                                                                                                                                                    +

                                                                                                                                                                                                    groups

                                                                                                                                                                                                    +
                                                                                                                                                                                                    std::vector<ActuatorControlGroup> mavsdk::Offboard::ActuatorControl::groups {}
+
                                                                                                                                                                                                    +

                                                                                                                                                                                                    Control groups.

                                                                                                                                                                                                    +
                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                                                                                      mavsdk::Offboard::ActuatorControlGroup Struct Reference

                                                                                                                                                                                                      +

                                                                                                                                                                                                      #include: offboard.h

                                                                                                                                                                                                      +
                                                                                                                                                                                                      +

                                                                                                                                                                                                      Eight controls that will be given to the group. Each control is a normalized (-1..+1) command value, which will be mapped and scaled through the mixer.

                                                                                                                                                                                                      +

                                                                                                                                                                                                      Data Fields

                                                                                                                                                                                                      +

                                                                                                                                                                                                      std::vector< float > controls {} - Controls in the group.

                                                                                                                                                                                                      +

                                                                                                                                                                                                      Field Documentation

                                                                                                                                                                                                      +

                                                                                                                                                                                                      controls

                                                                                                                                                                                                      +
                                                                                                                                                                                                      std::vector<float> mavsdk::Offboard::ActuatorControlGroup::controls {}
+
                                                                                                                                                                                                      +

                                                                                                                                                                                                      Controls in the group.

                                                                                                                                                                                                      +
                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                        + +

                                                                                                                                                                                                        mavsdk::Offboard::Attitude Struct Reference

                                                                                                                                                                                                        +

                                                                                                                                                                                                        #include: offboard.h

                                                                                                                                                                                                        +
                                                                                                                                                                                                        +

                                                                                                                                                                                                        Type for attitude body angles in NED reference frame (roll, pitch, yaw and thrust)

                                                                                                                                                                                                        +

                                                                                                                                                                                                        Data Fields

                                                                                                                                                                                                        +

                                                                                                                                                                                                        float roll_deg {} - Roll angle (in degrees, positive is right side down)

                                                                                                                                                                                                        +

                                                                                                                                                                                                        float pitch_deg {} - Pitch angle (in degrees, positive is nose up)

                                                                                                                                                                                                        +

                                                                                                                                                                                                        float yaw_deg {} - Yaw angle (in degrees, positive is move nose to the right)

                                                                                                                                                                                                        +

                                                                                                                                                                                                        float thrust_value {} - Thrust (range: 0 to 1)

                                                                                                                                                                                                        +

                                                                                                                                                                                                        Field Documentation

                                                                                                                                                                                                        +

                                                                                                                                                                                                        roll_deg

                                                                                                                                                                                                        +
                                                                                                                                                                                                        float mavsdk::Offboard::Attitude::roll_deg {}
+
                                                                                                                                                                                                        +

                                                                                                                                                                                                        Roll angle (in degrees, positive is right side down)

                                                                                                                                                                                                        +

                                                                                                                                                                                                        pitch_deg

                                                                                                                                                                                                        +
                                                                                                                                                                                                        float mavsdk::Offboard::Attitude::pitch_deg {}
+
                                                                                                                                                                                                        +

                                                                                                                                                                                                        Pitch angle (in degrees, positive is nose up)

                                                                                                                                                                                                        +

                                                                                                                                                                                                        yaw_deg

                                                                                                                                                                                                        +
                                                                                                                                                                                                        float mavsdk::Offboard::Attitude::yaw_deg {}
+
                                                                                                                                                                                                        +

                                                                                                                                                                                                        Yaw angle (in degrees, positive is move nose to the right)

                                                                                                                                                                                                        +

                                                                                                                                                                                                        thrust_value

                                                                                                                                                                                                        +
                                                                                                                                                                                                        float mavsdk::Offboard::Attitude::thrust_value {}
+
                                                                                                                                                                                                        +

                                                                                                                                                                                                        Thrust (range: 0 to 1)

                                                                                                                                                                                                        +
                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                          mavsdk::Offboard::AttitudeRate Struct Reference

                                                                                                                                                                                                          +

                                                                                                                                                                                                          #include: offboard.h

                                                                                                                                                                                                          +
                                                                                                                                                                                                          +

                                                                                                                                                                                                          Type for attitude rate commands in body coordinates (roll, pitch, yaw angular rate and thrust)

                                                                                                                                                                                                          +

                                                                                                                                                                                                          Data Fields

                                                                                                                                                                                                          +

                                                                                                                                                                                                          float roll_deg_s {} - Roll angular rate (in degrees/second, positive for clock-wise looking from front)

                                                                                                                                                                                                          +

                                                                                                                                                                                                          float pitch_deg_s {} - Pitch angular rate (in degrees/second, positive for head/front moving up)

                                                                                                                                                                                                          +

                                                                                                                                                                                                          float yaw_deg_s {} - Yaw angular rate (in degrees/second, positive for clock-wise looking from above)

                                                                                                                                                                                                          +

                                                                                                                                                                                                          float thrust_value {} - Thrust (range: 0 to 1)

                                                                                                                                                                                                          +

                                                                                                                                                                                                          Field Documentation

                                                                                                                                                                                                          +

                                                                                                                                                                                                          roll_deg_s

                                                                                                                                                                                                          +
                                                                                                                                                                                                          float mavsdk::Offboard::AttitudeRate::roll_deg_s {}
+
                                                                                                                                                                                                          +

                                                                                                                                                                                                          Roll angular rate (in degrees/second, positive for clock-wise looking from front)

                                                                                                                                                                                                          +

                                                                                                                                                                                                          pitch_deg_s

                                                                                                                                                                                                          +
                                                                                                                                                                                                          float mavsdk::Offboard::AttitudeRate::pitch_deg_s {}
+
                                                                                                                                                                                                          +

                                                                                                                                                                                                          Pitch angular rate (in degrees/second, positive for head/front moving up)

                                                                                                                                                                                                          +

                                                                                                                                                                                                          yaw_deg_s

                                                                                                                                                                                                          +
                                                                                                                                                                                                          float mavsdk::Offboard::AttitudeRate::yaw_deg_s {}
+
                                                                                                                                                                                                          +

                                                                                                                                                                                                          Yaw angular rate (in degrees/second, positive for clock-wise looking from above)

                                                                                                                                                                                                          +

                                                                                                                                                                                                          thrust_value

                                                                                                                                                                                                          +
                                                                                                                                                                                                          float mavsdk::Offboard::AttitudeRate::thrust_value {}
+
                                                                                                                                                                                                          +

                                                                                                                                                                                                          Thrust (range: 0 to 1)

                                                                                                                                                                                                          +
                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                            mavsdk::Offboard::PositionGlobalYaw Struct Reference

                                                                                                                                                                                                            +

                                                                                                                                                                                                            #include: offboard.h

                                                                                                                                                                                                            +
                                                                                                                                                                                                            +

                                                                                                                                                                                                            Type for position commands in Global (Latitude, Longitude, Altitude) coordinates and yaw.

                                                                                                                                                                                                            +

                                                                                                                                                                                                            Public Types

                                                                                                                                                                                                            + + + + + + + + + + + + + +
                                                                                                                                                                                                            TypeDescription
                                                                                                                                                                                                            enum AltitudeTypePossible altitude options.
                                                                                                                                                                                                            +

                                                                                                                                                                                                            Data Fields

                                                                                                                                                                                                            +

                                                                                                                                                                                                            double lat_deg {} - Latitude (in degrees)

                                                                                                                                                                                                            +

                                                                                                                                                                                                            double lon_deg {} - Longitude (in degrees)

                                                                                                                                                                                                            +

                                                                                                                                                                                                            float alt_m {} - altitude (in metres)

                                                                                                                                                                                                            +

                                                                                                                                                                                                            float yaw_deg {} - Yaw in degrees (0 North, positive is clock-wise looking from above)

                                                                                                                                                                                                            +

                                                                                                                                                                                                            AltitudeType altitude_type {} - altitude type for this position

                                                                                                                                                                                                            +

                                                                                                                                                                                                            Member Enumeration Documentation

                                                                                                                                                                                                            +

                                                                                                                                                                                                            enum AltitudeType

                                                                                                                                                                                                            +

                                                                                                                                                                                                            Possible altitude options.

                                                                                                                                                                                                            + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                                                                            ValueDescription
                                                                                                                                                                                                            RelHomeAltitude relative to the Home position.
                                                                                                                                                                                                            AmslAltitude above mean sea level (AMSL).
                                                                                                                                                                                                            AglAltitude above ground level (AGL).
                                                                                                                                                                                                            +

                                                                                                                                                                                                            Field Documentation

                                                                                                                                                                                                            +

                                                                                                                                                                                                            lat_deg

                                                                                                                                                                                                            +
                                                                                                                                                                                                            double mavsdk::Offboard::PositionGlobalYaw::lat_deg {}
+
                                                                                                                                                                                                            +

                                                                                                                                                                                                            Latitude (in degrees)

                                                                                                                                                                                                            +

                                                                                                                                                                                                            lon_deg

                                                                                                                                                                                                            +
                                                                                                                                                                                                            double mavsdk::Offboard::PositionGlobalYaw::lon_deg {}
+
                                                                                                                                                                                                            +

                                                                                                                                                                                                            Longitude (in degrees)

                                                                                                                                                                                                            +

                                                                                                                                                                                                            alt_m

                                                                                                                                                                                                            +
                                                                                                                                                                                                            float mavsdk::Offboard::PositionGlobalYaw::alt_m {}
+
                                                                                                                                                                                                            +

                                                                                                                                                                                                            altitude (in metres)

                                                                                                                                                                                                            +

                                                                                                                                                                                                            yaw_deg

                                                                                                                                                                                                            +
                                                                                                                                                                                                            float mavsdk::Offboard::PositionGlobalYaw::yaw_deg {}
+
                                                                                                                                                                                                            +

                                                                                                                                                                                                            Yaw in degrees (0 North, positive is clock-wise looking from above)

                                                                                                                                                                                                            +

                                                                                                                                                                                                            altitude_type

                                                                                                                                                                                                            +
                                                                                                                                                                                                            AltitudeType mavsdk::Offboard::PositionGlobalYaw::altitude_type {}
+
                                                                                                                                                                                                            +

                                                                                                                                                                                                            altitude type for this position

                                                                                                                                                                                                            +
                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                              mavsdk::Offboard::PositionNedYaw Struct Reference

                                                                                                                                                                                                              +

                                                                                                                                                                                                              #include: offboard.h

                                                                                                                                                                                                              +
                                                                                                                                                                                                              +

                                                                                                                                                                                                              Type for position commands in NED (North East Down) coordinates and yaw.

                                                                                                                                                                                                              +

                                                                                                                                                                                                              Data Fields

                                                                                                                                                                                                              +

                                                                                                                                                                                                              float north_m {} - Position North (in metres)

                                                                                                                                                                                                              +

                                                                                                                                                                                                              float east_m {} - Position East (in metres)

                                                                                                                                                                                                              +

                                                                                                                                                                                                              float down_m {} - Position Down (in metres)

                                                                                                                                                                                                              +

                                                                                                                                                                                                              float yaw_deg {} - Yaw in degrees (0 North, positive is clock-wise looking from above)

                                                                                                                                                                                                              +

                                                                                                                                                                                                              Field Documentation

                                                                                                                                                                                                              +

                                                                                                                                                                                                              north_m

                                                                                                                                                                                                              +
                                                                                                                                                                                                              float mavsdk::Offboard::PositionNedYaw::north_m {}
+
                                                                                                                                                                                                              +

                                                                                                                                                                                                              Position North (in metres)

                                                                                                                                                                                                              +

                                                                                                                                                                                                              east_m

                                                                                                                                                                                                              +
                                                                                                                                                                                                              float mavsdk::Offboard::PositionNedYaw::east_m {}
+
                                                                                                                                                                                                              +

                                                                                                                                                                                                              Position East (in metres)

                                                                                                                                                                                                              +

                                                                                                                                                                                                              down_m

                                                                                                                                                                                                              +
                                                                                                                                                                                                              float mavsdk::Offboard::PositionNedYaw::down_m {}
+
                                                                                                                                                                                                              +

                                                                                                                                                                                                              Position Down (in metres)

                                                                                                                                                                                                              +

                                                                                                                                                                                                              yaw_deg

                                                                                                                                                                                                              +
                                                                                                                                                                                                              float mavsdk::Offboard::PositionNedYaw::yaw_deg {}
+
                                                                                                                                                                                                              +

                                                                                                                                                                                                              Yaw in degrees (0 North, positive is clock-wise looking from above)

                                                                                                                                                                                                              +
                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                mavsdk::Offboard::VelocityBodyYawspeed Struct Reference

                                                                                                                                                                                                                +

                                                                                                                                                                                                                #include: offboard.h

                                                                                                                                                                                                                +
                                                                                                                                                                                                                +

                                                                                                                                                                                                                Type for velocity commands in body coordinates.

                                                                                                                                                                                                                +

                                                                                                                                                                                                                Data Fields

                                                                                                                                                                                                                +

                                                                                                                                                                                                                float forward_m_s {} - Velocity forward (in metres/second)

                                                                                                                                                                                                                +

                                                                                                                                                                                                                float right_m_s {} - Velocity right (in metres/second)

                                                                                                                                                                                                                +

                                                                                                                                                                                                                float down_m_s {} - Velocity down (in metres/second)

                                                                                                                                                                                                                +

                                                                                                                                                                                                                float yawspeed_deg_s {} - Yaw angular rate (in degrees/second, positive for clock-wise looking from above)

                                                                                                                                                                                                                +

                                                                                                                                                                                                                Field Documentation

                                                                                                                                                                                                                +

                                                                                                                                                                                                                forward_m_s

                                                                                                                                                                                                                +
                                                                                                                                                                                                                float mavsdk::Offboard::VelocityBodyYawspeed::forward_m_s {}
+
                                                                                                                                                                                                                +

                                                                                                                                                                                                                Velocity forward (in metres/second)

                                                                                                                                                                                                                +

                                                                                                                                                                                                                right_m_s

                                                                                                                                                                                                                +
                                                                                                                                                                                                                float mavsdk::Offboard::VelocityBodyYawspeed::right_m_s {}
+
                                                                                                                                                                                                                +

                                                                                                                                                                                                                Velocity right (in metres/second)

                                                                                                                                                                                                                +

                                                                                                                                                                                                                down_m_s

                                                                                                                                                                                                                +
                                                                                                                                                                                                                float mavsdk::Offboard::VelocityBodyYawspeed::down_m_s {}
+
                                                                                                                                                                                                                +

                                                                                                                                                                                                                Velocity down (in metres/second)

                                                                                                                                                                                                                +

                                                                                                                                                                                                                yawspeed_deg_s

                                                                                                                                                                                                                +
                                                                                                                                                                                                                float mavsdk::Offboard::VelocityBodyYawspeed::yawspeed_deg_s {}
+
                                                                                                                                                                                                                +

                                                                                                                                                                                                                Yaw angular rate (in degrees/second, positive for clock-wise looking from above)

                                                                                                                                                                                                                +
                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                  mavsdk::Offboard::VelocityNedYaw Struct Reference

                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  #include: offboard.h

                                                                                                                                                                                                                  +
                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  Type for velocity commands in NED (North East Down) coordinates and yaw.

                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  Data Fields

                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  float north_m_s {} - Velocity North (in metres/second)

                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  float east_m_s {} - Velocity East (in metres/second)

                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  float down_m_s {} - Velocity Down (in metres/second)

                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  float yaw_deg {} - Yaw in degrees (0 North, positive is clock-wise looking from above)

                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  Field Documentation

                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  north_m_s

                                                                                                                                                                                                                  +
                                                                                                                                                                                                                  float mavsdk::Offboard::VelocityNedYaw::north_m_s {}
+
                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  Velocity North (in metres/second)

                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  east_m_s

                                                                                                                                                                                                                  +
                                                                                                                                                                                                                  float mavsdk::Offboard::VelocityNedYaw::east_m_s {}
+
                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  Velocity East (in metres/second)

                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  down_m_s

                                                                                                                                                                                                                  +
                                                                                                                                                                                                                  float mavsdk::Offboard::VelocityNedYaw::down_m_s {}
+
                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  Velocity Down (in metres/second)

                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  yaw_deg

                                                                                                                                                                                                                  +
                                                                                                                                                                                                                  float mavsdk::Offboard::VelocityNedYaw::yaw_deg {}
+
                                                                                                                                                                                                                  +

                                                                                                                                                                                                                  Yaw in degrees (0 North, positive is clock-wise looking from above)

                                                                                                                                                                                                                  +
                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                    mavsdk::Param::AllParams Struct Reference

                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    #include: param.h

                                                                                                                                                                                                                    +
                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    Type collecting all integer, float, and custom parameters.

                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    Data Fields

                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    std::vector< IntParam > int_params {} - Collection of all parameter names and values of type int.

                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    std::vector< FloatParam > float_params {} - Collection of all parameter names and values of type float.

                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    std::vector< CustomParam > custom_params {} - Collection of all parameter names and values of type custom.

                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    Field Documentation

                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    int_params

                                                                                                                                                                                                                    +
                                                                                                                                                                                                                    std::vector<IntParam> mavsdk::Param::AllParams::int_params {}
+
                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    Collection of all parameter names and values of type int.

                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    float_params

                                                                                                                                                                                                                    +
                                                                                                                                                                                                                    std::vector<FloatParam> mavsdk::Param::AllParams::float_params {}
+
                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    Collection of all parameter names and values of type float.

                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    custom_params

                                                                                                                                                                                                                    +
                                                                                                                                                                                                                    std::vector<CustomParam> mavsdk::Param::AllParams::custom_params {}
+
                                                                                                                                                                                                                    +

                                                                                                                                                                                                                    Collection of all parameter names and values of type custom.

                                                                                                                                                                                                                    +
                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                      mavsdk::Param::CustomParam Struct Reference

                                                                                                                                                                                                                      +

                                                                                                                                                                                                                      #include: param.h

                                                                                                                                                                                                                      +
                                                                                                                                                                                                                      +

                                                                                                                                                                                                                      Type for custom parameters.

                                                                                                                                                                                                                      +

                                                                                                                                                                                                                      Data Fields

                                                                                                                                                                                                                      +

                                                                                                                                                                                                                      std::string name {} - Name of the parameter.

                                                                                                                                                                                                                      +

                                                                                                                                                                                                                      std::string value {} - Value of the parameter (max len 128 bytes)

                                                                                                                                                                                                                      +

                                                                                                                                                                                                                      Field Documentation

                                                                                                                                                                                                                      +

                                                                                                                                                                                                                      name

                                                                                                                                                                                                                      +
                                                                                                                                                                                                                      std::string mavsdk::Param::CustomParam::name {}
+
                                                                                                                                                                                                                      +

                                                                                                                                                                                                                      Name of the parameter.

                                                                                                                                                                                                                      +

                                                                                                                                                                                                                      value

                                                                                                                                                                                                                      +
                                                                                                                                                                                                                      std::string mavsdk::Param::CustomParam::value {}
+
                                                                                                                                                                                                                      +

                                                                                                                                                                                                                      Value of the parameter (max len 128 bytes)

                                                                                                                                                                                                                      +
                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                        mavsdk::Param::FloatParam Struct Reference

                                                                                                                                                                                                                        +

                                                                                                                                                                                                                        #include: param.h

                                                                                                                                                                                                                        +
                                                                                                                                                                                                                        +

                                                                                                                                                                                                                        Type for float parameters.

                                                                                                                                                                                                                        +

                                                                                                                                                                                                                        Data Fields

                                                                                                                                                                                                                        +

                                                                                                                                                                                                                        std::string name {} - Name of the parameter.

                                                                                                                                                                                                                        +

                                                                                                                                                                                                                        float value {} - Value of the parameter.

                                                                                                                                                                                                                        +

                                                                                                                                                                                                                        Field Documentation

                                                                                                                                                                                                                        +

                                                                                                                                                                                                                        name

                                                                                                                                                                                                                        +
                                                                                                                                                                                                                        std::string mavsdk::Param::FloatParam::name {}
+
                                                                                                                                                                                                                        +

                                                                                                                                                                                                                        Name of the parameter.

                                                                                                                                                                                                                        +

                                                                                                                                                                                                                        value

                                                                                                                                                                                                                        +
                                                                                                                                                                                                                        float mavsdk::Param::FloatParam::value {}
+
                                                                                                                                                                                                                        +

                                                                                                                                                                                                                        Value of the parameter.

                                                                                                                                                                                                                        +
                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                          mavsdk::Param::IntParam Struct Reference

                                                                                                                                                                                                                          +

                                                                                                                                                                                                                          #include: param.h

                                                                                                                                                                                                                          +
                                                                                                                                                                                                                          +

                                                                                                                                                                                                                          Type for integer parameters.

                                                                                                                                                                                                                          +

                                                                                                                                                                                                                          Data Fields

                                                                                                                                                                                                                          +

                                                                                                                                                                                                                          std::string name {} - Name of the parameter.

                                                                                                                                                                                                                          +

                                                                                                                                                                                                                          int32_t value {} - Value of the parameter.

                                                                                                                                                                                                                          +

                                                                                                                                                                                                                          Field Documentation

                                                                                                                                                                                                                          +

                                                                                                                                                                                                                          name

                                                                                                                                                                                                                          +
                                                                                                                                                                                                                          std::string mavsdk::Param::IntParam::name {}
+
                                                                                                                                                                                                                          +

                                                                                                                                                                                                                          Name of the parameter.

                                                                                                                                                                                                                          +

                                                                                                                                                                                                                          value

                                                                                                                                                                                                                          +
                                                                                                                                                                                                                          int32_t mavsdk::Param::IntParam::value {}
+
                                                                                                                                                                                                                          +

                                                                                                                                                                                                                          Value of the parameter.

                                                                                                                                                                                                                          +
                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                            mavsdk::ParamServer::AllParams Struct Reference

                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            #include: param_server.h

                                                                                                                                                                                                                            +
                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            Type collecting all integer, float, and custom parameters.

                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            Data Fields

                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            std::vector< IntParam > int_params {} - Collection of all parameter names and values of type int.

                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            std::vector< FloatParam > float_params {} - Collection of all parameter names and values of type float.

                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            std::vector< CustomParam > custom_params {} - Collection of all parameter names and values of type custom.

                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            Field Documentation

                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            int_params

                                                                                                                                                                                                                            +
                                                                                                                                                                                                                            std::vector<IntParam> mavsdk::ParamServer::AllParams::int_params {}
+
                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            Collection of all parameter names and values of type int.

                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            float_params

                                                                                                                                                                                                                            +
                                                                                                                                                                                                                            std::vector<FloatParam> mavsdk::ParamServer::AllParams::float_params {}
+
                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            Collection of all parameter names and values of type float.

                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            custom_params

                                                                                                                                                                                                                            +
                                                                                                                                                                                                                            std::vector<CustomParam> mavsdk::ParamServer::AllParams::custom_params {}
+
                                                                                                                                                                                                                            +

                                                                                                                                                                                                                            Collection of all parameter names and values of type custom.

                                                                                                                                                                                                                            +
                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                              mavsdk::ParamServer::CustomParam Struct Reference

                                                                                                                                                                                                                              +

                                                                                                                                                                                                                              #include: param_server.h

                                                                                                                                                                                                                              +
                                                                                                                                                                                                                              +

                                                                                                                                                                                                                              Type for float parameters.

                                                                                                                                                                                                                              +

                                                                                                                                                                                                                              Data Fields

                                                                                                                                                                                                                              +

                                                                                                                                                                                                                              std::string name {} - Name of the parameter.

                                                                                                                                                                                                                              +

                                                                                                                                                                                                                              std::string value {} - Value of the parameter.

                                                                                                                                                                                                                              +

                                                                                                                                                                                                                              Field Documentation

                                                                                                                                                                                                                              +

                                                                                                                                                                                                                              name

                                                                                                                                                                                                                              +
                                                                                                                                                                                                                              std::string mavsdk::ParamServer::CustomParam::name {}
+
                                                                                                                                                                                                                              +

                                                                                                                                                                                                                              Name of the parameter.

                                                                                                                                                                                                                              +

                                                                                                                                                                                                                              value

                                                                                                                                                                                                                              +
                                                                                                                                                                                                                              std::string mavsdk::ParamServer::CustomParam::value {}
+
                                                                                                                                                                                                                              +

                                                                                                                                                                                                                              Value of the parameter.

                                                                                                                                                                                                                              +
                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                mavsdk::ParamServer::FloatParam Struct Reference

                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                #include: param_server.h

                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                Type for float parameters.

                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                Data Fields

                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                std::string name {} - Name of the parameter.

                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                float value {} - Value of the parameter.

                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                Field Documentation

                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                name

                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                std::string mavsdk::ParamServer::FloatParam::name {}
+
                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                Name of the parameter.

                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                value

                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                float mavsdk::ParamServer::FloatParam::value {}
+
                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                Value of the parameter.

                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                  mavsdk::ParamServer::IntParam Struct Reference

                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                  #include: param_server.h

                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                  Type for integer parameters.

                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                  Data Fields

                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                  std::string name {} - Name of the parameter.

                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                  int32_t value {} - Value of the parameter.

                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                  Field Documentation

                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                  name

                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                  std::string mavsdk::ParamServer::IntParam::name {}
+
                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                  Name of the parameter.

                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                  value

                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                  int32_t mavsdk::ParamServer::IntParam::value {}
+
                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                  Value of the parameter.

                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                    mavsdk::Rtk::RtcmData Struct Reference

                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                    #include: rtk.h

                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                    RTCM data type.

                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                    Data Fields

                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                    std::string data {} - The data encoded as a string.

                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                    Field Documentation

                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                    data

                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                    std::string mavsdk::Rtk::RtcmData::data {}
+
                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                    The data encoded as a string.

                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                      mavsdk::System::AutopilotVersion Struct Reference

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      #include: system.h

                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      This struct represents Autopilot version information. This is only used when MAVSDK is configured as an autopilot.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      Other MAVLink systems can use this to identify and match software and capabilities.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      Data Fields

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      uint64_t capabilities {} - MAVLink autopilot_version capabilities.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      uint32_t flight_sw_version {0} - MAVLink autopilot_version flight_sw_version.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      uint32_t middleware_sw_version {0} - MAVLink autopilot_version middleware_sw_version.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      uint32_t os_sw_version {0} - MAVLink autopilot_version os_sw_version.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      uint32_t board_version {0} - MAVLink autopilot_version board_version.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      uint16_t vendor_id {0} - MAVLink autopilot_version vendor_id.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      uint16_t product_id {0} - MAVLink autopilot_version product_id.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      std::array< uint8_t, 18 > uid2 {0} - MAVLink autopilot_version uid2.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      Field Documentation

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      capabilities

                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                      uint64_t mavsdk::System::AutopilotVersion::capabilities {}
+
                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      MAVLink autopilot_version capabilities.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      flight_sw_version

                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                      uint32_t mavsdk::System::AutopilotVersion::flight_sw_version {0}
+
                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      MAVLink autopilot_version flight_sw_version.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      middleware_sw_version

                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                      uint32_t mavsdk::System::AutopilotVersion::middleware_sw_version {0}
+
                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      MAVLink autopilot_version middleware_sw_version.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      os_sw_version

                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                      uint32_t mavsdk::System::AutopilotVersion::os_sw_version {0}
+
                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      MAVLink autopilot_version os_sw_version.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      board_version

                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                      uint32_t mavsdk::System::AutopilotVersion::board_version {0}
+
                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      MAVLink autopilot_version board_version.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      vendor_id

                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                      uint16_t mavsdk::System::AutopilotVersion::vendor_id {0}
+
                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      MAVLink autopilot_version vendor_id.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      product_id

                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                      uint16_t mavsdk::System::AutopilotVersion::product_id {0}
+
                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      MAVLink autopilot_version product_id.

                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      uid2

                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                      std::array<uint8_t, 18> mavsdk::System::AutopilotVersion::uid2 {0}
+
                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                      MAVLink autopilot_version uid2.

                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                        mavsdk::Telemetry::AccelerationFrd Struct Reference

                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        #include: telemetry.h

                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        AccelerationFrd message type.

                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        Data Fields

                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        float forward_m_s2 { float(NAN)} - Acceleration in forward direction in metres per second^2.

                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        float right_m_s2 { float(NAN)} - Acceleration in right direction in metres per second^2.

                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        float down_m_s2 { float(NAN)} - Acceleration in down direction in metres per second^2.

                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        Field Documentation

                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        forward_m_s2

                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                        float mavsdk::Telemetry::AccelerationFrd::forward_m_s2 { float(NAN)}
+
                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        Acceleration in forward direction in metres per second^2.

                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        right_m_s2

                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                        float mavsdk::Telemetry::AccelerationFrd::right_m_s2 { float(NAN)}
+
                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        Acceleration in right direction in metres per second^2.

                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        down_m_s2

                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                        float mavsdk::Telemetry::AccelerationFrd::down_m_s2 { float(NAN)}
+
                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                        Acceleration in down direction in metres per second^2.

                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                          mavsdk::Telemetry::ActuatorControlTarget Struct Reference

                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                          #include: telemetry.h

                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                          Actuator control target type.

                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                          Data Fields

                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                          int32_t group {0} - An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.

                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                          std::vector< float > controls {} - Controls normed from -1 to 1, where 0 is neutral position.

                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                          Field Documentation

                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                          group

                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                          int32_t mavsdk::Telemetry::ActuatorControlTarget::group {0}
+
                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                          An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.

                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                          controls

                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                          std::vector<float> mavsdk::Telemetry::ActuatorControlTarget::controls {}
+
                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                          Controls normed from -1 to 1, where 0 is neutral position.

                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                            mavsdk::Telemetry::ActuatorOutputStatus Struct Reference

                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                            #include: telemetry.h

                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                            Actuator output status type.

                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                            Data Fields

                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                            uint32_t active {0} - Active outputs.

                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                            std::vector< float > actuator {} - Servo/motor output values.

                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                            Field Documentation

                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                            active

                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                            uint32_t mavsdk::Telemetry::ActuatorOutputStatus::active {0}
+
                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                            Active outputs.

                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                            actuator

                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                            std::vector<float> mavsdk::Telemetry::ActuatorOutputStatus::actuator {}
+
                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                            Servo/motor output values.

                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                              + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_altitude.md b/v2.0/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_altitude.md new file mode 100644 index 00000000..82dae3b6 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_altitude.md @@ -0,0 +1,87 @@ +# mavsdk::Telemetry::Altitude Struct Reference +`#include: telemetry.h` + +---- + + +[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) message type. + + +## Data Fields + + +float [altitude_monotonic_m](#structmavsdk_1_1_telemetry_1_1_altitude_1a2dcb5cf0eaf256643b6c3382384164bf) {float( NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) in meters is initialized on system boot and monotonic. + +float [altitude_amsl_m](#structmavsdk_1_1_telemetry_1_1_altitude_1a898ba184deccdaf9d09e35b32d00fe5b) { float(NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in meters. + +float [altitude_local_m](#structmavsdk_1_1_telemetry_1_1_altitude_1ad99a82de545efff2db64fd122d983ddd) {float(NAN)} - Local altitude in meters. + +float [altitude_relative_m](#structmavsdk_1_1_telemetry_1_1_altitude_1ab19d607e38ba15b6775e3477e28d097c) {float(NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) above home position in meters. + +float [altitude_terrain_m](#structmavsdk_1_1_telemetry_1_1_altitude_1a3ff7fd4d1cb4add1315faed09665f6dd) {float(NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) above terrain in meters. + +float [bottom_clearance_m](#structmavsdk_1_1_telemetry_1_1_altitude_1adb1f002956624c20524f33412bd8debc) { float(NAN)} - This is not the altitude, but the clear space below the system according to the fused clearance estimate in meters. + + +## Field Documentation + + +### altitude_monotonic_m {#structmavsdk_1_1_telemetry_1_1_altitude_1a2dcb5cf0eaf256643b6c3382384164bf} + +```cpp +float mavsdk::Telemetry::Altitude::altitude_monotonic_m {float( NAN)} +``` + + +[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) in meters is initialized on system boot and monotonic. + + +### altitude_amsl_m {#structmavsdk_1_1_telemetry_1_1_altitude_1a898ba184deccdaf9d09e35b32d00fe5b} + +```cpp +float mavsdk::Telemetry::Altitude::altitude_amsl_m { float(NAN)} +``` + + +[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in meters. + + +### altitude_local_m {#structmavsdk_1_1_telemetry_1_1_altitude_1ad99a82de545efff2db64fd122d983ddd} + +```cpp +float mavsdk::Telemetry::Altitude::altitude_local_m {float(NAN)} +``` + + +Local altitude in meters. + + +### altitude_relative_m {#structmavsdk_1_1_telemetry_1_1_altitude_1ab19d607e38ba15b6775e3477e28d097c} + +```cpp +float mavsdk::Telemetry::Altitude::altitude_relative_m {float(NAN)} +``` + + +[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) above home position in meters. + + +### altitude_terrain_m {#structmavsdk_1_1_telemetry_1_1_altitude_1a3ff7fd4d1cb4add1315faed09665f6dd} + +```cpp +float mavsdk::Telemetry::Altitude::altitude_terrain_m {float(NAN)} +``` + + +[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) above terrain in meters. + + +### bottom_clearance_m {#structmavsdk_1_1_telemetry_1_1_altitude_1adb1f002956624c20524f33412bd8debc} + +```cpp +float mavsdk::Telemetry::Altitude::bottom_clearance_m { float(NAN)} +``` + + +This is not the altitude, but the clear space below the system according to the fused clearance estimate in meters. + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_body.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_body.html new file mode 100644 index 00000000..dc40a4b3 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_body.html @@ -0,0 +1,3357 @@ + + + + + + + struct AngularVelocityBody · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                                                                                                                              + +

                                                                                                                                                                                                                                              mavsdk::Telemetry::AngularVelocityBody Struct Reference

                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              #include: telemetry.h

                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              Angular velocity type.

                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              Data Fields

                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              float roll_rad_s {float(NAN)} - Roll angular velocity.

                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              float pitch_rad_s {float(NAN)} - Pitch angular velocity.

                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              float yaw_rad_s {float(NAN)} - Yaw angular velocity.

                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              Field Documentation

                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              roll_rad_s

                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                              float mavsdk::Telemetry::AngularVelocityBody::roll_rad_s {float(NAN)}
+
                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              Roll angular velocity.

                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              pitch_rad_s

                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                              float mavsdk::Telemetry::AngularVelocityBody::pitch_rad_s {float(NAN)}
+
                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              Pitch angular velocity.

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                                                                                                                                                                                                                                              yaw_rad_s

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                                                                                                                                                                                                                                              float mavsdk::Telemetry::AngularVelocityBody::yaw_rad_s {float(NAN)}
+
                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                              Yaw angular velocity.

                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                mavsdk::Telemetry::AngularVelocityFrd Struct Reference

                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                #include: telemetry.h

                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                AngularVelocityFrd message type.

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                                                                                                                                                                                                                                                Data Fields

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                                                                                                                                                                                                                                                float forward_rad_s { float(NAN)} - Angular velocity in forward direction in radians per second.

                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                float right_rad_s { float(NAN)} - Angular velocity in right direction in radians per second.

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                                                                                                                                                                                                                                                float down_rad_s { float(NAN)} - Angular velocity in Down direction in radians per second.

                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                Field Documentation

                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                forward_rad_s

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                                                                                                                                                                                                                                                float mavsdk::Telemetry::AngularVelocityFrd::forward_rad_s { float(NAN)}
+
                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                Angular velocity in forward direction in radians per second.

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                                                                                                                                                                                                                                                right_rad_s

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                                                                                                                                                                                                                                                float mavsdk::Telemetry::AngularVelocityFrd::right_rad_s { float(NAN)}
+
                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                Angular velocity in right direction in radians per second.

                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                down_rad_s

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                                                                                                                                                                                                                                                float mavsdk::Telemetry::AngularVelocityFrd::down_rad_s { float(NAN)}
+
                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                Angular velocity in Down direction in radians per second.

                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                  mavsdk::Telemetry::Battery Struct Reference

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  #include: telemetry.h

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                                                                                                                                                                                                                                                  Battery type.

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                                                                                                                                                                                                                                                  Data Fields

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                                                                                                                                                                                                                                                  uint32_t id {0} - Battery ID, for systems with multiple batteries.

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  float temperature_degc {float(NAN)} - Temperature of the battery in degrees Celsius. NAN for unknown temperature.

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  float voltage_v {float(NAN)} - Voltage in volts.

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  float current_battery_a {float(NAN)} - Battery current in Amps, NAN if autopilot does not measure the current.

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  float capacity_consumed_ah { float(NAN)} - Consumed charge in Amp hours, NAN if autopilot does not provide consumption estimate.

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  float remaining_percent { float(NAN)} - Estimated battery remaining (range: 0 to 100)

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                                                                                                                                                                                                                                                  Field Documentation

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  id

                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                  uint32_t mavsdk::Telemetry::Battery::id {0}
+
                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  Battery ID, for systems with multiple batteries.

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  temperature_degc

                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                  float mavsdk::Telemetry::Battery::temperature_degc {float(NAN)}
+
                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  Temperature of the battery in degrees Celsius. NAN for unknown temperature.

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  voltage_v

                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                  float mavsdk::Telemetry::Battery::voltage_v {float(NAN)}
+
                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  Voltage in volts.

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  current_battery_a

                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                  float mavsdk::Telemetry::Battery::current_battery_a {float(NAN)}
+
                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  Battery current in Amps, NAN if autopilot does not measure the current.

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  capacity_consumed_ah

                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                  float mavsdk::Telemetry::Battery::capacity_consumed_ah { float(NAN)}
+
                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  Consumed charge in Amp hours, NAN if autopilot does not provide consumption estimate.

                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  remaining_percent

                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                  float mavsdk::Telemetry::Battery::remaining_percent { float(NAN)}
+
                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                  Estimated battery remaining (range: 0 to 100)

                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                                                                                                                                    mavsdk::Telemetry::Covariance Struct Reference

                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                    #include: telemetry.h

                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                    Covariance type.

                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                    Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Set first to NaN if unknown.

                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                    Data Fields

                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                    std::vector< float > covariance_matrix {} - Representation of a covariance matrix.

                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                    Field Documentation

                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                    covariance_matrix

                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                    std::vector<float> mavsdk::Telemetry::Covariance::covariance_matrix {}
+
                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                    Representation of a covariance matrix.

                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                      mavsdk::Telemetry::DistanceSensor Struct Reference

                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      #include: telemetry.h

                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      DistanceSensor message type.

                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      Data Fields

                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      float minimum_distance_m { float(NAN)} - Minimum distance the sensor can measure, NaN if unknown.

                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      float maximum_distance_m { float(NAN)} - Maximum distance the sensor can measure, NaN if unknown.

                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      float current_distance_m { float(NAN)} - Current distance reading, NaN if unknown.

                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      EulerAngle orientation {} - Sensor Orientation reading.

                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      Field Documentation

                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      minimum_distance_m

                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                      float mavsdk::Telemetry::DistanceSensor::minimum_distance_m { float(NAN)}
+
                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      Minimum distance the sensor can measure, NaN if unknown.

                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      maximum_distance_m

                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                      float mavsdk::Telemetry::DistanceSensor::maximum_distance_m { float(NAN)}
+
                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      Maximum distance the sensor can measure, NaN if unknown.

                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      current_distance_m

                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                      float mavsdk::Telemetry::DistanceSensor::current_distance_m { float(NAN)}
+
                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      Current distance reading, NaN if unknown.

                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      orientation

                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                      EulerAngle mavsdk::Telemetry::DistanceSensor::orientation {}
+
                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                      Sensor Orientation reading.

                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                                                                                                                                        mavsdk::Telemetry::EulerAngle Struct Reference

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        #include: telemetry.h

                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        Euler angle type.

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        For more info see https://en.wikipedia.org/wiki/Euler_angles

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        Data Fields

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        float roll_deg { float(NAN)} - Roll angle in degrees, positive is banking to the right.

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        float pitch_deg { float(NAN)} - Pitch angle in degrees, positive is pitching nose up.

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        float yaw_deg { float(NAN)} - Yaw angle in degrees, positive is clock-wise seen from above.

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        uint64_t timestamp_us {} - Timestamp in microseconds.

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        Field Documentation

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        roll_deg

                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                        float mavsdk::Telemetry::EulerAngle::roll_deg { float(NAN)}
+
                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        Roll angle in degrees, positive is banking to the right.

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        pitch_deg

                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                        float mavsdk::Telemetry::EulerAngle::pitch_deg { float(NAN)}
+
                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        Pitch angle in degrees, positive is pitching nose up.

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        yaw_deg

                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                        float mavsdk::Telemetry::EulerAngle::yaw_deg { float(NAN)}
+
                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        Yaw angle in degrees, positive is clock-wise seen from above.

                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        timestamp_us

                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                        uint64_t mavsdk::Telemetry::EulerAngle::timestamp_us {}
+
                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                        Timestamp in microseconds.

                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                          mavsdk::Telemetry::FixedwingMetrics Struct Reference

                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          #include: telemetry.h

                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          FixedwingMetrics message type.

                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          Data Fields

                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          float airspeed_m_s { float(NAN)} - Current indicated airspeed (IAS) in metres per second.

                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          float throttle_percentage {float(NAN)} - Current throttle setting (0 to 100)

                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          float climb_rate_m_s {float(NAN)} - Current climb rate in metres per second.

                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          Field Documentation

                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          airspeed_m_s

                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                          float mavsdk::Telemetry::FixedwingMetrics::airspeed_m_s { float(NAN)}
+
                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          Current indicated airspeed (IAS) in metres per second.

                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          throttle_percentage

                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                          float mavsdk::Telemetry::FixedwingMetrics::throttle_percentage {float(NAN)}
+
                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          Current throttle setting (0 to 100)

                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          climb_rate_m_s

                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                          float mavsdk::Telemetry::FixedwingMetrics::climb_rate_m_s {float(NAN)}
+
                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                          Current climb rate in metres per second.

                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                            mavsdk::Telemetry::GpsGlobalOrigin Struct Reference

                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            #include: telemetry.h

                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            Gps global origin type.

                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            Data Fields

                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            double latitude_deg {double(NAN)} - Latitude of the origin.

                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            double longitude_deg {double(NAN)} - Longitude of the origin.

                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            float altitude_m {float(NAN)} - Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            Field Documentation

                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            latitude_deg

                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                            double mavsdk::Telemetry::GpsGlobalOrigin::latitude_deg {double(NAN)}
+
                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            Latitude of the origin.

                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            longitude_deg

                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                            double mavsdk::Telemetry::GpsGlobalOrigin::longitude_deg {double(NAN)}
+
                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            Longitude of the origin.

                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            altitude_m

                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                            float mavsdk::Telemetry::GpsGlobalOrigin::altitude_m {float(NAN)}
+
                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                            Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                                                                                                                                              mavsdk::Telemetry::GpsInfo Struct Reference

                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                              #include: telemetry.h

                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                              GPS information type.

                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                              Data Fields

                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                              int32_t num_satellites {0} - Number of visible satellites in use.

                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                              FixType fix_type {} - Fix type.

                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                              Field Documentation

                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                              num_satellites

                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                              int32_t mavsdk::Telemetry::GpsInfo::num_satellites {0}
+
                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                              Number of visible satellites in use.

                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                              fix_type

                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                              FixType mavsdk::Telemetry::GpsInfo::fix_type {}
+
                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                              Fix type.

                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                mavsdk::Telemetry::GroundTruth Struct Reference

                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                #include: telemetry.h

                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                GroundTruth message type.

                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                Data Fields

                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                double latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)

                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                double longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to 180)

                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                float absolute_altitude_m { float(NAN)} - Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                Field Documentation

                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                latitude_deg

                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                double mavsdk::Telemetry::GroundTruth::latitude_deg {double(NAN)}
+
                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                Latitude in degrees (range: -90 to +90)

                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                longitude_deg

                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                double mavsdk::Telemetry::GroundTruth::longitude_deg {double(NAN)}
+
                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                Longitude in degrees (range: -180 to 180)

                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                absolute_altitude_m

                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                float mavsdk::Telemetry::GroundTruth::absolute_altitude_m { float(NAN)}
+
                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                                                                                                                                                  PX4
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                                                                                                                                                                                                                                                                  mavsdk::Telemetry::Heading Struct Reference

                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                  #include: telemetry.h

                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                  Heading type used for global position.

                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                  Data Fields

                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                  double heading_deg {double(NAN)} - Heading in degrees (range: 0 to +360)

                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                  Field Documentation

                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                  heading_deg

                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                  double mavsdk::Telemetry::Heading::heading_deg {double(NAN)}
+
                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                  Heading in degrees (range: 0 to +360)

                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                    mavsdk::Telemetry::Health Struct Reference

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    #include: telemetry.h

                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    Health type.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    Data Fields

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    bool is_gyrometer_calibration_ok {false} - True if the gyrometer is calibrated.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    bool is_accelerometer_calibration_ok { false} - True if the accelerometer is calibrated.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    bool is_magnetometer_calibration_ok { false} - True if the magnetometer is calibrated.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    bool is_local_position_ok {false} - True if the local position estimate is good enough to fly in 'position control' mode.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    bool is_global_position_ok {false} - True if the global position estimate is good enough to fly in 'position control' mode.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    bool is_home_position_ok { false} - True if the home position has been initialized properly.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    bool is_armable {false} - True if system can be armed.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    Field Documentation

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    is_gyrometer_calibration_ok

                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                    bool mavsdk::Telemetry::Health::is_gyrometer_calibration_ok {false}
+
                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    True if the gyrometer is calibrated.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    is_accelerometer_calibration_ok

                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                    bool mavsdk::Telemetry::Health::is_accelerometer_calibration_ok { false}
+
                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    True if the accelerometer is calibrated.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    is_magnetometer_calibration_ok

                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                    bool mavsdk::Telemetry::Health::is_magnetometer_calibration_ok { false}
+
                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    True if the magnetometer is calibrated.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    is_local_position_ok

                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                    bool mavsdk::Telemetry::Health::is_local_position_ok {false}
+
                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    True if the local position estimate is good enough to fly in 'position control' mode.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    is_global_position_ok

                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                    bool mavsdk::Telemetry::Health::is_global_position_ok {false}
+
                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    True if the global position estimate is good enough to fly in 'position control' mode.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    is_home_position_ok

                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                    bool mavsdk::Telemetry::Health::is_home_position_ok { false}
+
                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    True if the home position has been initialized properly.

                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    is_armable

                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                    bool mavsdk::Telemetry::Health::is_armable {false}
+
                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                    True if system can be armed.

                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                      mavsdk::Telemetry::Imu Struct Reference

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      #include: telemetry.h

                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      Imu message type.

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      Data Fields

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      AccelerationFrd acceleration_frd {} - Acceleration.

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      AngularVelocityFrd angular_velocity_frd {} - Angular velocity.

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      MagneticFieldFrd magnetic_field_frd {} - Magnetic field.

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      float temperature_degc {float(NAN)} - Temperature.

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      uint64_t timestamp_us {} - Timestamp in microseconds.

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      Field Documentation

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      acceleration_frd

                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                      AccelerationFrd mavsdk::Telemetry::Imu::acceleration_frd {}
+
                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      Acceleration.

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      angular_velocity_frd

                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                      AngularVelocityFrd mavsdk::Telemetry::Imu::angular_velocity_frd {}
+
                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      Angular velocity.

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      magnetic_field_frd

                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                      MagneticFieldFrd mavsdk::Telemetry::Imu::magnetic_field_frd {}
+
                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      Magnetic field.

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      temperature_degc

                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::Imu::temperature_degc {float(NAN)}
+
                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      Temperature.

                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      timestamp_us

                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                      uint64_t mavsdk::Telemetry::Imu::timestamp_us {}
+
                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                      Timestamp in microseconds.

                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                        mavsdk::Telemetry::MagneticFieldFrd Struct Reference

                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        #include: telemetry.h

                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        MagneticFieldFrd message type.

                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        Data Fields

                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        float forward_gauss { float(NAN)} - Magnetic field in forward direction measured in Gauss.

                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        float right_gauss { float(NAN)} - Magnetic field in East direction measured in Gauss.

                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        float down_gauss { float(NAN)} - Magnetic field in Down direction measured in Gauss.

                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        Field Documentation

                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        forward_gauss

                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                        float mavsdk::Telemetry::MagneticFieldFrd::forward_gauss { float(NAN)}
+
                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        Magnetic field in forward direction measured in Gauss.

                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        right_gauss

                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                        float mavsdk::Telemetry::MagneticFieldFrd::right_gauss { float(NAN)}
+
                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        Magnetic field in East direction measured in Gauss.

                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        down_gauss

                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                        float mavsdk::Telemetry::MagneticFieldFrd::down_gauss { float(NAN)}
+
                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                        Magnetic field in Down direction measured in Gauss.

                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                          mavsdk::Telemetry::Odometry Struct Reference

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          #include: telemetry.h

                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Odometry message type.

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Public Types

                                                                                                                                                                                                                                                                          + + + + + + + + + + + + + +
                                                                                                                                                                                                                                                                          TypeDescription
                                                                                                                                                                                                                                                                          enum MavFrameMavlink frame id.
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Data Fields

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          uint64_t time_usec {} - Timestamp (0 to use Backend timestamp).

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          MavFrame frame_id {} - Coordinate frame of reference for the pose data.

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          MavFrame child_frame_id {} - Coordinate frame of reference for the velocity in free space (twist) data.

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          PositionBody position_body {} - Position.

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Quaternion q {} - Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          VelocityBody velocity_body {} - Linear velocity (m/s).

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          AngularVelocityBody angular_velocity_body {} - Angular velocity (rad/s).

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Covariance pose_covariance {} - Pose cross-covariance matrix.

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Covariance velocity_covariance {} - Velocity cross-covariance matrix.

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Member Enumeration Documentation

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          enum MavFrame

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Mavlink frame id.

                                                                                                                                                                                                                                                                          + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                                                                                                                                          ValueDescription
                                                                                                                                                                                                                                                                          UndefFrame is undefined..
                                                                                                                                                                                                                                                                          BodyNedSetpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right..
                                                                                                                                                                                                                                                                          VisionNedOdometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down)..
                                                                                                                                                                                                                                                                          EstimNedOdometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down)..
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Field Documentation

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          time_usec

                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                          uint64_t mavsdk::Telemetry::Odometry::time_usec {}
+
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Timestamp (0 to use Backend timestamp).

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          frame_id

                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                          MavFrame mavsdk::Telemetry::Odometry::frame_id {}
+
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Coordinate frame of reference for the pose data.

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          child_frame_id

                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                          MavFrame mavsdk::Telemetry::Odometry::child_frame_id {}
+
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Coordinate frame of reference for the velocity in free space (twist) data.

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          position_body

                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                          PositionBody mavsdk::Telemetry::Odometry::position_body {}
+
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Position.

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          q

                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                          Quaternion mavsdk::Telemetry::Odometry::q {}
+
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          velocity_body

                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                          VelocityBody mavsdk::Telemetry::Odometry::velocity_body {}
+
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Linear velocity (m/s).

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          angular_velocity_body

                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                          AngularVelocityBody mavsdk::Telemetry::Odometry::angular_velocity_body {}
+
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Angular velocity (rad/s).

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          pose_covariance

                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                          Covariance mavsdk::Telemetry::Odometry::pose_covariance {}
+
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Pose cross-covariance matrix.

                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          velocity_covariance

                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                          Covariance mavsdk::Telemetry::Odometry::velocity_covariance {}
+
                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                          Velocity cross-covariance matrix.

                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                            mavsdk::Telemetry::Position Struct Reference

                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            #include: telemetry.h

                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            Position type in global coordinates.

                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            Data Fields

                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            double latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)

                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            double longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to +180)

                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            float absolute_altitude_m { float(NAN)} - Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            float relative_altitude_m { float(NAN)} - Altitude relative to takeoff altitude in metres.

                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            Field Documentation

                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            latitude_deg

                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                            double mavsdk::Telemetry::Position::latitude_deg {double(NAN)}
+
                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            Latitude in degrees (range: -90 to +90)

                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            longitude_deg

                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                            double mavsdk::Telemetry::Position::longitude_deg {double(NAN)}
+
                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            Longitude in degrees (range: -180 to +180)

                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            absolute_altitude_m

                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                            float mavsdk::Telemetry::Position::absolute_altitude_m { float(NAN)}
+
                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            relative_altitude_m

                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                            float mavsdk::Telemetry::Position::relative_altitude_m { float(NAN)}
+
                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                            Altitude relative to takeoff altitude in metres.

                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                                                                                                                                                              mavsdk::Telemetry::PositionBody Struct Reference

                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              #include: telemetry.h

                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              Position type, represented in the Body (X Y Z) frame.

                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              Data Fields

                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              float x_m {} - X Position in metres.

                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              float y_m {} - Y Position in metres.

                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              float z_m {} - Z Position in metres.

                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              Field Documentation

                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              x_m

                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                              float mavsdk::Telemetry::PositionBody::x_m {}
+
                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              X Position in metres.

                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              y_m

                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                              float mavsdk::Telemetry::PositionBody::y_m {}
+
                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              Y Position in metres.

                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              z_m

                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                              float mavsdk::Telemetry::PositionBody::z_m {}
+
                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                              Z Position in metres.

                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                mavsdk::Telemetry::PositionNed Struct Reference

                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                #include: telemetry.h

                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                PositionNed message type.

                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                Data Fields

                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                float north_m {float(NAN)} - Position along north direction in metres.

                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                float east_m {float(NAN)} - Position along east direction in metres.

                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                float down_m {float(NAN)} - Position along down direction in metres.

                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                Field Documentation

                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                north_m

                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                float mavsdk::Telemetry::PositionNed::north_m {float(NAN)}
+
                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                Position along north direction in metres.

                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                east_m

                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                float mavsdk::Telemetry::PositionNed::east_m {float(NAN)}
+
                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                Position along east direction in metres.

                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                down_m

                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                float mavsdk::Telemetry::PositionNed::down_m {float(NAN)}
+
                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                Position along down direction in metres.

                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                  mavsdk::Telemetry::PositionVelocityNed Struct Reference

                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                  #include: telemetry.h

                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                  PositionVelocityNed message type.

                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                  Data Fields

                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                  PositionNed position {} - Position (NED)

                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                  VelocityNed velocity {} - Velocity (NED)

                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                  Field Documentation

                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                  position

                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                  PositionNed mavsdk::Telemetry::PositionVelocityNed::position {}
+
                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                  Position (NED)

                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                  velocity

                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                  VelocityNed mavsdk::Telemetry::PositionVelocityNed::velocity {}
+
                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                  Velocity (NED)

                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                    mavsdk::Telemetry::Quaternion Struct Reference

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    #include: telemetry.h

                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    Quaternion type.

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    For more info see: https://en.wikipedia.org/wiki/Quaternion

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    Data Fields

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    float w {float(NAN)} - Quaternion entry 0, also denoted as a.

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    float x {float(NAN)} - Quaternion entry 1, also denoted as b.

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    float y {float(NAN)} - Quaternion entry 2, also denoted as c.

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    float z {float(NAN)} - Quaternion entry 3, also denoted as d.

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    uint64_t timestamp_us {} - Timestamp in microseconds.

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    Field Documentation

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    w

                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                    float mavsdk::Telemetry::Quaternion::w {float(NAN)}
+
                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    Quaternion entry 0, also denoted as a.

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    x

                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                    float mavsdk::Telemetry::Quaternion::x {float(NAN)}
+
                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    Quaternion entry 1, also denoted as b.

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    y

                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                    float mavsdk::Telemetry::Quaternion::y {float(NAN)}
+
                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    Quaternion entry 2, also denoted as c.

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    z

                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                    float mavsdk::Telemetry::Quaternion::z {float(NAN)}
+
                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    Quaternion entry 3, also denoted as d.

                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    timestamp_us

                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                    uint64_t mavsdk::Telemetry::Quaternion::timestamp_us {}
+
                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                    Timestamp in microseconds.

                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                      mavsdk::Telemetry::RawGps Struct Reference

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      #include: telemetry.h

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Raw GPS information type.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Warning: this is an advanced type! If you want the location of the drone, use the position instead. This message exposes the raw values of the GNSS sensor.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Data Fields

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      uint64_t timestamp_us {} - Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      double latitude_deg {} - Latitude in degrees (WGS84, EGM96 ellipsoid)

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      double longitude_deg {} - Longitude in degrees (WGS84, EGM96 ellipsoid)

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      float absolute_altitude_m {} - Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      float hdop {} - GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      float vdop {} - GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      float velocity_m_s {} - Ground velocity in metres per second.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      float cog_deg {} - Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      float altitude_ellipsoid_m {} - Altitude in metres (above WGS84, EGM96 ellipsoid)

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      float horizontal_uncertainty_m {} - Position uncertainty in metres.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      float vertical_uncertainty_m {} - Altitude uncertainty in metres.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      float velocity_uncertainty_m_s {} - Velocity uncertainty in metres per second.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      float heading_uncertainty_deg {} - Heading uncertainty in degrees.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      float yaw_deg {} - Yaw in earth frame from north.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Field Documentation

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      timestamp_us

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      uint64_t mavsdk::Telemetry::RawGps::timestamp_us {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      latitude_deg

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      double mavsdk::Telemetry::RawGps::latitude_deg {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Latitude in degrees (WGS84, EGM96 ellipsoid)

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      longitude_deg

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      double mavsdk::Telemetry::RawGps::longitude_deg {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Longitude in degrees (WGS84, EGM96 ellipsoid)

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      absolute_altitude_m

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::RawGps::absolute_altitude_m {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      hdop

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::RawGps::hdop {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      vdop

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::RawGps::vdop {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      velocity_m_s

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::RawGps::velocity_m_s {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Ground velocity in metres per second.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      cog_deg

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::RawGps::cog_deg {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      altitude_ellipsoid_m

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::RawGps::altitude_ellipsoid_m {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Altitude in metres (above WGS84, EGM96 ellipsoid)

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      horizontal_uncertainty_m

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::RawGps::horizontal_uncertainty_m {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Position uncertainty in metres.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      vertical_uncertainty_m

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::RawGps::vertical_uncertainty_m {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Altitude uncertainty in metres.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      velocity_uncertainty_m_s

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::RawGps::velocity_uncertainty_m_s {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Velocity uncertainty in metres per second.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      heading_uncertainty_deg

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::RawGps::heading_uncertainty_deg {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Heading uncertainty in degrees.

                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      yaw_deg

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      float mavsdk::Telemetry::RawGps::yaw_deg {}
+
                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                      Yaw in earth frame from north.

                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                                                                                                                                                                        mavsdk::Telemetry::RcStatus Struct Reference

                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        #include: telemetry.h

                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        Remote control status type.

                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        Data Fields

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                                                                                                                                                                                                                                                                                        bool was_available_once {false} - True if an RC signal has been available once.

                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        bool is_available {false} - True if the RC signal is available now.

                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        float signal_strength_percent { float(NAN)} - Signal strength (range: 0 to 100, NaN if unknown)

                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        Field Documentation

                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        was_available_once

                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                        bool mavsdk::Telemetry::RcStatus::was_available_once {false}
+
                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        True if an RC signal has been available once.

                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        is_available

                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                        bool mavsdk::Telemetry::RcStatus::is_available {false}
+
                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        True if the RC signal is available now.

                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        signal_strength_percent

                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                        float mavsdk::Telemetry::RcStatus::signal_strength_percent { float(NAN)}
+
                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                        Signal strength (range: 0 to 100, NaN if unknown)

                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                          mavsdk::Telemetry::ScaledPressure Struct Reference

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          #include: telemetry.h

                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          Scaled Pressure message type.

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          Data Fields

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          uint64_t timestamp_us {} - Timestamp (time since system boot)

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          float absolute_pressure_hpa {} - Absolute pressure in hPa.

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          float differential_pressure_hpa {} - Differential pressure 1 in hPa.

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          float temperature_deg {} - Absolute pressure temperature (in celsius)

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          float differential_pressure_temperature_deg {} - Differential pressure temperature (in celsius, 0 if not available)

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          Field Documentation

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          timestamp_us

                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                          uint64_t mavsdk::Telemetry::ScaledPressure::timestamp_us {}
+
                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          Timestamp (time since system boot)

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          absolute_pressure_hpa

                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                          float mavsdk::Telemetry::ScaledPressure::absolute_pressure_hpa {}
+
                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          Absolute pressure in hPa.

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          differential_pressure_hpa

                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                          float mavsdk::Telemetry::ScaledPressure::differential_pressure_hpa {}
+
                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          Differential pressure 1 in hPa.

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          temperature_deg

                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                          float mavsdk::Telemetry::ScaledPressure::temperature_deg {}
+
                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          Absolute pressure temperature (in celsius)

                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          differential_pressure_temperature_deg

                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                          float mavsdk::Telemetry::ScaledPressure::differential_pressure_temperature_deg {}
+
                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                          Differential pressure temperature (in celsius, 0 if not available)

                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                            mavsdk::Telemetry::StatusText Struct Reference

                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                            #include: telemetry.h

                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                            StatusText information type.

                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                            Data Fields

                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                            StatusTextType type {} - Message type.

                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                            std::string text {} - MAVLink status message.

                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                            Field Documentation

                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                            type

                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                            StatusTextType mavsdk::Telemetry::StatusText::type {}
+
                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                            Message type.

                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                            text

                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                            std::string mavsdk::Telemetry::StatusText::text {}
+
                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                            MAVLink status message.

                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                              mavsdk::Telemetry::VelocityBody Struct Reference

                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              #include: telemetry.h

                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              Velocity type, represented in the Body (X Y Z) frame and in metres/second.

                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              Data Fields

                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              float x_m_s {} - Velocity in X in metres/second.

                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              float y_m_s {} - Velocity in Y in metres/second.

                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              float z_m_s {} - Velocity in Z in metres/second.

                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              Field Documentation

                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              x_m_s

                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                              float mavsdk::Telemetry::VelocityBody::x_m_s {}
+
                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              Velocity in X in metres/second.

                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              y_m_s

                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                              float mavsdk::Telemetry::VelocityBody::y_m_s {}
+
                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              Velocity in Y in metres/second.

                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              z_m_s

                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                              float mavsdk::Telemetry::VelocityBody::z_m_s {}
+
                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                              Velocity in Z in metres/second.

                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                mavsdk::Telemetry::VelocityNed Struct Reference

                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                #include: telemetry.h

                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                VelocityNed message type.

                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                Data Fields

                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                float north_m_s {} - Velocity along north direction in metres per second.

                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                float east_m_s {} - Velocity along east direction in metres per second.

                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                float down_m_s {} - Velocity along down direction in metres per second.

                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                Field Documentation

                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                north_m_s

                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                float mavsdk::Telemetry::VelocityNed::north_m_s {}
+
                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                Velocity along north direction in metres per second.

                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                east_m_s

                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                float mavsdk::Telemetry::VelocityNed::east_m_s {}
+
                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                Velocity along east direction in metres per second.

                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                down_m_s

                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                float mavsdk::Telemetry::VelocityNed::down_m_s {}
+
                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                Velocity along down direction in metres per second.

                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                  mavsdk::TelemetryServer::AccelerationFrd Struct Reference

                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  AccelerationFrd message type.

                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  Data Fields

                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  float forward_m_s2 { float(NAN)} - Acceleration in forward direction in metres per second^2.

                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  float right_m_s2 { float(NAN)} - Acceleration in right direction in metres per second^2.

                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  float down_m_s2 { float(NAN)} - Acceleration in down direction in metres per second^2.

                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  Field Documentation

                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  forward_m_s2

                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                  float mavsdk::TelemetryServer::AccelerationFrd::forward_m_s2 { float(NAN)}
+
                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  Acceleration in forward direction in metres per second^2.

                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  right_m_s2

                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                  float mavsdk::TelemetryServer::AccelerationFrd::right_m_s2 { float(NAN)}
+
                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  Acceleration in right direction in metres per second^2.

                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  down_m_s2

                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                  float mavsdk::TelemetryServer::AccelerationFrd::down_m_s2 { float(NAN)}
+
                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                  Acceleration in down direction in metres per second^2.

                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                    mavsdk::TelemetryServer::ActuatorControlTarget Struct Reference

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                                                                                                                                                                                                                                                                                                    #include: telemetry_server.h

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                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                    Actuator control target type.

                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                    Data Fields

                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                    int32_t group {0} - An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.

                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                    std::vector< float > controls {} - Controls normed from -1 to 1, where 0 is neutral position.

                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                    Field Documentation

                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                    group

                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                    int32_t mavsdk::TelemetryServer::ActuatorControlTarget::group {0}
+
                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                    An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.

                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                    controls

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                                                                                                                                                                                                                                                                                                    std::vector<float> mavsdk::TelemetryServer::ActuatorControlTarget::controls {}
+
                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                    Controls normed from -1 to 1, where 0 is neutral position.

                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                      mavsdk::TelemetryServer::ActuatorOutputStatus Struct Reference

                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                      #include: telemetry_server.h

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                                                                                                                                                                                                                                                                                                      Actuator output status type.

                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                      Data Fields

                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                      uint32_t active {0} - Active outputs.

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                                                                                                                                                                                                                                                                                                      std::vector< float > actuator {} - Servo/motor output values.

                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                      Field Documentation

                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                      active

                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                      uint32_t mavsdk::TelemetryServer::ActuatorOutputStatus::active {0}
+
                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                      Active outputs.

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                                                                                                                                                                                                                                                                                                      actuator

                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                      std::vector<float> mavsdk::TelemetryServer::ActuatorOutputStatus::actuator {}
+
                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                      Servo/motor output values.

                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                        mavsdk::TelemetryServer::AngularVelocityBody Struct Reference

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                                                                                                                                                                                                                                                                                                        #include: telemetry_server.h

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                                                                                                                                                                                                                                                                                                        Angular velocity type.

                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                        Data Fields

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                                                                                                                                                                                                                                                                                                        float roll_rad_s {float(NAN)} - Roll angular velocity.

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                                                                                                                                                                                                                                                                                                        float pitch_rad_s {float(NAN)} - Pitch angular velocity.

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                                                                                                                                                                                                                                                                                                        float yaw_rad_s {float(NAN)} - Yaw angular velocity.

                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                        Field Documentation

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                                                                                                                                                                                                                                                                                                        roll_rad_s

                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                        float mavsdk::TelemetryServer::AngularVelocityBody::roll_rad_s {float(NAN)}
+
                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                        Roll angular velocity.

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                                                                                                                                                                                                                                                                                                        pitch_rad_s

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                                                                                                                                                                                                                                                                                                        float mavsdk::TelemetryServer::AngularVelocityBody::pitch_rad_s {float(NAN)}
+
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                                                                                                                                                                                                                                                                                                        Pitch angular velocity.

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                                                                                                                                                                                                                                                                                                        yaw_rad_s

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                                                                                                                                                                                                                                                                                                        float mavsdk::TelemetryServer::AngularVelocityBody::yaw_rad_s {float(NAN)}
+
                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                        Yaw angular velocity.

                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                          mavsdk::TelemetryServer::AngularVelocityFrd Struct Reference

                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                          #include: telemetry_server.h

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                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                          AngularVelocityFrd message type.

                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                          Data Fields

                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                          float forward_rad_s { float(NAN)} - Angular velocity in forward direction in radians per second.

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                                                                                                                                                                                                                                                                                                          float right_rad_s { float(NAN)} - Angular velocity in right direction in radians per second.

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                                                                                                                                                                                                                                                                                                          float down_rad_s { float(NAN)} - Angular velocity in Down direction in radians per second.

                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                          Field Documentation

                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                          forward_rad_s

                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                          float mavsdk::TelemetryServer::AngularVelocityFrd::forward_rad_s { float(NAN)}
+
                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                          Angular velocity in forward direction in radians per second.

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                                                                                                                                                                                                                                                                                                          right_rad_s

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                                                                                                                                                                                                                                                                                                          float mavsdk::TelemetryServer::AngularVelocityFrd::right_rad_s { float(NAN)}
+
                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                          Angular velocity in right direction in radians per second.

                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                          down_rad_s

                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                          float mavsdk::TelemetryServer::AngularVelocityFrd::down_rad_s { float(NAN)}
+
                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                          Angular velocity in Down direction in radians per second.

                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                            mavsdk::TelemetryServer::Battery Struct Reference

                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                            #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                            Battery type.

                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                            Data Fields

                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                            float voltage_v {float(NAN)} - Voltage in volts.

                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                            float remaining_percent { float(NAN)} - Estimated battery remaining (range: 0.0 to 1.0)

                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                            Field Documentation

                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                            voltage_v

                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::Battery::voltage_v {float(NAN)}
+
                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                            Voltage in volts.

                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                            remaining_percent

                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::Battery::remaining_percent { float(NAN)}
+
                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                            Estimated battery remaining (range: 0.0 to 1.0)

                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                              mavsdk::TelemetryServer::Covariance Struct Reference

                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                              #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                              Covariance type.

                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                              Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Set first to NaN if unknown.

                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                              Data Fields

                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                              std::vector< float > covariance_matrix {} - Representation of a covariance matrix.

                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                              Field Documentation

                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                              covariance_matrix

                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                              std::vector<float> mavsdk::TelemetryServer::Covariance::covariance_matrix {}
+
                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                              Representation of a covariance matrix.

                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                mavsdk::TelemetryServer::DistanceSensor Struct Reference

                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                DistanceSensor message type.

                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                Data Fields

                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                float minimum_distance_m { float(NAN)} - Minimum distance the sensor can measure, NaN if unknown.

                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                float maximum_distance_m { float(NAN)} - Maximum distance the sensor can measure, NaN if unknown.

                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                float current_distance_m { float(NAN)} - Current distance reading, NaN if unknown.

                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                Field Documentation

                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                minimum_distance_m

                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                float mavsdk::TelemetryServer::DistanceSensor::minimum_distance_m { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                Minimum distance the sensor can measure, NaN if unknown.

                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                maximum_distance_m

                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                float mavsdk::TelemetryServer::DistanceSensor::maximum_distance_m { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                Maximum distance the sensor can measure, NaN if unknown.

                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                current_distance_m

                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                float mavsdk::TelemetryServer::DistanceSensor::current_distance_m { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                Current distance reading, NaN if unknown.

                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                  mavsdk::TelemetryServer::EulerAngle Struct Reference

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  Euler angle type.

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  For more info see https://en.wikipedia.org/wiki/Euler_angles

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  Data Fields

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  float roll_deg { float(NAN)} - Roll angle in degrees, positive is banking to the right.

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  float pitch_deg { float(NAN)} - Pitch angle in degrees, positive is pitching nose up.

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  float yaw_deg { float(NAN)} - Yaw angle in degrees, positive is clock-wise seen from above.

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  uint64_t timestamp_us {} - Timestamp in microseconds.

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  Field Documentation

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  roll_deg

                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                  float mavsdk::TelemetryServer::EulerAngle::roll_deg { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  Roll angle in degrees, positive is banking to the right.

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  pitch_deg

                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                  float mavsdk::TelemetryServer::EulerAngle::pitch_deg { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  Pitch angle in degrees, positive is pitching nose up.

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  yaw_deg

                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                  float mavsdk::TelemetryServer::EulerAngle::yaw_deg { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  Yaw angle in degrees, positive is clock-wise seen from above.

                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  timestamp_us

                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                  uint64_t mavsdk::TelemetryServer::EulerAngle::timestamp_us {}
+
                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                  Timestamp in microseconds.

                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                    mavsdk::TelemetryServer::FixedwingMetrics Struct Reference

                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    FixedwingMetrics message type.

                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    Data Fields

                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    float airspeed_m_s { float(NAN)} - Current indicated airspeed (IAS) in metres per second.

                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    float throttle_percentage {float(NAN)} - Current throttle setting (0 to 100)

                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    float climb_rate_m_s {float(NAN)} - Current climb rate in metres per second.

                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    Field Documentation

                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    airspeed_m_s

                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                    float mavsdk::TelemetryServer::FixedwingMetrics::airspeed_m_s { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    Current indicated airspeed (IAS) in metres per second.

                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    throttle_percentage

                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                    float mavsdk::TelemetryServer::FixedwingMetrics::throttle_percentage {float(NAN)}
+
                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    Current throttle setting (0 to 100)

                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    climb_rate_m_s

                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                    float mavsdk::TelemetryServer::FixedwingMetrics::climb_rate_m_s {float(NAN)}
+
                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                    Current climb rate in metres per second.

                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                      mavsdk::TelemetryServer::GpsInfo Struct Reference

                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                      #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                      GPS information type.

                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                      Data Fields

                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                      int32_t num_satellites {0} - Number of visible satellites in use.

                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                      FixType fix_type {} - Fix type.

                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                      Field Documentation

                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                      num_satellites

                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                      int32_t mavsdk::TelemetryServer::GpsInfo::num_satellites {0}
+
                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                      Number of visible satellites in use.

                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                      fix_type

                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                      FixType mavsdk::TelemetryServer::GpsInfo::fix_type {}
+
                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                      Fix type.

                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                        mavsdk::TelemetryServer::GroundTruth Struct Reference

                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        GroundTruth message type.

                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        Data Fields

                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        double latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)

                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        double longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to 180)

                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        float absolute_altitude_m { float(NAN)} - Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        Field Documentation

                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        latitude_deg

                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                        double mavsdk::TelemetryServer::GroundTruth::latitude_deg {double(NAN)}
+
                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        Latitude in degrees (range: -90 to +90)

                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        longitude_deg

                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                        double mavsdk::TelemetryServer::GroundTruth::longitude_deg {double(NAN)}
+
                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        Longitude in degrees (range: -180 to 180)

                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        absolute_altitude_m

                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                        float mavsdk::TelemetryServer::GroundTruth::absolute_altitude_m { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                        Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                          mavsdk::TelemetryServer::Heading Struct Reference

                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                          #include: telemetry_server.h

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                                                                                                                                                                                                                                                                                                                          Heading type used for global position.

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                                                                                                                                                                                                                                                                                                                          Data Fields

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                                                                                                                                                                                                                                                                                                                          double heading_deg {double(NAN)} - Heading in degrees (range: 0 to +360)

                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                          Field Documentation

                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                          heading_deg

                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                          double mavsdk::TelemetryServer::Heading::heading_deg {double(NAN)}
+
                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                          Heading in degrees (range: 0 to +360)

                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                            mavsdk::TelemetryServer::Imu Struct Reference

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            Imu message type.

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            Data Fields

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            AccelerationFrd acceleration_frd {} - Acceleration.

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            AngularVelocityFrd angular_velocity_frd {} - Angular velocity.

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            MagneticFieldFrd magnetic_field_frd {} - Magnetic field.

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            float temperature_degc {float(NAN)} - Temperature.

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            uint64_t timestamp_us {} - Timestamp in microseconds.

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            Field Documentation

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            acceleration_frd

                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                            AccelerationFrd mavsdk::TelemetryServer::Imu::acceleration_frd {}
+
                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            Acceleration.

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            angular_velocity_frd

                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                            AngularVelocityFrd mavsdk::TelemetryServer::Imu::angular_velocity_frd {}
+
                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            Angular velocity.

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            magnetic_field_frd

                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                            MagneticFieldFrd mavsdk::TelemetryServer::Imu::magnetic_field_frd {}
+
                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            Magnetic field.

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            temperature_degc

                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::Imu::temperature_degc {float(NAN)}
+
                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            Temperature.

                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            timestamp_us

                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                            uint64_t mavsdk::TelemetryServer::Imu::timestamp_us {}
+
                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                            Timestamp in microseconds.

                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                              mavsdk::TelemetryServer::MagneticFieldFrd Struct Reference

                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              MagneticFieldFrd message type.

                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              Data Fields

                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              float forward_gauss { float(NAN)} - Magnetic field in forward direction measured in Gauss.

                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              float right_gauss { float(NAN)} - Magnetic field in East direction measured in Gauss.

                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              float down_gauss { float(NAN)} - Magnetic field in Down direction measured in Gauss.

                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              Field Documentation

                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              forward_gauss

                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                              float mavsdk::TelemetryServer::MagneticFieldFrd::forward_gauss { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              Magnetic field in forward direction measured in Gauss.

                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              right_gauss

                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                              float mavsdk::TelemetryServer::MagneticFieldFrd::right_gauss { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              Magnetic field in East direction measured in Gauss.

                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              down_gauss

                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                              float mavsdk::TelemetryServer::MagneticFieldFrd::down_gauss { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                              Magnetic field in Down direction measured in Gauss.

                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                mavsdk::TelemetryServer::Odometry Struct Reference

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Odometry message type.

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Public Types

                                                                                                                                                                                                                                                                                                                                + + + + + + + + + + + + + +
                                                                                                                                                                                                                                                                                                                                TypeDescription
                                                                                                                                                                                                                                                                                                                                enum MavFrameMavlink frame id.
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Data Fields

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                uint64_t time_usec {} - Timestamp (0 to use Backend timestamp).

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                MavFrame frame_id {} - Coordinate frame of reference for the pose data.

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                MavFrame child_frame_id {} - Coordinate frame of reference for the velocity in free space (twist) data.

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                PositionBody position_body {} - Position.

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Quaternion q {} - Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                VelocityBody velocity_body {} - Linear velocity (m/s).

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                AngularVelocityBody angular_velocity_body {} - Angular velocity (rad/s).

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Covariance pose_covariance {} - Pose cross-covariance matrix.

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Covariance velocity_covariance {} - Velocity cross-covariance matrix.

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Member Enumeration Documentation

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                enum MavFrame

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Mavlink frame id.

                                                                                                                                                                                                                                                                                                                                + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                                                                                                                                                                                                ValueDescription
                                                                                                                                                                                                                                                                                                                                UndefFrame is undefined..
                                                                                                                                                                                                                                                                                                                                BodyNedSetpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right..
                                                                                                                                                                                                                                                                                                                                VisionNedOdometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down)..
                                                                                                                                                                                                                                                                                                                                EstimNedOdometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down)..
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Field Documentation

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                time_usec

                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                uint64_t mavsdk::TelemetryServer::Odometry::time_usec {}
+
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Timestamp (0 to use Backend timestamp).

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                frame_id

                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                MavFrame mavsdk::TelemetryServer::Odometry::frame_id {}
+
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Coordinate frame of reference for the pose data.

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                child_frame_id

                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                MavFrame mavsdk::TelemetryServer::Odometry::child_frame_id {}
+
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Coordinate frame of reference for the velocity in free space (twist) data.

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                position_body

                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                PositionBody mavsdk::TelemetryServer::Odometry::position_body {}
+
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Position.

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                q

                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                Quaternion mavsdk::TelemetryServer::Odometry::q {}
+
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                velocity_body

                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                VelocityBody mavsdk::TelemetryServer::Odometry::velocity_body {}
+
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Linear velocity (m/s).

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                angular_velocity_body

                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                AngularVelocityBody mavsdk::TelemetryServer::Odometry::angular_velocity_body {}
+
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Angular velocity (rad/s).

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                pose_covariance

                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                Covariance mavsdk::TelemetryServer::Odometry::pose_covariance {}
+
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Pose cross-covariance matrix.

                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                velocity_covariance

                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                Covariance mavsdk::TelemetryServer::Odometry::velocity_covariance {}
+
                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                Velocity cross-covariance matrix.

                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                  mavsdk::TelemetryServer::Position Struct Reference

                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  Position type in global coordinates.

                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  Data Fields

                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  double latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)

                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  double longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to +180)

                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  float absolute_altitude_m { float(NAN)} - Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  float relative_altitude_m { float(NAN)} - Altitude relative to takeoff altitude in metres.

                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  Field Documentation

                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  latitude_deg

                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                  double mavsdk::TelemetryServer::Position::latitude_deg {double(NAN)}
+
                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  Latitude in degrees (range: -90 to +90)

                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  longitude_deg

                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                  double mavsdk::TelemetryServer::Position::longitude_deg {double(NAN)}
+
                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  Longitude in degrees (range: -180 to +180)

                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  absolute_altitude_m

                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                  float mavsdk::TelemetryServer::Position::absolute_altitude_m { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  relative_altitude_m

                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                  float mavsdk::TelemetryServer::Position::relative_altitude_m { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                  Altitude relative to takeoff altitude in metres.

                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                    mavsdk::TelemetryServer::PositionBody Struct Reference

                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    Position type, represented in the Body (X Y Z) frame.

                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    Data Fields

                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    float x_m {} - X Position in metres.

                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    float y_m {} - Y Position in metres.

                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    float z_m {} - Z Position in metres.

                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    Field Documentation

                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    x_m

                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                    float mavsdk::TelemetryServer::PositionBody::x_m {}
+
                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    X Position in metres.

                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    y_m

                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                    float mavsdk::TelemetryServer::PositionBody::y_m {}
+
                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    Y Position in metres.

                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    z_m

                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                    float mavsdk::TelemetryServer::PositionBody::z_m {}
+
                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                    Z Position in metres.

                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                      mavsdk::TelemetryServer::PositionNed Struct Reference

                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      PositionNed message type.

                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      Data Fields

                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      float north_m {float(NAN)} - Position along north direction in metres.

                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      float east_m {float(NAN)} - Position along east direction in metres.

                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      float down_m {float(NAN)} - Position along down direction in metres.

                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      Field Documentation

                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      north_m

                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                      float mavsdk::TelemetryServer::PositionNed::north_m {float(NAN)}
+
                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      Position along north direction in metres.

                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      east_m

                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                      float mavsdk::TelemetryServer::PositionNed::east_m {float(NAN)}
+
                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      Position along east direction in metres.

                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      down_m

                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                      float mavsdk::TelemetryServer::PositionNed::down_m {float(NAN)}
+
                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                      Position along down direction in metres.

                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                        mavsdk::TelemetryServer::PositionVelocityNed Struct Reference

                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                        #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                        PositionVelocityNed message type.

                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                        Data Fields

                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                        PositionNed position {} - Position (NED)

                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                        VelocityNed velocity {} - Velocity (NED)

                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                        Field Documentation

                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                        position

                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                        PositionNed mavsdk::TelemetryServer::PositionVelocityNed::position {}
+
                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                        Position (NED)

                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                        velocity

                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                        VelocityNed mavsdk::TelemetryServer::PositionVelocityNed::velocity {}
+
                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                        Velocity (NED)

                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                          mavsdk::TelemetryServer::Quaternion Struct Reference

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          Quaternion type.

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          For more info see: https://en.wikipedia.org/wiki/Quaternion

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                                                                                                                                                                                                                                                                                                                                          Data Fields

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          float w {float(NAN)} - Quaternion entry 0, also denoted as a.

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          float x {float(NAN)} - Quaternion entry 1, also denoted as b.

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          float y {float(NAN)} - Quaternion entry 2, also denoted as c.

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                                                                                                                                                                                                                                                                                                                                          float z {float(NAN)} - Quaternion entry 3, also denoted as d.

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          uint64_t timestamp_us {} - Timestamp in microseconds.

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          Field Documentation

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          w

                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                          float mavsdk::TelemetryServer::Quaternion::w {float(NAN)}
+
                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          Quaternion entry 0, also denoted as a.

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          x

                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                          float mavsdk::TelemetryServer::Quaternion::x {float(NAN)}
+
                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          Quaternion entry 1, also denoted as b.

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          y

                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                          float mavsdk::TelemetryServer::Quaternion::y {float(NAN)}
+
                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          Quaternion entry 2, also denoted as c.

                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          z

                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                          float mavsdk::TelemetryServer::Quaternion::z {float(NAN)}
+
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                                                                                                                                                                                                                                                                                                                                          Quaternion entry 3, also denoted as d.

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                                                                                                                                                                                                                                                                                                                                          timestamp_us

                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                          uint64_t mavsdk::TelemetryServer::Quaternion::timestamp_us {}
+
                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                          Timestamp in microseconds.

                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                            mavsdk::TelemetryServer::RawGps Struct Reference

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            #include: telemetry_server.h

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                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Raw GPS information type.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Warning: this is an advanced type! If you want the location of the drone, use the position instead. This message exposes the raw values of the GNSS sensor.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Data Fields

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            uint64_t timestamp_us {} - Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            double latitude_deg {} - Latitude in degrees (WGS84, EGM96 ellipsoid)

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                                                                                                                                                                                                                                                                                                                                            double longitude_deg {} - Longitude in degrees (WGS84, EGM96 ellipsoid)

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                                                                                                                                                                                                                                                                                                                                            float absolute_altitude_m {} - Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            float hdop {} - GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            float vdop {} - GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            float velocity_m_s {} - Ground velocity in metres per second.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            float cog_deg {} - Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            float altitude_ellipsoid_m {} - Altitude in metres (above WGS84, EGM96 ellipsoid)

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            float horizontal_uncertainty_m {} - Position uncertainty in metres.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            float vertical_uncertainty_m {} - Altitude uncertainty in metres.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            float velocity_uncertainty_m_s {} - Velocity uncertainty in metres per second.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            float heading_uncertainty_deg {} - Heading uncertainty in degrees.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            float yaw_deg {} - Yaw in earth frame from north.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Field Documentation

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            timestamp_us

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            uint64_t mavsdk::TelemetryServer::RawGps::timestamp_us {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            latitude_deg

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            double mavsdk::TelemetryServer::RawGps::latitude_deg {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Latitude in degrees (WGS84, EGM96 ellipsoid)

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            longitude_deg

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            double mavsdk::TelemetryServer::RawGps::longitude_deg {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Longitude in degrees (WGS84, EGM96 ellipsoid)

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            absolute_altitude_m

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::RawGps::absolute_altitude_m {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Altitude AMSL (above mean sea level) in metres.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            hdop

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::RawGps::hdop {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            vdop

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::RawGps::vdop {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            velocity_m_s

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::RawGps::velocity_m_s {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Ground velocity in metres per second.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            cog_deg

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::RawGps::cog_deg {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            altitude_ellipsoid_m

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::RawGps::altitude_ellipsoid_m {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Altitude in metres (above WGS84, EGM96 ellipsoid)

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            horizontal_uncertainty_m

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::RawGps::horizontal_uncertainty_m {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Position uncertainty in metres.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            vertical_uncertainty_m

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::RawGps::vertical_uncertainty_m {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Altitude uncertainty in metres.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            velocity_uncertainty_m_s

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::RawGps::velocity_uncertainty_m_s {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Velocity uncertainty in metres per second.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            heading_uncertainty_deg

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::RawGps::heading_uncertainty_deg {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Heading uncertainty in degrees.

                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            yaw_deg

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            float mavsdk::TelemetryServer::RawGps::yaw_deg {}
+
                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                            Yaw in earth frame from north.

                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                              mavsdk::TelemetryServer::RcStatus Struct Reference

                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              #include: telemetry_server.h

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                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              Remote control status type.

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                                                                                                                                                                                                                                                                                                                                              Data Fields

                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              bool was_available_once {false} - True if an RC signal has been available once.

                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              bool is_available {false} - True if the RC signal is available now.

                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              float signal_strength_percent { float(NAN)} - Signal strength (range: 0 to 100, NaN if unknown)

                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              Field Documentation

                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              was_available_once

                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                              bool mavsdk::TelemetryServer::RcStatus::was_available_once {false}
+
                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              True if an RC signal has been available once.

                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              is_available

                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                              bool mavsdk::TelemetryServer::RcStatus::is_available {false}
+
                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              True if the RC signal is available now.

                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              signal_strength_percent

                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                              float mavsdk::TelemetryServer::RcStatus::signal_strength_percent { float(NAN)}
+
                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                              Signal strength (range: 0 to 100, NaN if unknown)

                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                mavsdk::TelemetryServer::ScaledPressure Struct Reference

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                Scaled Pressure message type.

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                Data Fields

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                uint64_t timestamp_us {} - Timestamp (time since system boot)

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                float absolute_pressure_hpa {} - Absolute pressure in hPa.

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                float differential_pressure_hpa {} - Differential pressure 1 in hPa.

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                float temperature_deg {} - Absolute pressure temperature (in celsius)

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                float differential_pressure_temperature_deg {} - Differential pressure temperature (in celsius, 0 if not available)

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                Field Documentation

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                timestamp_us

                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                uint64_t mavsdk::TelemetryServer::ScaledPressure::timestamp_us {}
+
                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                Timestamp (time since system boot)

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                absolute_pressure_hpa

                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                float mavsdk::TelemetryServer::ScaledPressure::absolute_pressure_hpa {}
+
                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                Absolute pressure in hPa.

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                differential_pressure_hpa

                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                float mavsdk::TelemetryServer::ScaledPressure::differential_pressure_hpa {}
+
                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                Differential pressure 1 in hPa.

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                temperature_deg

                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                float mavsdk::TelemetryServer::ScaledPressure::temperature_deg {}
+
                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                Absolute pressure temperature (in celsius)

                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                differential_pressure_temperature_deg

                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                float mavsdk::TelemetryServer::ScaledPressure::differential_pressure_temperature_deg {}
+
                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                Differential pressure temperature (in celsius, 0 if not available)

                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                  mavsdk::TelemetryServer::StatusText Struct Reference

                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                  #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                  StatusText information type.

                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                  Data Fields

                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                  StatusTextType type {} - Message type.

                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                  std::string text {} - MAVLink status message.

                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                  Field Documentation

                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                  type

                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                  StatusTextType mavsdk::TelemetryServer::StatusText::type {}
+
                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                  Message type.

                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                  text

                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                  std::string mavsdk::TelemetryServer::StatusText::text {}
+
                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                  MAVLink status message.

                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                    mavsdk::TelemetryServer::VelocityBody Struct Reference

                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    Velocity type, represented in the Body (X Y Z) frame and in metres/second.

                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    Data Fields

                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    float x_m_s {} - Velocity in X in metres/second.

                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    float y_m_s {} - Velocity in Y in metres/second.

                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    float z_m_s {} - Velocity in Z in metres/second.

                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    Field Documentation

                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    x_m_s

                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                    float mavsdk::TelemetryServer::VelocityBody::x_m_s {}
+
                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    Velocity in X in metres/second.

                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    y_m_s

                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                    float mavsdk::TelemetryServer::VelocityBody::y_m_s {}
+
                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    Velocity in Y in metres/second.

                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    z_m_s

                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                    float mavsdk::TelemetryServer::VelocityBody::z_m_s {}
+
                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                    Velocity in Z in metres/second.

                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                      mavsdk::TelemetryServer::VelocityNed Struct Reference

                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      #include: telemetry_server.h

                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      VelocityNed message type.

                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      Data Fields

                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      float north_m_s {} - Velocity along north direction in metres per second.

                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      float east_m_s {} - Velocity along east direction in metres per second.

                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      float down_m_s {} - Velocity along down direction in metres per second.

                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      Field Documentation

                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      north_m_s

                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                      float mavsdk::TelemetryServer::VelocityNed::north_m_s {}
+
                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      Velocity along north direction in metres per second.

                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      east_m_s

                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                      float mavsdk::TelemetryServer::VelocityNed::east_m_s {}
+
                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      Velocity along east direction in metres per second.

                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      down_m_s

                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                      float mavsdk::TelemetryServer::VelocityNed::down_m_s {}
+
                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                      Velocity along down direction in metres per second.

                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                        mavsdk::TrackingServer::TrackPoint Struct Reference

                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        #include: tracking_server.h

                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        Point description type.

                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        Data Fields

                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        float point_x {} - Point to track x value (normalized 0..1, 0 is left, 1 is right).

                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        float point_y {} - Point to track y value (normalized 0..1, 0 is top, 1 is bottom).

                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        float radius {} - Point to track y value (normalized 0..1, 0 is top, 1 is bottom).

                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        Field Documentation

                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        point_x

                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                        float mavsdk::TrackingServer::TrackPoint::point_x {}
+
                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        Point to track x value (normalized 0..1, 0 is left, 1 is right).

                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        point_y

                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                        float mavsdk::TrackingServer::TrackPoint::point_y {}
+
                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        Point to track y value (normalized 0..1, 0 is top, 1 is bottom).

                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        radius

                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                        float mavsdk::TrackingServer::TrackPoint::radius {}
+
                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                        Point to track y value (normalized 0..1, 0 is top, 1 is bottom).

                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                          mavsdk::TrackingServer::TrackRectangle Struct Reference

                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          #include: tracking_server.h

                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          Rectangle description type.

                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          Data Fields

                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          float top_left_corner_x {} - Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).

                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          float top_left_corner_y {} - Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).

                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          float bottom_right_corner_x {} - Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).

                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          float bottom_right_corner_y {} - Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).

                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          Field Documentation

                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          top_left_corner_x

                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                          float mavsdk::TrackingServer::TrackRectangle::top_left_corner_x {}
+
                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).

                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          top_left_corner_y

                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                          float mavsdk::TrackingServer::TrackRectangle::top_left_corner_y {}
+
                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).

                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          bottom_right_corner_x

                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                          float mavsdk::TrackingServer::TrackRectangle::bottom_right_corner_x {}
+
                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).

                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          bottom_right_corner_y

                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                          float mavsdk::TrackingServer::TrackRectangle::bottom_right_corner_y {}
+
                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                          Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).

                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_transponder_1_1_adsb_vehicle.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1_transponder_1_1_adsb_vehicle.html new file mode 100644 index 00000000..99b8c7d3 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_transponder_1_1_adsb_vehicle.html @@ -0,0 +1,3402 @@ + + + + + + + struct AdsbVehicle · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                                                                                                                                                                                                                                            mavsdk::Transponder::AdsbVehicle Struct Reference

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            #include: transponder.h

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                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            ADSB Vehicle type.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            Data Fields

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            uint32_t icao_address {} - ICAO (International Civil Aviation Organization) unique worldwide identifier.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            double latitude_deg {} - Latitude in degrees (range: -90 to +90)

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            double longitude_deg {} - Longitude in degrees (range: -180 to +180).

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            AdsbAltitudeType altitude_type {} - ADSB altitude type.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            float absolute_altitude_m {} - Altitude in metres according to altitude_type.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            float heading_deg {} - Course over ground, in degrees.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            float horizontal_velocity_m_s {} - The horizontal velocity in metres/second.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            float vertical_velocity_m_s {} - The vertical velocity in metres/second. Positive is up.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            std::string callsign {} - The callsign.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            AdsbEmitterType emitter_type {} - ADSB emitter type.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            uint32_t squawk {} - Squawk code.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            uint32_t tslc_s {} - Time Since Last Communication in seconds.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            Field Documentation

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            icao_address

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            uint32_t mavsdk::Transponder::AdsbVehicle::icao_address {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            ICAO (International Civil Aviation Organization) unique worldwide identifier.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            latitude_deg

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            double mavsdk::Transponder::AdsbVehicle::latitude_deg {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            Latitude in degrees (range: -90 to +90)

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            longitude_deg

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            double mavsdk::Transponder::AdsbVehicle::longitude_deg {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            Longitude in degrees (range: -180 to +180).

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            altitude_type

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            AdsbAltitudeType mavsdk::Transponder::AdsbVehicle::altitude_type {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            ADSB altitude type.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            absolute_altitude_m

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            float mavsdk::Transponder::AdsbVehicle::absolute_altitude_m {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            Altitude in metres according to altitude_type.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            heading_deg

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            float mavsdk::Transponder::AdsbVehicle::heading_deg {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            Course over ground, in degrees.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            horizontal_velocity_m_s

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            float mavsdk::Transponder::AdsbVehicle::horizontal_velocity_m_s {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            The horizontal velocity in metres/second.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            vertical_velocity_m_s

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            float mavsdk::Transponder::AdsbVehicle::vertical_velocity_m_s {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            The vertical velocity in metres/second. Positive is up.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            callsign

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            std::string mavsdk::Transponder::AdsbVehicle::callsign {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            The callsign.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            emitter_type

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            AdsbEmitterType mavsdk::Transponder::AdsbVehicle::emitter_type {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            ADSB emitter type.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            squawk

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            uint32_t mavsdk::Transponder::AdsbVehicle::squawk {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            Squawk code.

                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            tslc_s

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            uint32_t mavsdk::Transponder::AdsbVehicle::tslc_s {}
+
                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                            Time Since Last Communication in seconds.

                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31
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                                                                                                                                                                                                                                                                                                                                                              mavsdk::Tune::TuneDescription Struct Reference

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                                                                                                                                                                                                                                                                                                                                                              #include: tune.h

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                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                              Tune description, containing song elements and tempo.

                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                              Data Fields

                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                              std::vector< SongElement > song_elements {} - The list of song elements (notes, pauses, ...) to be played.

                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                              int32_t tempo {} - The tempo of the song (range: 32 - 255)

                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                              Field Documentation

                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                              song_elements

                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                              std::vector<SongElement> mavsdk::Tune::TuneDescription::song_elements {}
+
                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                              The list of song elements (notes, pauses, ...) to be played.

                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                              tempo

                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                              int32_t mavsdk::Tune::TuneDescription::tempo {}
+
                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                              The tempo of the song (range: 32 - 255)

                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status.md b/v2.0/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status.md new file mode 100644 index 00000000..6d3476b4 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status.md @@ -0,0 +1,111 @@ +# mavsdk::Winch::Status Struct Reference +`#include: winch.h` + +---- + + +[Status](structmavsdk_1_1_winch_1_1_status.md) type. + + +## Data Fields + + +uint64_t [time_usec](#structmavsdk_1_1_winch_1_1_status_1ac16c203027d78163509f1277eef6717d) {} - Time in usec. + +float [line_length_m](#structmavsdk_1_1_winch_1_1_status_1a32c6d3d7df9065d23ec9be034f2b05e3) {} - Length of the line in meters. + +float [speed_m_s](#structmavsdk_1_1_winch_1_1_status_1aa9b42cc41e9cb6e0f0e0eb75634eeb01) {} - Speed in meters per second. + +float [tension_kg](#structmavsdk_1_1_winch_1_1_status_1a8db557ad854c3b8ed402c9fa6c3baa04) {} - Tension in kilograms. + +float [voltage_v](#structmavsdk_1_1_winch_1_1_status_1a463d998f9f24f8cf027c9efc4519079d) {} - Voltage in volts. + +float [current_a](#structmavsdk_1_1_winch_1_1_status_1a429c06e0b58c24130a05c7a410c352f6) {} - Current in amperes. + +int32_t [temperature_c](#structmavsdk_1_1_winch_1_1_status_1a7dfd8af2b0e59381f8c66b1a5f1f1197) {} - Temperature in Celsius. + +[StatusFlags](structmavsdk_1_1_winch_1_1_status_flags.md) [status_flags](#structmavsdk_1_1_winch_1_1_status_1aee139ac0ecbae6d02f6115f64fcb1b11) {} - [Status](structmavsdk_1_1_winch_1_1_status.md) flags. + + +## Field Documentation + + +### time_usec {#structmavsdk_1_1_winch_1_1_status_1ac16c203027d78163509f1277eef6717d} + +```cpp +uint64_t mavsdk::Winch::Status::time_usec {} +``` + + +Time in usec. + + +### line_length_m {#structmavsdk_1_1_winch_1_1_status_1a32c6d3d7df9065d23ec9be034f2b05e3} + +```cpp +float mavsdk::Winch::Status::line_length_m {} +``` + + +Length of the line in meters. + + +### speed_m_s {#structmavsdk_1_1_winch_1_1_status_1aa9b42cc41e9cb6e0f0e0eb75634eeb01} + +```cpp +float mavsdk::Winch::Status::speed_m_s {} +``` + + +Speed in meters per second. + + +### tension_kg {#structmavsdk_1_1_winch_1_1_status_1a8db557ad854c3b8ed402c9fa6c3baa04} + +```cpp +float mavsdk::Winch::Status::tension_kg {} +``` + + +Tension in kilograms. + + +### voltage_v {#structmavsdk_1_1_winch_1_1_status_1a463d998f9f24f8cf027c9efc4519079d} + +```cpp +float mavsdk::Winch::Status::voltage_v {} +``` + + +Voltage in volts. + + +### current_a {#structmavsdk_1_1_winch_1_1_status_1a429c06e0b58c24130a05c7a410c352f6} + +```cpp +float mavsdk::Winch::Status::current_a {} +``` + + +Current in amperes. + + +### temperature_c {#structmavsdk_1_1_winch_1_1_status_1a7dfd8af2b0e59381f8c66b1a5f1f1197} + +```cpp +int32_t mavsdk::Winch::Status::temperature_c {} +``` + + +Temperature in Celsius. + + +### status_flags {#structmavsdk_1_1_winch_1_1_status_1aee139ac0ecbae6d02f6115f64fcb1b11} + +```cpp +StatusFlags mavsdk::Winch::Status::status_flags {} +``` + + +[Status](structmavsdk_1_1_winch_1_1_status.md) flags. + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status_flags.md b/v2.0/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status_flags.md new file mode 100644 index 00000000..e2d81a64 --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status_flags.md @@ -0,0 +1,189 @@ +# mavsdk::Winch::StatusFlags Struct Reference +`#include: winch.h` + +---- + + +[Winch](classmavsdk_1_1_winch.md) [Status](structmavsdk_1_1_winch_1_1_status.md) Flags. + + +The status flags are defined in mavlink [https://mavlink.io/en/messages/common.html#MAV_WINCH_STATUS_FLAG](https://mavlink.io/en/messages/common.html#MAV_WINCH_STATUS_FLAG). + + +Multiple status fields can be set simultaneously. Mavlink does not specify which states are mutually exclusive. + + +## Data Fields + + +bool [healthy](#structmavsdk_1_1_winch_1_1_status_flags_1a63f04e0567746c0646a9194bb1583cbd) {} - [Winch](classmavsdk_1_1_winch.md) is healthy. + +bool [fully_retracted](#structmavsdk_1_1_winch_1_1_status_flags_1a51c658b256b68a3545c58b6827ace590) {} - [Winch](classmavsdk_1_1_winch.md) line is fully retracted. + +bool [moving](#structmavsdk_1_1_winch_1_1_status_flags_1ada7685ec99d0c98b232bb53caea07b2f) {} - [Winch](classmavsdk_1_1_winch.md) motor is moving. + +bool [clutch_engaged](#structmavsdk_1_1_winch_1_1_status_flags_1a65af9160f89a0d5785654e296075ad4d) {} - [Winch](classmavsdk_1_1_winch.md) clutch is engaged allowing motor to move freely. + +bool [locked](#structmavsdk_1_1_winch_1_1_status_flags_1a371d1645c40a760ad79af898f826f171) {} - [Winch](classmavsdk_1_1_winch.md) is locked by locking mechanism. + +bool [dropping](#structmavsdk_1_1_winch_1_1_status_flags_1a2be9f17e0179da027803db8e281d9cd7) {} - [Winch](classmavsdk_1_1_winch.md) is gravity dropping payload. + +bool [arresting](#structmavsdk_1_1_winch_1_1_status_flags_1ac062b1893ba031799b1bdc15f294921f) {} - [Winch](classmavsdk_1_1_winch.md) is arresting payload descent. + +bool [ground_sense](#structmavsdk_1_1_winch_1_1_status_flags_1ac4f6d986083de3f286de279a30dca15d) {} - [Winch](classmavsdk_1_1_winch.md) is using torque measurements to sense the ground. + +bool [retracting](#structmavsdk_1_1_winch_1_1_status_flags_1a354c024b92ea68bb4403233da7ea4617) {} - [Winch](classmavsdk_1_1_winch.md) is returning to the fully retracted position. + +bool [redeliver](#structmavsdk_1_1_winch_1_1_status_flags_1a469d932faaca0ef7f090233e4da7c33b) {} - [Winch](classmavsdk_1_1_winch.md) is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING. + +bool [abandon_line](#structmavsdk_1_1_winch_1_1_status_flags_1aaa8e61dd71fd9ef079c792fdce4683ea) {} - [Winch](classmavsdk_1_1_winch.md) is abandoning the line and possibly payload. [Winch](classmavsdk_1_1_winch.md) unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold. + +bool [locking](#structmavsdk_1_1_winch_1_1_status_flags_1a66c2970228f4006dd72a40ca48ed40a3) {} - [Winch](classmavsdk_1_1_winch.md) is engaging the locking mechanism. + +bool [load_line](#structmavsdk_1_1_winch_1_1_status_flags_1aab19d12646c787b60e2658449f4b66ce) {} - [Winch](classmavsdk_1_1_winch.md) is spooling on line. + +bool [load_payload](#structmavsdk_1_1_winch_1_1_status_flags_1aa1734d72a1e9fa4d72ba9faf9d979964) {} - [Winch](classmavsdk_1_1_winch.md) is loading a payload. + + +## Field Documentation + + +### healthy {#structmavsdk_1_1_winch_1_1_status_flags_1a63f04e0567746c0646a9194bb1583cbd} + +```cpp +bool mavsdk::Winch::StatusFlags::healthy {} +``` + + +[Winch](classmavsdk_1_1_winch.md) is healthy. + + +### fully_retracted {#structmavsdk_1_1_winch_1_1_status_flags_1a51c658b256b68a3545c58b6827ace590} + +```cpp +bool mavsdk::Winch::StatusFlags::fully_retracted {} +``` + + +[Winch](classmavsdk_1_1_winch.md) line is fully retracted. + + +### moving {#structmavsdk_1_1_winch_1_1_status_flags_1ada7685ec99d0c98b232bb53caea07b2f} + +```cpp +bool mavsdk::Winch::StatusFlags::moving {} +``` + + +[Winch](classmavsdk_1_1_winch.md) motor is moving. + + +### clutch_engaged {#structmavsdk_1_1_winch_1_1_status_flags_1a65af9160f89a0d5785654e296075ad4d} + +```cpp +bool mavsdk::Winch::StatusFlags::clutch_engaged {} +``` + + +[Winch](classmavsdk_1_1_winch.md) clutch is engaged allowing motor to move freely. + + +### locked {#structmavsdk_1_1_winch_1_1_status_flags_1a371d1645c40a760ad79af898f826f171} + +```cpp +bool mavsdk::Winch::StatusFlags::locked {} +``` + + +[Winch](classmavsdk_1_1_winch.md) is locked by locking mechanism. + + +### dropping {#structmavsdk_1_1_winch_1_1_status_flags_1a2be9f17e0179da027803db8e281d9cd7} + +```cpp +bool mavsdk::Winch::StatusFlags::dropping {} +``` + + +[Winch](classmavsdk_1_1_winch.md) is gravity dropping payload. + + +### arresting {#structmavsdk_1_1_winch_1_1_status_flags_1ac062b1893ba031799b1bdc15f294921f} + +```cpp +bool mavsdk::Winch::StatusFlags::arresting {} +``` + + +[Winch](classmavsdk_1_1_winch.md) is arresting payload descent. + + +### ground_sense {#structmavsdk_1_1_winch_1_1_status_flags_1ac4f6d986083de3f286de279a30dca15d} + +```cpp +bool mavsdk::Winch::StatusFlags::ground_sense {} +``` + + +[Winch](classmavsdk_1_1_winch.md) is using torque measurements to sense the ground. + + +### retracting {#structmavsdk_1_1_winch_1_1_status_flags_1a354c024b92ea68bb4403233da7ea4617} + +```cpp +bool mavsdk::Winch::StatusFlags::retracting {} +``` + + +[Winch](classmavsdk_1_1_winch.md) is returning to the fully retracted position. + + +### redeliver {#structmavsdk_1_1_winch_1_1_status_flags_1a469d932faaca0ef7f090233e4da7c33b} + +```cpp +bool mavsdk::Winch::StatusFlags::redeliver {} +``` + + +[Winch](classmavsdk_1_1_winch.md) is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING. + + +### abandon_line {#structmavsdk_1_1_winch_1_1_status_flags_1aaa8e61dd71fd9ef079c792fdce4683ea} + +```cpp +bool mavsdk::Winch::StatusFlags::abandon_line {} +``` + + +[Winch](classmavsdk_1_1_winch.md) is abandoning the line and possibly payload. [Winch](classmavsdk_1_1_winch.md) unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold. + + +### locking {#structmavsdk_1_1_winch_1_1_status_flags_1a66c2970228f4006dd72a40ca48ed40a3} + +```cpp +bool mavsdk::Winch::StatusFlags::locking {} +``` + + +[Winch](classmavsdk_1_1_winch.md) is engaging the locking mechanism. + + +### load_line {#structmavsdk_1_1_winch_1_1_status_flags_1aab19d12646c787b60e2658449f4b66ce} + +```cpp +bool mavsdk::Winch::StatusFlags::load_line {} +``` + + +[Winch](classmavsdk_1_1_winch.md) is spooling on line. + + +### load_payload {#structmavsdk_1_1_winch_1_1_status_flags_1aa1734d72a1e9fa4d72ba9faf9d979964} + +```cpp +bool mavsdk::Winch::StatusFlags::load_payload {} +``` + + +[Winch](classmavsdk_1_1_winch.md) is loading a payload. + diff --git a/v2.0/en/cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.html b/v2.0/en/cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.html new file mode 100644 index 00000000..a5fa7d4f --- /dev/null +++ b/v2.0/en/cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.html @@ -0,0 +1,3352 @@ + + + + + + + struct GlobalCoordinate · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                                                                                                                                                                                                                                                mavsdk::geometry::CoordinateTransformation::GlobalCoordinate Struct Reference

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                                                                                                                                                                                                                                                                                                                                                                #include: geometry.h

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                                                                                                                                                                                                                                                                                                                                                                Type for global coordinate in latitude/longitude in degrees.

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                                                                                                                                                                                                                                                                                                                                                                double latitude_deg - Latitude in degrees.

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                                                                                                                                                                                                                                                                                                                                                                double longitude_deg - Longitude in degrees.

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                                                                                                                                                                                                                                                                                                                                                                Field Documentation

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                                                                                                                                                                                                                                                                                                                                                                latitude_deg

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                                                                                                                                                                                                                                                                                                                                                                double mavsdk::geometry::CoordinateTransformation::GlobalCoordinate::latitude_deg
+
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                                                                                                                                                                                                                                                                                                                                                                Latitude in degrees.

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                                                                                                                                                                                                                                                                                                                                                                longitude_deg

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                                                                                                                                                                                                                                                                                                                                                                double mavsdk::geometry::CoordinateTransformation::GlobalCoordinate::longitude_deg
+
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                                                                                                                                                                                                                                                                                                                                                                Longitude in degrees.

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                                                                                                                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                  mavsdk::geometry::CoordinateTransformation::LocalCoordinate Struct Reference

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                                                                                                                                                                                                                                                                                                                                                                  #include: geometry.h

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                                                                                                                                                                                                                                                                                                                                                                  Type for local coordinate relative to reference in meters.

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                                                                                                                                                                                                                                                                                                                                                                  double north_m - Position in North direction in meters.

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                                                                                                                                                                                                                                                                                                                                                                  double east_m - Position in East direction in meters.

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                                                                                                                                                                                                                                                                                                                                                                  Field Documentation

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                                                                                                                                                                                                                                                                                                                                                                  north_m

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                                                                                                                                                                                                                                                                                                                                                                  double mavsdk::geometry::CoordinateTransformation::LocalCoordinate::north_m
+
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                                                                                                                                                                                                                                                                                                                                                                  Position in North direction in meters.

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                                                                                                                                                                                                                                                                                                                                                                  east_m

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                                                                                                                                                                                                                                                                                                                                                                  double mavsdk::geometry::CoordinateTransformation::LocalCoordinate::east_m
+
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                                                                                                                                                                                                                                                                                                                                                                  Position in East direction in meters.

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                                                                                                                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                    mavsdk::overloaded Struct Reference

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                                                                                                                                                                                                                                                                                                                                                                    #include: plugin_base.h

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                                                                                                                                                                                                                                                                                                                                                                    Creates an overloaded callable object from multiple other callables.

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                                                                                                                                                                                                                                                                                                                                                                    This template class allows to combine multiple callable objects into one overloaded callable object, that can handle different types of parameters. For example:

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                                                                                                                                                                                                                                                                                                                                                                    overloaded { { LogErr() << "Got an unexpected type"; }, { LogDebug() << "Got an expected type"; } }((uint32_t) 100);

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                                                                                                                                                                                                                                                                                                                                                                    This is especially useful for creating callback functions to handle different parameter types

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                                                                                                                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                      Autogeneration

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                                                                                                                                                                                                                                                                                                                                                                      MAVSDK is available in a number of different languages. +These all share the same "core" MAVLink implementation (written in C++), but almost all of the API-specific code for other languages is autogenerated from API definition files (and language-specific templates).

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      This approach means that we don't have to maintain a separate MAVLink implementation or API for each language. +New features are implemented (just once) in C++, and are then automatically available in Python, Java, etc.

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      This page provides an overview of the architecture and explains how to add a feature using the autogeneration.

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      Overview

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      The common MAVLink implementation is written in C++ (it is part of MAVSDK-C++). +The mavsdk_server exposes the MAVSDK-C++ API over gRPC to the language bindings. +The API for all languages is autogenerated from a single common definition.

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      MAVSDK structure/architecture

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      The following parts are autogenerated:

                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                      • MAVSDK-C++ API (i.e. header files)
                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                      • Most of mavsdk_server
                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                      • Most of the language bindings
                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      Those parts are maintained manually:

                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                      • MAVSDK-C++ implementation (i.e. the MAVLink business logic)
                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                      • New plugins need to be added to mavsdk_server (this may be automated in future)
                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                      • The System wrapper in language bindings usually needs to be updated whenever a new plugin is added (this may be automated in future)
                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      The heart of the autogeneration system is the MAVSDK-Proto repository which is described below.

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      Autogeneration Mechanisms

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      The autogeneration pipeline is shown below:

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      Autogeneration pipeline

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      The main parts are:

                                                                                                                                                                                                                                                                                                                                                                      + +

                                                                                                                                                                                                                                                                                                                                                                      protoc takes the custom plugin (protoc-gen-mavsdk) and the template files as inputs, and generate source code out of it. +The way it currently works is that it generates one source file out of each *.proto file. For instance, action.proto becomes Action.java in MAVSDK-Java.

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      In some languages (typically C++), we need to generate multiple source files out of one proto definition file, and this is the reason why the C++ generation script runs protoc in multiple passes, once for each template (e.g. "templates/plugin_h" defines the templates to generate action.h, telemetry.h, ..., and "templates/plugin_cpp" is responsible for action.cpp, telemetry.cpp, ...).

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      All the MAVSDK repositories contain some kind of generate_from_proto.sh file, and a templates/ directory:

                                                                                                                                                                                                                                                                                                                                                                      + +

                                                                                                                                                                                                                                                                                                                                                                      Adding a New Feature

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      When adding a new feature to MAVSDK it is important to think first about the API that is required, and later about the implementation needed to enable the feature. This is not only because MAVSDK strives to have a simple and safe API but also comes from the fact that a new feature needs to be defined in the API first and can then be implemented (using the autogenerated files) in a later step.

                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                      To add a new feature, follow the steps on how to write plugins.

                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                        Contributing to Documentation

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        Making quick fixes to existing text or raising issues is very easy. +More complicated changes will require you to set up the Gitbook toolchain. +If you want to help, get in touch.

                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        You will need a Github login to make and submit changes to this guide.

                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        Overview

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        This guide is written in markdown wiki syntax and stored in the Github mavlink/MAVSDK-docs repo. +The book is hosted on Gitbook.com and is automatically rebuilt whenever the master branch of the repo is updated. +You can also rebuild it locally using the Gitbook toolchain.

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        The API Reference section is compiled from source code into markdown using a separate toolchain and then copied into Github. +Updates to the reference should be made in the source code repository (see API Reference below for more information).

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        The guide is licensed under CC BY 4.0 - if you make any changes then they will be made available under the same license.

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        Making a Quick Fix

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        Simple fixes to an existing page can be made directly on Github:

                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                        1. Click the Edit button in the top toolbar to open the page

                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                          Edit page

                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                          2. +

                                                                                                                                                                                                                                                                                                                                                                        2. Make required changes in the editor section near the top of the page.

                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                          3. +

                                                                                                                                                                                                                                                                                                                                                                        3. At the bottom of the page, add a comment and select the second radio button to create a new branch.

                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                          Edit page

                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                          4. +

                                                                                                                                                                                                                                                                                                                                                                        4. Follow the on-screen instructions to create a pull request with your change.

                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                          5. +
                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        Raising an Issue

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        To raise an issue against the documentation:

                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                        1. Open the page with problem content.
                                                                                                                                                                                                                                                                                                                                                                          2. +

                                                                                                                                                                                                                                                                                                                                                                        2. Click the Bug button in the top toolbar.

                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                          Raise bug

                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                          This will open a bug in Github, seeded with the URL/name for the current page.

                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                          3. +
                                                                                                                                                                                                                                                                                                                                                                        3. Enter enough information for someone to understand the problem, and ideally to fix it.
                                                                                                                                                                                                                                                                                                                                                                          4. +
                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        Making a Big Change

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        If you want to make more significant changes or additions to the documentation you will need to set up Git and the Gitbook toolchain (this allows you to render the documentation and check that links work).

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        For setup information see: Gitbook toolchain.

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        API Reference

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        The C++ source code is annotated using comments using Doxygen syntax. +You can extract the documentation to markdown files (one per class) on macOS or Linux using the instructions in Build API Reference Documentation.

                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                        In order to include new API reference in the SDK Documentation it must be manually added to the Github repository:

                                                                                                                                                                                                                                                                                                                                                                        + +
                                                                                                                                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                          Contributing

                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                          MAVSDK welcomes contributions! +If you want to help or have suggestions/bug reports please get in touch with the development team.

                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                          This section contains pointers how to add functionality and write your own plugins, as well as how the auto-generation works.

                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                          Also see the FAQ for answers to common questions about the library.

                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                            Writing Plugins

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            MAVSDK-C++ is split into a core and multiple independent plugins.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Plugins that are located in the correct location (a subfolder of /plugins) and have the correct structure are built at compile time. +The CMakeLists.txt takes care of including the plugin folders and integration tests.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Plugin Architecture

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Plugins should be written so that they are independent of each other (they will still need to be dependent on the core source). +This allows plugins to be removed/replaced as needed at the cost of some duplicated functionality across the plugin modules.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The code for each plugin (and its unit test if one has been defined) is stored in a sub-folder of the plugins directory. +Integration tests for all plugins in the library are stored in integration_tests.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            A simplified view of the folder structure is shown below:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            ├── MAVSDK
+│   └── src
+│       ├── integration_tests
+│       ├── mavsdk_server
+│       └── mavsdk
+│           ├── core
+│           └── plugins
+│               ├── action
+│               ├── ...
+│               └── tune
+

                                                                                                                                                                                                                                                                                                                                                                            Each plugin must have the same files/structure, as shown for the "example" plugin below.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            └── plugins
+    └── example
+        ├── CMakeLists.txt
+        ├── example.cpp
+        ├── example.h
+        ├── example_impl.cpp
+        ├── example_impl.h
+        └── example_foo_test.cpp  ##optional
+

                                                                                                                                                                                                                                                                                                                                                                            Auto-generation

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            In order to support various language wrappers around MAVSDK without having to write the same things multiple times, once for every language, we opted to use auto-generation as much as possible. +The APIs are defined as proto definitions.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            From that, several parts are auto-generated, such as:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                            • Language wrappers based on gRPC client (formerly called frontend)
                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                            • gRPC mavsdk_server in C++ (formerly called backend)
                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                            • Plugin C++ headers defining the API.
                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Looking at the plugin structure again, this means that some of the files are auto-generated:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            └── plugins
+    └── example
+        ├── CMakeLists.txt       # auto-generated
+        ├── example.cpp          # auto-generated
+        ├── example.h            # auto-generated
+        ├── example_impl.cpp     # hand-written (can initially be generated)
+        ├── example_impl.h       # hand-written (can initially be generated)
+        └── example_foo_test.cpp  # optional
+

                                                                                                                                                                                                                                                                                                                                                                            Create a Plugin

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            To create a new plugin do not copy an existing one, instead follow the steps below:

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Think about public API

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Before writing the API, take a step back and think what a user of it needs and expect, rather than what MAVLink already provides.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Generally, MAVSDK APIs ought to be:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                            • Simple and easy to use.
                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                            • Reduced to the essentials; no functionality that is not actually implemented/supported should be exposed.
                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                            • Clearly named and if possible without too much drone jargon and acronyms.
                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                            • Abstracted from the MAVLink implementation and therefore to provide specific functionality instead of just forwarding direct MAVLink.
                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            This advice is important if you are planning to contribute the new plugin back and would like it to get accepted and merged. +We are convinced it is also applicable for internal development but - of course - that's up to you.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            About proto structure

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            There are a couple of different API types supported for MAVSDK plugins.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Requests:

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            A request is a simple one time call with a response. An example would be the takeoff command of the action plugin:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            service ActionService {
+    rpc Takeoff(TakeoffRequest) returns(TakeoffResponse) {}
+    // all other services
+}
+
+message TakeoffRequest {}
+message TakeoffResponse {
+    ActionResult action_result = 1;
+}
+

                                                                                                                                                                                                                                                                                                                                                                            In this case the request has no argument and no return value except the result but this can vary, e.g. for getters and setters:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            service ActionService {
+    rpc GetReturnToLaunchAltitude(GetReturnToLaunchAltitudeRequest) returns(GetReturnToLaunchAltitudeResponse) {}
+    rpc SetReturnToLaunchAltitude(SetReturnToLaunchAltitudeRequest) returns(SetReturnToLaunchAltitudeResponse) {}
+    // all other services
+}
+
+message GetReturnToLaunchAltitudeRequest {}
+message GetReturnToLaunchAltitudeResponse {
+    ActionResult action_result = 1;
+    float relative_altitude_m = 2;
+}
+
+message SetReturnToLaunchAltitudeRequest {
+    float relative_altitude_m = 1;
+}
+message SetReturnToLaunchAltitudeResponse {
+    ActionResult action_result = 1;
+}
+
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Requests can defined SYNC, ASYNC, or BOTH using option (mavsdk.options.async_type) = ...;. + The choice depends on the functionality that is being implemented and how it would generally be used. + There are no hard rules, it's something that makes sense to be discussed one by one in a pull request. + The default implementation is BOTH.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Subscriptions:

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            A subscription is triggered once and will then continuously send responses as a stream. An example would be a the position information of the telemetry plugin:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            service TelemetryService {
+    rpc SubscribePosition(SubscribePositionRequest) returns(stream PositionResponse) {}
+    // all other services
+}
+
+
+message SubscribePositionRequest {}
+message PositionResponse {
+    Position position = 1;
+}
+
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Subscriptions also can defined SYNC, ASYNC, or BOTH using option (mavsdk.options.async_type) = ...;. + The sync implementation of a subscription is just a getter for the last received value.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Note Subscriptions can be defined finite using option (mavsdk.options.is_finite) = true;. + This means that the stream of messages will end at some point instead of continuing indefinitely. An example would be progress updates about a calibration which eventually finishes.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Add API to proto

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The first step should be to define the user API in the proto repository. +This repository is part of the MAVSDK as a submodule in the proto/ directory.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            You usually want to work from master in the proto/ directory, and then create a feature branch with your additions:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            cd proto
+git switch main
+git pull
+git switch -c my-new-plugin
+cd ../
+

                                                                                                                                                                                                                                                                                                                                                                            Now you can add a folder with your proto file (or copy an existing one and rename it) and draft the API.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Once the API is defined, it makes sense to commit the changes, push them and make a pull request to MAVSDK-Proto to get feedback from the MAVSDK maintainers.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Generate .h and .cpp files

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Once the proto file has been created, you can generate all files required for the new plugin.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                            1. Run the configure step to prepare the tools required:
                                                                                                                                                                                                                                                                                                                                                                              cmake -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
+
                                                                                                                                                                                                                                                                                                                                                                              2. +
                                                                                                                                                                                                                                                                                                                                                                            2. Install protoc_gen_mavsdk which is required for the auto-generation:
                                                                                                                                                                                                                                                                                                                                                                              pip3 install --user protoc_gen_mavsdk  # Or however you install pip packages
+
                                                                                                                                                                                                                                                                                                                                                                              3. +
                                                                                                                                                                                                                                                                                                                                                                            3. Run the auto-generation:
                                                                                                                                                                                                                                                                                                                                                                              tools/generate_from_protos.sh
+
                                                                                                                                                                                                                                                                                                                                                                              4. +
                                                                                                                                                                                                                                                                                                                                                                            4. Fix style after auto-generation:
                                                                                                                                                                                                                                                                                                                                                                              tools/fix_style.sh .
+
                                                                                                                                                                                                                                                                                                                                                                              5. +
                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            the files my_new_plugin.h and my_new_plugin.cpp are generated and overwritten every time the script is run. + However, the files my_new_plugin_impl.h and my_new_plugin_impl.cpp are only generated once. + To re-generate them, delete them and run the script again. + This approach is used to prevent the script from overwriting your local changes.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            + +

                                                                                                                                                                                                                                                                                                                                                                            You can now add the actual "business logic" which is usually sending and receiving MAVLink messages, waiting for timeouts, etc. +All implementation goes into the files my_new_plugin_impl.h and my_new_plugin_impl.cpp or additional files for separate classes required.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            You can also add unit tests with unittest_source_files, as discussed below.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The standard plugins can be reviewed for guidance on +how to write plugin code, including how to send and process MAVLink messages.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Plugin Code

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Plugin Base Class

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            All plugins should derive their implementation from PluginImplBase (core/plugin_impl_base.h) and override virtual methods as needed.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Plugin Enable/Disable

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The SDK provides virtual methods that a plugin should implement to allow the core to better manage resources. +For example, to prevent callback being created before the System is instantiated, or messages being sent when a vehicle is not connected.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Plugin authors should provide an implementation of the following PluginImplBase pure virtual methods:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                            • init()/deinit(): These are called when a system is created and just before it is destroyed. These should be used for setting up and cleaning everything that depends on having the System instantiated. This includes calls that set up callbacks.
                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                            • enable()/disable(): These are called when a vehicle is discovered or has timed out. They should be used for managing resources needed to access a connected system/vehicle (e.g. getting a parameter or changing a setting).
                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Additional detail is provided for methods below.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            init()
                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            virtual void init() = 0
+
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The init() method is called when a plugin is instantiated. +This happens when a System is constructed (this does not mean that the system actually exists and is connected - it might just be an empty dummy system).

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Plugins should do initialization steps with other parts of the SDK at this state, e.g. set up callbacks with _parent (DeviceImpl).

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            deinit()
                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            virtual void deinit() = 0
+
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The deinit() method is called before a plugin is destroyed. This usually happens only at the very end, when a MAVSDK instance is destroyed.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Plugins should cleanup anything that was set up during init().

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            enable()
                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            virtual void enable() = 0
+
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The enable() method is called when a system is discovered (connected). +Plugins should do all initialization/configuration steps that require a system to be connected. +For example, setting/getting parameters.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            If any threads, call_every or timeouts are needed, they can be started in this method.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            disable()
                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            virtual void disable() = 0
+
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The disable() method is called when a system has timed out. +The method is also called before deinit() is called to stop any systems with active plugins from communicating (in order to prevent warnings and errors because communication to the system no longer works).

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            If any threads, call_every, or timeouts are running, they should be stopped in this method.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Test Code

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Tests must be created for all new and updated plugin code. +The tests should be exhaustive, and cover all aspects of using the plugin API.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The Google Test Primer +provides an excellent overview of how tests are written and used.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Writing Unit Tests

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Most of the existing plugins do not have unit tests, +because we do not yet have the ability to mock MAVLink communications (needed to test most plugins). +Unit tests are therefore considered optional!

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Comprehensive integration tests should be written instead, with the simulator providing appropriate MAVLink messages.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Adding Unit Tests

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Unit test files are stored in the same directory as their associated source code.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            In order to include a test in the SDK unit test program (unit_tests_runner), +it must be added to the UNIT_TEST_SOURCES variable in the plugin CMakeLists.txt file.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            For example, to add the example_foo_test.cpp unit test you would +append the following lines to its CMakeLists.txt:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            list(APPEND UNIT_TEST_SOURCES
+    ${CMAKE_SOURCE_DIR}/src/plugins/mission/example_foo_test.cpp
+)
+set(UNIT_TEST_SOURCES ${UNIT_TEST_SOURCES} PARENT_SCOPE)
+
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Unit Test Code

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Unit tests typically include the file to be tested, mavsdk.h, and gtest.h. +There are no standard shared test unit resources so test functions are declared using TEST. +All tests in a file should share the same test-case name (the first argument to TEST).

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Writing Integration Tests

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            MAVSDK provides the integration_tests_runner application for running the integration tests and some helper code to make it easier to log tests and run them against the simulator.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Check out the Google Test Primer +and the integration_tests +for our existing plugins to better understand how to write your own!

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Adding Integration Tests

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            In order to run an integration test it needs to be added to the integration_tests_runner program.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Integration tests for core functionality and plugins delivered by the project +are stored in MAVSDK/src/integration_tests. +The files are added to the test program in that folder's +CMakeLists.txt file:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            # This includes all GTests that run integration tests
+add_executable(integration_tests_runner
+    ../core/unittests_main.cpp
+    simple_connect.cpp
+    async_connect.cpp
+    telemetry_simple.cpp
+    ...
+    gimbal.cpp
+    transition_multicopter_fixedwing.cpp
+    follow_me.cpp
+)
+
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Integration Test Files/Code

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The main MAVSDK-specific functionality is provided by integration_test_helper.h. +This provides access to the Plugin/Test Logger and a shared test class SitlTest for setting up and tearing down the PX4 simulator.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            All tests running against SITL can be declared using TEST_F and have a first argument SitlTest as shown. + This is required in order to use the shared class to set up and tear down the simulator between tests.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            For reference inspect the existing integration tests.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Example Code

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            It is quicker and easier to write and modify integration tests than examples. +Do not write example code until the plugin has been accepted!

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            A simple example should be written that demonstrates basic usage of its API by 3rd parties. +The example need not cover all functionality, but should demonstrate enough that developers can see how it is used and how the example might be extended.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Where possible examples should demonstrate realistic use cases such that the code can usefully be copied and reused by external developers.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Documentation

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            In-Source Comments

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The public API must be fully documented using the proto files.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The in-source comments will be compiled to markdown and included in the API Reference. +The process is outlined in Documentation > API Reference.

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Internal/implementation classes need not be documented, but should be written using expressive naming of variables and functions to help the reader. +Anything unexpected or special however warrants an explanation as a comment.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Example Code Documentation

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The plugin example should be documented in markdown following the same pattern as the existing examples.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Generally this involves explaining what the example does and displaying the source. +The explanation of how the code works is usually deferred to guide documentation.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Guide Documentation

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            Ideally, guide documentation should be created. This should be based on example code.

                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                            The purpose of the guide is to:

                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                            • Show how different parts of the API can be used together
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                                                                                                                                                                                                                                                                                                                                                                            • Highlight usage patterns and limitations that may not be obvious from API reference
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                                                                                                                                                                                                                                                                                                                                                                            • Provide code fragments that can easily be reused
                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                              Make MAVSDK Release

                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                              These are the instructions on how to get a release out the door.

                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                              The idea is of course to automate this as much as possible!

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                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                              MAVSDK part

                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                              1. Check if all open pull requests are merged that need to go in.
                                                                                                                                                                                                                                                                                                                                                                                2. +
                                                                                                                                                                                                                                                                                                                                                                              2. Check that CI on main passed.
                                                                                                                                                                                                                                                                                                                                                                                3. +
                                                                                                                                                                                                                                                                                                                                                                              3. Create tag in main:
                                                                                                                                                                                                                                                                                                                                                                                git switch main
+git pull
+git tag vX.Y.Z
+git push origin vX.Y.Z
+
                                                                                                                                                                                                                                                                                                                                                                                4. +
                                                                                                                                                                                                                                                                                                                                                                                4. +
                                                                                                                                                                                                                                                                                                                                                                                • Generate changelog using tools/generate_changelog.py --token TOKEN_FROM_GITHUB --verbose --tag vX.Y.Z.
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • If it finds old/wrong PRs, wait a bit or create the release from the tag in the GitHub UI.
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • Once it finds the correct PRs it will check all of them for labels. Make sure all merged PRs have sensible labels (e.g. enhancement, bug, or feature).
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • Copy the changelog text to the release.
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                5. +
                                                                                                                                                                                                                                                                                                                                                                              5. Check later if all artifacts have been uploaded correctly to the release.
                                                                                                                                                                                                                                                                                                                                                                                6. +
                                                                                                                                                                                                                                                                                                                                                                              6. Update the Arch AUR repository. This depends on the AUR maintainter's credentials (currently julianoes).
                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                • Use the repo: ssh://aur@aur.archlinux.org/mavsdk.git.
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • Bump the version in pkgver=X.Y.Z.
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • Check PKGBUILD: namcap PKGBUILD.
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • Try to make pkg: makepkg.
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • Update .SRCINFO: makepkg --printsrcinfo > .SRCINFO.
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • Commit and push.
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                7. +
                                                                                                                                                                                                                                                                                                                                                                              7. Update the brew repo. Steps for macOS:
                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                • export HOMEBREW_GITHUB_API_TOKEN=<GITHUB API TOKEN>
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • brew bump-formula-pr mavsdk --tag=vX.Y.Z --revision=<GIT HASH>
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • This should then open the browser with the pull request already created.
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                8. +
                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                              MAVSDK-docs part

                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                              1. Generate the docs and update the reference docs.
                                                                                                                                                                                                                                                                                                                                                                                2. +
                                                                                                                                                                                                                                                                                                                                                                              2. Check or update the examples in the docs.
                                                                                                                                                                                                                                                                                                                                                                                3. +
                                                                                                                                                                                                                                                                                                                                                                              3. Create a branch off main for the release
                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                • Create the branch
                                                                                                                                                                                                                                                                                                                                                                                  git switch main
+git pull
+git switch -c vX.Y
+
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • Modify book.json in the vX.Y branch to change the value of github_branch to match the new branch: "github_branch": "vX.Y"
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                • Push the branch to the upstream repo
                                                                                                                                                                                                                                                                                                                                                                                  git push origin vX.Y
+
                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                4. +
                                                                                                                                                                                                                                                                                                                                                                              4. Add the branch to the version checker in main branch book.json (see pattern below versions).
                                                                                                                                                                                                                                                                                                                                                                                5. +
                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                              Other

                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                              1. Post a note on Slack #mavsdk.
                                                                                                                                                                                                                                                                                                                                                                                2. +
                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                MAVLink
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                                                                                                                                                                                                                                                                                                                                                                                Example: Autopilot Server

                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                The Autopilot Server example creates two instances of MAVSDK, representing a client (GCS) and a server (Vehicle). +The MAVSDK instances communicates with each other via UDP transmitting telemetry, publishing parameters, missions and takeoff commands.

                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                This example shows how to use MAVSDK Server Plugins! +This is a good starting point if you are looking to implement MAVLink services to a non-MAVLink compatible system.

                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                Running the Example

                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                The example is built and run in the normal way (as described here).

                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                The example terminal output should be similar to that shown below:

                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                This is from a debug build of the SDK. + A release build will omit the "Debug" messages.

                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                $ ./autopilot_server
+
                                                                                                                                                                                                                                                                                                                                                                                [04:44:24|Info ] MAVSDK version: v0.44.0 (mavsdk_impl.cpp:29)
+[04:44:24|Info ] MAVSDK version: v0.44.0 (mavsdk_impl.cpp:29)
+Connected!
+[04:44:24|Error] Sending message failed (mavsdk_impl.cpp:278)
+[04:44:24|Debug] Initializing connection to remote system... (mavsdk_impl.cpp:473)
+Connected autopilot server side!
+Sleeping thread 
+[04:44:24|Info ] New system on: 127.0.0.1:40799 (with sysid: 1) (udp_connection.cpp:194)
+[04:44:24|Debug] New: System ID: 1 Comp ID: 1 (mavsdk_impl.cpp:475)
+[04:44:24|Debug] Component Autopilot (1) added. (system_impl.cpp:372)
+[04:44:24|Debug] New: System ID: 245 Comp ID: 190 (mavsdk_impl.cpp:222)
+[04:44:24|Debug] Component Unsupported component (190) added. (system_impl.cpp:372)
+[04:44:25|Debug] Discovered 1 component(s) (system_impl.cpp:520)
+Discovered Autopilot from Client
+[04:44:25|Debug] Autopilot Capabilities Request (system_impl.cpp:297)
+Setting System
+MissionRawServer created
+[04:44:35|Debug] Setting interval for msg id: 245 interval_ms:1000 (telemetry_server_impl.cpp:38)
+[04:44:35|Debug] Request Param CAL_GYRO0_ID (mavlink_parameters.cpp:756)
+[04:44:35|Debug] Request Param CAL_ACC0_ID (mavlink_parameters.cpp:756)
+[04:44:35|Debug] Request Param CAL_MAG0_ID (mavlink_parameters.cpp:756)
+[04:44:35|Debug] Request Param SYS_HITL (mavlink_parameters.cpp:756)
+[04:44:40|Warn ] command unsupported (512). (mavlink_commands.cpp:205)
+[04:44:41|Debug] Falling back to gimbal protocol v1 (mission_impl.cpp:131)
+[04:44:45|Debug] Request Param my_param (mavlink_parameters.cpp:756)
+Found Param my_param: 1
+Creating Mission
+Uploading mission...
+SystemID1
+[04:44:45|Debug] Receive Mission Count in Server (mission_raw_server_impl.cpp:150)
+Received Uploaded Mission!
+mission_plan:
+{
+    mission_items: [mission_item:
+{
+    seq: 0
+    frame: 6
+    command: 16
+    current: 1
+    autocontinue: 1
+    param1: 0.5
+    param2: 1
+    param3: 0
+    param4: nan
+Mission uploaded.    x: 
+473981703
+    y: 85456490
+    z: 10
+    mission_type: 0
+}, mission_item:
+{
+    seq: 1
+    frame: 2
+    command: 178
+    current: 0
+    autocontinue: 1
+    param1: 1
+    param2: 5
+    param3: -1
+    param4: 0
+    x: 0
+    y: 0
+    z: nan
+    mission_type: 0
+}, mission_item:
+{
+    seq: 2
+    frame: 2
+    command: 204
+    current: 0
+    autocontinue: 1
+    param1: 2
+    param2: 0
+    param3: 0
+    param4: 1
+    x: 0
+    y: 0
+    z: 2
+    mission_type: 0
+}, mission_item:
+{
+    seq: 3
+    frame: 2
+    command: 205
+    current: 0
+    autocontinue: 1
+    param1: 20
+    param2: 0
+    param3: 60
+    param4: nan
+    x: 0
+    y: 0
+    z: 2
+    mission_type: 0
+}]
+}
+Current Item Changed!
+Current Item: mission_item:
+{
+    seq: 0
+    frame: 6
+    command: 16
+    current: 1
+    autocontinue: 1
+    param1: 0.5
+    param2: 1
+    param3: 0
+    param4: nan
+    x: 473981703
+    y: [8545649004:44:45|Debug] 
+    z: 10
+    mission_type: 0
+}
+current: 0, total: 1Current Item Changed! (
+Current Item: mission_item:
+{
+mission_impl.cpp    seq: 1
+    frame: 2
+    command: 178
+    current: 0
+    autocontinue: 1
+    param1: :1839)
+Current: 0
+Total: 1
+
+    param2: 5
+    param3: -1
+    param4: 0
+    x: 0
+    y: 0
+    z: nan
+    mission_type: 0
+}
+[Current Item Changed!
+Current Item: mission_item:
+{
+    seq: 2
+    frame: 2
+    command: 204
+    current: 0
+    autocontinue: 1
+    param1: 2
+    param2: 0
+    param3: 0
+    param4: 1
+    x: 0
+    y: 0
+    z: 2
+    mission_type: 0
+}
+Current Item Changed!
+Current Item: mission_item:
+{
+    seq: 3
+    frame: 2
+    command: 205
+    current: 0
+    autocontinue: 1
+    param1: 20
+    param2: 0
+    param3: 60
+    param4: nan
+    x: 0
+    y: 0
+    z: 2
+    mission_type: 0
+}
+Current Item Changed!
+Current Item: mission_item:
+{
+    seq: 0
+    frame: 6
+    command: 16
+    current: 1
+    autocontinue: 1
+    param1: 0.5
+    param2: 1
+    param3: 0
+    param4: nan
+    x: 473981703
+    y: 85456490
+    z: 10
+    mission_type: 0
+}
+04:44:45|Debug] current: 1, total: 1 (mission_impl.cpp:839)
+Current: 1
+Total: 1
+Clear All Mission!
+Clear Mission Request
+[04:45:05|Debug] Setting interval for msg id: 33 interval_ms:1000 (telemetry_server_impl.cpp:38)
+Arming...
+Altitude: 0 m
+[04:45:05|Debug] Set Param Request: MIS_TAKEOFF_ALT (mavlink_parameters.cpp:724)
+Taking off...
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+...
+

                                                                                                                                                                                                                                                                                                                                                                                How it works

                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                By creating two MAVSDK instances on separate threads, configuring them and then using different plugins on each, we are able to create a full MAVLink system (GCS <-> Vehicle) +in one program.

                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                Each plugin (and it's respective server plugin) implements a particular MAVLink service. +By utilising the server plugins and client plugins we are able to create a full MAVLink +system, without the need for a separate external autopilot.

                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                Source code

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                                                                                                                                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                  Example: Fly Mission

                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                  The Fly Mission example shows how to create, upload, and run, pause, and restart missions using the SDK.

                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                  Fly Mission QGC Screenshot

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                                                                                                                                                                                                                                                                                                                                                                                  Running the Example

                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                  The example is built and run in the normal way (as described here).

                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                  The example terminal output should be similar to that shown below:

                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                  This is from a debug build of the SDK. + A release build will omit the "Debug" messages.

                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                  $ ./fly_mission udp://:14540
+
                                                                                                                                                                                                                                                                                                                                                                                  Waiting to discover system...
+[09:36:08|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)
+[09:36:08|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:292)
+[09:36:08|Debug] Component Autopilot added. (system_impl.cpp:339)
+[09:36:08|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-07-09/1 (system_impl.cpp:277)
+[09:36:09|Debug] Found 1 component(s). (system_impl.cpp:466)
+[09:36:09|Debug] Discovered 4294967298 (system_impl.cpp:468)
+Discovered system with UUID: 4294967298
+Waiting for system to be ready
+System ready
+Creating and uploading mission
+Uploading mission...
+[09:36:10|Debug] Send mission item 0 (mission_impl.cpp:898)
+[09:36:10|Debug] Send mission item 1 (mission_impl.cpp:898)
+...
+[09:36:10|Debug] Send mission item 19 (mission_impl.cpp:898)
+[09:36:10|Debug] Send mission item 20 (mission_impl.cpp:898)
+[09:36:10|Debug] Send mission item 21 (mission_impl.cpp:898)
+[09:36:10|Debug] Send mission item 22 (mission_impl.cpp:898)
+[09:36:10|Info ] Mission accepted (mission_impl.cpp:163)
+Mission uploaded.
+Arming...
+[09:36:10|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:277)
+Armed.
+Starting mission.
+Started mission.
+Mission status update: 0 / 6
+[09:36:10|Debug] MAVLink: info: Executing Mission (system_impl.cpp:277)
+[09:36:10|Debug] MAVLink: info: Takeoff to 10.0 meters above home. (system_impl.cpp:277)
+[09:36:10|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:277)
+Mission status update: 0 / 6
+Mission status update: 0 / 6
+Mission status update: 1 / 6
+...
+Mission status update: 1 / 6
+Mission status update: 2 / 6
+Mission status update: 2 / 6
+Pausing mission...
+Mission paused.
+[09:36:28|Debug] MAVLink: critical: MANUAL CONTROL LOST (at t=41381ms) (system_impl.cpp:277)
+[09:36:28|Debug] MAVLink: info: MANUAL CONTROL REGAINED after 541ms (system_impl.cpp:277)
+Resuming mission...
+Resumed mission.
+Mission status update: 2 / 6
+...
+Mission status update: 2 / 6
+Mission status update: 3 / 6
+...
+Mission status update: 3 / 6
+Mission status update: Mission status update: 44 / 6 / 6
+
+Mission status update: 4 / 6
+...
+Mission status update: 4 / 6
+Mission status update: 5 / 6
+...
+Mission status update: 5 / 6
+[09:37:00|Debug] MAVLink: info: Mission finished, loitering. (system_impl.cpp:277)
+Mission status update: 6 / 6
+Commanding RTL...
+Commanded RTL.
+[09:37:01|Debug] MAVLink: info: RTL HOME activated (system_impl.cpp:277)
+[09:37:01|Debug] MAVLink: info: RTL: climb to 518 m (31 m above home) (system_impl.cpp:277)
+[09:37:09|Debug] MAVLink: info: RTL: return at 518 m (31 m above home) (system_impl.cpp:277)
+[09:37:16|Debug] MAVLink: info: RTL: descend to 493 m (5 m above home) (system_impl.cpp:277)
+[09:37:41|Debug] MAVLink: info: RTL: loiter 5.0s (system_impl.cpp:277)
+[09:37:46|Debug] MAVLink: info: RTL: land at home (system_impl.cpp:277)
+[09:37:56|Debug] MAVLink: info: Landing detected (system_impl.cpp:277)
+[09:37:59|Debug] MAVLink: info: DISARMED by auto disarm on land (system_impl.cpp:277)
+Mission status update: 6 / 6
+Disarmed, exiting.
+

                                                                                                                                                                                                                                                                                                                                                                                  How it works

                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                  The operation of most of this code is discussed in the guide: Missions.

                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                  Source code

                                                                                                                                                                                                                                                                                                                                                                                  + +
                                                                                                                                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                    Example: Follow Me Mode

                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                    This example demonstrates how to use the Follow Me plugin. +It shows how to send the drone both the current position of the target (FollowMe::TargetLocation) and the relative position at which it should follow (FollowMe::Config).

                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                    Follow Me QGC Screenshot

                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                    A real application using this API will get the position information from the underlying operating system. + The example uses a fake position source (FakeLocationProvider) to enable it to be run on computers that do not have position information. + The FakeLocationProvider emulates the typical usage of common positioning APIs used in Android, Linux and iPhone.

                                                                                                                                                                                                                                                                                                                                                                                    +
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                                                                                                                                                                                                                                                                                                                                                                                    Running the Example

                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                    Special notes for this example:

                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                    • Before running this example you will need to install Boost libraries. For Linux this is done as shown below:
                                                                                                                                                                                                                                                                                                                                                                                      sudo apt-get install libboost-all-dev
+
                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                    • To use QGroundControl with this example you must ensure that GSC Position Streaming is disabled (otherwise QGC and the SDK will both send position updates and they will conflict). +To do this use the latest QGC Daily Build and ensure that the Application Setting > General > Miscellaneous > Stream GCS Position is set to Never.
                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                    Otherwise the example is built and run in the normal way (as described here).

                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                    The example terminal output should be similar to that shown below:

                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                    This is from a debug build of the SDK. + A release build will omit the "Debug" messages.

                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                    $ ./follow_me udp://:14540
+
                                                                                                                                                                                                                                                                                                                                                                                    [01:55:59|Info ] DronecodeSDK version: 0.2.8 (dronecode_sdk_impl.cpp:25)
+Wait for system to connect via heartbeat
+[01:55:59|Info ] New device on: 127.0.0.1:14580 (udp_connection.cpp:200)
+[01:55:59|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:286)
+[01:55:59|Debug] Component Autopilot added. (system_impl.cpp:335)
+[01:56:00|Debug] Found 1 component(s). (system_impl.cpp:462)
+[01:56:00|Debug] Discovered 4294967298 (system_impl.cpp:464)
+Waiting for system to be ready
+...
+Waiting for system to be ready
+System is ready
+Armed
+[01:56:07|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:273)
+In Air...
+[01:56:07|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:273)
+[01:56:07|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:273)
+[01:56:07|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:273)
+[FlightMode: Takeoff] Vehicle is at: nan, nan degrees.
+[FlightMode: Takeoff] Vehicle is at: nan, nan degrees.
+[FlightMode: Hold] Vehicle is at: nan, nan degrees.
+[01:56:12|Debug] Waiting for the system confirmation of the new configuration.. (follow_me_impl.cpp:81)
+[FlightMode: FollowMe] Vehicle is at: nan, nan degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54563 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54567 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.5457 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54574 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54577 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54581 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54588 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54592 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54592 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54588 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54581 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54577 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54574 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.5457 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54567 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54563 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54563 degrees.
+waiting until landed
+[01:56:53|Debug] MAVLink: info: Landing at current position (system_impl.cpp:273)
+waiting until landed
+...
+waiting until landed
+[01:57:12|Debug] MAVLink: info: Landing detected (system_impl.cpp:273)
+[01:57:12|Debug] MAVLink: info: DISARMED by auto disarm on land (system_impl.cpp:273)
+Landed...
+

                                                                                                                                                                                                                                                                                                                                                                                    How it works

                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                    The example registers with FakeLocationProvider for location updates. +These are passed to the Follow Me plugin, which in turn sends them to the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                    The operation of the "SDK-specific" part of this code is discussed in the guide: Follow Me.

                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                    Source code

                                                                                                                                                                                                                                                                                                                                                                                    + +
                                                                                                                                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                      PX4
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                                                                                                                                                                                                                                                                                                                                                                                      C++ Examples

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      Information about writing example code is covered in the Contributing > Writing Plugins (plugin developers should initially create integration tests rather than examples for new code).

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      This section contains examples showing how to use MAVSDK.

                                                                                                                                                                                                                                                                                                                                                                                      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                                                                                                                                                                                                                                                      ExampleDescription
                                                                                                                                                                                                                                                                                                                                                                                      BatterySimple example to demonstrate how to imitate a smart battery.
                                                                                                                                                                                                                                                                                                                                                                                      CalibrateSimple example showing how to initiate calibration of gyro, accelerometer, magnetometer.
                                                                                                                                                                                                                                                                                                                                                                                      Fly MissionShows how to create, upload, and run missions.
                                                                                                                                                                                                                                                                                                                                                                                      Fly Multiple DronesExample to connect multiple vehicles and make them follow their own separate plan file. Also saves the telemetry information to CSV files.
                                                                                                                                                                                                                                                                                                                                                                                      Follow Me ModeDemonstrates how to put vehicle in Follow Me Mode and set the current target position and relative position of the drone.
                                                                                                                                                                                                                                                                                                                                                                                      GeoFence InclusionDemonstrates how to define and upload a simple polygonal inclusion GeoFence.
                                                                                                                                                                                                                                                                                                                                                                                      MAVShellCreates and starts an interactive shell session.
                                                                                                                                                                                                                                                                                                                                                                                      MAVLink FTP ClientDemonstrates how to create/use a MAVLink FTP client.
                                                                                                                                                                                                                                                                                                                                                                                      MAVLink FTP ServerDemonstrates how to start/set up a MAVLink FTP server.
                                                                                                                                                                                                                                                                                                                                                                                      Multiple DronesExample to connect multiple vehicles and make them take off and land in parallel.
                                                                                                                                                                                                                                                                                                                                                                                      Offboard Velocity ControlDemonstrates how to control a vehicle in Offboard mode using velocity commands (in both the NED and body frames).
                                                                                                                                                                                                                                                                                                                                                                                      Takeoff and LandShows basic usage of the SDK (connect to port, detect system (vehicle), arm, takeoff, land, get telemetry)
                                                                                                                                                                                                                                                                                                                                                                                      VTOL TransitionsShows how to transition a VTOL vehicle between copter and fixed-wing modes.
                                                                                                                                                                                                                                                                                                                                                                                      TuneShows how to construct and play a tune.
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      The examples are "largely" built and run in the same way, as described in the following section (any exceptions are covered in the page for the associated example).

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      Some of the examples define flight behaviour relative to the default home position in the simulator (e.g. Fly Mission). + Care should be taken if using them on a real vehicle.

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      Trying the Examples

                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      The easiest way to test the examples is to use a simulated PX4 vehicle that is running on the same computer. +First start PX4 in SITL (Simulation), optionally start QGroundControl to observe the vehicle, then build and run the example code.

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      The simulator broadcasts to the standard PX4 UDP port for connecting to offboard APIs (14540). + The examples connect to this port using either add_any_connection() or add_udp_connection().

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      Setting up a Simulator

                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      PX4 supports a number of simulators. +In order to set up the jMAVSim or Gazebo simulator, you can simply follow the standard PX4 toolchain setup instructions for macOS or Ubuntu Linux.

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      JMAVSim can only be used to simulate multicopters. + Gazebo additionally supports a number of other vehicles (e.g. VTOL, Rovers, fixed-wing etc.).

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      After running a standard installation, a simulation can be started from the PX4 /Firmware directory using the command:

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                      • Multicopter (jMAVSim): make px4_sitl jmavsim
                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                      • Multicopter (Gazebo): make px4_sitl gazebo
                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                      • VTOL (Gazebo): make px4_sitl gazebo_standard_vtol
                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      Using QGroundControl

                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      You can use QGroundControl to connect to PX4 and observe vehicle movement and behaviour while the examples are running. +QGroundControl will automatically connect to the PX4 simulation as soon as it is started.

                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      See QGroundControl > Download and Install for information about setting up QGroundControl on your platform.

                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      Building the Examples

                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      To build the examples follow the instructions below, replacing takeoff_and_land with the name of the specific example.

                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      The examples require the MAVSDK library to be installed. +See installation guide if that is not already the case.

                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      Then build the example:

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      cd examples/takeoff_and_land/
+cmake -Bbuild -H.
+cmake --build build -j4
+
                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      if MAVSDK is installed locally (e.g. on Windows) you need to pass the location to cmake:

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      cmake -Bbuild -DCMAKE_PREFIX_PATH=wherever_mavsdk_is_locally_installed
+
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      Running the Examples

                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      You can then run the example, specifying the connection URL as the first argument. +When running with the Simulator, you will use the connection string: udp://:14540

                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      On Linux/macOS you would run the following (from the /build directory):

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      build/takeoff_and_land udp://:14540
+
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      For Windows you would run the following (from the \build\Debug\ directory):

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      build\Debug\takeoff_and_land.exe udp://:14540
+
                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      Most examples will create a binary with the same name as the example. +The name that is used is specified in the CMakeLists.txt file as the first value in the call to add_executable().

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                      If you have already started the simulation the example code should connect to PX4, +and you will be able to observe behaviour through the SDK terminal, SITL terminal, and/or QGroundControl.

                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                        Example: Offboard Velocity

                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                        This example shows how to how to control a vehicle in Offboard mode using velocity commands (in both the NED and body frames).

                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                        Offboard Mode - Velocity Control QGC Screenshot

                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                        Running the Example

                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                        The example is built and run as described here (the standard way).

                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                        The example terminal output should be similar to that shown below:

                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                        This is from a debug build of the SDK. + A release build will omit the "Debug" messages.

                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                        $ ./offboard udp://:14540
+
                                                                                                                                                                                                                                                                                                                                                                                        Wait for system to connect via heartbeat
+[12:53:03|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)
+[12:53:03|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:286)
+[12:53:03|Debug] Component Autopilot added. (mavlink_system.cpp:349)
+[12:53:03|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-05-23/0 (mavlink_system.cpp:286)
+[12:53:04|Debug] Found 1 component(s). (mavlink_system.cpp:481)
+[12:53:04|Debug] Discovered 4294967298 (mavlink_system.cpp:483)
+Waiting for system to be ready
+System is ready
+Armed
+[12:53:05|Debug] MAVLink: info: ARMED by arm/disarm component command (mavlink_system.cpp:286)
+In Air...
+[12:53:05|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (mavlink_system.cpp:286)
+[12:53:05|Debug] MAVLink: info: Takeoff detected (mavlink_system.cpp:286)
+[12:53:05|Debug] MAVLink: critical: Using minimum takeoff altitude: 2.50 m (mavlink_system.cpp:286)
+[NED] Offboard started
+[NED] Turn to face East
+[NED] Go North and back South
+[NED] Turn to face West
+[NED] Go up 2 m/s, turn to face South
+[NED] Go down 1 m/s, turn to face North
+[NED] Offboard stopped
+[BODY] Offboard started
+[BODY] Turn clock-wise and climb
+[BODY] Turn back anti-clockwise
+[BODY] Wait for a bit
+[BODY] Fly a circle
+[BODY] Wait for a bit
+[BODY] Fly a circle sideways
+[BODY] Wait for a bit
+[BODY] Offboard stopped
+[12:54:29|Debug] MAVLink: info: Landing at current position (mavlink_system.cpp:286)
+Landed
+

                                                                                                                                                                                                                                                                                                                                                                                        How it works

                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                        The operation of most of this code is discussed in the guide: Offboard Control.

                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                        Source code

                                                                                                                                                                                                                                                                                                                                                                                        + +
                                                                                                                                                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                          Example: Takeoff and Land

                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                          This simple example shows the basic use of many MAVSDK features.

                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                          It sets up a UDP connection, waits for a vehicle (system) to appear, arms it, and commands it to takeoff. +After a short wait the vehicle lands. +While flying the vehicle receives telemetry. The example is implemented in C++ (only).

                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                          The full source code for the example can be found here.

                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                          Running the Example

                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                          The example is built and run as described here (the standard way).

                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                          The example terminal output should be similar to that shown below:

                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                          This is from a debug build of the SDK. + A release build will omit the "Debug" messages.

                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                          $ ./takeoff_and_land udp://:14540
+
                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                          Waiting to discover system...
+[06:40:03|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)
+[06:40:03|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:292)
+[06:40:03|Debug] Component Autopilot added. (system_impl.cpp:339)
+[06:40:03|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-07-09/0 (system_impl.cpp:277)
+[06:40:04|Debug] Found 1 component(s). (system_impl.cpp:466)
+[06:40:04|Debug] Discovered 4294967298 (system_impl.cpp:468)
+Discovered system with UUID: 4294967298
+Vehicle is getting ready to arm
+Altitude: -0.004 m
+Vehicle is getting ready to arm
+Altitude: -0.007 m
+Arming...
+[06:40:07|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:277)
+Taking off...
+[06:40:07|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:277)
+[06:40:07|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:277)
+[06:40:07|Debug] MAVLink: critical: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:277)
+Altitude: 0.96 m
+Altitude: 2.044 m
+Altitude: 2.381 m
+...
+Altitude: 2.502 m
+Altitude: 2.5 m
+Landing...
+[06:40:17|Debug] MAVLink: info: Landing at current position (system_impl.cpp:277)
+Altitude: 1.934 m
+Altitude: 1.208 m
+...
+Altitude: -0.524 m
+Finished...
+
                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                          Source code

                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                          The full source code for the example can be found on Github here.

                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                          + +
                                                                                                                                                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                            Example: VTOL Transitions

                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                            This example shows how you can use the SDK Action class to transition between VTOL copter and fixed-wing modes (and back).

                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                            VTOL Transition QGC Screenshot

                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                            Running the Example

                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                            The example must be run against a VTOL aircraft (simulated or otherwise). +Otherwise the example is built and run in the standard way.

                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                            Instructions for running the Gazebo simulator for a standard VTOL can be found here: PX4 Development Guide > Gazebo Simulation. + jMAVSim does not support VTOL simulation.

                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                            The example terminal output for a debug build of the SDK should be similar to that shown below (a release build will omit the "Debug" messages):

                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                            $ ./transition_vtol_fixed_wing udp://:14540
+
                                                                                                                                                                                                                                                                                                                                                                                            Waiting to discover system...
+[10:24:42|Info ] New system on: 127.0.0.1:14557 (udp_connection.cpp:210)
+[10:24:42|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2017-11-21/0 (mavlink_system.cpp:286)
+[10:24:43|Debug] Discovered 4294967298 (mavlink_system.cpp:483)
+Discovered system with UUID: 4294967298
+Arming...
+Taking off...
+[10:24:44|Debug] MAVLink: info: ARMED by arm/disarm component command (mavlink_system.cpp:286)
+[10:24:44|Debug] MAVLink: info: Using minimum takeoff altitude: 10.00 m (mavlink_system.cpp:286)
+[10:24:44|Debug] MAVLink: info: Takeoff detected (mavlink_system.cpp:286)
+[10:24:44|Debug] MAVLink: critical: Using minimum takeoff altitude: 10.00 m (mavlink_system.cpp:286)
+Altitude: 0.079 m
+Altitude: 0.507 m
+...
+Altitude: 10.254 m
+Transition to fixedwing...
+Altitude: 10.263 m
+...
+Altitude: 20.72 m
+Altitude: 24.616 m
+Altitude: 22.262 m
+Transition back to multicopter...
+Altitude: 17.083 m
+...
+Return to launch...
+Altitude: 11.884 m
+[10:25:09|Debug] MAVLink: info: RTL: climb to 518 m (29 m above home) (mavlink_system.cpp:286)
+Altitude: 13.61 m
+...
+Altitude: 27.489 m
+Altitude: 28.892 m
+[10:25:18|Debug] MAVLink: info: RTL: return at 517 m (29 m above home) (mavlink_system.cpp:286)
+Altitude: 29.326 m
+Altitude: 29.33 m
+...
+Altitude: 29.323 m
+Altitude: 29.357 m
+Landing...
+[10:25:29|Debug] MAVLink: info: Landing at current position (mavlink_system.cpp:286)
+Altitude: 29.199 m
+Altitude: 28.722 m
+Altitude: 28.189 m
+Altitude: 27.62 m
+Finished...
+

                                                                                                                                                                                                                                                                                                                                                                                            How it works

                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                            The operation of the transition code is discussed in the guide: Takeoff and Landing (and other actions).

                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                            Source code

                                                                                                                                                                                                                                                                                                                                                                                            + +
                                                                                                                                                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                              Building MAVSDK Library from Source

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              This section explains how to build and install the MAVSDK C++ library from source for all our target platforms.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Note that there are separate instructions to build the mavsdk_server.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Build the C++ Library

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              This section explains how to build the library along with its unit and integration tests.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Requirements

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              The build requirements are git, cmake, and a compiler such as GCC, Clang, or MSVC.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Linux

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Ubuntu:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              sudo apt-get update
+sudo apt-get install build-essential cmake git
+
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Fedora:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              sudo dnf update
+sudo dnf groupinstall "Development Tools" "Development Libraries"
+sudo dnf install cmake git
+
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Arch Linux:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              sudo pacman -Sy base-devel cmake git
+
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              macOS

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              First install XCode Command line tools:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              xcode-select --install
+

                                                                                                                                                                                                                                                                                                                                                                                              And Homebrew (for cmake). +Once you have installed brew, you can install cmake using brew in the terminal:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              brew install cmake
+

                                                                                                                                                                                                                                                                                                                                                                                              Windows

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              To build the library in Windows, you need:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                              • Build Tools for Visual Studio 2022: Download and install (only the "Visual C+ Build Tools" are needed from installer).
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • cmake: Download the installer and run it. +Make sure to tick "add to PATH" during the installation.
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • git or any other tool to work with git.
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Note: Building using Cygwin or MingW is not supported.

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Getting the source

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Download the source using git:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              git clone https://github.com/mavlink/MAVSDK.git
+
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Make sure to get all the submodules as well:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              git submodule update --init --recursive
+

                                                                                                                                                                                                                                                                                                                                                                                              Building Fundamentals

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Building the MAVSDK with CMake is broken down into two steps: Configuration and Build.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Build Configuration Step

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              For configuration, you specify the type of build you want to execute in the build step. You can checkout the CMake Documentation on Build Configuration for more context.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              A typical configuration command example would be:

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              cmake -DCMAKE_BUILD_TYPE=Debug -Bbuild/default -H.

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                              • Build type is set to Debug
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • Build directory is set to build/default
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • Chose the directory using the H. flag
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              During the configure step you can set more flags using -DFLAG=Value:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                              • CMAKE_BUILD_TYPE: as documented above, to chose between Debug and Release build.
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • CMAKE_INSTALL_PREFIX: as documented above, to specify directory to install library artifacts.
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • BUILD_SHARED_LIBS: set to ON to build dynamic libraries (such as .so on Linux, .dylib on macOS, .dll on Windows). Set to OFF to build static libraries (such as .a on Linux and macOS, .lib on Windows).
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • SUPERBUILD: set to OFF to use system dependencies instead of third party dependencies downloaded and built using cmake.
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • CMAKE_PREFIX_PATH: can be used to set the path where the dependencies can be found if SUPERBUILD is set to OFF.
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • BUILD_MAVSDK_SERVER: set to ON to build mavsdk_server, see instruction to build mavsdk_server.
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • ASAN: set to ON to enable address sanitizer.
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • UBSAN: set to ON to enable undefined behavior sanitizer.
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • LSAN: set to ON to enable leak sanitizer.
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • WERROR: set to ON to error on warnings, mostly used for CI.
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              After the configuration step, everything that will be build in the build step have been specified, and if you want to change your build configuration (e.g. If you want to build Debug build instead of Release build), you must execute the configuration step again!

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Build Step

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              In the build step, we finally build the library and binaries and link them.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              The stripped down version of the build command would be:

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              cmake --build build/default

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                              • The --build signals the CMake to execute the build
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              • It uses the build configuration built from the configuration step, located at build/default folder
                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Additionally, you can install it in the system with the --target install command added as well, which is explained in detail in the Installing the C++ Library section below.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Building

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Debug

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              To build the MAVSDK C++ Library for development, use the debug build.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              There are 2 steps in building a library: Configure and build.

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              cmake -DCMAKE_BUILD_TYPE=Debug -Bbuild/default -H.
+cmake --build build/default -j8
+
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Release

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Once you ship software, make sure to use the release build with optimizations turned on:

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Linux/macOS:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                               cmake -Bbuild/default -DCMAKE_BUILD_TYPE=Release -H.
+ cmake --build build/default -j8
+
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Windows:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              cmake -Bbuild/default -H. -DCMAKE_BUILD_TYPE=Release
+cmake --build build/default -j8 --config Release
+
                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Note: It is not usual to use CMAKE_BUILD_TYPE on Windows (with MSVC), however, our build requires it for the dependencies which are built at configure time.

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Installing the C++ Library

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Installing builds the SDK and copies the libraries and header files into a "public" location so that they can be referenced by C++ applications (see Building C++ Apps).

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              System-wide Install

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              You can configure to install system wide by not setting the CMAKE_INSTALL_PREFIX in the configuration step, since CMake tries to install system wide by default. For Linux/macOS that's /usr/local, for Windows it is somewhere in C:\Program Files.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              To install system-wide the command needs to be run with sudo on Linux/macOS:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              sudo cmake --build build/default --target install
+
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              or run in a command prompt with admin privileges on Windows, or using runas:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              runas cmake --build build/default --target install
+
                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Make sure to prevent conflicts between libraries installed in your system. +The mavsdk library installed via a .deb or .rpm file will be installed in /usr/ while the built library will be installed in /usr/local. +It's recommended to only have one installed at any time to prevent conflicts.

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Local Install

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              The install path can be set in the configuration step using CMAKE_INSTALL_PREFIX:

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              For example, to install into the MAVSDK/install/ folder you would set the CMAKE_INSTALL_PREFIX variable to specify a path relative to the folder from which you call cmake (or an absolute path).

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -Bbuild/default -H.
+cmake --build build/default --target install
+
                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              If you already have run cmake without setting CMAKE_INSTALL_PREFIX, you may need to clean the build first:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                rm -rf build/default
+
                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Troubleshooting

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Git submodules out of date

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Some common build issues can be resolved by updating submodules and cleaning the distribution:

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              cd MAVSDK
+git submodule update --recursive
+rm -rf build
+

                                                                                                                                                                                                                                                                                                                                                                                              Then attempt to build again.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              MSVC vs. MingW

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              We only try to support building using MSVC, MingW is not working, mostly because the defines/flags for it are missing.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              Undefined reference to mavsdk...

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              If you only just built the library and installed it system-wide may also need to update the linker cache.

                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                              On Linux this is done with sudo ldconfig.

                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                + +

                                                                                                                                                                                                                                                                                                                                                                                                Generate API docs from source

                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                The API reference docs for C++ are already pre-generated. If you still would like to generate them, you find the instructions to do so below.

                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                Build API Reference Documentation

                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                The C++ source code is annotated using comments using Doxygen syntax.

                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                Extract the documentation to markdown files (one per class) on macOS or Linux using the commands:

                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                rm -rf tools/docs # Remove previous docs
+./tools/generate_docs.sh
+
                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                The files are created in /install/docs/markdown.

                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                Extracting the API reference does not yet work automatically on Windows.

                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                The generate_docs.sh script builds the library, installs it locally to /install, and then uses DOxygen to create XML documentation in /install/docs/xml. +The generate_markdown_from_doxygen_xml.py script +is then run on all files in the /xml directory to generate markdown files in /install/docs/markdown.

                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                  Build mavsdk_server from Source

                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  Language wrappers for MAVSDK other than C++ connect to the MAVSDK C++ core using gRPC. This gRPC server around the MAVSDK C++ library is called mavsdk_server (in the past it was referred to as the backend).

                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  For more information about the architecture, also see how the auto-generation works.

                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  It is generally recommended to use pre-built binaries of mavsdk_server from the releases page, however, if needed, it can also be built manually from source as described below.

                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  Requirements

                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  The requirements are the same as described in the library build instructions

                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  Build on Linux

                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                  cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
+cmake --build build/default -j8
+

                                                                                                                                                                                                                                                                                                                                                                                                  Build on macOS

                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                  cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
+cmake --build build/default -j8
+
                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  there is no proper support for the Apple M1 chip yet. One blocker is that there is currently no M1 hardware in GitHub Actions CI available.

                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  Build on Windows

                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  Open the "x64 Native Tools Command Prompt for VS 2022", cd into the MAVSDK directory, and do:

                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                  cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
+cmake --build build/default -j8
+

                                                                                                                                                                                                                                                                                                                                                                                                  Build for Android

                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  Build for Android using the dockcross cross compiler, as described in the cross-compilation section below (e.g. with the dockcross/android-arm64 image).

                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  Build for iOS

                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  To build for real iOS devices on macOS:

                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                  cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=OS -Bbuild/ios -H.
+cmake --build build/ios
+
                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  Build for the iOS simulator on macOS:

                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                  cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=SIMULATOR64 -Bbuild/ios_simulator -H.
+
                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  Cross compilation using dockcross

                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  Cross compilation is usually the fastest way to compile for "embedded" platforms like the Raspberry Pi, BeagleBone Blue or Nvidia Jetson (i.e. typically faster than native compilation on device itself).

                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  We recommend using dockcross, which is a very convenient tool for cross compilation based on docker (and which supports many platforms).

                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                  For example, use the commands below to build for armv7:

                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                  1. Make sure docker is installed on your system.
                                                                                                                                                                                                                                                                                                                                                                                                    2. +
                                                                                                                                                                                                                                                                                                                                                                                                  2. Navigate into the SDK directory, and use the commands below:
                                                                                                                                                                                                                                                                                                                                                                                                    cd MAVSDK
+docker run --rm dockcross/linux-armv7 > ./dockcross-linux-armv7
+chmod +x ./dockcross-linux-armv7
+./dockcross-linux-armv7 cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -Bbuild/linux-armv7 -S.
+./dockcross-linux-armv7 cmake --build build/linux-armv7 -j 8
+
                                                                                                                                                                                                                                                                                                                                                                                                    3. +
                                                                                                                                                                                                                                                                                                                                                                                                  3. If all goes well, mavsdk_server is built. You can check the file with:
                                                                                                                                                                                                                                                                                                                                                                                                    ./dockcross-linux-armv7 file build/linux-armv7-release/src/backend/src/mavsdk_server
+build/linux-armv7-release/src/backend/src/mavsdk_server: ELF 32-bit LSB executable, ARM, EABI5 version 1 (GNU/Linux), dynamically linked, interpreter /lib/ld-linux-armhf.so.3, for GNU/Linux 4.10.8, not stripped
+
                                                                                                                                                                                                                                                                                                                                                                                                    4. +
                                                                                                                                                                                                                                                                                                                                                                                                  4. The newly built binary can now be copied to the device:
                                                                                                                                                                                                                                                                                                                                                                                                    cp build/linux-armv7/src/backend/src/mavsdk_server somewhere/else
+
                                                                                                                                                                                                                                                                                                                                                                                                    5. +
                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                    C++ Coding Style

                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                    This topic contains the C++ formatting and coding guidelines for MAVSDK.

                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                    These guidelines are not written in stone! + Start a discussion if you have suggestions for improvement (the project will consider anything other than "matters of personal taste").

                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                    Formatting and White Space

                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                    All .cpp and .h files should be formatted according to the .clang-format style.

                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                    Fix style

                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                    To automatically fix the formatting, run the command:

                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                    ./tools/fix_style.sh .
+

                                                                                                                                                                                                                                                                                                                                                                                                    If you don't have clang-format installed or in the correct version, you can use a docker image or install it as explained below:

                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                    Use clang-format in docker

                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                    You can just use the pre-built docker image:

                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                    tools/run-docker.sh tools/fix_style.sh .
+

                                                                                                                                                                                                                                                                                                                                                                                                    General Guidelines

                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                    The following general guidelines should be used for all code:

                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                    • C++17 is encouraged to allow developers to use C++17 features and the C++ STL: +Examples:

                                                                                                                                                                                                                                                                                                                                                                                                      + +
                                                                                                                                                                                                                                                                                                                                                                                                      • +

                                                                                                                                                                                                                                                                                                                                                                                                    • using namespace std is discouraged (read why). +If needed specific declarations can be used in the source files such as using std::this_thread::sleep_for to reduce verbosity.

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      • +

                                                                                                                                                                                                                                                                                                                                                                                                    • The usage of namespacing wherever possible is encouraged (e.g. enum class is to be used over enum).

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                    • Filename extensions should be .h for header files and .cpp for source files (for consistency).
                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                    • Variable and method names should err on the side of verbosity instead of being quick to type and read. Abbreviations are only to be used for small scopes and should not be exposed in public APIs.
                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                    • All variables that have a physical unit should have the unit in the variable name (e.g. _m for meters, _m_s for meters/second).
                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                    • Variable and method names should be snake_case and class/struct/enum names CamelCase. Private variables should start with an underscore, e.g.: _variable_name.
                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                    • Try to exit functions early instead of nesting ifs (read why).
                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                    • We don't use exceptions but use error codes. There are pros and cons for exceptions but given that the public API should be as simple as possible, it makes sense to refrain from exceptions altogether.
                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                    • The use of std::bind is discouraged. The aim is to move towards just using lambdas for that purpose instead.
                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                      Connecting to Systems (Vehicles)

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      MAVSDK allows you to connect to multiple vehicles/systems attached to the local WiFi network and/or via serial ports.

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      In order to detect systems you must first specify the communication ports that MAVSDK will monitor for new systems. +Once monitoring a port, MAVSDK will automatically detect connected vehicles, add them to its collection, and notify registered users of connection and disconnection events.

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      Monitoring a Port

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      Specify the port(s) to watch using one of the (synchronous) connection method: add_any_connection(). The method returns immediately with a ConnectionResult indicating whether it succeeded.

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      The connection details are specified using the string formats shown below:

                                                                                                                                                                                                                                                                                                                                                                                                      + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                                                                                                                                                                                                                                                                      ConnectionURL Format
                                                                                                                                                                                                                                                                                                                                                                                                      UDPudp://[host][:port]
                                                                                                                                                                                                                                                                                                                                                                                                      TCPtcp://[host][:port]
                                                                                                                                                                                                                                                                                                                                                                                                      Serialserial://[path][:baudrate]
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      Connecting over serial

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      To add a serial connection (e.g. over USB, FTDI, or an SiK radio), you specify the serial port and the baudrate like this:

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      On Linux:

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      Mavsdk mavsdk;
+ConnectionResult connection_result = mavsdk.add_any_connection("serial:///dev/serial/by-id/usb-FTDI_FT232R_USB_UART_XXXXXXXX-if00-port0:57600");
+if (connection_result != ConnectionResult::Success) {
+    std::cout << "Adding connection failed: " << connection_result << '\n';
+    return;
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      On Windows:

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      Mavsdk mavsdk;
+ConnectionResult connection_result = mavsdk.add_any_connection("serial://COM3:57600");
+if (connection_result != ConnectionResult::Success) {
+    std::cout << "Adding connection failed: " << connection_result << '\n';
+    return;
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      Connecting over UDP

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      When connecting over UDP, there are two setups to distinguish: server and client mode.

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      Behave like a server

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      This is the default connection mode for a ground station listening to a system/vehicle (this is the same as add_udp_connection()).

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      In the server mode, we listen on an local networking interface (INADDR_ANY/0.0.0.0) on the set port and wait for any heartbeats arriving. +This means that the drone has to send the UDP packets to that local IP, or broadcast them on the network.

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      The code snippet below shows how to set up a connection in server mode and listen on the "SDK port 14540":

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      Mavsdk mavsdk;
+ConnectionResult connection_result = mavsdk.add_any_connection("udp://:14540");
+if (connection_result != ConnectionResult::Success) {
+    std::cout << "Adding connection failed: " << connection_result << '\n';
+    return;
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      The connection string used above (udp://:14540) is to the standard PX4 UDP port for off-board APIs (14540). + This is the normal/most common way for offboard APIs to connect to PX4 over WiFi. + The standard way to talk to a ground station (e.g. QGC is on port 14550).

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      Behave like a client

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      If MAVSDK is used on the vehicle or companion side, it sometimes has to actually initiate the connection, rather than listen for it. +In this case the IP and port, of where it should connect to, has to be set (this is the same as setup_udp_remote()).

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      E.g. to connect to a ground station on 192.168.1.12, you would do:

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      Mavsdk mavsdk;
+ConnectionResult connection_result = mavsdk.add_any_connection("udp://192.168.1.12:14550");
+if (connection_result != ConnectionResult::Success) {
+    std::cout << "Adding connection failed: " << connection_result << '\n';
+    return;
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      Connecting over TCP

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      For TCP connections, only the client connection is currently implemented. +This is the same as add_tcp_connection().

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      Mavsdk mavsdk;
+ConnectionResult connection_result = mavsdk.add_any_connection("tcp://192.168.1.12:14550");
+if (connection_result != ConnectionResult::Success) {
+    std::cout << "Adding connection failed: " << connection_result << '\n';
+    return;
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      Register for System-Detection Notifications

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      MAVSDK monitors any added communication ports for new systems. +Clients can register for notification when new systems are discovered using subscribe_on_new_system().

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      The code fragment below shows how to register a callback (in this case the callback is a lambda function that just prints if a new vehicle has been discovered.

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      Mavsdk mavsdk;
+... //add ports
+mavsdk.register_on_new_system([]() {
+    std::cout << "Discovered new system\n";
+});
+
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      Iterating all Systems

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      You can iterate all systems that have been detected by Mavsdk (since it was started, over all communication ports) using the systems() method. +This returns a vector of shared pointers to systems.

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      The following code fragment shows how to iterate through the systems and checking their MAVLink system ID, whether they are connected, and what components they have:

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      //Iterate through detected systems
+for (auto system : mavsdk.systems()) {
+    std::cout << "Found system with MAVLink system ID: " << static_cast<int>(system->get_system_id())
+              << ", connected: " << (system->is_connected() ? "yes" : "no")
+              << ", has autopilot: " << (system->has_autopilot() ? "yes" : "no") << '\n';
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      Accessing Systems

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      To access a certain system, pick the one from the vector that you require, or use the first one if only one system is assumed:

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      Mavsdk mavsdk;
+mavsdk.add_udp_connection();
+// Wait for the system to connect via heartbeat
+while (mavsdk.system().size() == 0) {
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+// System got discovered.
+std::shared_ptr<System> system = mavsdk.systems()[0];
+
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      The System is used by the MAVSDK plugin classes to query and control the vehicle. +For more information see Using Plugins (and the other guide topics).

                                                                                                                                                                                                                                                                                                                                                                                                      + +

                                                                                                                                                                                                                                                                                                                                                                                                      It is possible to add multiple connections to MAVSDK and forward all MAVLink messages. To do so, each connection which should forward messages needs to have forwarding set to on.

                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      To forward bi-directional from UDP to serial and serial to UDP, you would set both connections forwarding:

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      Mavsdk mavsdk;
+mavsdk.add_any_connection("udp://:14540", ForwardingOption::ForwardingOn);
+mavsdk.add_any_connection("serial:///dev/serial/by-id/usb-FTDI_FT232R_USB_UART_XXXXXXXX-if00-port0:57600", ForwardingOption::ForwardingOn);
+
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      To forward only in one direction, e.g to send messages arriving on serial over UDP, you would only set up forwarding for the UDP connection:

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      Mavsdk mavsdk;
+mavsdk.add_any_connection("udp://:14540", ForwardingOption::ForwardingOn);
+mavsdk.add_any_connection("serial:///dev/serial/by-id/usb-FTDI_FT232R_USB_UART_XXXXXXXX-if00-port0:57600", `ForwardingOption::ForwardingOff`);
+
                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                      Note that the default function overload is ForwardingOption::ForwardingOff.

                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                        Plugin/Test Logging

                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                        The MAVSDK provides an API that developers can use for console logging in plugins and integration tests. +Basic message logging can be enabled by building with a specific #define.

                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                        Plugin Log API

                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                        The API methods display a custom message, prepending a timestamp and the type of log message (e.g. debug) and appending the origin of the message (file and line number).

                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                        The API should be considered "internal". It is not exported, or intended, for use in SDK apps (and we do not commit to maintaining compatibility in future versions).

                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                        Usage

                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                        The API is defined in src/core/log.h (and made available to integration tests via /src/integration_tests/integration_test_helper.h).

                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                        The API methods are called as shown below for LogDebug(), with the insertion operator (<<) used to append the message-specific text.

                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                        #include "../path-to/core/log.h"
+...
+LogDebug() << "command unsupported (" << something.mavlink_command << ").";
+
                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                        Log Methods

                                                                                                                                                                                                                                                                                                                                                                                                        + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                                                                                                                                                                                                                                                                        FunctionDescriptionExample
                                                                                                                                                                                                                                                                                                                                                                                                        LogDebug()Debug messages.
                                                                                                                                                                                                                                                                                                                                                                                                        For reporting internal progress/state.
                                                                                                                                                                                                                                                                                                                                                                                                        Not displayed in RELEASE builds.                                                                                                                                                                                                                                                                                                                                                                                                        		[04:55:08|Error] This is a debug message (test_file.cpp:26)
                                                                                                                                                                                                                                                                                                                                                                                                        LogInfo()Information messages.
                                                                                                                                                                                                                                                                                                                                                                                                        For reporting progress and status.                                                                                                                                                                                                                                                                                                                                                                                                        		[04:55:08|Error] This is an information message (test_file.cpp:26)
                                                                                                                                                                                                                                                                                                                                                                                                        LogWarn()Warning messages.
                                                                                                                                                                                                                                                                                                                                                                                                        For reporting when vehicle not acting as commanded (e.g. rejecting commands).                                                                                                                                                                                                                                                                                                                                                                                                        		[04:55:08|Error] This is a warning message (test_file.cpp:26)
                                                                                                                                                                                                                                                                                                                                                                                                        LogErr()Error messages.
                                                                                                                                                                                                                                                                                                                                                                                                        For reporting errors in SDK behaviour (e.g. communication link issues/retry failures).                                                                                                                                                                                                                                                                                                                                                                                                        		[04:55:08|Error] This is an error message (test_file.cpp:26)
                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                        Message Logging

                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                        Basic logging is defined in source for both incoming (handled/ignored) and sent MAVLink messages.

                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                        This functionality is disabled by default, and available only in debug build when built from source. +To enable the logs, set #define MESSAGE_DEBUGGING 1 in src/core/system.cpp

                                                                                                                                                                                                                                                                                                                                                                                                        + +
                                                                                                                                                                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                          Follow Me

                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          The Follow Me class is used to engage the PX4 Follow Me Mode (multicopter only). +In this mode a copter will automatically yaw to face and follow a user at a specified position and distance.

                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          The API is used to supply the position(s) for the target and the relative follow position of the vehicle. +Applications must get target position information from the underlying platform (or some other source). The location APIs for supported platforms are listed below:

                                                                                                                                                                                                                                                                                                                                                                                                          + +
                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          Running QGroundControl at the same time as the SDK Follow Me may result in unpredictable behaviour as both send position updates. +You must ensure that GSC Position Streaming is disabled. +Use the latest QGC Daily Build and ensure that the Application Setting > General > Miscellaneous > Stream GCS Position is set to Never.

                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          Create the Plugin

                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          FollowMe objects are created in the same way as other SDK plugins. + General instructions are provided in the topic: Using Plugins.

                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          The main steps are:

                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                          1. Link the plugin library into your application. +Do this by adding mavsdk_follow_me to the target_link_libraries section of the app's cmake build definition file

                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                            find_package(MAVSDK REQUIRED)
+
+target_link_libraries(your_application_name
+  MAVSDK::mavsdk
+  ...
+  MAVSDK::mavsdk_follow_me
+  ...
+)
+)
+
                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                            2. +
                                                                                                                                                                                                                                                                                                                                                                                                          2. Create a connection to a system. +For example (basic code without error checking):
                                                                                                                                                                                                                                                                                                                                                                                                            #include <mavsdk/mavsdk.h>
+Mavsdk mavsdk;
+ConnectionResult conn_result = mavsdk.add_udp_connection();
+// Wait for the system to connect via heartbeat
+while (mavsdk.system().size() == 0) {
+   sleep_for(seconds(1));
+}
+// System got discovered.
+System system = mavsdk.systems()[0];
+
                                                                                                                                                                                                                                                                                                                                                                                                            3. +
                                                                                                                                                                                                                                                                                                                                                                                                          3. Create an instance of FollowMe with the system:
                                                                                                                                                                                                                                                                                                                                                                                                            #include <mavsdk/plugins/follow_me/follow_me.h>
+auto follow_me = FollowMe{system};
+
                                                                                                                                                                                                                                                                                                                                                                                                            4. +
                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          The follow_me object can then used to access the plugin API (as shown in the following sections).

                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          Set the Follow Configuration

                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          By default the vehicle will follow directly behind the target at a height and distance of 8 metres. +You can (optionally) call set_config() at any time to specify a different height, follow distance, relative position (front left/right/centre or behind) and responsiveness to target movements.

                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          The code fragment below shows how to set the configuration:

                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                          // configure follow me behaviour
+FollowMe::Config config;
+config.min_height_m = 12.f;  // Minimum height
+config.follow_distance_m = 20.f;  // Follow distance
+config.responsiveness = 0.2f;  // Higher responsiveness
+config.follow_direction = FollowMe::Config::FollowDirection::FRONT;  //Follow from front-centre
+
+// Apply configuration
+FollowMe::Result config_result = follow_me.set_config(config);
+if (config_result != FollowMe::Result::Success) {
+    // handle config-setting failure (in this case print error)
+    std::cout << "Setting configuration failed:" << config_result << '\n';
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          The get_config() method is provided to get the current configuration:

                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                          auto curr_config = follow_me.get_config();
+
                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          Following a Target

                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          To start and stop following a target, call start() and stop(), respectively - start() puts the vehicle into Follow-Me mode and stop() puts it into Hold mode.

                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          Use set_target_location() to set the target position(s) for the vehicle to follow (the app typically passes its host's current position, which it would obtain using OS-specific methods). +This can be called at any time, but messages will only be sent once following is started. +The plugin automatically resends the last set position at the rate required by the autopilot/flight mode (1 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          Typically you would call set_target_location() before or shortly after starting the mode. If you call start() without having set any target location, or if the connection is broken, the vehicle will climb to minimum altitude (if needed) and remain in the mode waiting for messages.

                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                          // Start following
+FollowMe::Result follow_me_result = follow_me.start();
+if (follow_me_result != FollowMe::Result::Success) {
+    // handle start failure (in this case print error)
+    std::cout << "Failed to start following:" << follow_me_result << '\n';
+}
+
+
+// Get target position from underlying platform and supply to vehicle.
+//   For this example we just show one point being set (instead of a stream).
+follow_me.set_target_location({ 47.39776569, 8.54553292, 0.f, 0.f, 0.f, 0.f });
+
+
+// Stop following
+follow_me_result = follow_me.stop();
+if (follow_me_result != FollowMe::Result::Success) {
+    // handle stop failure (in this case print error)
+    std::cout << "Failed to stop following:" << follow_me_result << '\n';
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          The last location that was set can be retrieved using get_last_location(). +Before a target position is first set this API will return Nan.

                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          Further Information

                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                          Additional information/examples for the Follow Me API are linked below:

                                                                                                                                                                                                                                                                                                                                                                                                          + +
                                                                                                                                                                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                            SDK Paradigms/Usage

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            This topic provides general/overview information about how the MAVSDK is used, designed and some limitations.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Object Management

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Mavsdk is the main library class. +Applications must create a Mavsdk object and destroy it during application shut down. +The object is usually created as an automatic variable that is cleaned up when it goes out of scope (you can also dynamically create/destroy the object using new/delete).

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            API consumers use Mavsdk to discover and connect to System objects (vehicles/cameras etc.).

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Access to drone information and control objects are provided by plugins (e.g. Telemetry, Action, Mission etc.). +Plugin objects are instantiated with a specific System object (a plugin instance must be created for every system that needs it).

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Plugin objects are created as shared pointers that will be destroyed when all associated handles are out of scope. +All objects are automatically cleaned up when the parent Mavsdk object is destroyed.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Error Handling

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            MAVSDK APIs do not raise exceptions! Instead, methods that can fail return success or an error reason as enum values.

                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            The error code usually reflects acknowledgment from the vehicle that it will perform the requested action (or not). + The operation itself may not yet have completed (e.g. taking off).

                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            The various classes also all provide stream operators for getting human readable strings from their associated result enum. +You can see how these are used in the example code.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Callbacks

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Some of the APIs use callbacks, e.g. subscriptions to a stream like Telemetry::subscribe_position(PositionCallback callback) or async functions like Action::takeoff_async(ResultCallback callback).

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            All user callbacks are called from one thread. +Users must not do anything inside a callback that takes a long time to complete, as this will stall subsequent callbacks. +For more information on how to work with and debug callbacks see Troubleshooting.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Shared Vehicle Control

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            A vehicle can receive commands from multiple sources, including a Ground Control Station, or other MAVLink applications.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            SDK applications, which are running in environments where it is possible, can explicitly monitor for changes in flight mode (outside application control) and change behaviour appropriately (e.g. using Telemetry::subscribe_flight_mode()).

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            API Limitations/Behaviour

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Supported Vehicles

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            The SDK has been designed to manage aircraft that use the PX4 autopilot. +It has primarily been tested for use with multicopters, but also has basic support for fixed wing and VTOL.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            The APIs include methods that do not make sense for other vehicle types - including "takeoff" and "land". +While ground vehicles may work, they are not supported and are untested. +Similarly, other autopilots may well work, but, they are not explicitly supported and are untested.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Connection Strings

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            MAVSDK monitors a specified port for vehicles (for the C++ API see Connecting to Systems (Vehicles)). +All programming language libraries reference this port using a connection string with the following format:

                                                                                                                                                                                                                                                                                                                                                                                                            + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                                                                                                                                                                                                                                                                            ConnectionURL Format
                                                                                                                                                                                                                                                                                                                                                                                                            UDPudp://[Bind_host][:Bind_port]
                                                                                                                                                                                                                                                                                                                                                                                                            TCPtcp://[Server_host][:Server_port]
                                                                                                                                                                                                                                                                                                                                                                                                            Serialserial://[Dev_Node][:Baudrate]
                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Concrete examples are for different platforms are:

                                                                                                                                                                                                                                                                                                                                                                                                            + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                                                                                                                                                                                                                                                                                                            Connection typeStringExample
                                                                                                                                                                                                                                                                                                                                                                                                            Windows connected to the vehicle via USB (includes USB-connected Telemetry radios).serial:///COMn, where n = the COM port. Note: /// will change to // in a future release (incorrect on Windows).serial:///COM1
                                                                                                                                                                                                                                                                                                                                                                                                            Linux (e.g Raspberry Pi) connected to the vehicle via Serial portserial:///dev/ttyACMn, where n = the portserial:///dev/ttyACM0
                                                                                                                                                                                                                                                                                                                                                                                                            Linux connected to the vehicle via USBserial:///dev/ttyUSBn, where n = the portserial:///dev/ttyUSB0
                                                                                                                                                                                                                                                                                                                                                                                                            macOS connected to the vehicle via Serial portserial:///dev/tty.usbserial-n, where n = the USB device idserial:///dev/tty.usbserial-DA00AG57
                                                                                                                                                                                                                                                                                                                                                                                                            macOS connected to the vehicle via USBserial:///dev/tty.usbmodem-n, where n = the USB device idserial:///dev/tty.usbmodem--DA00AG57
                                                                                                                                                                                                                                                                                                                                                                                                            SITL connected to the vehicle via UDPudp://:14540
                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Connection Status

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            A system is considered to be disconnected (timed-out) if its heartbeat message is not detected within 3 seconds.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Telemetry/Information

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            The SDK gets and stores vehicle state/telemetry information from received MAVLink messages. +The information is supplied to callback subscribers as soon as message updates are received. +Clients can also query the API synchronously, and will get the information from the last received message (depending on channel latency, this information will become increasingly "stale" between messages).

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            The rate at which update messages are sent by the vehicle can be specified using the API (but will be limited by the bandwidth of the channel). +Developers need to use a channel and a message update rate that allows their desired control algorithm to be effective - there is no point trying to use computer vision over an unreliable high-latency link.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Info information does not change for a particular vehicle, so will be accurate whenever read.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Actions/Offboard

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Action methods (and any other "vehicle instructions") return when the vehicle has confirmed that the message was received and will be acted on (or not). +The methods do not wait for the commanded action to complete.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            So, for example, the Action::land() method returns as soon as the vehicle confirms it will land, but will actually land at some later point.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            The implication is that developers will need to separately monitor the completion of the requested actions, if this is important to the application.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Missions

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            The Mission and MissionItem APIs provide a the most useful subset of MAVLink mission commands as a developer-friendly API.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            Not every mission command behaviour supported by the protocol and PX4 will be supported by the SDK. +For example, at time of writing the API does not allow you to specify commands that jump back to previous mission items.

                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                            The API allows you to download/import missions. +Note however that this will fail if the mission contains a command that is not supported by the API.

                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                              C++ Guide

                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                              This guide provides topics showing how to use the MAVSDK APIs to perform common (and not so common) tasks.

                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                Installation

                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                MAVSDK C++ is a library that can be installed and then used in your C++ code.

                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                The latest release can be installed using prebuilt artefacts. If you need the latest state or want to debug the library itself, you need to build it from source.

                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                Linux

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                                                                                                                                                                                                                                                                                                                                                                                                                • Ubuntu: Download the .deb file for your system from MAVSDK releases and install it using dpkg:

                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                  sudo dpkg -i mavsdk_0.37.0_ubuntu20.04_amd64.deb
+
                                                                                                                                                                                                                                                                                                                                                                                                                  • +

                                                                                                                                                                                                                                                                                                                                                                                                                • Fedora: Download the .rpm file for your system from MAVSDK releases and install it using rpm:

                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                   sudo rpm -U mavsdk-0.37.0-1.fc33-x86_64.rpm
+
                                                                                                                                                                                                                                                                                                                                                                                                                  • +

                                                                                                                                                                                                                                                                                                                                                                                                                • Arch Linux: mavsdk is available from the AUR and can be installed e.g. using yay:

                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                   yay -S mavsdk
+
                                                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                macOS

                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                MacOS: Install Homebrew and use it to install the library:

                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                brew install mavsdk
+

                                                                                                                                                                                                                                                                                                                                                                                                                Windows

                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                For Windows you can download the mavsdk-windows-x64-release.zip file from MAVSDK releases containing the headers and library and extract it locally (see information how to use a locally installed library).

                                                                                                                                                                                                                                                                                                                                                                                                                +
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                                                                                                                                                                                                                                                                                                                                                                                                                As the library is installed locally (in a local directory) you need to point cmake to that directory at configure time using CMAKE_PREFIX_PATH when building your application. +i.e.: cmake -Bbuild -DCMAKE_PREFIX_PATH=../mavsdk_extracted -H.

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                                                                                                                                                                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                  Logging

                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                  MAVSDK core and plugins output some useful log messages during their work. +By default, the messages are printed to stdout. You may want to override this +behavior, e.g. redirect messages to an external logging system, or disable +printing messages unless they are important enough.

                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                  Usage

                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                  It is possible to customize logging with a user-defined callback function:

                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                  #include <mavsdk/log_callback.h>
+
+// ...
+
+mavsdk::log::subscribe([](mavsdk::log::Level level,   // message severity level
+                          const std::string& message, // message text
+                          const std::string& file,    // source file from which the message was sent
+                          int line) {                 // line number in the source file
+  // process the log message in a way you like
+  my_nice_log(level, message);
+
+  // returning true from the callback disables printing the message to stdout
+  return level < mavsdk::log::Level::Warn;
+});
+
                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                  In this example all log messages will be passed to my_nice_log, and all messages +having level Warn or Err will be printed to stdout as well. +Possible levels are:

                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                  enum class Level : int { Debug = 0, Info = 1, Warn = 2, Err = 3 };
+
                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                  Currently, only one callback is supported. Calling mavsdk::log::subscribe +the second time will overwrite previous callback. To unsubscribe (revert to default +logging behaviour) call subscribe with a nullptr callback:

                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                  mavsdk::log::subscribe(nullptr);
+
                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                  Important notes

                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                  Please note that callback can be called from different threads. Synchronization +is not handled on MAVSDK's side for performance reasons. You may want to +implement synchronization yourself if your logging system isn't thread +safe already.

                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                  Avoid doing long duration heavy tasks in the callback, it should return as +quickly as possible.

                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                    Missions

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The Mission API (plugin) allows you to create, upload, download, run, pause, restart, jump to item in, and track missions. +Missions can have multiple "mission items", each which may specify a position, altitude, fly-through behaviour, camera action, gimbal position, and the speed to use when traveling to the next position.

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Missions are managed though the Mission class, which communicates with the vehicle to upload mission information and run, pause, track the mission progress etc. +The mission that is uploaded to the vehicle is defined as a vector of MissionItem objects.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The Mission plugin described here only supports a small subset of the full functionality of MAVLink missions. If you require the full mission item spec as MAVLink provides it, you might be better off using the MissionRaw plugin. +Furthermore MissionRaw allows importing mission from QGroundControl.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Supported Mission Commands

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The MissionItem class abstracts a small but useful subset of the mission commands supported by PX4 (and the MAVLink specification):

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The supported set is:

                                                                                                                                                                                                                                                                                                                                                                                                                    + +

                                                                                                                                                                                                                                                                                                                                                                                                                    Additionally, the following commands are supported only for mission import/download (there are no corresponding MissionItem methods):

                                                                                                                                                                                                                                                                                                                                                                                                                    + +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The Mission API does not (at time of writing) provide explicit functionality to "repeat", takeoff, return to land etc. +The SDK provides some omitted functionality through the Action API.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Create the Plugin

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Mission objects are created in the same way as other MAVSDK plugins. + General instructions are provided in the topic: Using Plugins.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The main steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                    1. Link the plugin library into your application. +Do this by adding mavsdk_mission to the target_link_libraries section of the app's cmake build definition file

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      find_package(MAVSDK REQUIRED)
+
+target_link_libraries(your_application_name
+  MAVSDK::mavsdk
+  ...
+  MAVSDK::mavsdk_mission
+  ...
+)
+
                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      2. +
                                                                                                                                                                                                                                                                                                                                                                                                                    2. Create a connection to a system. +For example (basic code without error checking):
                                                                                                                                                                                                                                                                                                                                                                                                                      #include <mavsdk/mavsdk.h>
+Mavsdk mavsdk;
+ConnectionResult conn_result = mavsdk.add_udp_connection();
+// Wait for the system to connect via heartbeat
+while (mavsdk.system().size() == 0) {
+   sleep_for(seconds(1));
+}
+// System got discovered.
+System system = mavsdk.systems()[0];
+
                                                                                                                                                                                                                                                                                                                                                                                                                      3. +
                                                                                                                                                                                                                                                                                                                                                                                                                    3. Create an instance of Mission with the system:
                                                                                                                                                                                                                                                                                                                                                                                                                      #include <mavsdk/plugins/mission/mission.h>
+auto mission = Mission{system};
+
                                                                                                                                                                                                                                                                                                                                                                                                                      4. +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The mission object can then used to access the plugin API (as shown in the following sections).

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Defining a Mission

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    A mission must be defined as a vector of MissionItem objects as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    std::vector<std::shared_ptr<MissionItem>> mission_items;
+
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    You can create as many MissionItem objects as you like and use std_vector::push_back() to add them to the back of the mission item vector. +The example below shows how to create and add a MissionItem that sets the target position.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    // Create MissionItem and set its position
+std::shared_ptr<MissionItem> new_item(new MissionItem());
+new_item->latitude_deg = 47.40;
+new_item->longitude_deg = 8.5455360114574432;
+
+// Add new_item to the vector
+mission_items.push_back(new_item);
+
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The example below shows how you might set the other options on a second MissionItem (and add it to the mission).

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    std::shared_ptr<MissionItem> new_item2(new MissionItem());
+new_item2->latitude_deg = 47.40;
+new_item2->longitude_deg = 8.5455360114574432);
+new_item2->relative_altitude_m = 2.0f;
+new_item2->speed_m_s = 5.0f;
+new_item2->is_fly_through = true;
+new_item2->gimbal_pitch_deg = 20.0f;
+new_item2->gimbal_pitch_deg = 20.0f;
+new_item2->gimbal_yaw_deg = 60.0f;
+new_item2->camera_action = MissionItem::CameraAction::TakePhoto;
+new_item2->loiter_time_s = 1.0f;
+new_item2->camera_photo_interval_s =  1.0f;
+
+//Add new_item2 to the vector
+mission_items.push_back(new_item2);
+
                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The autopilot has sensible default values for the attributes. + If you do set a value (e.g. the desired speed) then it will be the default for the remainder of the mission.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    There are also getter methods for querying the current value of MissionItem attributes. + The default values of most fields are NaN (which means they are ignored/not sent).

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The mission (mission_items) can then be uploaded as shown in the section Uploading a Mission below.

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Convenience Function

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The Fly Mission uses a convenience function to create MissionItem objects. +Using this approach you have to specify every attribute for every mission item, whether or not the value is actually used.

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The definition and use of this function is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    static Mission::MissionItem make_mission_item(
+    double latitude_deg,
+    double longitude_deg,
+    float relative_altitude_m,
+    float speed_m_s,
+    bool is_fly_through,
+    float gimbal_pitch_deg,
+    float gimbal_yaw_deg,
+    Mission::MissionItem::CameraAction camera_action);
+
+
+mission_items.push_back(
+    make_mission_item(47.398170327054473,
+                      8.5456490218639658,
+                      10.0f, 5.0f, false,
+                      20.0f, 60.0f,
+                      MissionItem::CameraAction::NONE));
+
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Uploading a Mission

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Use Mission::upload_mission() to upload the mission defined in the previous section.

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The example below shows how this is done.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    // ... declare and populate the mission vector: mission_items
+
+{
+    std::cout << "Uploading mission..." << '\n';
+    Mission::MissionPlan mission_plan{};
+    mission_plan.mission_items = mission_items;
+    const Mission::Result result = mission.upload_mission(
+        mission_plan);
+
+    if (result != Mission::Result::Success) {
+        std::cout << "Mission upload failed (" << result << "), exiting." << '\n';
+        return 1;
+    }
+    std::cout << "Mission uploaded." << '\n';
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Starting/Pausing Missions

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Start or resume a paused mission using Mission::start_mission. +The vehicle must already have a mission (the mission need not have been uploaded using the SDK).

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The code fragment below shows how this is done.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    {
+    const Mission::Result result = mission.start_mission();
+
+    if (result != Mission::Result::Success) {
+        std::cout << "Mission start failed (" << result << "), exiting." << '\n';
+        return 1;
+    }
+    std::cout << "Started mission." << '\n';
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    To pause a mission use Mission::pause_mission(). +The code is almost exactly the same as for starting a mission:

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    {
+    std::cout << "Pausing mission..." << '\n';
+
+    const Mission::Result result = mission.pause_mission();
+    if (result != Mission::Result::Success) {
+        std::cout << "Failed to pause mission (" << result << ")" << '\n';
+    } else {
+        std::cout << "Mission paused." << '\n';
+    }
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Monitoring Progress

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Asynchronously monitor progress using Mission::subscribe_mission_progress(), +which receives a regular callback with the current MissionItem number and the total number of items.

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The code fragment just takes a lambda function that reports the current status.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    mission.subscribe_mission_progress( [](Mission::MissionProgress mission_progress)) {
+       std::cout << "Mission status update: " << mission_progress.current << " / " << mission_progress.total << '\n';
+    });
+
                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The mission is complete when current == total.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The following synchronous methods is also available for checking mission progress:

                                                                                                                                                                                                                                                                                                                                                                                                                    + +

                                                                                                                                                                                                                                                                                                                                                                                                                    Taking Off, Landing, Returning

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    If using a copter or VTOL vehicle then PX4 will automatically takeoff when it is armed and a mission is started (even without a takeoff mission item). +For Fixed Wing vehicles the vehicle must be launched before starting a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    At time of writing the Mission API does not provide takeoff, land or "return to launch" MissionItems. +If required you can instead use the appropriate commands in the Action class.

                                                                                                                                                                                                                                                                                                                                                                                                                    + +

                                                                                                                                                                                                                                                                                                                                                                                                                    Downloading Missions

                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Use Mission::download_mission() to download a mission from the vehicle. +The mission is downloaded as a vector of MissionItem objects, that you can then view or manipulate as required.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Mission download will fail if the mission contains a command that is outside the supported set. +Missions created using QGroundControl are not guaranteed to successfully download! +Again, for that case MissionRaw might be a better fit.

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    The code fragment below shows how to download a mission:

                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                    {
+    std::cout << "Downloading mission." << '\n';
+    std::pair<Result, Mission::MissionPlan> result = mission.download_mission();
+
+    if (result.first != Mission::Result::Success) {
+        std::cout << "Mission download failed (" << result.first << "), exiting." << '\n';
+        return 1;
+    }
+
+    std::cout << "Mission downloaded (MissionItems: "
+        << result.second.mission_items.size()
+        << ")" << '\n';
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                    Further Information

                                                                                                                                                                                                                                                                                                                                                                                                                    + +
                                                                                                                                                                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                      Offboard Control

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The Offboard MAVSDK plugin provides a simple API for controlling the vehicle using velocity and yaw setpoints. +It is useful for tasks requiring direct control from a companion computer; for example to implement collision avoidance.

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The API uses the PX4 Offboard flight mode. + The class can only be used with copter and VTOL vehicles (not fixed wing - a PX4 limitation) and currently only supports velocity setpoint commands (PX4 additionally supports position and thrust setpoints).

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Client code must specify a setpoint before starting Offboard mode. +The Offboard plugin automatically resends setpoints at 20Hz (PX4 requires that setpoints are minimally resent at 2Hz). +If more precise control is required, clients can call the setpoint methods at whatever rate is required or whenever an updated setpoint is available.

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Create the Plugin

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Offboard objects are created in the same way as other SDK plugins. + General instructions are provided in the topic: Using Plugins.

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The main steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                      1. Link the plugin library into your application. +Do this by adding mavsdk_offboard to the target_link_libraries section of the app's cmake build definition file

                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        find_package(MAVSDK REQUIRED)
+
+target_link_libraries(your_application_name
+  MAVSDK::mavsdk
+  ...
+  MAVSDK::mavsdk_offboard
+  ...
+)
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        2. +
                                                                                                                                                                                                                                                                                                                                                                                                                      2. Create a connection to a system. For example (basic code without error checking):
                                                                                                                                                                                                                                                                                                                                                                                                                        #include <mavsdk/mavsdk.h>
+Mavsdk mavsdk;
+ConnectionResult conn_result = mavsdk.add_udp_connection();
+// Wait for the system to connect via heartbeat
+while (mavsdk.system().size() == 0) {
+   sleep_for(seconds(1));
+}
+// System got discovered.
+System system = mavsdk.systems()[0];
+
                                                                                                                                                                                                                                                                                                                                                                                                                        3. +
                                                                                                                                                                                                                                                                                                                                                                                                                      3. Create a shared pointer to an instance of Offboard instantiated with the system:
                                                                                                                                                                                                                                                                                                                                                                                                                        #include <mavsdk/plugins/offboard/offboard.h>
+auto offboard = Offboard{system};
+
                                                                                                                                                                                                                                                                                                                                                                                                                        4. +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The offboard pointer can then used to access the plugin API (as shown in the following sections).

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Starting/Stopping Offboard Mode

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      To use offboard mode you must first create a setpoint using any of the setpoint setter methods (e.g. set_velocity_ned() or set_velocity_body()). +You can use any setpoint you like - the vehicle will start acting on the current setpoint as soon as the mode starts.

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      After you have created a setpoint call start() or start_async() to switch to offboard mode.

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      // Create a setpoint before starting offboard mode (in this case a null setpoint)
+offboard.set_velocity_body({0.0f, 0.0f, 0.0f, 0.0f});
+
+// Start offboard mode.
+Offboard::Result offboard_result = offboard.start();
+if (result != Offboard::Result::Success) {
+        std::cerr << "Offboard::start() failed: " << offboard_result << '\n';
+    }
+
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The methods return/complete with a Result indicating whether the command was successful. +Above we use the synchronous API, and then print a human readable string for the returned enum.

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      You can change the setpoints as needed (new setpoints replace any old setpoints).

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      To stop offboard mode call Offboard::stop() or stop_async(). +The SDK will then clear the current setpoint and put the vehicle into Hold flight mode. +The synchronous API is used as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      //Stop offboard mode
+offboard_result = offboard.stop();
+if (result != Offboard::Result::Success) {
+        std::cerr << "Offboard::stop() failed: " << offboard_result << '\n';
+    }
+
                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Offboard mode can also be stopped by moving the vehicle into another mode (e.g. using the Action API).

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Velocity Setpoints

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The API provides methods to set velocity and yaw components using the NED frame (set_velocity_ned()) and the body frame (set_velocity_body()). +The difference is that NED is relative to an absolute coordinate system (North, East, Down) while body frame is relative to the vehicle orientation (front, right, down).

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The NED frame is used to move towards a specific compass direction or face the vehicle in a specific compass direction. +Body frame is usually used for tasks where the vehicle needs to deviate from the current path (e.g. to avoid an obstacle) or to rotate the vehicle at a specific rate. +Movement up/down is the same in either frame.

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The following sections provide some common usage examples.

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Move in Compass Direction

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The set_velocity_ned() can be used to move towards any particular compass direction - e.g. North, West, South-East, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Calling set_velocity_ned() using an initialiser list type declaration for the VelocityNEDYaw argument, +the first three values are the velocity components in North, East, and Down directions (in metres/second).

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Examples:

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                      • Head North at 3 m/s:
                                                                                                                                                                                                                                                                                                                                                                                                                        offboard.set_velocity_ned({3.0f, 0.0f, 0.0f, 0.0f});
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                      • Head North-West with 5 m/s on each velocity component (notice that a negative value is required on the east_m_s value to move West):
                                                                                                                                                                                                                                                                                                                                                                                                                        offboard.set_velocity_ned({5.0f, -5.0f, 0.0f, 0.0f});
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Go Up or Down

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Both coordinate systems use the same definition for "down", and both methods take an argument where the third value is used to specify the velocity component in this direction. +The following examples show how you set the velocity component down (positive) or up (negative) using the two methods:

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Examples:

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                      • Go up at 2 m/s (note, negative value to go up!):
                                                                                                                                                                                                                                                                                                                                                                                                                        offboard.set_velocity_ned({0.0f, 0.0f, -2.0f, 0.0f});
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                      • Go down at 3 m/s:
                                                                                                                                                                                                                                                                                                                                                                                                                        offboard.set_velocity_body({0.0f, 0.0f, 3.0f, 0.0f});
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Turn/Yaw Vehicle to Face a Compass Direction

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The set_velocity_ned() can be used to face the vehicle in a particular direction, independent of the direction of travel. +The direction is specified in clockwise degrees relative to North (0 is North, 90 is East, 180 is South, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Calling set_velocity_ned() using an initialiser list type declaration for the VelocityNEDYaw argument, +the final (fourth) value is the yaw direction.

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Examples:

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                      • Turn to face West:
                                                                                                                                                                                                                                                                                                                                                                                                                        offboard.set_velocity_ned({0.0f, 0.0f, 0.0f, 270.0f});
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                      • Turn to face North:
                                                                                                                                                                                                                                                                                                                                                                                                                        offboard.set_velocity_ned({0.0f, 0.0f, 0.0f, 0.0f});
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      It is not possible to control the rate or direction that the vehicle will use to turn towards the setpoint direction (it will turn in whatever direction reaches the setpoint fastest).

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Turn/Yaw Vehicle in specified Direction/at Rate

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The set_velocity_body() can be used to rotate the vehicle at a specific rate and in a specified direction. +This is set in VelocityBodyYawspeed::yawspeed_deg_s, as the angular rate in degrees/second. If viewed from above, the vehicle will turn clockwise if the value is positive and anticlockwise if it is negative.

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Calling set_velocity_body() using an initialiser list type declaration the final (fourth) value is the yaw rate/direction.

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Examples:

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                      • Turn clock-wise at 60 degrees per second:
                                                                                                                                                                                                                                                                                                                                                                                                                        offboard.set_velocity_body({0.0f, 0.0f, 0.0f, 60.0f});
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                      • Turn anti clock-wise at 5 degrees per second:
                                                                                                                                                                                                                                                                                                                                                                                                                        offboard.set_velocity_body({0.0f, 0.0f, 0.0f, -5.0f});
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Fly Forwards

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Use set_velocity_body() to set the velocity components relative to the body frame. +To fly forwards, simply set the first parameter (Offboard::VelocityBodyYawspeed::forward_m_s) when the vehicle is not rotating.

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      offboard.set_velocity_body({5.0f, 0.0f, 0.0f, 0.0f});
+
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Fly a Circle

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      To fly a circle, use set_velocity_body() with both forward and rotational components. +This will force the vehicle to travel in a curved path.

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      offboard.set_velocity_body({5.0f, 0.0f, 0.0f, 30.0f});
+
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      You can force the vehicle to fly sideways by using the (Offboard::VelocityBodyYawspeed::right_m_s value), and in the other direction by using a negative rotation value:

                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                      // Fly a circle sideways
+offboard.set_velocity_body({0.0f, -5.0f, 0.0f, -30.0f});
+
                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Position/Thrust Setpoints

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The SDK does not support position or thrust setpoints (at time of writing).

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Waiting on Setpoints

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The vehicle will obey the last setpoint called (when you call a setpoint the last one is cleared). +The SDK examples use timers to separate commands (e.g. sleep_for(seconds(8))) but in a real-world use case you might use telemetry or sensors to control when the setpoint is changed.

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Monitoring Offboard Mode

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      The vehicle may change out of offboard mode outside the control of your application (for example if a GCS were to put the vehicle into Hold mode). +In this case, the SDK will automatically stop sending setpoints and Offboard::is_active() will change from true to false.

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Calls to change the setpoint do not return an error! +Depending on the particular use case, offboard code may need to explicitly monitor for flight mode and change behaviour appropriately (e.g. using Telemetry::subscribe_flight_mode()).

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Further Information

                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                      Additional information/examples for the Offboard API are linked below:

                                                                                                                                                                                                                                                                                                                                                                                                                      + +
                                                                                                                                                                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                        System Information

                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                        The Info class is used to get system (vehicle) information, including the UUID (MAVLink SYS_ID if no UUID is stored in hardware), PX4 firmware version, vendor firmware version, host OS version (e.g. for NuttX) and vendor and product ids/names.

                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                        Not all version information will necessarily be relevant on all vehicles. Where this occurs the +hardware may return garbage values (for example, the simulator provides garbage values for the vendor +firmware semantic version).

                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                        Preconditions

                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                        The following code assumes that you already have included mavsdk.h (#include <mavsdk/mavsdk.h>) and that there is a connection to a system obtained as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        System system = mavsdk.systems()[0];
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                        The code also assumes that you have defined info, an instance of the Info class associated with the system (see Using Plugins):

                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        #include <mavsdk/plugins/info/info.h>
+auto info = Info{system};
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                        Query System Information

                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                        The code below shows how to query the hardware uid, version, and product, information and print it to the console:

                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                        The UUID/uid with type uint64_t has been replaced by uid2 called hardware_uid with type char[18]. This was a a change inherited from mavlink in order to prevent ID conflicts.

                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        std::cout << "hardware uid: " << info.hardware_uid() << '\n';
+
+// Wait until version/firmware information has been populated from the vehicle
+while (info.get_identification().first==Info::Result::INFORMATION_NOT_RECEIVED_YET) {
+    std::cout << "Waiting for Version information to populate from system." << '\n';
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+
+// Get the system Version struct
+const Info::Version &systemVersion =  info.get_version().second;
+
+// Print out the vehicle version information.
+std::cout << "  flight_sw_major: " << systemVersion.flight_sw_major<< '\n'
+          << "  flight_sw_minor: " << systemVersion.flight_sw_minor<< '\n'
+          << "  flight_sw_patch: " << systemVersion.flight_sw_patch<< '\n'
+          << "  flight_sw_vendor_major: " << systemVersion.flight_sw_vendor_major<< '\n'
+          << "  flight_sw_vendor_minor: " << systemVersion.flight_sw_vendor_minor<< '\n'
+          << "  flight_sw_vendor_patch: " << systemVersion.flight_sw_vendor_patch<< '\n'
+          << "  flight_sw_git_hash: " << systemVersion.flight_sw_git_hash<< '\n'
+          << "  os_sw_major: " << systemVersion.os_sw_major<< '\n'
+          << "  os_sw_minor: " << systemVersion.os_sw_minor<< '\n'
+          << "  os_sw_patch: " << systemVersion.os_sw_patch<< '\n'
+          << "  os_sw_git_hash: " << systemVersion.os_sw_git_hash<< '\n';
+
+// Get the system Product struct
+const Info::Product &systemProduct =  info.get_product().second;
+
+// Print out the vehicle product information.
+std::cout << "  vendor_id: " << systemProduct.vendor_id<< '\n'
+          << "  vendor_name: " << systemProduct.vendor_name<< '\n'
+          << "  product_id: " << systemProduct.product_id<< '\n'
+          << "  product_name: " << systemProduct.product_id<< '\n';
+
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                        It is possible to query for the information before all values have been retrieved. + Note above how we use Info::is_complete() to check that the version information (Info::Version and Info::Product) has all been obtained from the vehicle before printing it.

                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                          Actions (Take-off, Landing, Arming, etc)

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The Action class is used for commanding the vehicle to arm, takeoff, land, return home and land, disarm, kill and transition between VTOL modes.

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Most of the methods have both synchronous and asynchronous versions. +The methods send commands to a vehicle, and return/complete with the vehicle's response. +It is important to understand that a successful response indicates whether or not the vehicle intends to act on the command, not that it has finished the action (e.g. arming, landing, taking off etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The implication is that you may need to monitor for completion of actions!

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Create the Plugin

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Action objects are created in the same way as for other SDK plugins. +General instructions are provided in the topic: Using Plugins.

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The main steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                          1. Link the plugin library into your application. +Do this by adding mavsdk_action to the target_link_libraries section of the app's cmake build definition file

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            find_package(MAVSDK REQUIRED)
+
+target_link_libraries(your_application_name
+  MAVSDK::mavsdk
+  ...
+  MAVSDK::mavsdk_action
+  ...
+)
+
                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            2. +
                                                                                                                                                                                                                                                                                                                                                                                                                          2. Create a connection to a system. For example (basic code without error checking):
                                                                                                                                                                                                                                                                                                                                                                                                                            #include <mavsdk/mavsdk.h>
+Mavsdk mavsdk;
+ConnectionResult conn_result = mavsdk.add_udp_connection();
+// Wait for the system to connect via heartbeat
+while (mavsdk.system().size() == 0) {
+   sleep_for(seconds(1));
+}
+// System got discovered.
+System system = mavsdk.systems()[0];
+
                                                                                                                                                                                                                                                                                                                                                                                                                            3. +
                                                                                                                                                                                                                                                                                                                                                                                                                          3. Create an instance of Action with the system:
                                                                                                                                                                                                                                                                                                                                                                                                                            #include <mavsdk/plugins/action/action.h>
+auto action = Action{system};
+
                                                                                                                                                                                                                                                                                                                                                                                                                            4. +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The action object can then used to access the plugin API (as shown in the following sections).

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Some of the sections below additionally assume you have created a Telemetry instance that can be accessed using telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Taking Off

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The recommended way to take off using the SDK (and PX4) is to use either of the takeoff() or takeoff_async() methods. If a takeoff command is accepted the vehicle will change to the Takeoff mode, fly to the takeoff altitude, and then hover (in takeoff mode) until another instruction is received.

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          PX4/SDK also provides other ways to take off:

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                          • A copter or VTOL will take off automatically if a mission is started (fixed-wing will not).
                                                                                                                                                                                                                                                                                                                                                                                                                            • +
                                                                                                                                                                                                                                                                                                                                                                                                                          • You can also take off by manually driving the vehicle using the offboard API.
                                                                                                                                                                                                                                                                                                                                                                                                                            • +
                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The vehicle will only take off once armed, and can only arm once it is "healthy" (has been calibrated, the home position has been set, and there is a high-enough quality GPS lock). After it starts flying, code needs to check that takeoff is complete before sending additional instructions.

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Health Check

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The code fragment below shows very simple code to synchronously poll for health status (using Telemetry:health_all_ok()) prior to arming:

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          // Wait until health is OK and vehicle is ready to arm
+while (telemetry.health_all_ok() != true) {
+    std::cout << "Vehicle not ready to arm ..." << '\n';
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The code fragment below performs the same task, but additionally exits the app if calibration is required reports what conditions are still required before the vehicle is "healthy": +

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          // Exit if calibration is required
+Telemetry::Health check_health = telemetry.health();
+bool calibration_required = false;
+if (!check_health.gyrometer_calibration_ok) {
+    std::cout << ERROR_CONSOLE_TEXT << "Gyro requires calibration." << NORMAL_CONSOLE_TEXT << '\n';
+    calibration_required=true;
+}
+if (!check_health.accelerometer_calibration_ok) {
+    std::cout << ERROR_CONSOLE_TEXT << "Accelerometer requires calibration." << NORMAL_CONSOLE_TEXT << '\n';
+    calibration_required=true;
+}
+if (!check_health.magnetometer_calibration_ok) {
+    std::cout << ERROR_CONSOLE_TEXT << "Magnetometer (compass) requires calibration." << NORMAL_CONSOLE_TEXT << '\n';
+    calibration_required=true;
+}
+if (!check_health.level_calibration_ok) {
+    std::cout << ERROR_CONSOLE_TEXT << "Level calibration required." << NORMAL_CONSOLE_TEXT << '\n';
+    calibration_required=true;
+}
+if (calibration_required) {
+    return 1;
+}
+
+
+// Check if ready to arm (reporting status)
+while (telemetry.health_all_ok() != true) {
+    std::cout << ERROR_CONSOLE_TEXT << "Vehicle not ready to arm. Waiting on:" << NORMAL_CONSOLE_TEXT << '\n';
+    Telemetry::Health current_health = telemetry.health();
+    if (!current_health.global_position_ok) {
+        std::cout << ERROR_CONSOLE_TEXT << "  - GPS fix." << NORMAL_CONSOLE_TEXT << '\n';
+    }
+    if (!current_health.local_position_ok) {
+        std::cout << ERROR_CONSOLE_TEXT << "  - Local position estimate." << NORMAL_CONSOLE_TEXT << '\n';
+    }
+    if (!current_health.home_position_ok) {
+        std::cout << ERROR_CONSOLE_TEXT << "  - Home position to be set." << NORMAL_CONSOLE_TEXT << '\n';
+    }
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Vehicle health can also be checked using Telemetry:subscribe_health_all_ok().

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Arming

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Once the vehicle is ready, use the following synchronous code to arm:

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          // Arm vehicle
+std::cout << "Arming..." << '\n';
+const Action::Result arm_result = action.arm();
+
+if (arm_result != Action::Result::Success) {
+    std::cout << "Arming failed:" << arm_result <<  '\n';
+    return 1; //Exit if arming fails
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          If the arm() method returns Action::Result::Success then the vehicle is armed and can proceed to takeoff. This can be confirmed using Telemetry::armed().

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Get/Set Takeoff Altitude

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The default/current takeoff altitude can be queried using get_takeoff_altitude(). +This target can be changed at any point before takeoff using set_takeoff_altitude(). +The code fragment below shows how to set the takeoff altitude to 3 metres:

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          action.set_takeoff_altitude(3.0);
+
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Takeoff Action

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Once the vehicle is armed it can be commanded to take off. +The code below uses the synchronous takeoff() method, and fails if the vehicle refuses the command:

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          // Command Take off
+std::cout << "Taking off..." << '\n';
+const Action::Result takeoff_result = action.takeoff();
+if (takeoff_result != Action::Result::Success) {
+    std::cout << "Takeoff failed:" << takeoff_result << '\n';
+    return 1;
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          If the command succeeds the vehicle will takeoff, and hover at the takeoff altitude. Code should wait until takeoff has completed before sending the next instruction. Unfortunately there is no specific indicator to inform code that takeoff is complete.

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          One alternative is to simply wait for enough time that the vehicle should have reached the takeoff altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The code below checks for takeoff completion by polling the current altitude until the target altitude is reached:

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          float target_alt=action.get_takeoff_altitude_m();
+float current_position=0;
+while (current_position<target_alt) {
+    current_position = telemetry.position().relative_altitude_m;
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+// Reached target altitude - continue with next instruction.
+
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Landing

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The best way to land the vehicle at the current location is to use the land() or land_async() methods. +If the command is accepted the vehicle will change to the Land mode and land at the current point.

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The SDK does not at time of writing recommend other approaches for landing: land mission items are not supported and manually landing the vehicle using the offboard is not as safe.

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The code below shows how to use the land action.

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          const Action::Result land_result = action.land();
+if (land_result != Action::Result::Success) {
+    //Land failed, so exit (in reality might try a return to land or kill.)
+    return 1;
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The vehicle should land and then automatically disarm. +If you want to monitor the landing you can trigger completion of the app based on the armed state, as shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          while (telemetry.armed()) {
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+std::cout << "Disarmed, exiting." << '\n';
+
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Return/RTL

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Return mode (also known as "Return to Launch", "Return to Land", "Return to Home") flies the vehicle back to the home position and may also land the vehicle (depending on vehicle configuration). +This mode is invoked from Action using the return_to_launch() or return_to_launch_async() methods.

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The code below shows how to use the synchronous method:

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          const Action::Result rtl_result = telemetry.return_to_launch();
+if (rtl_result != Action::Result::Success) {
+    //RTL failed, so exit (in reality might send kill command.)
+    return 1;
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Depending on the vehicle it may land or hover around the return point. For vehicles that are configured to land you can use the same code as in the previous section to determine when the vehicle has disarmed.

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Disarm/Kill

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Use the disarm or kill methods to stop the drone motors (the difference is that disarming will only succeed if the drone considers itself landed, while kill will disarm a vehicle even in flight).

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The methods are listed below. These are used in the same way as other similar Action APIs:

                                                                                                                                                                                                                                                                                                                                                                                                                          + +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          PX4 will automatically disarm the vehicle after landing. The disarm methods explicitly invoke the same functionality.

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Get/Set Cruise Speed

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          You can get/set the normal horizontal velocity used in Return mode, Hold mode, Takeoff (and other AUTO Flight Modes using the following methods:

                                                                                                                                                                                                                                                                                                                                                                                                                          + +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          These methods get/set the MPC_XY_CRUISE parameter. + They are used in the same way as the other Action methods.

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Switch Between VTOL Modes

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Action provides methods to transition between VTOL fixed wing and multicopter modes, with both synchronous and asynchronous versions:

                                                                                                                                                                                                                                                                                                                                                                                                                          + +

                                                                                                                                                                                                                                                                                                                                                                                                                          The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail with a Result of VTOL_TRANSITION_SUPPORT_UNKNOWN or NO_VTOL_TRANSITION_SUPPORT). +The command will succeed if called when the vehicle is already in the mode.

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          The code fragment below shows how to call the synchronous action to transition to fixed wing, +and to print the result of the call (the other synchronous method is used in the same way).

                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                          const Action::Result fw_result = action.transition_to_fixedwing();
+
+if (fw_result != Action::Result::Success) {
+    std::cout << "Transition to fixed wing failed: "
+        << fw_result << '\n';
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Further Information

                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                          Additional information/examples for the Action API are linked below:

                                                                                                                                                                                                                                                                                                                                                                                                                          + +
                                                                                                                                                                                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                            Telemetry

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            The Telemetry class is used to get vehicle telemetry, including state and flight mode information.

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            All the methods have both synchronous and asynchronous versions, and users can set the rate at which the vehicle provides updates for each type of information. +All the methods of a particular type (synchronous, asynchronous, and set_rate methods) are used in the same way.

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            API Overview

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            The Telemetry API provides methods to return the following types of information:

                                                                                                                                                                                                                                                                                                                                                                                                                            + +

                                                                                                                                                                                                                                                                                                                                                                                                                            In addition there are a number of methods that return vehicle "state":

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                            • Current flight mode (flight_mode()).
                                                                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                                                                            • Whether the vehicle is "all healthy" (aggregates the vehicle Health information). +This is used to check if the vehicle is ready to arm.
                                                                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                                                                            • Whether the vehicle is armed/disarmed.
                                                                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                                                                            • Whether the vehicle is flying/in air.
                                                                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Create the Plugin

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Telemetry objects are created in the same way as objects in other SDK plugins. +General instructions are provided in the topic: Using Plugins.

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            The main steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                            1. Link the plugin library into your application. +Do this by adding mavsdk_telemetry to the target_link_libraries section of the app's cmake build definition file

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                               find_package(MAVSDK REQUIRED)
+
+target_link_libraries(your_application_name
+  MAVSDK::mavsdk
+  ...
+  MAVSDK::mavsdk_telemetry
+  ...
+)
+
                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              2. +
                                                                                                                                                                                                                                                                                                                                                                                                                            2. Create a connection to a system. For example (basic code without error checking):
                                                                                                                                                                                                                                                                                                                                                                                                                              #include <mavsdk/mavsdk.h>
+Mavsdk mavsdk;
+ConnectionResult conn_result = mavsdk.add_udp_connection();
+// Wait for the system to connect via heartbeat
+while (mavsdk.system().size() == 0) {
+   sleep_for(seconds(1));
+}
+// System got discovered.
+System system = mavsdk.systems()[0];
+
                                                                                                                                                                                                                                                                                                                                                                                                                              3. +
                                                                                                                                                                                                                                                                                                                                                                                                                            3. Create an instance of Telemetry with the system:
                                                                                                                                                                                                                                                                                                                                                                                                                              #include <mavsdk/plugins/telemetry/telemetry.h>
+auto telemetry = Telemetry{system};
+
                                                                                                                                                                                                                                                                                                                                                                                                                              4. +
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            The telemetry object can then used to access the plugin API (as shown in the following sections).

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Setting the Update Rate

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            The telemetry update rate determines the frequency at which callbacks will be invoked with new information, and also the probable "freshness" of data obtained when using synchronous telemetry APIs. The default update rate depends on the autopilot and may also be limited by the characteristics of the communications channel. +You can set the rate for each type of telemetry, and both synchronous or asynchronous rate-setting methods are provided.

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            For PX4 running on hardware the default rates are set on a per-mode basis in mavlink_main.cpp (search on configure_stream). + For PX4 running on SITL, the default rates are defined in the startup file.

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            The rate-setting methods are all used in the same way, so we just show one example for both the asynchronous and synchronous methods below. +In both cases we set the rate for position updates.

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            To set the position update rate synchronously (in this case using set_rate_position()):

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            // Set position update rate to 1 Hz.
+const Telemetry::Result set_rate_result = telemetry.set_rate_position(1.0);
+if (set_rate_result != Telemetry::Result::Success) {
+    // handle rate-setting failure (in this case print error)
+    std::cout << "Setting rate failed:" << set_rate_result << '\n';
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            To set the position update rate asynchronously with set_rate_position_async() (here we use a promise to block until we have a result):

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            {
+    std::cout << "Setting rate updates..." << '\n';
+
+    auto prom = std::make_shared<std::promise<Telemetry::Result>>();
+    auto future_result = prom->get_future();
+    // Set position update rate to 1 Hz.
+    telemetry.set_rate_position_async(1.0, [prom](Telemetry::Result result) {
+        prom->set_value(result); //fulfill promise
+    });
+
+    //Block until promise is fulfilled (in callback function)
+    const Telemetry::Result result = future_result.get();
+    if (result != Telemetry::Result::Success) {
+        // handle rate-setting failure (in this case print error)
+        std::cout << "Setting telemetry rate failed (" << result << ")." << '\n';
+    }
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Getting Regular Updates

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            The best way to get telemetry updates is to use the asynchronous methods. +These methods are non-blocking; they take a callback function argument and return immediately. +The callback will be invoked with a populated struct of the associated type as soon as an update message arrives from the vehicle. +The rate at which this occurs can be set through the API as discussed above.

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            For example, the Telemetry::subscribe_position() has the following prototype, where callback is called with a populated PositionCallback function:

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            void mavsdk::Telemetry::subscribe_position(PositionCallback callback)
+
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            The code fragment below shows this method being use with a lambda function for the callback, which simply prints out the current position and altitude).

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            telemetry.subscribe_position([](Telemetry::Position position) {
+    std::cout << "Altitude: " << position.relative_altitude_m << " m" << std::endl
+              << "Latitude: " << position.latitude_deg << std::endl
+              << "Longitude: " << position.longitude_deg << '\n';
+});
+
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Detecting Changes (only)

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            The asynchronous callbacks are updated every time new information is provided by the vehicle. +For some types of telemetry you may only wish to report only when the value changes.

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            The example below shows how to use subscribe_flight_mode() to report only when the current flight mode changes. +The example uses a lambda function callback that captures a variable for the last mode. +This variable is compared to the current flight mode to determine whether the value has changed and needs to be reported.

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            // Set up callback to monitor flight mode 'changes'
+Telemetry::FlightMode oldFlightMode=Telemetry::FlightMode::Unknown;
+telemetry.subscribe_flight_mode([&oldFlightMode](Telemetry::FlightMode flightMode) {
+    if (oldFlightMode != flightMode) {
+        //Flight mode changed. Print!
+        std::cout << "FlightMode: " << flightMode << '\n';
+        oldFlightMode=flightMode; //Save updated mode.
+    }
+});
+
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            You can stop flight mode updates altogether with:

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            telemetry.subscribe_flight_mode(nullptr);
+
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            This same approach can be used to report only messages that meet some condition.

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            In future we may add a mechanism in the API to support just reporting changes: Issue #63.

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Blocking Telemetry Requests (State Management)

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Some commands/vehicle operations must be performed in a certain sequence, or can only be called when the vehicle reaches a certain state. +For example, in order to takeoff the vehicle must first be armed, and in order to arm, the vehicle must have a home position/GPS lock. +For these cases you will want to monitor for the vehicle being in a certain state and block other commands until it is ready to proceed.

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Often the easiest approach is to use synchronous methods and poll for the result. +For example, the following code shows how you might poll for whether the vehicle is ready to arm (health_all_ok()).

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            // Check if vehicle is ready to arm
+while (!telemetry.health_all_ok()) {
+    std::cout << "Vehicle not ready to arm" << '\n';
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+// now ready to arm ...
+
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Similarly, you can use the asynchronous method and block

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            {
+    std::cout << "Waiting for system to be ready" << '\n';
+    auto prom = std::make_shared<std::promise<void>>();
+    auto future_result = prom->get_future();
+    telemetry.subscribe_health_all_ok(
+    [prom](bool result) {
+        //fulfill promise if health is OK
+        if (result) {// health OK
+            prom->set_value();
+        }
+    });
+
+    future_result.get(); //Block until promise is fulfilled.
+    // Now ready to arm
+}
+
                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Note that prom->set_value() must only be called once. + If your code can potentially call this multiple times, remember to unsubscribe from the callback after it succeeds (e.g. using telemetry.subscribe_health_all_ok(nullptr)).

                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Depending on the architecture of your application, you may even wish to arm the vehicle in your callback function. +Usually though it is easier to understand program flow using the approach above.

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Further Information

                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                            Additional information/examples for the Telemetry API are linked below:

                                                                                                                                                                                                                                                                                                                                                                                                                            + +
                                                                                                                                                                                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                              Testing

                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVSDK C++ library has both unit and integration tests, written using the Google C++ Test Framework (gtest). +The unit tests are run every time new code is committed to the library, and must pass before the code can be merged.

                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              This topic shows how to run the existing tests.

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              For information on writing tests see: Writing Plugins > Test Code.

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              Running Unit Tests

                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              To run all unit tests:

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              ./build/default/src/unit_tests_runner
+

                                                                                                                                                                                                                                                                                                                                                                                                                              Running Integration Tests

                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              Tests can be run against the simulator (either manually starting PX4 SITL or letting the tests start it automatically) or against a real vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              To run SITL you will need to install the Gazebo simulator. +This is included as part of the standard PX4 installation for macOS +and Linux. +It does not run on Windows.

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              Autostart PX4 SITL

                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              Make sure that the PX4 Gazebo simulation is built and works:

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              cd path/to/Firmware/
+make px4_sitl gazebo
+

                                                                                                                                                                                                                                                                                                                                                                                                                              Then press Ctrl+C to stop the simulation and run the integration tests:

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              cd path/to/MAVSDK/
+AUTOSTART_SITL=1 ./build/debug/src/integration_tests/integration_tests_runner
+

                                                                                                                                                                                                                                                                                                                                                                                                                              To run the tests without the 3D viewer (gzclient), use:

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              AUTOSTART_SITL=1 HEADLESS=1 ./build/debug/src/integration_tests/integration_tests_runner
+

                                                                                                                                                                                                                                                                                                                                                                                                                              Run PX4 SITL Manually

                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              Build and run the PX4 simulation manually:

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              cd path/to/Firmware/
+make px4_sitl gazebo
+

                                                                                                                                                                                                                                                                                                                                                                                                                              Then run the tests as shown:

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              cd path/to/MAVSDK/
+./build/debug/src/integration_tests/integration_tests_runner
+
                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              The tests are designed to run in simulation, and may not be safe if run on a real vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              Gtest Tricks

                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                              To list all integration tests:

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              ./build/default/src/integration_tests/integration_tests_runner --gtest_list_tests
+

                                                                                                                                                                                                                                                                                                                                                                                                                              To run a single integration test:

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              ./build/default/src/integration_tests/integration_tests_runner --gtest_filter="SitlTest.TelemetryAsync"
+

                                                                                                                                                                                                                                                                                                                                                                                                                              To run all telemetry tests:

                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                              ./build/default/src/integration_tests/integration_tests_runner --gtest_filter="SitlTest.Telemetry*"
+
                                                                                                                                                                                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                                + +

                                                                                                                                                                                                                                                                                                                                                                                                                                Building C++ Apps

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVSDK core C++ library is written in C++17 and exposes C++11 interfaces such as std::function. Therefore, applications using the library need to be C++11 or later as well.

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                Applications can be built using your preferred build system, compiler and linker toolchain. The only requirement is that the build system must be able to locate the MAVSDK C++ headers and libraries (installed as described here).

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                MAVSDK itself uses the cmake build system, and we recommend that you do too. +CMake is an open-source, cross-platform toolchain that allows you to build your examples on macOS, Linux and Windows using the same build file definition.

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                Below we explain how to set up a minimal build setup (CMakeLists.txt) file for your application.

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                Build Definition File - CMakeLists.txt

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                Cmake uses a definition file named CMakeLists.txt to define the project. This specifies the name of the project, compiler flags for different platforms and targets, where to find dependencies (libraries and header files), source files to build, and the name of the generated binary. CMakeLists.txt is typically stored in the root directory of your app project.

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                The sections below show how you can set up the file for when the SDK is installed system wide (the default) or locally.

                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                On Windows use the local installation.

                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                A "template" CMakeLists.txt is shown below. +Most of file is boilerplate - the main things you need to change are your_project_name, your_executable_name and your_source_file. You should also make sure that any plugins used by your app are listed in the target_link_libraries section.

                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                cmake_minimum_required(VERSION 3.15)
+
+# Specify your project's name
+project(your_project_name)
+
+# Specify at least C++11, better C++17
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Enable strict handling of warnings
+add_definitions("-Wall -Wextra -Werror")
+
+# Finds MAVSDK when installed system wide.
+find_package(MAVSDK REQUIRED)
+
+# Specify your app's executable name, and list of source files used to create it.
+add_executable(your_executable_name
+    your_source_file.cpp
+    # ... any other source files
+)
+
+# Specify your app's executable name and a list of linked libraries
+target_link_libraries(your_executable_name
+    MAVSDK::mavsdk             #All apps link against mavsdk library
+    MAVSDK::mavsdk_action      # If action plugin used by app ...
+    MAVSDK::mavsdk_telemetry   #If telemetry plugin used by app ...
+    # ... Any other linked libraries
+)
+
                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                The file format and required modifications are self-explanatory. +If additional information is required see the cmake documentation.

                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                Building the App

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                In order to build the application, the MAVSDK library and header files need to be installed.

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                MAVSDK Installed System-wide

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                If MAVSDK has been installed using the .deb or .rpm file from MAVSDK releases it is installed in /usr/, so system-wide. +If MAVSDK has been built from source and installed in /usr/local, we also consider that system-wide.

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                For this case find_package(MAVSDK REQUIRED) as used in CMakeLists.txt above should find the library automatically.

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                To build the example we would do:

                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                   cmake -Bbuild -H.
+   cmake --build build -j8
+
                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                MAVSDK Installed Locally

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                For Windows we need to install the library and header files locally by extracting mavsdk-windows-x64-release.zip file from MAVSDK releases.

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                On macOS/Linux, you can also use locally installed library artefacts by building from source if that is required (e.g. during development in order not to conflict with a system-wide installed library).

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                For the case where the library is installed in some local directory, you need to specify this path using the CMAKE_PREFIX_PATH.

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                E.g. here there would be a directory called mavsdk just one directory up:

                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                cmake -Bbuild -DCMAKE_PREFIX_PATH=../mavsdk -H.
+cmake --build build -j8
+
                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                Run the App

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                To Execute the file (in your build directory):

                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                build/your_executable_name  # Run your new executable
+
                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                Release Build

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                In order to build in Release mode where the file size is smaller and optimizations are turned on, do:

                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                macOS/Linux:

                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                cmake -Bbuild -DCMAKE_BUILD_TYPE=Release -H.
+cmake --build build -j8
+

                                                                                                                                                                                                                                                                                                                                                                                                                                Windows:

                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                cmake -Bbuild -H.
+cmake --build build -j8 --config Release
+
                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                We only show a small fraction of what Cmake is capable of! Check out the links below for more information and examples.

                                                                                                                                                                                                                                                                                                                                                                                                                                + +
                                                                                                                                                                                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                                  Managing Systems/Vehicles (Using Plugins)

                                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                                  Access to drone information, telemetry and control objects are provided by a number of different plugins. +For example, the Action plugin is used to arm, takeoff and land the vehicle, +while the Telemetry plugin can be used to query the vehicle GPS status, flight mode, etc. +A separate plugin instance must be created for each system that needs it.

                                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                                  All plugins are declared/used in the same way. This topic uses the Action plugin for the purposes of the demonstration.

                                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                                  To use a plugin first link the plugin library into the application. Do this by adding it to the target_link_libraries section of the app's cmake build definition file:

                                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                                  target_link_libraries(your_executable_name
+    mavsdk
+    ...
+    mavsdk_action
+   ...
+)
+
                                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                                  Plugins are named using the convention mavsdk_plugin_name.so. + For more information see Building C++ Apps

                                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                                  +

                                                                                                                                                                                                                                                                                                                                                                                                                                  In the application source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                  1. #include the header file for the plugin.
                                                                                                                                                                                                                                                                                                                                                                                                                                    #include <mavsdk/plugins/action/action.h>
+
                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                    2. +
                                                                                                                                                                                                                                                                                                                                                                                                                                  2. Create a connection to a System object (below named: system).
                                                                                                                                                                                                                                                                                                                                                                                                                                    3. +
                                                                                                                                                                                                                                                                                                                                                                                                                                  3. Create the plugin instance, specifying the System it is to be used with:
                                                                                                                                                                                                                                                                                                                                                                                                                                    auto action = Action{system};
+
                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                    4. +
                                                                                                                                                                                                                                                                                                                                                                                                                                  4. The pointer can then be used to invoke actions on the specified system. For example, to takeoff you would call the API as shown:
                                                                                                                                                                                                                                                                                                                                                                                                                                    action.takeoff();
+
                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                    5. +
                                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                                    VTOL Support

                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVSDK has only basic support for VTOL vehicles. +VTOL waypoint missions are only supported using the MissionRaw plugin.

                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                    Most design and test effort has gone into multicopter support. +Get in touch if you would like to help enhance the VTOL/Fixed-wing experience!

                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                    Supported Functionality

                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                    Much of the functionality in MAVSDK is generic, and useful on all vehicle types. +At time of writing the only VTOL-specific functionality are the actions to +transition between fixed wing and copter modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVSDK can be used to command VTOL vehicles to:

                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                                    • Take off and land in multicopter mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                                                    • Fly in multicopter mode and transition to fly in fixed wing mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                                                    • Use the camera/gimbal and other generic features.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                    Remaining Work

                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                    Known omissions:

                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                                    • You can't include the transition to/from fixed wing in the mission itself, but have to use the transition actions.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                                                    • VTOL takeoff in fixed wing mode is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                                                    • VTOL specific testing needs to be considered and implemented.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                    Further Information

                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                    Additional information/examples are linked below:

                                                                                                                                                                                                                                                                                                                                                                                                                                    + +
                                                                                                                                                                                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVSDK C++ Library

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      Slack Discuss GitHub Actions Status Coverage Status

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVSDK C++ library provides a simple C++ API for managing one or more vehicles via MAVLink. +It enables programmatic access to vehicle information and telemetry, and control over missions, movement and other operations. +The C++ library is designed to be performant, and can be used to enable tasks like computer vision, obstacle avoidance, and route planning.

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      Project Status

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVSDK C++ library is a robust and well-tested library that is in use in production environments. +Note however that the API is still being evolved and the project does not provide future compatibility guarantees.

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      Getting Started

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      Check out the QuickStart guide to get started.

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      A simple complete example can be found in Takeoff and Land.

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      Updating / API changes

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      Information about API changes between versions: API changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      API Overview

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      Mavsdk is the main library class. +API consumers use Mavsdk to discover and access vehicles (System objects), which in turn provide access to all other drone information and control objects (e.g. Telemetry, Mission etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      The most important classes are:

                                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Mavsdk: Discover and connect to vehicles (System).
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • System: Represents a connected vehicle (e.g. a copter or VTOL drone). +It provides access to vehicle information and control through the classes listed below.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Info: Basic version information about the hardware and/or software of a system.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Telemetry: Get vehicle telemetry and state information and set telemetry update rates.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Action: Simple drone actions including arming, taking off, and landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Mission: Waypoint mission creation and upload/download. +Missions are created from MissionItem objects.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Offboard: Control a drone with velocity commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Geofence: Specify a geofence.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Gimbal: Control a gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Camera: Control a camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • FollowMe: Drone tracks a position supplied by the SDK.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Calibration: Calibrate sensors (e.g.: gyro, accelerometer, and magnetometer).
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      • LogFiles: Download log files from the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • +
                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      In addition, "Server Plugins" can be used to implement vehicle-side MAVLink functionality. +The might be used to expose a MAVLink interface from non-MAVLink autopilots or components.

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      The following APIs provide more direct access to underlying MAVLink messages/types. +They should only be used where features are missing from the main APIs above.

                                                                                                                                                                                                                                                                                                                                                                                                                                      + +

                                                                                                                                                                                                                                                                                                                                                                                                                                      Contributing/Extending

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      The Contributing section contains everything you need to contribute to project, including topics about building the SDK from source code, running our integration and unit tests, and all other aspects of core development.

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      Troubleshooting

                                                                                                                                                                                                                                                                                                                                                                                                                                      +

                                                                                                                                                                                                                                                                                                                                                                                                                                      If something doesn't work as expected, make sure to check Troubleshooting.

                                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                                        Support
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                                                                                                                                                                                                                                                                                                                                                                                                                                        C++ QuickStart

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        This quickstart shows you how to build and run a simple MAVSDK C++ example application against a simulated vehicle, and observe the operation using the console and in a ground station.

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVSDK is essentially a C++ library (or rather multiple library files) that you can include and link in your C++ application.

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        Install MAVSDK library

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        Linux

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        Ubuntu

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        If you have an older version already installed remove that first:

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        sudo apt remove mavsdk
+

                                                                                                                                                                                                                                                                                                                                                                                                                                        The prebuilt C++ library can be downloaded as a .deb from releases, e.g.:

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        wget https://github.com/mavlink/MAVSDK/releases/download/v1.4.16/libmavsdk-dev_1.4.16_ubuntu20.04_amd64.deb
+sudo dpkg -i libmavsdk-dev_1.4.16_ubuntu20.04_amd64.deb
+

                                                                                                                                                                                                                                                                                                                                                                                                                                        macOS

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        Install Homebrew and use it to install the library:

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        brew install mavsdk
+

                                                                                                                                                                                                                                                                                                                                                                                                                                        Windows

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        For Windows you can download the mavsdk-windows-x64-release.zip file from MAVSDK releases containing the headers and library and extract it locally (see information how to use a locally installed library).

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        For more detailed instructions or other platforms check out the installation notes.

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        Setting up a Simulator

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        The easiest way to try out MAVSDK is to run one of the MAVSDK examples against a simulated version of the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        To set up and run the PX4 simulator, you need to either set up the PX4 SITL developer environment.

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        Or use a pre-built docker container to run PX4 and the simulator:

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        docker run --rm -it jonasvautherin/px4-gazebo-headless:1.11.0
+

                                                                                                                                                                                                                                                                                                                                                                                                                                        Install QGroundControl

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        You can use QGroundControl to connect the simulator and observe vehicle movement and behaviour while the examples are running. +QGroundControl will automatically connect to the PX4 simulation as soon as it is started.

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        See QGroundControl > Download and Install for information about setting up QGroundControl on your platform.

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        Build and Try Example

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        The examples are stored as part of the projects source code. +Get them using git in a terminal:

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        git clone https://github.com/mavlink/MAVSDK.git --recursive
+cd MAVSDK
+

                                                                                                                                                                                                                                                                                                                                                                                                                                        The examples can be found in the examples directory:

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        cd examples
+

                                                                                                                                                                                                                                                                                                                                                                                                                                        To build the takeoff and land example, you can do:

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        cd takeoff_and_land/
+cmake -Bbuild -H.
+cmake --build build -j4
+
                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        Running an Example

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        First start PX4 in SITL (Simulation) and QGroundControl as described above.

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        Then run the example app (from the example/takeoff_land/build directory) as shown:

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        build/takeoff_and_land udp://:14540
+
                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVSDK application should connect to PX4, and you will be able to observe the example running in the SDK terminal, SITL terminal, and/or QGroundControl. +The expected behaviour is shown here: Example: Takeoff and Land.

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        The first argument above is the connection string (udp://:14540). + This is the standard PX4 UDP port for connecting to offboard APIs (also see Connecting to Systems).

                                                                                                                                                                                                                                                                                                                                                                                                                                        +
                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        Next Steps

                                                                                                                                                                                                                                                                                                                                                                                                                                        +

                                                                                                                                                                                                                                                                                                                                                                                                                                        Once MAVSDK is installed we recommend you:

                                                                                                                                                                                                                                                                                                                                                                                                                                        + +
                                                                                                                                                                                                                                                                                                                                                                                                                                        © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                                          Server Plugins

                                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVSDK Server plugins are used to expose MAVLink services on non-MAVLink flight stacks, companions computers, cameras, gimbals and other components.

                                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                                          The plugins listen for commands from a ground station or other MAVLink client, pass them to the underlying native system using callbacks, and respond as needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                                          They are called "server" plugins because they perform the server role in communication - listening for commands and responding. +The client role is usually performed by a ground station (or "ordinary" MAVSDK plugin)

                                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                                          + +

                                                                                                                                                                                                                                                                                                                                                                                                                                          Adding MAVLink support to your vehicle is as simple as instantiating the required server plugin and actioning the vehicle on the appropriate callback.

                                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                                          Examples

                                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                                          The Autopilot Server example uses many different MAVSDK server plugins to replicate a simple vehicle and autopilot system, with telemetry, mission handling, parameters and more.

                                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                                          Plugins

                                                                                                                                                                                                                                                                                                                                                                                                                                          +

                                                                                                                                                                                                                                                                                                                                                                                                                                          The plugins developed specifically for this case are usually suffixed with Server, e.g.:

                                                                                                                                                                                                                                                                                                                                                                                                                                          + +

                                                                                                                                                                                                                                                                                                                                                                                                                                          These server plugins can potentially also be used to test the "client" plugins of MAVSDK in the future. The Autopilot Server example uses multiple MAVSDK instances in this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                          +
                                                                                                                                                                                                                                                                                                                                                                                                                                          © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                                            Troubleshooting

                                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                                            User callbacks

                                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                                            All callbacks back to the user of the library are called from one thread. The callbacks are stored in a queue. If the user does not return quickly enough from the callback, it can happen that the user callback queue fills up.

                                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                                            If a callback takes more than one second, the user sees the warning:

                                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                                            [02:56:26|Warn ] Callback took more than 1 second to run.
+See: https://mavsdk.mavlink.io/main/en/cpp/troubleshooting.html#user_callbacks (system_impl.cpp:327)
+

                                                                                                                                                                                                                                                                                                                                                                                                                                            At 10 queued callbacks, the user sees the warning:

                                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                                            [02:56:26|Warn ] User callback queue too slow.
+See: https://mavsdk.mavlink.io/main/en/cpp/troubleshooting.html#user_callbacks (system_impl.cpp:1213)
+

                                                                                                                                                                                                                                                                                                                                                                                                                                            At 100 queued callbacks, the user sees the error message:

                                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                                            [02:56:35|Error] User callback queue overflown
+See: https://mavsdk.mavlink.io/main/en/cpp/troubleshooting.html#user_callbacks (system_impl.cpp:1218)
+

                                                                                                                                                                                                                                                                                                                                                                                                                                            How to debug this?

                                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                                            To determine which callback is blocking the queue, you can set the environment variable MAVSDK_CALLBACK_DEBUGGING to 1, which will print more debug information and abort the program as soon as the problem occurs.

                                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVSDK_CALLBACK_DEBUGGING=1 ./my_executable_using_mavsdk
+

                                                                                                                                                                                                                                                                                                                                                                                                                                            or:

                                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                                            export MAVSDK_CALLBACK_DEBUGGING=1
+./my_executable_using_mavsdk
+

                                                                                                                                                                                                                                                                                                                                                                                                                                            You should then see something like this hinting at which callback might be responsible:

                                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                                            [03:00:02|Warn ] Callback called from telemetry_impl.cpp:533 took more than 1 second to run. (system_impl.cpp:320)
+[2]    1261673 abort (core dumped)  MAVSDK_CALLBACK_DEBUGGING=1  ..."
+

                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that this does not point to the blocking code, but only to the place where your blocking callback was called.

                                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                                            How to avoid this?

                                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                                            The rule is to spend as little time and CPU in the callbacks as possible. +For instance, inside the callbacks you should not wait on other events or sleep.

                                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                                            If you really want to do something that takes longer inside a callback, the workaround is to just spawn that activity on another thread, e.g. using std::thread:

                                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                                            void my_callback(Telemetry::Position position)
+{
+    std::thread([position]() {
+        std::this_thread_sleep_for(std::chrono::seconds(3));
+        my_delayed_action(position);
+    }).detach();
+}
+

                                                                                                                                                                                                                                                                                                                                                                                                                                            Why did this use to work?

                                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                                            Before introducing the callback queue, we used a thread pool of 3 threads to call user callbacks. +The thread pool was written to avoid everything from stalling if a user blocked in one of the callbacks. +It generally worked provided the user did not block in more than 3 callbacks at any given time.

                                                                                                                                                                                                                                                                                                                                                                                                                                            +

                                                                                                                                                                                                                                                                                                                                                                                                                                            However, it had also some disadvantages:

                                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                                            • Due to the thread pool multiple threads could call a function at any given time. +This means that one callback can be called from at least two threads at the same time which is quite likely if the callback is called at a high rate. +This can create race conditions on the user side unless a mutex is used to prevent this. +However, it's not very intuitive that a mutex is needed for that, and mutexes in general should be avoided, if possible, for performance reasons. +Such race conditions also showed up as CI test failures, see: MAVSDK#1010, MAVSDK#1045.
                                                                                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                                                                                            • For developers the old thread pool behaviour was unclear and unpredictable. +Basically, without code inspection, it was difficult to know if blocking in a callback is safe or not. +When trying with one blocking callback, it would work, however, this can create a false sense of security as with 3 blocking callbacks it would suddenly lock up.
                                                                                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                                                                                            • Previously, when this happened, it was difficult to debug because it would either lead to a crash on destruction, or lock up at which point the backtrace of all threads need to be looked at using gdb.
                                                                                                                                                                                                                                                                                                                                                                                                                                              • +
                                                                                                                                                                                                                                                                                                                                                                                                                                            +
                                                                                                                                                                                                                                                                                                                                                                                                                                            © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                                              FAQ

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Why was the core of MAVSDK written in C++?

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              The aim was to have an API in a language which is cross-platform and has many language bindings. +The library also needs to be lightweight and fast, so it does not slow down for onboard usage at higher rate messaging. +Additionally, MAVSDK should be able to run efficiently in embedded setups, e.g. as part of an app or onboard a drone on a companion computer, as well as provide a simple and safe API. This favoured C++ over C as it allows for more expressive but type-safe APIs using standard library containers (e.g. std::vector<MissionItem>) for usage in embedded setups.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Are multiple vehicles supported?

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Yes.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                              • The MAVSDK C++ library allows C++ applications to connect to multiple vehicles at a time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                                                                              • Python, Swift, and other language wrappers can only connect to a single vehicle at a time. +However you can instantiate multiple copies of wrappers in order to connect to multiple systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              A maximum of 255 vehicles can be connected.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              The maximum number of vehicles is defined by the MAVLink protocol. + MAVLink refers to vehicles as "systems", which are comprised of components (for example, a drone with a gimbal and a camera). + Each system has a network-unique MAVLink system ID, with a value between 1 and 255 (0 is a "broadcast address"). + Each component in a system shares its system id, and has a system-unique component ID, again with a value 1 and 255.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                                              + +

                                                                                                                                                                                                                                                                                                                                                                                                                                              No. MAVSDK only supports MAVLink 2.0.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              What sorts of vehicles are supported?

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVSDK API is designed for interacting with aircraft. +It has primarily been tested for use with multicopters, but also has basic support for fixed wing and VTOL.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              The API may "work" with ground-based or other types of vehicles, but some methods will not make sense. +This use-case is mostly unsupported and untested.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Does MAVSDK support indoor use?

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Indoor use is supported, however, some modes such as mission or position control are not available indoor, unless some additional positioning method is available (e.g. optical flow, visual-inertial odometry, a motion capture system, etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Note that PX4 currently does not support missions using "local coordinates" (i.e. meters) but only supports using "global coordinates" (i. e. latitude/longitude).

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              What UAV flight stacks are supported?

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVSDK, so far, is optimised for use with the PX4 flight stack and all testing is done against PX4.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              While many features should work on other flight stacks there may be implementation differences at the MAVLink microservices level which means that not every API will work. +For example, PX4 and ArduPilot implement the parameter protocol differently, and vary slightly in the mission upload/download protocol (e.g. ArduPilot uses the 0 entry as the home position).

                                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              The SDK welcomes contributions to better support flight stacks other than PX4. +We do however expect contributors to also help with testing and maintenance support for using the SDK with their autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Are serial connections supported?

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Yes. Serial, TCP, and UDP connections are supported, see notes on connection.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Why is libCURL a dependency?

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              libCURL will be required to download the camera definition file which is referenced in CAMERA_INFORMATION. +It might also come in handy whenever any other REST resources are required.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              How are plugins added?

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Check out C++/Contributing/Plugins.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Can a plugin depend on another one?

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Yes - but it should not! +The idea is that plugins don't have any coupling between each other which allows for any plugin to be changed or removed without breaking the rest. +This will lead to some duplication at places, and that's an acceptable trade-off. +If the same code is used in many places, it can always be moved to core and get re-used from there.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              We have sometimes moved functionality from plugins to the core if it was exposed in multiple plugins. As an example mission upload/download has been moved to the core so it can be used in the Mission plugin as well as the MissionRaw and Geofence plugins.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Can MAVSDK run on an embedded platform / microcontroller?

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVSDK is generally written at a bit higher level, geared towards ARM devices such as a Raspberry Pi, a smartphone, or a similar device with equal/better performance.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              As MAVSDK does not actually require too much CPU power, it could in theory be run on a microcontroller such as an ARM Cortex M4, however, it would require the POSIX APIs for serial and networking communication, as well as the C++ standard library for classes/functions such as std::thread or std::vector.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              The recommendation for usage with a microcontroller would be to use the pure C MAVLink headers.

                                                                                                                                                                                                                                                                                                                                                                                                                                              + +

                                                                                                                                                                                                                                                                                                                                                                                                                                              The C++ MAVLink passthrough plugin basically exposes the direct C MAVLink API. While it would be nice to have access to all MAVLink messages in the language wrappers, there are some technical challenges:

                                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                              • Essentially, it would mean that all MAVLink APIs would have to be duplicated by the proto APIs. +This would increase the API and code size considerably.
                                                                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                                                                              • Alternatively, the API could be exposed without types, using some sort of runtime access like get_message("ATTITUDE").get_field("pitch").as_float(). +This would come with the cost of no type safety and runtime overhead for parsing the strings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                • +
                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              From a MAVSDK project point of view, there is also an advantage of not having a passthrough available in language wrappers; it encourages that required features are contributed back to the open-source project, rather than implemented in private using passthrough, and thus benefitting everyone.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              Why is gRPC used for the language wrappers?

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              There are multiple ways to support multiple programming languages all with their pros and cons:

                                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                              1. Separate implementation per language: ++ Nice native API. ++ No non-native dependencies (often) in language wrappers. +- Lots of implementation effort required, does not scale well with a small team. +- Languages will not have consistency of feature parity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                2. +
                                                                                                                                                                                                                                                                                                                                                                                                                                              2. Direct language bindings based on Swig. ++ Many languages "almost for free". +- Not always optimal/super clean API, unless another layer is written manually. +- Requires linking to non-native dependencies.
                                                                                                                                                                                                                                                                                                                                                                                                                                                3. +
                                                                                                                                                                                                                                                                                                                                                                                                                                              3. Direct language bindings manually written, or based on various tools like pybind11. ++ Some languages "almost for free". +- Varies on the language. If done manually likely to have bugs. +- Requires linking to nan-native dependencies.
                                                                                                                                                                                                                                                                                                                                                                                                                                                4. +
                                                                                                                                                                                                                                                                                                                                                                                                                                              4. Language bindings based on proto definitions (protobuf) and gRPC. ++ Nice native APIs can be auto-generated from proto files. ++ No non-native dependencies in language wrappers. ++ mavsdk_server (gRPC server) can be run on other machine, or over network, in cloud, etc. +- gRPC requires quite a few dependencies.
                                                                                                                                                                                                                                                                                                                                                                                                                                                5. +
                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              When writing the language wrappers for MAVSDK we decided to try gRPC, however, we underestimated just how much work was required to write all the auto-generation for the various function signatures (sync, async, result handling, streams, etc.), and also were not aware about the pain that comes with every dependency.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              You can read more about the auto-generation, and learn how to add functionality.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +

                                                                                                                                                                                                                                                                                                                                                                                                                                              We are not ruling out direct-bindings for the future, there is e.g. a prototype for Python using pybind11, so this is an ongoing topic.

                                                                                                                                                                                                                                                                                                                                                                                                                                              +
                                                                                                                                                                                                                                                                                                                                                                                                                                              © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVSDK (main)

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                Slack Discuss GitHub Actions Status +Coverage Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVSDK is a collection of libraries for various programming languages to interface with MAVLink systems such as drones, cameras or ground systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                The libraries provides a simple API for managing one or more vehicles, providing programmatic access to vehicle information and telemetry, and control over missions, movement and other operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                The libraries can be used onboard a drone on a companion computer or on the ground for a ground station or mobile device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVSDK is cross-platform: Linux, macOS, Windows, Android and iOS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                Programming Languages

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVSDK is primarily written in C++ with wrappers available for several programming languages:

                                                                                                                                                                                                                                                                                                                                                                                                                                                + +

                                                                                                                                                                                                                                                                                                                                                                                                                                                Getting Started

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                Check out the quickstart guide for C++ and Python. +And no matter which language you are using, use the C++ Guide to learn how to +perform common tasks and use the library in general.

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                Getting Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                This guide contains information and examples showing how to use MAVSDK. +If you have specific questions that are not answered by the documentation, these can be raised on:

                                                                                                                                                                                                                                                                                                                                                                                                                                                + +

                                                                                                                                                                                                                                                                                                                                                                                                                                                Use Github for bug reports/enhancement requests:

                                                                                                                                                                                                                                                                                                                                                                                                                                                + +

                                                                                                                                                                                                                                                                                                                                                                                                                                                Contributing

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                We welcome contributions! If you want to help or have suggestions/bug reports please get in touch with the development team.

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                The Contributing (C++) section contains more information on how and what to contribute, including topics about building MAVSDK from source code, running our integration and unit tests, and all other aspects of core development.

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                License

                                                                                                                                                                                                                                                                                                                                                                                                                                                +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  +
                                                                                                                                                                                                                                                                                                                                                                                                                                                • The MAVSDK is licensed under the permissive BSD 3-clause.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                                                                                • This documentation is licensed under CC BY 4.0 license.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • +
                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                Governance

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVSDK project is hosted under the governance of the Dronecode Foundation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                +

                                                                                                                                                                                                                                                                                                                                                                                                                                                Dronecode Logo +Linux Foundation Logo

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                                                                                                                                                                                                                                                                                                                                                                                                                                                © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVSDK-Python

                                                                                                                                                                                                                                                                                                                                                                                                                                                  + +
                                                                                                                                                                                                                                                                                                                                                                                                                                                  © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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                                                                                                                                                                                                                                                                                                                                                                                                                                                    Python QuickStart

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Prerequisites

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                      +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Python 3.6+: run python --version or python3 --version in a terminal to check the installed version.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A running SITL instance (jMAVSim, gazebo, …). +A quick way to run a headless gazebo SITL instance using docker is documented here.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Install

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVSDK-Python is distributed through PyPi, and can therefore be installed with pip3:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    pip3 install mavsdk
+
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Make sure that the output of this command confirms that the installation succeeded!

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    On some systems, you may have to run pip3 install --user mavsdk, or you may want to run in a Python venv.

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    For the quick start below we will also install the lightweight package called “aioconsole”. +This provides a REPL (interactive shell) called apython that we can use for running asyncio code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    pip3 install aioconsole
+
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Run SITL

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    It is always good to make sure that SITL works before trying to connect MAVSDK to it. +One way is to run the following commands in the pxh> prompt when SITL is running:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    commander takeoff
+commander land
+

                                                                                                                                                                                                                                                                                                                                                                                                                                                    The simulated drone should takeoff and land. +If it doesn't, it may mean that SITL is not ready, or that there is a problem.

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Take off from MAVSDK

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    When we know that the simulator is ready, we can open an apython REPL:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    apython
+
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Import MAVSDK into the environment by entering:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    from mavsdk import System
+
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    We then create a System object, in this case named drone, and make it connect to the drone (this object is our "handle" to access the rest of the MAVSDK functions):

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    drone = System()
+await drone.connect()
+
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Once connected, we can arm and takeoff using the appropriate MAVSDK commands:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    await drone.action.arm()
+await drone.action.takeoff()
+
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    If everything went well, your drone should takeoff. +In the pxh console, you should see a log line like:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    INFO [commander] Takeoff detected
+
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    If running a graphical interface, you should see the drone taking off. +Here is what it looks like in jMAVSim:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    jMAVSim after a successful takeoff

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Make sure to send the takeoff() command within (at most) a few seconds of arm(); the drone will automatically disarm after a few seconds if it does not receive a command to takeoff.

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    You get an exception, as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    raise ActionError(result, “arm()”)
+mavsdk.generated.action.ActionError: COMMAND_DENIED: ‘Command denied’; origin: arm(); params: ()
+
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is not a bug! It means that the arm() call was rejected by PX4, with the error code COMMAND_DENIED. +It happens for instance when you try to arm before the drone gets a GPS fix. +Most functions in MAVSDK-Python can raise exceptions that your code should handle with try... except.

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Now that the drone is flying, we can land:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    await drone.action.land()
+
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    We have been using the apython REPL to run all that interactively, but the same can be achieved by running the takeoff_and_land.py example (in which case the aioconsole package is not needed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Using an IDE

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Running from the REPL is convenient for testing a few commands interactively, but aioconsole does not provide auto-completion. +However, IDEs like PyCharm do. +This is very helpful, as typing drone. is enough to get a list of suggestions. +The following screenshot shows PyCharm auto-completion for drone.action.:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Auto-completion in PyCharm

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Examples

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    We do have a number of examples available in the repository, which are certainly a good starting point for learning about MAVSDK-Python.

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Next Steps

                                                                                                                                                                                                                                                                                                                                                                                                                                                    +

                                                                                                                                                                                                                                                                                                                                                                                                                                                    Once MAVSDK is installed we recommend you:

                                                                                                                                                                                                                                                                                                                                                                                                                                                    + +
                                                                                                                                                                                                                                                                                                                                                                                                                                                    © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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(main)\n  \n\nMAVSDK is a collection of libraries for various programming languages to interface with MAVLink systems such as drones, cameras or ground systems.\nThe libraries provides a simple API for managing one or more vehicles, providing programmatic access to vehicle information and telemetry, and control over missions, movement and other operations.\nThe libraries can be used onboard a drone on a companion computer or on the ground for a ground station or mobile device.\nMAVSDK is cross-platform: Linux, macOS, Windows, Android and iOS.\nProgramming Languages\nMAVSDK is primarily written in C++ with wrappers available for several programming languages:\n\nMAVSDK-C++ (2016): Used in production.\nMAVSDK-Swift (2018): Used in production.\nMAVSDK-Python (2019): Used in production.\nMAVSDK-Java (2019): Used in production.\nMAVSDK-Go (2020): Feature complete.\nMAVSDK-JavaScript (2019): Proof of concept.\nMAVSDK-CSharp (2019). Proof of concept.\nMAVSDK-Rust (2019): Proof of concept.\n\nGetting Started\nCheck out the quickstart guide for C++ and Python.\nAnd no matter which language you are using, use the C++ Guide to learn how to\nperform common tasks and use the library in general.\nGetting Help \nThis guide contains information and examples showing how to use MAVSDK.\nIf you have specific questions that are not answered by the documentation, these can be raised on:\n\nDiscuss board\nDiscord (#mavsdk) \n\nUse Github for bug reports/enhancement requests:\n\nC++ API\nC++ Documentation\nSwift API and docs\nPython API and docs\n\n\nContributing\nWe welcome contributions! If you want to help or have suggestions/bug reports please get in touch with the development team.\nThe Contributing (C++) section contains more information on how and what to contribute, including topics about building MAVSDK from source code, running our integration and unit tests, and all other aspects of core development.\nLicense\n\nThe MAVSDK is licensed under the permissive BSD 3-clause.\nThis documentation is licensed under CC BY 4.0 license.\n\nGovernance\nThe MAVSDK project is hosted under the governance of the Dronecode Foundation.\n\n\n \n\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/":{"url":"cpp/","title":"C++","keywords":"","body":"MAVSDK C++ Library \n  \nThe MAVSDK C++ library provides a simple C++ API for managing one or more vehicles via MAVLink.\nIt enables programmatic access to vehicle information and telemetry, and control over missions, movement and other operations.\nThe C++ library is designed to be performant, and can be used to enable tasks like computer vision, obstacle avoidance, and route planning.\nProject Status\nThe MAVSDK C++ library is a robust and well-tested library that is in use in production environments.\nNote however that the API is still being evolved and the project does not provide future compatibility guarantees.\nGetting Started\nCheck out the QuickStart guide to get started.\nA simple complete example can be found in Takeoff and Land.\nUpdating / API changes\nInformation about API changes between versions: API changes.\nAPI Overview\nMavsdk is the main library class.\nAPI consumers use Mavsdk to discover and access vehicles (System objects), which in turn provide access to all other drone information and control objects (e.g. Telemetry, Mission etc.).\nThe most important classes are:\n\nMavsdk: Discover and connect to vehicles (System).\nSystem: Represents a connected vehicle (e.g. a copter or VTOL drone).\nIt provides access to vehicle information and control through the classes listed below.\nInfo: Basic version information about the hardware and/or software of a system.\nTelemetry: Get vehicle telemetry and state information and set telemetry update rates.\nAction: Simple drone actions including arming, taking off, and landing.\nMission: Waypoint mission creation and upload/download.\nMissions are created from MissionItem objects.\nOffboard: Control a drone with velocity commands.\nGeofence: Specify a geofence.\nGimbal: Control a gimbal.\nCamera: Control a camera.\nFollowMe: Drone tracks a position supplied by the SDK.\nCalibration: Calibrate sensors (e.g.: gyro, accelerometer, and magnetometer).\nLogFiles: Download log files from the vehicle.\n\nIn addition, \"Server Plugins\" can be used to implement vehicle-side MAVLink functionality.\nThe might be used to expose a MAVLink interface from non-MAVLink autopilots or components.\nThe following APIs provide more direct access to underlying MAVLink messages/types.\nThey should only be used where features are missing from the main APIs above.\n\nParam: Raw access to get and set parameters.\nMissionRaw: Direct access to MAVLink mission items.\nMavlinkPassthrough: Provides full/direct MAVLink access\n\nContributing/Extending\nThe Contributing section contains everything you need to contribute to project, including topics about building the SDK from source code, running our integration and unit tests, and all other aspects of core development.\nTroubleshooting\nIf something doesn't work as expected, make sure to check Troubleshooting.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/quickstart.html":{"url":"cpp/quickstart.html","title":"QuickStart","keywords":"","body":"C++ QuickStart\nThis quickstart shows you how to build and run a simple MAVSDK C++ example application against a simulated vehicle, and observe the operation using the console and in a ground station.\n\n MAVSDK is essentially a C++ library (or rather multiple library files) that you can include and link in your C++ application.\n\nInstall MAVSDK library\nLinux\nUbuntu\nIf you have an older version already installed remove that first:\nsudo apt remove mavsdk\nThe prebuilt C++ library can be downloaded as a .deb from releases, e.g.:\nwget https://github.com/mavlink/MAVSDK/releases/download/v1.4.16/libmavsdk-dev_1.4.16_ubuntu20.04_amd64.deb\nsudo dpkg -i libmavsdk-dev_1.4.16_ubuntu20.04_amd64.deb\nmacOS\nInstall Homebrew and use it to install the library:\nbrew install mavsdk\nWindows\nFor Windows you can download the mavsdk-windows-x64-release.zip file from MAVSDK releases containing the headers and library and extract it locally (see information how to use a locally installed library).\nFor more detailed instructions or other platforms check out the installation notes.\nSetting up a Simulator \nThe easiest way to try out MAVSDK is to run one of the MAVSDK examples against a simulated version of the vehicle.\nTo set up and run the PX4 simulator, you need to either set up the PX4 SITL developer environment.\nOr use a pre-built docker container to run PX4 and the simulator:\ndocker run --rm -it jonasvautherin/px4-gazebo-headless:1.11.0\nInstall QGroundControl\nYou can use QGroundControl to connect the simulator and observe vehicle movement and behaviour while the examples are running.\nQGroundControl will automatically connect to the PX4 simulation as soon as it is started.\nSee QGroundControl > Download and Install for information about setting up QGroundControl on your platform.\nBuild and Try Example \nThe examples are stored as part of the projects source code.\nGet them using git in a terminal:\ngit clone https://github.com/mavlink/MAVSDK.git --recursive\ncd MAVSDK\nThe examples can be found in the examples directory:\ncd examples\nTo build the takeoff and land example, you can do:\ncd takeoff_and_land/\ncmake -Bbuild -H.\ncmake --build build -j4\n\nRunning an Example \nFirst start PX4 in SITL (Simulation) and QGroundControl as described above.\nThen run the example app (from the example/takeoff_land/build directory) as shown:\nbuild/takeoff_and_land udp://:14540\n\nThe MAVSDK application should connect to PX4, and you will be able to observe the example running in the SDK terminal, SITL terminal, and/or QGroundControl.\nThe expected behaviour is shown here: Example: Takeoff and Land.\n\n The first argument above is the connection string (udp://:14540).\n This is the standard PX4 UDP port for connecting to offboard APIs (also see Connecting to Systems).\n\nNext Steps\nOnce MAVSDK is installed we recommend you:\n\nTry the other examples\nSee how to write your own application in C++.\nBrowse the API reference to get an overview of the functionality.\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/":{"url":"cpp/guide/","title":"Guide","keywords":"","body":"C++ Guide\nThis guide provides topics showing how to use the MAVSDK APIs to perform common (and not so common) tasks.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/installation.html":{"url":"cpp/guide/installation.html","title":"Installation","keywords":"","body":"Installation \nMAVSDK C++ is a library that can be installed and then used in your C++ code.\nThe latest release can be installed using prebuilt artefacts. If you need the latest state or want to debug the library itself, you need to build it from source.\nLinux\n\nUbuntu: Download the .deb file for your system from MAVSDK releases and install it using dpkg:\nsudo dpkg -i mavsdk_0.37.0_ubuntu20.04_amd64.deb\n\nFedora: Download the .rpm file for your system from MAVSDK releases and install it using rpm:\n sudo rpm -U mavsdk-0.37.0-1.fc33-x86_64.rpm\n\nArch Linux: mavsdk is available from the AUR and can be installed e.g. using yay:\n yay -S mavsdk\n\n\nmacOS\nMacOS: Install Homebrew and use it to install the library:\nbrew install mavsdk\nWindows\nFor Windows you can download the mavsdk-windows-x64-release.zip file from MAVSDK releases containing the headers and library and extract it locally (see information how to use a locally installed library).\n\n As the library is installed locally (in a local directory) you need to point cmake to that directory at configure time using CMAKE_PREFIX_PATH when building your application.\ni.e.: cmake -Bbuild -DCMAKE_PREFIX_PATH=../mavsdk_extracted -H.\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/general_usage.html":{"url":"cpp/guide/general_usage.html","title":"Usage/Paradigms","keywords":"","body":"SDK Paradigms/Usage\nThis topic provides general/overview information about how the MAVSDK is used, designed and some limitations.\nObject Management\nMavsdk is the main library class.\nApplications must create a Mavsdk object and destroy it during application shut down.\nThe object is usually created as an automatic variable that is cleaned up when it goes out of scope (you can also dynamically create/destroy the object using new/delete).\nAPI consumers use Mavsdk to discover and connect to System objects (vehicles/cameras etc.).\nAccess to drone information and control objects are provided by plugins (e.g. Telemetry, Action, Mission etc.).\nPlugin objects are instantiated with a specific System object (a plugin instance must be created for every system that needs it).\nPlugin objects are created as shared pointers that will be destroyed when all associated handles are out of scope.\nAll objects are automatically cleaned up when the parent Mavsdk object is destroyed.\nError Handling\nMAVSDK APIs do not raise exceptions! Instead, methods that can fail return success or an error reason as enum values.\n\n The error code usually reflects acknowledgment from the vehicle that it will perform the requested action (or not).\n The operation itself may not yet have completed (e.g. taking off).\n\nThe various classes also all provide stream operators for getting human readable strings from their associated result enum.\nYou can see how these are used in the example code.\nCallbacks\nSome of the APIs use callbacks, e.g. subscriptions to a stream like Telemetry::subscribe_position(PositionCallback callback) or async functions like Action::takeoff_async(ResultCallback callback).\nAll user callbacks are called from one thread.\nUsers must not do anything inside a callback that takes a long time to complete, as this will stall subsequent callbacks.\nFor more information on how to work with and debug callbacks see Troubleshooting.\nShared Vehicle Control\nA vehicle can receive commands from multiple sources, including a Ground Control Station, or other MAVLink applications.\nSDK applications, which are running in environments where it is possible, can explicitly monitor for changes in flight mode (outside application control) and change behaviour appropriately (e.g. using Telemetry::subscribe_flight_mode()).\nAPI Limitations/Behaviour\nSupported Vehicles\nThe SDK has been designed to manage aircraft that use the PX4 autopilot.\nIt has primarily been tested for use with multicopters, but also has basic support for fixed wing and VTOL.\nThe APIs include methods that do not make sense for other vehicle types - including \"takeoff\" and \"land\".\nWhile ground vehicles may work, they are not supported and are untested.\nSimilarly, other autopilots may well work, but, they are not explicitly supported and are untested.\nConnection Strings \nMAVSDK monitors a specified port for vehicles (for the C++ API see Connecting to Systems (Vehicles)).\nAll programming language libraries reference this port using a connection string with the following format:\n\n\n\nConnection\nURL Format\n\n\n\n\nUDP\nudp://[Bind_host][:Bind_port]\n\n\nTCP\ntcp://[Server_host][:Server_port]\n\n\nSerial\nserial://[Dev_Node][:Baudrate]\n\n\n\nConcrete examples are for different platforms are:\n\n\n\nConnection type\nString\nExample\n\n\n\n\nWindows connected to the vehicle via USB (includes USB-connected Telemetry radios).\nserial:///COMn, where n = the COM port. Note: /// will change to // in a future release (incorrect on Windows).\nserial:///COM1\n\n\nLinux (e.g Raspberry Pi) connected to the vehicle via Serial port\nserial:///dev/ttyACMn, where n = the port\nserial:///dev/ttyACM0\n\n\nLinux connected to the vehicle via USB\nserial:///dev/ttyUSBn, where n = the port\nserial:///dev/ttyUSB0\n\n\nmacOS connected to the vehicle via Serial port\nserial:///dev/tty.usbserial-n, where n = the USB device id\nserial:///dev/tty.usbserial-DA00AG57\n\n\nmacOS connected to the vehicle via USB\nserial:///dev/tty.usbmodem-n, where n = the USB device id\nserial:///dev/tty.usbmodem--DA00AG57\n\n\nSITL connected to the vehicle via UDP\nudp://:14540\n\n\n\nConnection Status\nA system is considered to be disconnected (timed-out) if its heartbeat message is not detected within 3 seconds.\nTelemetry/Information\nThe SDK gets and stores vehicle state/telemetry information from received MAVLink messages.\nThe information is supplied to callback subscribers as soon as message updates are received.\nClients can also query the API synchronously, and will get the information from the last received message (depending on channel latency, this information will become increasingly \"stale\" between messages).\nThe rate at which update messages are sent by the vehicle can be specified using the API (but will be limited by the bandwidth of the channel).\nDevelopers need to use a channel and a message update rate that allows their desired control algorithm to be effective - there is no point trying to use computer vision over an unreliable high-latency link.\nInfo information does not change for a particular vehicle, so will be accurate whenever read.\nActions/Offboard\nAction methods (and any other \"vehicle instructions\") return when the vehicle has confirmed that the message was received and will be acted on (or not).\nThe methods do not wait for the commanded action to complete.\nSo, for example, the Action::land() method returns as soon as the vehicle confirms it will land, but will actually land at some later point.\nThe implication is that developers will need to separately monitor the completion of the requested actions, if this is important to the application.\nMissions\nThe Mission and MissionItem APIs provide a the most useful subset of MAVLink mission commands as a developer-friendly API.\nNot every mission command behaviour supported by the protocol and PX4 will be supported by the SDK.\nFor example, at time of writing the API does not allow you to specify commands that jump back to previous mission items.\nThe API allows you to download/import missions.\nNote however that this will fail if the mission contains a command that is not supported by the API.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/connections.html":{"url":"cpp/guide/connections.html","title":"Connecting to Systems (Vehicles)","keywords":"","body":"Connecting to Systems (Vehicles)\nMAVSDK allows you to connect to multiple vehicles/systems attached to the local WiFi network and/or via serial ports.\nIn order to detect systems you must first specify the communication ports that MAVSDK will monitor for new systems.\nOnce monitoring a port, MAVSDK will automatically detect connected vehicles, add them to its collection, and notify registered users of connection and disconnection events.\nMonitoring a Port\nSpecify the port(s) to watch using one of the (synchronous) connection method: add_any_connection(). The method returns immediately with a ConnectionResult indicating whether it succeeded.\nThe connection details are specified using the string formats shown below:\n\n\n\nConnection\nURL Format\n\n\n\n\nUDP\nudp://[host][:port]\n\n\nTCP\ntcp://[host][:port]\n\n\nSerial\nserial://[path][:baudrate]\n\n\n\nConnecting over serial\nTo add a serial connection (e.g. over USB, FTDI, or an SiK radio), you specify the serial port and the baudrate like this:\nOn Linux:\nMavsdk mavsdk;\nConnectionResult connection_result = mavsdk.add_any_connection(\"serial:///dev/serial/by-id/usb-FTDI_FT232R_USB_UART_XXXXXXXX-if00-port0:57600\");\nif (connection_result != ConnectionResult::Success) {\n std::cout \nOn Windows:\nMavsdk mavsdk;\nConnectionResult connection_result = mavsdk.add_any_connection(\"serial://COM3:57600\");\nif (connection_result != ConnectionResult::Success) {\n std::cout \nConnecting over UDP\nWhen connecting over UDP, there are two setups to distinguish: server and client mode.\nBehave like a server\nThis is the default connection mode for a ground station listening to a system/vehicle (this is the same as add_udp_connection()).\nIn the server mode, we listen on an local networking interface (INADDR_ANY/0.0.0.0) on the set port and wait for any heartbeats arriving.\nThis means that the drone has to send the UDP packets to that local IP, or broadcast them on the network.\nThe code snippet below shows how to set up a connection in server mode and listen on the \"SDK port 14540\":\nMavsdk mavsdk;\nConnectionResult connection_result = mavsdk.add_any_connection(\"udp://:14540\");\nif (connection_result != ConnectionResult::Success) {\n std::cout \n\n The connection string used above (udp://:14540) is to the standard PX4 UDP port for off-board APIs (14540).\n This is the normal/most common way for offboard APIs to connect to PX4 over WiFi.\n The standard way to talk to a ground station (e.g. QGC is on port 14550).\n\nBehave like a client\nIf MAVSDK is used on the vehicle or companion side, it sometimes has to actually initiate the connection, rather than listen for it.\nIn this case the IP and port, of where it should connect to, has to be set (this is the same as setup_udp_remote()).\nE.g. to connect to a ground station on 192.168.1.12, you would do:\nMavsdk mavsdk;\nConnectionResult connection_result = mavsdk.add_any_connection(\"udp://192.168.1.12:14550\");\nif (connection_result != ConnectionResult::Success) {\n std::cout \nConnecting over TCP\nFor TCP connections, only the client connection is currently implemented.\nThis is the same as add_tcp_connection().\nMavsdk mavsdk;\nConnectionResult connection_result = mavsdk.add_any_connection(\"tcp://192.168.1.12:14550\");\nif (connection_result != ConnectionResult::Success) {\n std::cout \nRegister for System-Detection Notifications\nMAVSDK monitors any added communication ports for new systems.\nClients can register for notification when new systems are discovered using subscribe_on_new_system().\nThe code fragment below shows how to register a callback (in this case the callback is a lambda function that just prints if a new vehicle has been discovered.\nMavsdk mavsdk;\n... //add ports\nmavsdk.register_on_new_system([]() {\n std::cout \nIterating all Systems\nYou can iterate all systems that have been detected by Mavsdk (since it was started, over all communication ports) using the systems() method.\nThis returns a vector of shared pointers to systems.\nThe following code fragment shows how to iterate through the systems and checking their MAVLink system ID, whether they are connected, and what components they have:\n//Iterate through detected systems\nfor (auto system : mavsdk.systems()) {\n std::cout (system->get_system_id())\n is_connected() ? \"yes\" : \"no\")\n has_autopilot() ? \"yes\" : \"no\") \nAccessing Systems\nTo access a certain system, pick the one from the vector that you require, or use the first one if only one system is assumed:\nMavsdk mavsdk;\nmavsdk.add_udp_connection();\n// Wait for the system to connect via heartbeat\nwhile (mavsdk.system().size() == 0) {\n std::this_thread::sleep_for(std::chrono::seconds(1));\n}\n// System got discovered.\nstd::shared_ptr system = mavsdk.systems()[0];\n\nThe System is used by the MAVSDK plugin classes to query and control the vehicle.\nFor more information see Using Plugins (and the other guide topics).\nForwarding MAVLink between connections\nIt is possible to add multiple connections to MAVSDK and forward all MAVLink messages. To do so, each connection which should forward messages needs to have forwarding set to on.\nTo forward bi-directional from UDP to serial and serial to UDP, you would set both connections forwarding:\nMavsdk mavsdk;\nmavsdk.add_any_connection(\"udp://:14540\", ForwardingOption::ForwardingOn);\nmavsdk.add_any_connection(\"serial:///dev/serial/by-id/usb-FTDI_FT232R_USB_UART_XXXXXXXX-if00-port0:57600\", ForwardingOption::ForwardingOn);\n\nTo forward only in one direction, e.g to send messages arriving on serial over UDP, you would only set up forwarding for the UDP connection:\nMavsdk mavsdk;\nmavsdk.add_any_connection(\"udp://:14540\", ForwardingOption::ForwardingOn);\nmavsdk.add_any_connection(\"serial:///dev/serial/by-id/usb-FTDI_FT232R_USB_UART_XXXXXXXX-if00-port0:57600\", `ForwardingOption::ForwardingOff`);\n\nNote that the default function overload is ForwardingOption::ForwardingOff.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/using_plugins.html":{"url":"cpp/guide/using_plugins.html","title":"Managing Systems","keywords":"","body":"Managing Systems/Vehicles (Using Plugins)\nAccess to drone information, telemetry and control objects are provided by a number of different plugins.\nFor example, the Action plugin is used to arm, takeoff and land the vehicle,\nwhile the Telemetry plugin can be used to query the vehicle GPS status, flight mode, etc.\nA separate plugin instance must be created for each system that needs it.\n\n All plugins are declared/used in the same way. This topic uses the Action plugin for the purposes of the demonstration.\n\nTo use a plugin first link the plugin library into the application. Do this by adding it to the target_link_libraries section of the app's cmake build definition file:\ntarget_link_libraries(your_executable_name\n mavsdk\n ...\n mavsdk_action\n ...\n)\n\n\n Plugins are named using the convention mavsdk_plugin_name.so.\n For more information see Building C++ Apps\n\nIn the application source code:\n\n#include the header file for the plugin.#include \n\n\nCreate a connection to a System object (below named: system).\nCreate the plugin instance, specifying the System it is to be used with:auto action = Action{system};\n\n\nThe pointer can then be used to invoke actions on the specified system. For example, to takeoff you would call the API as shown:action.takeoff();\n\n\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/system_information.html":{"url":"cpp/guide/system_information.html","title":"System Information","keywords":"","body":"System Information\nThe Info class is used to get system (vehicle) information, including the UUID (MAVLink SYS_ID if no UUID is stored in hardware), PX4 firmware version, vendor firmware version, host OS version (e.g. for NuttX) and vendor and product ids/names.\n\n Not all version information will necessarily be relevant on all vehicles. Where this occurs the\nhardware may return garbage values (for example, the simulator provides garbage values for the vendor\nfirmware semantic version).\n\nPreconditions\nThe following code assumes that you already have included mavsdk.h (#include ) and that there is a connection to a system obtained as shown below:\nSystem system = mavsdk.systems()[0];\n\nThe code also assumes that you have defined info, an instance of the Info class associated with the system (see Using Plugins):\n#include \nauto info = Info{system};\n\nQuery System Information\nThe code below shows how to query the hardware uid, version, and product, information and print it to the console:\n\n The UUID/uid with type uint64_t has been replaced by uid2 called hardware_uid with type char[18]. This was a a change inherited from mavlink in order to prevent ID conflicts.\n\nstd::cout \n\n It is possible to query for the information before all values have been retrieved.\n Note above how we use Info::is_complete() to check that the version information (Info::Version and Info::Product) has all been obtained from the vehicle before printing it.\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/telemetry.html":{"url":"cpp/guide/telemetry.html","title":"Telemetry","keywords":"","body":"Telemetry\nThe Telemetry class is used to get vehicle telemetry, including state and flight mode information.\nAll the methods have both synchronous and asynchronous versions, and users can set the rate at which the vehicle provides updates for each type of information.\nAll the methods of a particular type (synchronous, asynchronous, and set_rate methods) are used in the same way.\nAPI Overview\nThe Telemetry API provides methods to return the following types of information:\n\nAccelerationFrd\nActuatorControlTarget\nActuatorOutputStatus\nAngularVelocityBody\nAngularVelocityNed\nBattery - voltage and percentage power remaining.\nCovariance\nEulerAngle - vehicle attitude/orientation as Euler Angle\nFixedwingMetrics\nGpsInfo - type of fix, if any, and number of satellites.\nGroundTruth\nHealth - calibration status of various sensors and confirmation that position estimates are good enough for position control.\nImu\nMagneticFieldFrd\nOdometry\nPosition - latitude and longitude in degrees, and altitude relative to sea level and to the takeoff altitude.\nPositionBody\nPositionNed\nVelocityNed\nVelocityBody\nPositionVelocityNed\nQuaternion - vehicle attitude/orientation as a quaternion\nRcStatus - connection status, signal strength, and whether RC has ever been connected.\nStatusText\n\nIn addition there are a number of methods that return vehicle \"state\":\n\nCurrent flight mode (flight_mode()).\nWhether the vehicle is \"all healthy\" (aggregates the vehicle Health information).\nThis is used to check if the vehicle is ready to arm.\nWhether the vehicle is armed/disarmed.\nWhether the vehicle is flying/in air.\n\nCreate the Plugin\n\n Telemetry objects are created in the same way as objects in other SDK plugins.\nGeneral instructions are provided in the topic: Using Plugins.\n\nThe main steps are:\n\nLink the plugin library into your application.\nDo this by adding mavsdk_telemetry to the target_link_libraries section of the app's cmake build definition file\n find_package(MAVSDK REQUIRED)\n\ntarget_link_libraries(your_application_name\n MAVSDK::mavsdk\n ...\n MAVSDK::mavsdk_telemetry\n ...\n)\n\n\nCreate a connection to a system. For example (basic code without error checking):#include \nMavsdk mavsdk;\nConnectionResult conn_result = mavsdk.add_udp_connection();\n// Wait for the system to connect via heartbeat\nwhile (mavsdk.system().size() == 0) {\n sleep_for(seconds(1));\n}\n// System got discovered.\nSystem system = mavsdk.systems()[0];\n\nCreate an instance of Telemetry with the system:#include \nauto telemetry = Telemetry{system};\n\n\nThe telemetry object can then used to access the plugin API (as shown in the following sections).\nSetting the Update Rate \nThe telemetry update rate determines the frequency at which callbacks will be invoked with new information, and also the probable \"freshness\" of data obtained when using synchronous telemetry APIs. The default update rate depends on the autopilot and may also be limited by the characteristics of the communications channel.\nYou can set the rate for each type of telemetry, and both synchronous or asynchronous rate-setting methods are provided.\n\n For PX4 running on hardware the default rates are set on a per-mode basis in mavlink_main.cpp (search on configure_stream).\n For PX4 running on SITL, the default rates are defined in the startup file.\n\nThe rate-setting methods are all used in the same way, so we just show one example for both the asynchronous and synchronous methods below.\nIn both cases we set the rate for position updates.\nTo set the position update rate synchronously (in this case using set_rate_position()):\n// Set position update rate to 1 Hz.\nconst Telemetry::Result set_rate_result = telemetry.set_rate_position(1.0);\nif (set_rate_result != Telemetry::Result::Success) {\n // handle rate-setting failure (in this case print error)\n std::cout \nTo set the position update rate asynchronously with set_rate_position_async() (here we use a promise to block until we have a result):\n{\n std::cout >();\n auto future_result = prom->get_future();\n // Set position update rate to 1 Hz.\n telemetry.set_rate_position_async(1.0, [prom](Telemetry::Result result) {\n prom->set_value(result); //fulfill promise\n });\n\n //Block until promise is fulfilled (in callback function)\n const Telemetry::Result result = future_result.get();\n if (result != Telemetry::Result::Success) {\n // handle rate-setting failure (in this case print error)\n std::cout \nGetting Regular Updates\nThe best way to get telemetry updates is to use the asynchronous methods.\nThese methods are non-blocking; they take a callback function argument and return immediately.\nThe callback will be invoked with a populated struct of the associated type as soon as an update message arrives from the vehicle.\nThe rate at which this occurs can be set through the API as discussed above.\nFor example, the Telemetry::subscribe_position() has the following prototype, where callback is called with a populated PositionCallback function:\nvoid mavsdk::Telemetry::subscribe_position(PositionCallback callback)\n\nThe code fragment below shows this method being use with a lambda function for the callback, which simply prints out the current position and altitude).\ntelemetry.subscribe_position([](Telemetry::Position position) {\n std::cout \nDetecting Changes (only)\nThe asynchronous callbacks are updated every time new information is provided by the vehicle.\nFor some types of telemetry you may only wish to report only when the value changes.\nThe example below shows how to use subscribe_flight_mode() to report only when the current flight mode changes.\nThe example uses a lambda function callback that captures a variable for the last mode.\nThis variable is compared to the current flight mode to determine whether the value has changed and needs to be reported.\n// Set up callback to monitor flight mode 'changes'\nTelemetry::FlightMode oldFlightMode=Telemetry::FlightMode::Unknown;\ntelemetry.subscribe_flight_mode([&oldFlightMode](Telemetry::FlightMode flightMode) {\n if (oldFlightMode != flightMode) {\n //Flight mode changed. Print!\n std::cout \nYou can stop flight mode updates altogether with:\ntelemetry.subscribe_flight_mode(nullptr);\n\nThis same approach can be used to report only messages that meet some condition.\n\n In future we may add a mechanism in the API to support just reporting changes: Issue #63.\n\nBlocking Telemetry Requests (State Management)\nSome commands/vehicle operations must be performed in a certain sequence, or can only be called when the vehicle reaches a certain state.\nFor example, in order to takeoff the vehicle must first be armed, and in order to arm, the vehicle must have a home position/GPS lock.\nFor these cases you will want to monitor for the vehicle being in a certain state and block other commands until it is ready to proceed.\nOften the easiest approach is to use synchronous methods and poll for the result.\nFor example, the following code shows how you might poll for whether the vehicle is ready to arm (health_all_ok()).\n// Check if vehicle is ready to arm\nwhile (!telemetry.health_all_ok()) {\n std::cout \nSimilarly, you can use the asynchronous method and block\n{\n std::cout >();\n auto future_result = prom->get_future();\n telemetry.subscribe_health_all_ok(\n [prom](bool result) {\n //fulfill promise if health is OK\n if (result) {// health OK\n prom->set_value();\n }\n });\n\n future_result.get(); //Block until promise is fulfilled.\n // Now ready to arm\n}\n\n\n Note that prom->set_value() must only be called once.\n If your code can potentially call this multiple times, remember to unsubscribe from the callback after it succeeds (e.g. using telemetry.subscribe_health_all_ok(nullptr)).\n\nDepending on the architecture of your application, you may even wish to arm the vehicle in your callback function.\nUsually though it is easier to understand program flow using the approach above.\nFurther Information\nAdditional information/examples for the Telemetry API are linked below:\n\nSDK Examples\nIntegration tests:\ntelemetry_async.cpp\ntelemetry_health.cpp\ntelemetry_modes.cpp\ntelemetry_sync.cpp\n\n\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/taking_off_landing.html":{"url":"cpp/guide/taking_off_landing.html","title":"Actions - Take Off, Arm, ...","keywords":"","body":"Actions (Take-off, Landing, Arming, etc)\nThe Action class is used for commanding the vehicle to arm, takeoff, land, return home and land, disarm, kill and transition between VTOL modes.\nMost of the methods have both synchronous and asynchronous versions.\nThe methods send commands to a vehicle, and return/complete with the vehicle's response.\nIt is important to understand that a successful response indicates whether or not the vehicle intends to act on the command, not that it has finished the action (e.g. arming, landing, taking off etc.).\n\n The implication is that you may need to monitor for completion of actions!\n\nCreate the Plugin\n\n Action objects are created in the same way as for other SDK plugins.\nGeneral instructions are provided in the topic: Using Plugins.\n\nThe main steps are:\n\nLink the plugin library into your application.\nDo this by adding mavsdk_action to the target_link_libraries section of the app's cmake build definition file\nfind_package(MAVSDK REQUIRED)\n\ntarget_link_libraries(your_application_name\n MAVSDK::mavsdk\n ...\n MAVSDK::mavsdk_action\n ...\n)\n\n\nCreate a connection to a system. For example (basic code without error checking):#include \nMavsdk mavsdk;\nConnectionResult conn_result = mavsdk.add_udp_connection();\n// Wait for the system to connect via heartbeat\nwhile (mavsdk.system().size() == 0) {\n sleep_for(seconds(1));\n}\n// System got discovered.\nSystem system = mavsdk.systems()[0];\n\nCreate an instance of Action with the system:#include \nauto action = Action{system};\n\n\nThe action object can then used to access the plugin API (as shown in the following sections).\n\n Some of the sections below additionally assume you have created a Telemetry instance that can be accessed using telemetry.\n\nTaking Off\nThe recommended way to take off using the SDK (and PX4) is to use either of the takeoff() or takeoff_async() methods. If a takeoff command is accepted the vehicle will change to the Takeoff mode, fly to the takeoff altitude, and then hover (in takeoff mode) until another instruction is received.\n\n PX4/SDK also provides other ways to take off:\n\nA copter or VTOL will take off automatically if a mission is started (fixed-wing will not).\nYou can also take off by manually driving the vehicle using the offboard API.\n\n\nThe vehicle will only take off once armed, and can only arm once it is \"healthy\" (has been calibrated, the home position has been set, and there is a high-enough quality GPS lock). After it starts flying, code needs to check that takeoff is complete before sending additional instructions.\nHealth Check\nThe code fragment below shows very simple code to synchronously poll for health status (using Telemetry:health_all_ok()) prior to arming:\n// Wait until health is OK and vehicle is ready to arm\nwhile (telemetry.health_all_ok() != true) {\n std::cout \nThe code fragment below performs the same task, but additionally exits the app if calibration is required reports what conditions are still required before the vehicle is \"healthy\":\n\n// Exit if calibration is required\nTelemetry::Health check_health = telemetry.health();\nbool calibration_required = false;\nif (!check_health.gyrometer_calibration_ok) {\n std::cout \n\n Vehicle health can also be checked using Telemetry:subscribe_health_all_ok().\n\nArming\nOnce the vehicle is ready, use the following synchronous code to arm:\n// Arm vehicle\nstd::cout \n\n If the arm() method returns Action::Result::Success then the vehicle is armed and can proceed to takeoff. This can be confirmed using Telemetry::armed().\n\nGet/Set Takeoff Altitude\nThe default/current takeoff altitude can be queried using get_takeoff_altitude().\nThis target can be changed at any point before takeoff using set_takeoff_altitude().\nThe code fragment below shows how to set the takeoff altitude to 3 metres:\naction.set_takeoff_altitude(3.0);\n\nTakeoff Action\nOnce the vehicle is armed it can be commanded to take off.\nThe code below uses the synchronous takeoff() method, and fails if the vehicle refuses the command:\n// Command Take off\nstd::cout \nIf the command succeeds the vehicle will takeoff, and hover at the takeoff altitude. Code should wait until takeoff has completed before sending the next instruction. Unfortunately there is no specific indicator to inform code that takeoff is complete.\n\n One alternative is to simply wait for enough time that the vehicle should have reached the takeoff altitude.\n\nThe code below checks for takeoff completion by polling the current altitude until the target altitude is reached:\nfloat target_alt=action.get_takeoff_altitude_m();\nfloat current_position=0;\nwhile (current_position\nLanding\nThe best way to land the vehicle at the current location is to use the land() or land_async() methods.\nIf the command is accepted the vehicle will change to the Land mode and land at the current point.\n\n The SDK does not at time of writing recommend other approaches for landing: land mission items are not supported and manually landing the vehicle using the offboard is not as safe.\n\nThe code below shows how to use the land action.\nconst Action::Result land_result = action.land();\nif (land_result != Action::Result::Success) {\n //Land failed, so exit (in reality might try a return to land or kill.)\n return 1;\n}\n\nThe vehicle should land and then automatically disarm.\nIf you want to monitor the landing you can trigger completion of the app based on the armed state, as shown below.\nwhile (telemetry.armed()) {\n std::this_thread::sleep_for(std::chrono::seconds(1));\n}\nstd::cout \nReturn/RTL\nReturn mode (also known as \"Return to Launch\", \"Return to Land\", \"Return to Home\") flies the vehicle back to the home position and may also land the vehicle (depending on vehicle configuration).\nThis mode is invoked from Action using the return_to_launch() or return_to_launch_async() methods.\nThe code below shows how to use the synchronous method:\nconst Action::Result rtl_result = telemetry.return_to_launch();\nif (rtl_result != Action::Result::Success) {\n //RTL failed, so exit (in reality might send kill command.)\n return 1;\n}\n\nDepending on the vehicle it may land or hover around the return point. For vehicles that are configured to land you can use the same code as in the previous section to determine when the vehicle has disarmed.\nDisarm/Kill\nUse the disarm or kill methods to stop the drone motors (the difference is that disarming will only succeed if the drone considers itself landed, while kill will disarm a vehicle even in flight).\nThe methods are listed below. These are used in the same way as other similar Action APIs:\n\ndisarm(), disarm_async\nkill(), kill_async\n\n\n PX4 will automatically disarm the vehicle after landing. The disarm methods explicitly invoke the same functionality.\n\nGet/Set Cruise Speed\nYou can get/set the normal horizontal velocity used in Return mode, Hold mode, Takeoff (and other AUTO Flight Modes using the following methods:\n\nset_maximum_speed()\nget_maximum_speed\n\n\n These methods get/set the MPC_XY_CRUISE parameter.\n They are used in the same way as the other Action methods.\n\nSwitch Between VTOL Modes \nAction provides methods to transition between VTOL fixed wing and multicopter modes, with both synchronous and asynchronous versions:\n\ntransition_to_fixedwing(), transition_to_multicopter()\ntransition_to_fixedwing_async(), transition_to_multicopter_async()\n\nThe associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail with a Result of VTOL_TRANSITION_SUPPORT_UNKNOWN or NO_VTOL_TRANSITION_SUPPORT).\nThe command will succeed if called when the vehicle is already in the mode.\nThe code fragment below shows how to call the synchronous action to transition to fixed wing,\nand to print the result of the call (the other synchronous method is used in the same way).\nconst Action::Result fw_result = action.transition_to_fixedwing();\n\nif (fw_result != Action::Result::Success) {\n std::cout \nFurther Information\nAdditional information/examples for the Action API are linked below:\n\nExample: Takeoff and Land\nExample: VTOL Transitions\nIntegration tests:\naction_hover_async.cpp\naction_takeoff_and_kill.cpp\naction_transition_multicopter_fixedwing.cpp\n\n\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/missions.html":{"url":"cpp/guide/missions.html","title":"Missions","keywords":"","body":"Missions\nThe Mission API (plugin) allows you to create, upload, download, run, pause, restart, jump to item in, and track missions.\nMissions can have multiple \"mission items\", each which may specify a position, altitude, fly-through behaviour, camera action, gimbal position, and the speed to use when traveling to the next position.\nMissions are managed though the Mission class, which communicates with the vehicle to upload mission information and run, pause, track the mission progress etc.\nThe mission that is uploaded to the vehicle is defined as a vector of MissionItem objects.\n\n The Mission plugin described here only supports a small subset of the full functionality of MAVLink missions. If you require the full mission item spec as MAVLink provides it, you might be better off using the MissionRaw plugin.\nFurthermore MissionRaw allows importing mission from QGroundControl.\n\nSupported Mission Commands \nThe MissionItem class abstracts a small but useful subset of the mission commands supported by PX4 (and the MAVLink specification):\nThe supported set is:\n\nMAV_CMD_NAV_WAYPOINT\nMAV_CMD_DO_CHANGE_SPEED\nMAV_CMD_DO_MOUNT_CONTROL\nMAV_CMD_IMAGE_START_CAPTURE\nMAV_CMD_IMAGE_STOP_CAPTURE\nMAV_CMD_VIDEO_START_CAPTURE\nMAV_CMD_VIDEO_STOP_CAPTURE\nMAV_CMD_NAV_LOITER_TIME\n\nAdditionally, the following commands are supported only for mission import/download (there are no corresponding MissionItem methods):\n\nMAV_CMD_NAV_LAND\nMAV_CMD_NAV_TAKEOFF\n\n\n The Mission API does not (at time of writing) provide explicit functionality to \"repeat\", takeoff, return to land etc.\nThe SDK provides some omitted functionality through the Action API.\n\nCreate the Plugin\n\n Mission objects are created in the same way as other MAVSDK plugins.\n General instructions are provided in the topic: Using Plugins.\n\nThe main steps are:\n\nLink the plugin library into your application.\nDo this by adding mavsdk_mission to the target_link_libraries section of the app's cmake build definition file\nfind_package(MAVSDK REQUIRED)\n\ntarget_link_libraries(your_application_name\n MAVSDK::mavsdk\n ...\n MAVSDK::mavsdk_mission\n ...\n)\n\n\nCreate a connection to a system.\nFor example (basic code without error checking):#include \nMavsdk mavsdk;\nConnectionResult conn_result = mavsdk.add_udp_connection();\n// Wait for the system to connect via heartbeat\nwhile (mavsdk.system().size() == 0) {\n sleep_for(seconds(1));\n}\n// System got discovered.\nSystem system = mavsdk.systems()[0];\n\nCreate an instance of Mission with the system:#include \nauto mission = Mission{system};\n\n\nThe mission object can then used to access the plugin API (as shown in the following sections).\nDefining a Mission\nA mission must be defined as a vector of MissionItem objects as shown below:\nstd::vector> mission_items;\n\nYou can create as many MissionItem objects as you like and use std_vector::push_back() to add them to the back of the mission item vector.\nThe example below shows how to create and add a MissionItem that sets the target position.\n// Create MissionItem and set its position\nstd::shared_ptr new_item(new MissionItem());\nnew_item->latitude_deg = 47.40;\nnew_item->longitude_deg = 8.5455360114574432;\n\n// Add new_item to the vector\nmission_items.push_back(new_item);\n\nThe example below shows how you might set the other options on a second MissionItem (and add it to the mission).\nstd::shared_ptr new_item2(new MissionItem());\nnew_item2->latitude_deg = 47.40;\nnew_item2->longitude_deg = 8.5455360114574432);\nnew_item2->relative_altitude_m = 2.0f;\nnew_item2->speed_m_s = 5.0f;\nnew_item2->is_fly_through = true;\nnew_item2->gimbal_pitch_deg = 20.0f;\nnew_item2->gimbal_pitch_deg = 20.0f;\nnew_item2->gimbal_yaw_deg = 60.0f;\nnew_item2->camera_action = MissionItem::CameraAction::TakePhoto;\nnew_item2->loiter_time_s = 1.0f;\nnew_item2->camera_photo_interval_s = 1.0f;\n\n//Add new_item2 to the vector\nmission_items.push_back(new_item2);\n\n\n The autopilot has sensible default values for the attributes.\n If you do set a value (e.g. the desired speed) then it will be the default for the remainder of the mission.\n\n\n\n There are also getter methods for querying the current value of MissionItem attributes.\n The default values of most fields are NaN (which means they are ignored/not sent).\n\nThe mission (mission_items) can then be uploaded as shown in the section Uploading a Mission below.\nConvenience Function\nThe Fly Mission uses a convenience function to create MissionItem objects.\nUsing this approach you have to specify every attribute for every mission item, whether or not the value is actually used.\nThe definition and use of this function is shown below:\nstatic Mission::MissionItem make_mission_item(\n double latitude_deg,\n double longitude_deg,\n float relative_altitude_m,\n float speed_m_s,\n bool is_fly_through,\n float gimbal_pitch_deg,\n float gimbal_yaw_deg,\n Mission::MissionItem::CameraAction camera_action);\n\n\nmission_items.push_back(\n make_mission_item(47.398170327054473,\n 8.5456490218639658,\n 10.0f, 5.0f, false,\n 20.0f, 60.0f,\n MissionItem::CameraAction::NONE));\n\nUploading a Mission \nUse Mission::upload_mission() to upload the mission defined in the previous section.\nThe example below shows how this is done.\n// ... declare and populate the mission vector: mission_items\n\n{\n std::cout \nStarting/Pausing Missions\nStart or resume a paused mission using Mission::start_mission.\nThe vehicle must already have a mission (the mission need not have been uploaded using the SDK).\nThe code fragment below shows how this is done.\n{\n const Mission::Result result = mission.start_mission();\n\n if (result != Mission::Result::Success) {\n std::cout \nTo pause a mission use Mission::pause_mission().\nThe code is almost exactly the same as for starting a mission:\n{\n std::cout \nMonitoring Progress\nAsynchronously monitor progress using Mission::subscribe_mission_progress(),\nwhich receives a regular callback with the current MissionItem number and the total number of items.\nThe code fragment just takes a lambda function that reports the current status.\nmission.subscribe_mission_progress( [](Mission::MissionProgress mission_progress)) {\n std::cout \n\n The mission is complete when current == total.\n\nThe following synchronous methods is also available for checking mission progress:\n\nis_mission_finished() - Checks if mission has been finished.\n\nTaking Off, Landing, Returning\nIf using a copter or VTOL vehicle then PX4 will automatically takeoff when it is armed and a mission is started (even without a takeoff mission item).\nFor Fixed Wing vehicles the vehicle must be launched before starting a mission.\nAt time of writing the Mission API does not provide takeoff, land or \"return to launch\" MissionItems.\nIf required you can instead use the appropriate commands in the Action class.\n\nDownloading Missions\nUse Mission::download_mission() to download a mission from the vehicle.\nThe mission is downloaded as a vector of MissionItem objects, that you can then view or manipulate as required.\n\n Mission download will fail if the mission contains a command that is outside the supported set.\nMissions created using QGroundControl are not guaranteed to successfully download!\nAgain, for that case MissionRaw might be a better fit.\n\nThe code fragment below shows how to download a mission:\n{\n std::cout result = mission.download_mission();\n\n if (result.first != Mission::Result::Success) {\n std::cout \nFurther Information\n\nMission Flight Mode (PX4 User Guide)\nExample:Fly Mission\nIntegration tests:\nmission.cpp\nmission_cancellation.cpp\nmission_change_speed.cpp\nmission_raw_mission_changed.cpp\nmission_rtl.cpp\nmission_transfer_lossy.cpp\n\n\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/offboard.html":{"url":"cpp/guide/offboard.html","title":"Offboard Control","keywords":"","body":"Offboard Control\nThe Offboard MAVSDK plugin provides a simple API for controlling the vehicle using velocity and yaw setpoints.\nIt is useful for tasks requiring direct control from a companion computer; for example to implement collision avoidance.\n\n The API uses the PX4 Offboard flight mode.\n The class can only be used with copter and VTOL vehicles (not fixed wing - a PX4 limitation) and currently only supports velocity setpoint commands (PX4 additionally supports position and thrust setpoints).\n\nClient code must specify a setpoint before starting Offboard mode.\nThe Offboard plugin automatically resends setpoints at 20Hz (PX4 requires that setpoints are minimally resent at 2Hz).\nIf more precise control is required, clients can call the setpoint methods at whatever rate is required or whenever an updated setpoint is available.\nCreate the Plugin\n\n Offboard objects are created in the same way as other SDK plugins.\n General instructions are provided in the topic: Using Plugins.\n\nThe main steps are:\n\nLink the plugin library into your application.\nDo this by adding mavsdk_offboard to the target_link_libraries section of the app's cmake build definition file\nfind_package(MAVSDK REQUIRED)\n\ntarget_link_libraries(your_application_name\n MAVSDK::mavsdk\n ...\n MAVSDK::mavsdk_offboard\n ...\n)\n\n\nCreate a connection to a system. For example (basic code without error checking):#include \nMavsdk mavsdk;\nConnectionResult conn_result = mavsdk.add_udp_connection();\n// Wait for the system to connect via heartbeat\nwhile (mavsdk.system().size() == 0) {\n sleep_for(seconds(1));\n}\n// System got discovered.\nSystem system = mavsdk.systems()[0];\n\nCreate a shared pointer to an instance of Offboard instantiated with the system:#include \nauto offboard = Offboard{system};\n\n\nThe offboard pointer can then used to access the plugin API (as shown in the following sections).\nStarting/Stopping Offboard Mode\nTo use offboard mode you must first create a setpoint using any of the setpoint setter methods (e.g. set_velocity_ned() or set_velocity_body()).\nYou can use any setpoint you like - the vehicle will start acting on the current setpoint as soon as the mode starts.\nAfter you have created a setpoint call start() or start_async() to switch to offboard mode.\n// Create a setpoint before starting offboard mode (in this case a null setpoint)\noffboard.set_velocity_body({0.0f, 0.0f, 0.0f, 0.0f});\n\n// Start offboard mode.\nOffboard::Result offboard_result = offboard.start();\nif (result != Offboard::Result::Success) {\n std::cerr \nThe methods return/complete with a Result indicating whether the command was successful.\nAbove we use the synchronous API, and then print a human readable string for the returned enum.\nYou can change the setpoints as needed (new setpoints replace any old setpoints).\nTo stop offboard mode call Offboard::stop() or stop_async().\nThe SDK will then clear the current setpoint and put the vehicle into Hold flight mode.\nThe synchronous API is used as shown below:\n//Stop offboard mode\noffboard_result = offboard.stop();\nif (result != Offboard::Result::Success) {\n std::cerr \n\n Offboard mode can also be stopped by moving the vehicle into another mode (e.g. using the Action API).\n\nVelocity Setpoints\nThe API provides methods to set velocity and yaw components using the NED frame (set_velocity_ned()) and the body frame (set_velocity_body()).\nThe difference is that NED is relative to an absolute coordinate system (North, East, Down) while body frame is relative to the vehicle orientation (front, right, down).\nThe NED frame is used to move towards a specific compass direction or face the vehicle in a specific compass direction.\nBody frame is usually used for tasks where the vehicle needs to deviate from the current path (e.g. to avoid an obstacle) or to rotate the vehicle at a specific rate.\nMovement up/down is the same in either frame.\nThe following sections provide some common usage examples.\nMove in Compass Direction\nThe set_velocity_ned() can be used to move towards any particular compass direction - e.g. North, West, South-East, etc.\nCalling set_velocity_ned() using an initialiser list type declaration for the VelocityNEDYaw argument,\nthe first three values are the velocity components in North, East, and Down directions (in metres/second).\nExamples:\n\nHead North at 3 m/s:offboard.set_velocity_ned({3.0f, 0.0f, 0.0f, 0.0f});\n\n\nHead North-West with 5 m/s on each velocity component (notice that a negative value is required on the east_m_s value to move West):offboard.set_velocity_ned({5.0f, -5.0f, 0.0f, 0.0f});\n\n\n\nGo Up or Down\nBoth coordinate systems use the same definition for \"down\", and both methods take an argument where the third value is used to specify the velocity component in this direction.\nThe following examples show how you set the velocity component down (positive) or up (negative) using the two methods:\nExamples:\n\nGo up at 2 m/s (note, negative value to go up!):offboard.set_velocity_ned({0.0f, 0.0f, -2.0f, 0.0f});\n\n\nGo down at 3 m/s:offboard.set_velocity_body({0.0f, 0.0f, 3.0f, 0.0f});\n\n\n\nTurn/Yaw Vehicle to Face a Compass Direction\nThe set_velocity_ned() can be used to face the vehicle in a particular direction, independent of the direction of travel.\nThe direction is specified in clockwise degrees relative to North (0 is North, 90 is East, 180 is South, etc.)\nCalling set_velocity_ned() using an initialiser list type declaration for the VelocityNEDYaw argument,\nthe final (fourth) value is the yaw direction.\nExamples:\n\nTurn to face West:offboard.set_velocity_ned({0.0f, 0.0f, 0.0f, 270.0f});\n\n\nTurn to face North:offboard.set_velocity_ned({0.0f, 0.0f, 0.0f, 0.0f});\n\n\n\nIt is not possible to control the rate or direction that the vehicle will use to turn towards the setpoint direction (it will turn in whatever direction reaches the setpoint fastest).\nTurn/Yaw Vehicle in specified Direction/at Rate\nThe set_velocity_body() can be used to rotate the vehicle at a specific rate and in a specified direction.\nThis is set in VelocityBodyYawspeed::yawspeed_deg_s, as the angular rate in degrees/second. If viewed from above, the vehicle will turn clockwise if the value is positive and anticlockwise if it is negative.\nCalling set_velocity_body() using an initialiser list type declaration the final (fourth) value is the yaw rate/direction.\nExamples:\n\nTurn clock-wise at 60 degrees per second:offboard.set_velocity_body({0.0f, 0.0f, 0.0f, 60.0f});\n\n\nTurn anti clock-wise at 5 degrees per second:offboard.set_velocity_body({0.0f, 0.0f, 0.0f, -5.0f});\n\n\n\nFly Forwards\nUse set_velocity_body() to set the velocity components relative to the body frame.\nTo fly forwards, simply set the first parameter (Offboard::VelocityBodyYawspeed::forward_m_s) when the vehicle is not rotating.\noffboard.set_velocity_body({5.0f, 0.0f, 0.0f, 0.0f});\n\nFly a Circle\nTo fly a circle, use set_velocity_body() with both forward and rotational components.\nThis will force the vehicle to travel in a curved path.\noffboard.set_velocity_body({5.0f, 0.0f, 0.0f, 30.0f});\n\nYou can force the vehicle to fly sideways by using the (Offboard::VelocityBodyYawspeed::right_m_s value), and in the other direction by using a negative rotation value:\n// Fly a circle sideways\noffboard.set_velocity_body({0.0f, -5.0f, 0.0f, -30.0f});\n\nPosition/Thrust Setpoints\nThe SDK does not support position or thrust setpoints (at time of writing).\nWaiting on Setpoints\nThe vehicle will obey the last setpoint called (when you call a setpoint the last one is cleared).\nThe SDK examples use timers to separate commands (e.g. sleep_for(seconds(8))) but in a real-world use case you might use telemetry or sensors to control when the setpoint is changed.\nMonitoring Offboard Mode\nThe vehicle may change out of offboard mode outside the control of your application (for example if a GCS were to put the vehicle into Hold mode).\nIn this case, the SDK will automatically stop sending setpoints and Offboard::is_active() will change from true to false.\nCalls to change the setpoint do not return an error!\nDepending on the particular use case, offboard code may need to explicitly monitor for flight mode and change behaviour appropriately (e.g. using Telemetry::subscribe_flight_mode()).\nFurther Information\nAdditional information/examples for the Offboard API are linked below:\n\nExample: Offboard Velocity\nIntegration tests:\noffboard_velocity.cpp\n\n\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/follow_me.html":{"url":"cpp/guide/follow_me.html","title":"Follow Me","keywords":"","body":"Follow Me\nThe Follow Me class is used to engage the PX4 Follow Me Mode (multicopter only).\nIn this mode a copter will automatically yaw to face and follow a user at a specified position and distance.\nThe API is used to supply the position(s) for the target and the relative follow position of the vehicle.\nApplications must get target position information from the underlying platform (or some other source). The location APIs for supported platforms are listed below:\n\nAndroid: Location\nApple: Core Location Framework\nWindows: Windows.Devices.Geolocation\n\n\n Running QGroundControl at the same time as the SDK Follow Me may result in unpredictable behaviour as both send position updates.\nYou must ensure that GSC Position Streaming is disabled.\nUse the latest QGC Daily Build and ensure that the Application Setting > General > Miscellaneous > Stream GCS Position is set to Never.\n\nCreate the Plugin\n\n FollowMe objects are created in the same way as other SDK plugins.\n General instructions are provided in the topic: Using Plugins.\n\nThe main steps are:\n\nLink the plugin library into your application.\nDo this by adding mavsdk_follow_me to the target_link_libraries section of the app's cmake build definition file\nfind_package(MAVSDK REQUIRED)\n\ntarget_link_libraries(your_application_name\n MAVSDK::mavsdk\n ...\n MAVSDK::mavsdk_follow_me\n ...\n)\n)\n\n\nCreate a connection to a system.\nFor example (basic code without error checking):#include \nMavsdk mavsdk;\nConnectionResult conn_result = mavsdk.add_udp_connection();\n// Wait for the system to connect via heartbeat\nwhile (mavsdk.system().size() == 0) {\n sleep_for(seconds(1));\n}\n// System got discovered.\nSystem system = mavsdk.systems()[0];\n\nCreate an instance of FollowMe with the system:#include \nauto follow_me = FollowMe{system};\n\n\nThe follow_me object can then used to access the plugin API (as shown in the following sections).\nSet the Follow Configuration\nBy default the vehicle will follow directly behind the target at a height and distance of 8 metres.\nYou can (optionally) call set_config() at any time to specify a different height, follow distance, relative position (front left/right/centre or behind) and responsiveness to target movements.\nThe code fragment below shows how to set the configuration:\n// configure follow me behaviour\nFollowMe::Config config;\nconfig.min_height_m = 12.f; // Minimum height\nconfig.follow_distance_m = 20.f; // Follow distance\nconfig.responsiveness = 0.2f; // Higher responsiveness\nconfig.follow_direction = FollowMe::Config::FollowDirection::FRONT; //Follow from front-centre\n\n// Apply configuration\nFollowMe::Result config_result = follow_me.set_config(config);\nif (config_result != FollowMe::Result::Success) {\n // handle config-setting failure (in this case print error)\n std::cout \nThe get_config() method is provided to get the current configuration:\nauto curr_config = follow_me.get_config();\n\nFollowing a Target\nTo start and stop following a target, call start() and stop(), respectively - start() puts the vehicle into Follow-Me mode and stop() puts it into Hold mode.\nUse set_target_location() to set the target position(s) for the vehicle to follow (the app typically passes its host's current position, which it would obtain using OS-specific methods).\nThis can be called at any time, but messages will only be sent once following is started.\nThe plugin automatically resends the last set position at the rate required by the autopilot/flight mode (1 Hz).\n\n Typically you would call set_target_location() before or shortly after starting the mode. If you call start() without having set any target location, or if the connection is broken, the vehicle will climb to minimum altitude (if needed) and remain in the mode waiting for messages.\n\n// Start following\nFollowMe::Result follow_me_result = follow_me.start();\nif (follow_me_result != FollowMe::Result::Success) {\n // handle start failure (in this case print error)\n std::cout \nThe last location that was set can be retrieved using get_last_location().\nBefore a target position is first set this API will return Nan.\nFurther Information\nAdditional information/examples for the Follow Me API are linked below:\n\nExample:Follow Me Mode\nIntegration tests:\nfollow_me.cpp\n\n\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/vtol.html":{"url":"cpp/guide/vtol.html","title":"VTOL Support","keywords":"","body":"VTOL Support\nMAVSDK has only basic support for VTOL vehicles.\nVTOL waypoint missions are only supported using the MissionRaw plugin.\n\n Most design and test effort has gone into multicopter support.\nGet in touch if you would like to help enhance the VTOL/Fixed-wing experience!\n\nSupported Functionality\nMuch of the functionality in MAVSDK is generic, and useful on all vehicle types.\nAt time of writing the only VTOL-specific functionality are the actions to\ntransition between fixed wing and copter modes.\nMAVSDK can be used to command VTOL vehicles to:\n\nTake off and land in multicopter mode.\nFly in multicopter mode and transition to fly in fixed wing mode.\nUse the camera/gimbal and other generic features.\n\nRemaining Work\nKnown omissions:\n\nYou can't include the transition to/from fixed wing in the mission itself, but have to use the transition actions.\nVTOL takeoff in fixed wing mode is not supported.\nVTOL specific testing needs to be considered and implemented.\n\nFurther Information\nAdditional information/examples are linked below:\n\nGuide: Taking Off and Landing > Transition to fixed wing mode\nExample: VTOL Transitions\nIntegration tests:\naction_transition_multicopter_fixedwing.cpp\n\n\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/toolchain.html":{"url":"cpp/guide/toolchain.html","title":"Building C++ Apps","keywords":"","body":"Building C++ Apps\nThe MAVSDK core C++ library is written in C++17 and exposes C++11 interfaces such as std::function. Therefore, applications using the library need to be C++11 or later as well.\nApplications can be built using your preferred build system, compiler and linker toolchain. The only requirement is that the build system must be able to locate the MAVSDK C++ headers and libraries (installed as described here).\nMAVSDK itself uses the cmake build system, and we recommend that you do too.\nCMake is an open-source, cross-platform toolchain that allows you to build your examples on macOS, Linux and Windows using the same build file definition.\nBelow we explain how to set up a minimal build setup (CMakeLists.txt) file for your application.\nBuild Definition File - CMakeLists.txt\nCmake uses a definition file named CMakeLists.txt to define the project. This specifies the name of the project, compiler flags for different platforms and targets, where to find dependencies (libraries and header files), source files to build, and the name of the generated binary. CMakeLists.txt is typically stored in the root directory of your app project.\nThe sections below show how you can set up the file for when the SDK is installed system wide (the default) or locally.\n\n On Windows use the local installation.\n\nA \"template\" CMakeLists.txt is shown below.\nMost of file is boilerplate - the main things you need to change are your_project_name, your_executable_name and your_source_file. You should also make sure that any plugins used by your app are listed in the target_link_libraries section.\ncmake_minimum_required(VERSION 3.15)\n\n# Specify your project's name\nproject(your_project_name)\n\n# Specify at least C++11, better C++17\nset(CMAKE_CXX_STANDARD 17)\nset(CMAKE_CXX_STANDARD_REQUIRED ON)\n\n# Enable strict handling of warnings\nadd_definitions(\"-Wall -Wextra -Werror\")\n\n# Finds MAVSDK when installed system wide.\nfind_package(MAVSDK REQUIRED)\n\n# Specify your app's executable name, and list of source files used to create it.\nadd_executable(your_executable_name\n your_source_file.cpp\n # ... any other source files\n)\n\n# Specify your app's executable name and a list of linked libraries\ntarget_link_libraries(your_executable_name\n MAVSDK::mavsdk #All apps link against mavsdk library\n MAVSDK::mavsdk_action # If action plugin used by app ...\n MAVSDK::mavsdk_telemetry #If telemetry plugin used by app ...\n # ... Any other linked libraries\n)\n\n\n The file format and required modifications are self-explanatory.\nIf additional information is required see the cmake documentation.\n\nBuilding the App\nIn order to build the application, the MAVSDK library and header files need to be installed.\nMAVSDK Installed System-wide \nIf MAVSDK has been installed using the .deb or .rpm file from MAVSDK releases it is installed in /usr/, so system-wide.\nIf MAVSDK has been built from source and installed in /usr/local, we also consider that system-wide.\nFor this case find_package(MAVSDK REQUIRED) as used in CMakeLists.txt above should find the library automatically.\nTo build the example we would do:\n cmake -Bbuild -H.\n cmake --build build -j8\n\nMAVSDK Installed Locally \nFor Windows we need to install the library and header files locally by extracting mavsdk-windows-x64-release.zip file from MAVSDK releases.\nOn macOS/Linux, you can also use locally installed library artefacts by building from source if that is required (e.g. during development in order not to conflict with a system-wide installed library).\nFor the case where the library is installed in some local directory, you need to specify this path using the CMAKE_PREFIX_PATH.\nE.g. here there would be a directory called mavsdk just one directory up:\ncmake -Bbuild -DCMAKE_PREFIX_PATH=../mavsdk -H.\ncmake --build build -j8\n\nRun the App\nTo Execute the file (in your build directory):\nbuild/your_executable_name # Run your new executable\n\nRelease Build\nIn order to build in Release mode where the file size is smaller and optimizations are turned on, do:\nmacOS/Linux:\ncmake -Bbuild -DCMAKE_BUILD_TYPE=Release -H.\ncmake --build build -j8\nWindows:\ncmake -Bbuild -H.\ncmake --build build -j8 --config Release\nUseful Links\nWe only show a small fraction of what Cmake is capable of! Check out the links below for more information and examples.\n\ncmake resources page\ncmake documentation (latest)\ncmake commands\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/logging.html":{"url":"cpp/guide/logging.html","title":"Logging","keywords":"","body":"Logging\nMAVSDK core and plugins output some useful log messages during their work.\nBy default, the messages are printed to stdout. You may want to override this\nbehavior, e.g. redirect messages to an external logging system, or disable\nprinting messages unless they are important enough.\nUsage\nIt is possible to customize logging with a user-defined callback function:\n#include \n\n// ...\n\nmavsdk::log::subscribe([](mavsdk::log::Level level, // message severity level\n const std::string& message, // message text\n const std::string& file, // source file from which the message was sent\n int line) { // line number in the source file\n // process the log message in a way you like\n my_nice_log(level, message);\n\n // returning true from the callback disables printing the message to stdout\n return level \nIn this example all log messages will be passed to my_nice_log, and all messages\nhaving level Warn or Err will be printed to stdout as well.\nPossible levels are:\nenum class Level : int { Debug = 0, Info = 1, Warn = 2, Err = 3 };\n\nCurrently, only one callback is supported. Calling mavsdk::log::subscribe\nthe second time will overwrite previous callback. To unsubscribe (revert to default\nlogging behaviour) call subscribe with a nullptr callback:\nmavsdk::log::subscribe(nullptr);\n\nImportant notes\nPlease note that callback can be called from different threads. Synchronization\nis not handled on MAVSDK's side for performance reasons. You may want to\nimplement synchronization yourself if your logging system isn't thread\nsafe already.\nAvoid doing long duration heavy tasks in the callback, it should return as\nquickly as possible.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/dev_logging.html":{"url":"cpp/guide/dev_logging.html","title":"Plugin/Test Logging","keywords":"","body":"Plugin/Test Logging\nThe MAVSDK provides an API that developers can use for console logging in plugins and integration tests.\nBasic message logging can be enabled by building with a specific #define.\nPlugin Log API\nThe API methods display a custom message, prepending a timestamp and the type of log message (e.g. debug) and appending the origin of the message (file and line number).\n\n The API should be considered \"internal\". It is not exported, or intended, for use in SDK apps (and we do not commit to maintaining compatibility in future versions).\n\nUsage\nThe API is defined in src/core/log.h (and made available to integration tests via /src/integration_tests/integration_test_helper.h).\nThe API methods are called as shown below for LogDebug(), with the insertion operator () used to append the message-specific text.\n#include \"../path-to/core/log.h\"\n...\nLogDebug() \nLog Methods\n\n\n\nFunction\nDescription\nExample\n\n\n\n\nLogDebug()\nDebug messages. For reporting internal progress/state.Not displayed in RELEASE builds.\n[04:55:08|Error] This is a debug message (test_file.cpp:26)\n\n\nLogInfo()\nInformation messages.For reporting progress and status.\n[04:55:08|Error] This is an information message (test_file.cpp:26)\n\n\nLogWarn()\nWarning messages.For reporting when vehicle not acting as commanded (e.g. rejecting commands).\n[04:55:08|Error] This is a warning message (test_file.cpp:26)\n\n\nLogErr()\nError messages.For reporting errors in SDK behaviour (e.g. communication link issues/retry failures).\n[04:55:08|Error] This is an error message (test_file.cpp:26)\n\n\n\nMessage Logging \nBasic logging is defined in source for both incoming (handled/ignored) and sent MAVLink messages.\nThis functionality is disabled by default, and available only in debug build when built from source.\nTo enable the logs, set #define MESSAGE_DEBUGGING 1 in src/core/system.cpp\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/test.html":{"url":"cpp/guide/test.html","title":"Testing","keywords":"","body":"Testing\nThe MAVSDK C++ library has both unit and integration tests, written using the Google C++ Test Framework (gtest).\nThe unit tests are run every time new code is committed to the library, and must pass before the code can be merged.\nThis topic shows how to run the existing tests.\n\n For information on writing tests see: Writing Plugins > Test Code.\n\nRunning Unit Tests\nTo run all unit tests:\n./build/default/src/unit_tests_runner\nRunning Integration Tests\nTests can be run against the simulator (either manually starting PX4 SITL or letting the tests start it automatically) or against a real vehicle.\n\n To run SITL you will need to install the Gazebo simulator.\nThis is included as part of the standard PX4 installation for macOS\nand Linux.\nIt does not run on Windows.\n\nAutostart PX4 SITL\nMake sure that the PX4 Gazebo simulation is built and works:\ncd path/to/Firmware/\nmake px4_sitl gazebo\nThen press Ctrl+C to stop the simulation and run the integration tests:\ncd path/to/MAVSDK/\nAUTOSTART_SITL=1 ./build/debug/src/integration_tests/integration_tests_runner\nTo run the tests without the 3D viewer (gzclient), use:\nAUTOSTART_SITL=1 HEADLESS=1 ./build/debug/src/integration_tests/integration_tests_runner\nRun PX4 SITL Manually\nBuild and run the PX4 simulation manually:\ncd path/to/Firmware/\nmake px4_sitl gazebo\nThen run the tests as shown:\ncd path/to/MAVSDK/\n./build/debug/src/integration_tests/integration_tests_runner\n\n The tests are designed to run in simulation, and may not be safe if run on a real vehicle.\n\nGtest Tricks\nTo list all integration tests:\n./build/default/src/integration_tests/integration_tests_runner --gtest_list_tests\nTo run a single integration test:\n./build/default/src/integration_tests/integration_tests_runner --gtest_filter=\"SitlTest.TelemetryAsync\"\nTo run all telemetry tests:\n./build/default/src/integration_tests/integration_tests_runner --gtest_filter=\"SitlTest.Telemetry*\"\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/build.html":{"url":"cpp/guide/build.html","title":"Building library from Source","keywords":"","body":"Building MAVSDK Library from Source\nThis section explains how to build and install the MAVSDK C++ library from source for all our target platforms.\nNote that there are separate instructions to build the mavsdk_server.\nBuild the C++ Library \nThis section explains how to build the library along with its unit and integration tests.\nRequirements \nThe build requirements are git, cmake, and a compiler such as GCC, Clang, or MSVC.\nLinux\nUbuntu:\nsudo apt-get update\nsudo apt-get install build-essential cmake git\n\nFedora:\nsudo dnf update\nsudo dnf groupinstall \"Development Tools\" \"Development Libraries\"\nsudo dnf install cmake git\n\nArch Linux:\nsudo pacman -Sy base-devel cmake git\n\nmacOS\nFirst install XCode Command line tools:\nxcode-select --install\nAnd Homebrew (for cmake).\nOnce you have installed brew, you can install cmake using brew in the terminal:\nbrew install cmake\nWindows\nTo build the library in Windows, you need:\n\nBuild Tools for Visual Studio 2022: Download and install (only the \"Visual C+ Build Tools\" are needed from installer).\ncmake: Download the installer and run it.\nMake sure to tick \"add to PATH\" during the installation.\ngit or any other tool to work with git.\n\n\nNote: Building using Cygwin or MingW is not supported.\n\nGetting the source\nDownload the source using git:\ngit clone https://github.com/mavlink/MAVSDK.git\n\nMake sure to get all the submodules as well:\ngit submodule update --init --recursive\nBuilding Fundamentals\nBuilding the MAVSDK with CMake is broken down into two steps: Configuration and Build.\nBuild Configuration Step \nFor configuration, you specify the type of build you want to execute in the build step. You can checkout the CMake Documentation on Build Configuration for more context.\nA typical configuration command example would be:\ncmake -DCMAKE_BUILD_TYPE=Debug -Bbuild/default -H.\n\nBuild type is set to Debug\nBuild directory is set to build/default\nChose the directory using the H. flag\n\nDuring the configure step you can set more flags using -DFLAG=Value:\n\nCMAKE_BUILD_TYPE: as documented above, to chose between Debug and Release build.\nCMAKE_INSTALL_PREFIX: as documented above, to specify directory to install library artifacts.\nBUILD_SHARED_LIBS: set to ON to build dynamic libraries (such as .so on Linux, .dylib on macOS, .dll on Windows). Set to OFF to build static libraries (such as .a on Linux and macOS, .lib on Windows).\nSUPERBUILD: set to OFF to use system dependencies instead of third party dependencies downloaded and built using cmake.\nCMAKE_PREFIX_PATH: can be used to set the path where the dependencies can be found if SUPERBUILD is set to OFF.\nBUILD_MAVSDK_SERVER: set to ON to build mavsdk_server, see instruction to build mavsdk_server.\nASAN: set to ON to enable address sanitizer.\nUBSAN: set to ON to enable undefined behavior sanitizer.\nLSAN: set to ON to enable leak sanitizer.\nWERROR: set to ON to error on warnings, mostly used for CI.\n\nAfter the configuration step, everything that will be build in the build step have been specified, and if you want to change your build configuration (e.g. If you want to build Debug build instead of Release build), you must execute the configuration step again!\nBuild Step \nIn the build step, we finally build the library and binaries and link them.\nThe stripped down version of the build command would be:\ncmake --build build/default\n\nThe --build signals the CMake to execute the build\nIt uses the build configuration built from the configuration step, located at build/default folder\n\nAdditionally, you can install it in the system with the --target install command added as well, which is explained in detail in the Installing the C++ Library section below.\nBuilding\nDebug\nTo build the MAVSDK C++ Library for development, use the debug build.\nThere are 2 steps in building a library: Configure and build.\ncmake -DCMAKE_BUILD_TYPE=Debug -Bbuild/default -H.\ncmake --build build/default -j8\n\nRelease\nOnce you ship software, make sure to use the release build with optimizations turned on:\nLinux/macOS:\n cmake -Bbuild/default -DCMAKE_BUILD_TYPE=Release -H.\n cmake --build build/default -j8\n\nWindows:\ncmake -Bbuild/default -H. -DCMAKE_BUILD_TYPE=Release\ncmake --build build/default -j8 --config Release\n\n\nNote: It is not usual to use CMAKE_BUILD_TYPE on Windows (with MSVC), however, our build requires it for the dependencies which are built at configure time.\n\nInstalling the C++ Library \nInstalling builds the SDK and copies the libraries and header files into a \"public\" location so that they can be referenced by C++ applications (see Building C++ Apps).\nSystem-wide Install \nYou can configure to install system wide by not setting the CMAKE_INSTALL_PREFIX in the configuration step, since CMake tries to install system wide by default. For Linux/macOS that's /usr/local, for Windows it is somewhere in C:\\Program Files.\nTo install system-wide the command needs to be run with sudo on Linux/macOS:\nsudo cmake --build build/default --target install\n\nor run in a command prompt with admin privileges on Windows, or using runas:\nrunas cmake --build build/default --target install\n\n\n Make sure to prevent conflicts between libraries installed in your system.\nThe mavsdk library installed via a .deb or .rpm file will be installed in /usr/ while the built library will be installed in /usr/local.\nIt's recommended to only have one installed at any time to prevent conflicts.\n\nLocal Install \nThe install path can be set in the configuration step using CMAKE_INSTALL_PREFIX:\nFor example, to install into the MAVSDK/install/ folder you would set the CMAKE_INSTALL_PREFIX variable to specify a path relative to the folder from which you call cmake (or an absolute path).\ncmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -Bbuild/default -H.\ncmake --build build/default --target install\n\n\n If you already have run cmake without setting CMAKE_INSTALL_PREFIX, you may need to clean the build first:\n rm -rf build/default\n\n\nTroubleshooting\nGit submodules out of date\nSome common build issues can be resolved by updating submodules and cleaning the distribution:\ncd MAVSDK\ngit submodule update --recursive\nrm -rf build\nThen attempt to build again.\nMSVC vs. MingW\nWe only try to support building using MSVC, MingW is not working, mostly because the defines/flags for it are missing.\nUndefined reference to mavsdk...\nIf you only just built the library and installed it system-wide may also need to update the linker cache.\nOn Linux this is done with sudo ldconfig.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/build_mavsdk_server.html":{"url":"cpp/guide/build_mavsdk_server.html","title":"Building mavsdk_server from Source","keywords":"","body":"Build mavsdk_server from Source\nLanguage wrappers for MAVSDK other than C++ connect to the MAVSDK C++ core using gRPC. This gRPC server around the MAVSDK C++ library is called mavsdk_server (in the past it was referred to as the backend).\nFor more information about the architecture, also see how the auto-generation works.\n\n It is generally recommended to use pre-built binaries of mavsdk_server from the releases page, however, if needed, it can also be built manually from source as described below.\n\nRequirements\nThe requirements are the same as described in the library build instructions\nBuild on Linux\ncmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.\ncmake --build build/default -j8\nBuild on macOS\ncmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.\ncmake --build build/default -j8\n\n there is no proper support for the Apple M1 chip yet. One blocker is that there is currently no M1 hardware in GitHub Actions CI available.\n\nBuild on Windows\nOpen the \"x64 Native Tools Command Prompt for VS 2022\", cd into the MAVSDK directory, and do:\ncmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.\ncmake --build build/default -j8\nBuild for Android \nBuild for Android using the dockcross cross compiler, as described in the cross-compilation section below (e.g. with the dockcross/android-arm64 image).\nBuild for iOS \nTo build for real iOS devices on macOS:\ncmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=OS -Bbuild/ios -H.\ncmake --build build/ios\n\nBuild for the iOS simulator on macOS:\ncmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=SIMULATOR64 -Bbuild/ios_simulator -H.\n\nCross compilation using dockcross \nCross compilation is usually the fastest way to compile for \"embedded\" platforms like the Raspberry Pi, BeagleBone Blue or Nvidia Jetson (i.e. typically faster than native compilation on device itself).\nWe recommend using dockcross, which is a very convenient tool for cross compilation based on docker (and which supports many platforms).\nFor example, use the commands below to build for armv7:\n\nMake sure docker is installed on your system.\nNavigate into the SDK directory, and use the commands below:cd MAVSDK\ndocker run --rm dockcross/linux-armv7 > ./dockcross-linux-armv7\nchmod +x ./dockcross-linux-armv7\n./dockcross-linux-armv7 cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -Bbuild/linux-armv7 -S.\n./dockcross-linux-armv7 cmake --build build/linux-armv7 -j 8\n\nIf all goes well, mavsdk_server is built. You can check the file with:./dockcross-linux-armv7 file build/linux-armv7-release/src/backend/src/mavsdk_server\nbuild/linux-armv7-release/src/backend/src/mavsdk_server: ELF 32-bit LSB executable, ARM, EABI5 version 1 (GNU/Linux), dynamically linked, interpreter /lib/ld-linux-armhf.so.3, for GNU/Linux 4.10.8, not stripped\n\nThe newly built binary can now be copied to the device:cp build/linux-armv7/src/backend/src/mavsdk_server somewhere/else\n\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/build_docs.html":{"url":"cpp/guide/build_docs.html","title":"Generate API docs from Source","keywords":"","body":"Generate API docs from source\nThe API reference docs for C++ are already pre-generated. If you still would like to generate them, you find the instructions to do so below.\nBuild API Reference Documentation \nThe C++ source code is annotated using comments using Doxygen syntax.\nExtract the documentation to markdown files (one per class) on macOS or Linux using the commands:\nrm -rf tools/docs # Remove previous docs\n./tools/generate_docs.sh\n\nThe files are created in /install/docs/markdown.\n\n Extracting the API reference does not yet work automatically on Windows.\n\n\n\n The generate_docs.sh script builds the library, installs it locally to /install, and then uses DOxygen to create XML documentation in /install/docs/xml.\nThe generate_markdown_from_doxygen_xml.py script\nis then run on all files in the /xml directory to generate markdown files in /install/docs/markdown.\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/guide/code_style.html":{"url":"cpp/guide/code_style.html","title":"Coding Style","keywords":"","body":"C++ Coding Style\nThis topic contains the C++ formatting and coding guidelines for MAVSDK.\n\n These guidelines are not written in stone!\n Start a discussion if you have suggestions for improvement (the project will consider anything other than \"matters of personal taste\").\n\nFormatting and White Space\nAll .cpp and .h files should be formatted according to the .clang-format style.\nFix style\nTo automatically fix the formatting, run the command:\n./tools/fix_style.sh .\nIf you don't have clang-format installed or in the correct version, you can use a docker image or install it as explained below:\nUse clang-format in docker\nYou can just use the pre-built docker image:\ntools/run-docker.sh tools/fix_style.sh .\nGeneral Guidelines\nThe following general guidelines should be used for all code:\n\nC++17 is encouraged to allow developers to use C++17 features and the C++ STL:\nExamples:\n\nstd::function and lambda expressions\nstd::vector, std::map\nstd::thread, std::mutex\n\n\nusing namespace std is discouraged (read why).\nIf needed specific declarations can be used in the source files such as using std::this_thread::sleep_for to reduce verbosity.\n\nThe usage of namespacing wherever possible is encouraged (e.g. enum class is to be used over enum).\n\nFilename extensions should be .h for header files and .cpp for source files (for consistency).\nVariable and method names should err on the side of verbosity instead of being quick to type and read. Abbreviations are only to be used for small scopes and should not be exposed in public APIs.\nAll variables that have a physical unit should have the unit in the variable name (e.g. _m for meters, _m_s for meters/second).\nVariable and method names should be snake_case and class/struct/enum names CamelCase. Private variables should start with an underscore, e.g.: _variable_name.\nTry to exit functions early instead of nesting ifs (read why).\nWe don't use exceptions but use error codes. There are pros and cons for exceptions but given that the public API should be as simple as possible, it makes sense to refrain from exceptions altogether.\nThe use of std::bind is discouraged. The aim is to move towards just using lambdas for that purpose instead.\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/examples/":{"url":"cpp/examples/","title":"Examples","keywords":"","body":"C++ Examples\n\n Information about writing example code is covered in the Contributing > Writing Plugins (plugin developers should initially create integration tests rather than examples for new code).\n\nThis section contains examples showing how to use MAVSDK.\n\n\n\nExample\nDescription\n\n\n\n\nBattery\nSimple example to demonstrate how to imitate a smart battery.\n\n\nCalibrate\nSimple example showing how to initiate calibration of gyro, accelerometer, magnetometer.\n\n\nFly Mission\nShows how to create, upload, and run missions.\n\n\nFly Multiple Drones\nExample to connect multiple vehicles and make them follow their own separate plan file. Also saves the telemetry information to CSV files.\n\n\nFollow Me Mode\nDemonstrates how to put vehicle in Follow Me Mode and set the current target position and relative position of the drone.\n\n\nGeoFence Inclusion\nDemonstrates how to define and upload a simple polygonal inclusion GeoFence.\n\n\nMAVShell\nCreates and starts an interactive shell session.\n\n\nMAVLink FTP Client\nDemonstrates how to create/use a MAVLink FTP client.\n\n\nMAVLink FTP Server\nDemonstrates how to start/set up a MAVLink FTP server.\n\n\nMultiple Drones\nExample to connect multiple vehicles and make them take off and land in parallel.\n\n\nOffboard Velocity Control\nDemonstrates how to control a vehicle in Offboard mode using velocity commands (in both the NED and body frames).\n\n\nTakeoff and Land\nShows basic usage of the SDK (connect to port, detect system (vehicle), arm, takeoff, land, get telemetry)\n\n\nVTOL Transitions\nShows how to transition a VTOL vehicle between copter and fixed-wing modes.\n\n\nTune\nShows how to construct and play a tune.\n\n\n\nThe examples are \"largely\" built and run in the same way, as described in the following section (any exceptions are covered in the page for the associated example).\n\n Some of the examples define flight behaviour relative to the default home position in the simulator (e.g. Fly Mission).\n Care should be taken if using them on a real vehicle.\n\nTrying the Examples \nThe easiest way to test the examples is to use a simulated PX4 vehicle that is running on the same computer.\nFirst start PX4 in SITL (Simulation), optionally start QGroundControl to observe the vehicle, then build and run the example code.\n\n The simulator broadcasts to the standard PX4 UDP port for connecting to offboard APIs (14540).\n The examples connect to this port using either add_any_connection() or add_udp_connection().\n\nSetting up a Simulator\nPX4 supports a number of simulators.\nIn order to set up the jMAVSim or Gazebo simulator, you can simply follow the standard PX4 toolchain setup instructions for macOS or Ubuntu Linux.\n\n JMAVSim can only be used to simulate multicopters.\n Gazebo additionally supports a number of other vehicles (e.g. VTOL, Rovers, fixed-wing etc.).\n\nAfter running a standard installation, a simulation can be started from the PX4 /Firmware directory using the command:\n\nMulticopter (jMAVSim): make px4_sitl jmavsim\nMulticopter (Gazebo): make px4_sitl gazebo\nVTOL (Gazebo): make px4_sitl gazebo_standard_vtol\n\nUsing QGroundControl\nYou can use QGroundControl to connect to PX4 and observe vehicle movement and behaviour while the examples are running.\nQGroundControl will automatically connect to the PX4 simulation as soon as it is started.\nSee QGroundControl > Download and Install for information about setting up QGroundControl on your platform.\nBuilding the Examples \nTo build the examples follow the instructions below, replacing takeoff_and_land with the name of the specific example.\nThe examples require the MAVSDK library to be installed.\nSee installation guide if that is not already the case.\nThen build the example:\ncd examples/takeoff_and_land/\ncmake -Bbuild -H.\ncmake --build build -j4\n\n\n if MAVSDK is installed locally (e.g. on Windows) you need to pass the location to cmake:\ncmake -Bbuild -DCMAKE_PREFIX_PATH=wherever_mavsdk_is_locally_installed\n\nRunning the Examples \nYou can then run the example, specifying the connection URL as the first argument.\nWhen running with the Simulator, you will use the connection string: udp://:14540\nOn Linux/macOS you would run the following (from the /build directory):\nbuild/takeoff_and_land udp://:14540\n\nFor Windows you would run the following (from the \\build\\Debug\\ directory):\nbuild\\Debug\\takeoff_and_land.exe udp://:14540\n\n\n Most examples will create a binary with the same name as the example.\nThe name that is used is specified in the CMakeLists.txt file as the first value in the call to add_executable().\n\nIf you have already started the simulation the example code should connect to PX4,\nand you will be able to observe behaviour through the SDK terminal, SITL terminal, and/or QGroundControl.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/examples/takeoff_and_land.html":{"url":"cpp/examples/takeoff_and_land.html","title":"Takeoff and Land","keywords":"","body":"Example: Takeoff and Land\nThis simple example shows the basic use of many MAVSDK features.\nIt sets up a UDP connection, waits for a vehicle (system) to appear, arms it, and commands it to takeoff.\nAfter a short wait the vehicle lands.\nWhile flying the vehicle receives telemetry. The example is implemented in C++ (only).\n\n The full source code for the example can be found here.\n\nRunning the Example \nThe example is built and run as described here (the standard way).\nThe example terminal output should be similar to that shown below:\n\n This is from a debug build of the SDK.\n A release build will omit the \"Debug\" messages.\n\n$ ./takeoff_and_land udp://:14540\n\nWaiting to discover system...\n[06:40:03|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)\n[06:40:03|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:292)\n[06:40:03|Debug] Component Autopilot added. (system_impl.cpp:339)\n[06:40:03|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-07-09/0 (system_impl.cpp:277)\n[06:40:04|Debug] Found 1 component(s). (system_impl.cpp:466)\n[06:40:04|Debug] Discovered 4294967298 (system_impl.cpp:468)\nDiscovered system with UUID: 4294967298\nVehicle is getting ready to arm\nAltitude: -0.004 m\nVehicle is getting ready to arm\nAltitude: -0.007 m\nArming...\n[06:40:07|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:277)\nTaking off...\n[06:40:07|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:277)\n[06:40:07|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:277)\n[06:40:07|Debug] MAVLink: critical: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:277)\nAltitude: 0.96 m\nAltitude: 2.044 m\nAltitude: 2.381 m\n...\nAltitude: 2.502 m\nAltitude: 2.5 m\nLanding...\n[06:40:17|Debug] MAVLink: info: Landing at current position (system_impl.cpp:277)\nAltitude: 1.934 m\nAltitude: 1.208 m\n...\nAltitude: -0.524 m\nFinished...\n\nSource code \n\n The full source code for the example can be found on Github here.\n\n\nCMakeLists.txt\ntakeoff_and_land.cpp\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/examples/fly_mission.html":{"url":"cpp/examples/fly_mission.html","title":"Fly Mission","keywords":"","body":"Example: Fly Mission\nThe Fly Mission example shows how to create, upload, and run, pause, and restart missions using the SDK.\n\nRunning the Example \nThe example is built and run in the normal way (as described here).\nThe example terminal output should be similar to that shown below:\n\n This is from a debug build of the SDK.\n A release build will omit the \"Debug\" messages.\n\n$ ./fly_mission udp://:14540\nWaiting to discover system...\n[09:36:08|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)\n[09:36:08|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:292)\n[09:36:08|Debug] Component Autopilot added. (system_impl.cpp:339)\n[09:36:08|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-07-09/1 (system_impl.cpp:277)\n[09:36:09|Debug] Found 1 component(s). (system_impl.cpp:466)\n[09:36:09|Debug] Discovered 4294967298 (system_impl.cpp:468)\nDiscovered system with UUID: 4294967298\nWaiting for system to be ready\nSystem ready\nCreating and uploading mission\nUploading mission...\n[09:36:10|Debug] Send mission item 0 (mission_impl.cpp:898)\n[09:36:10|Debug] Send mission item 1 (mission_impl.cpp:898)\n...\n[09:36:10|Debug] Send mission item 19 (mission_impl.cpp:898)\n[09:36:10|Debug] Send mission item 20 (mission_impl.cpp:898)\n[09:36:10|Debug] Send mission item 21 (mission_impl.cpp:898)\n[09:36:10|Debug] Send mission item 22 (mission_impl.cpp:898)\n[09:36:10|Info ] Mission accepted (mission_impl.cpp:163)\nMission uploaded.\nArming...\n[09:36:10|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:277)\nArmed.\nStarting mission.\nStarted mission.\nMission status update: 0 / 6\n[09:36:10|Debug] MAVLink: info: Executing Mission (system_impl.cpp:277)\n[09:36:10|Debug] MAVLink: info: Takeoff to 10.0 meters above home. (system_impl.cpp:277)\n[09:36:10|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:277)\nMission status update: 0 / 6\nMission status update: 0 / 6\nMission status update: 1 / 6\n...\nMission status update: 1 / 6\nMission status update: 2 / 6\nMission status update: 2 / 6\nPausing mission...\nMission paused.\n[09:36:28|Debug] MAVLink: critical: MANUAL CONTROL LOST (at t=41381ms) (system_impl.cpp:277)\n[09:36:28|Debug] MAVLink: info: MANUAL CONTROL REGAINED after 541ms (system_impl.cpp:277)\nResuming mission...\nResumed mission.\nMission status update: 2 / 6\n...\nMission status update: 2 / 6\nMission status update: 3 / 6\n...\nMission status update: 3 / 6\nMission status update: Mission status update: 44 / 6 / 6\n\nMission status update: 4 / 6\n...\nMission status update: 4 / 6\nMission status update: 5 / 6\n...\nMission status update: 5 / 6\n[09:37:00|Debug] MAVLink: info: Mission finished, loitering. (system_impl.cpp:277)\nMission status update: 6 / 6\nCommanding RTL...\nCommanded RTL.\n[09:37:01|Debug] MAVLink: info: RTL HOME activated (system_impl.cpp:277)\n[09:37:01|Debug] MAVLink: info: RTL: climb to 518 m (31 m above home) (system_impl.cpp:277)\n[09:37:09|Debug] MAVLink: info: RTL: return at 518 m (31 m above home) (system_impl.cpp:277)\n[09:37:16|Debug] MAVLink: info: RTL: descend to 493 m (5 m above home) (system_impl.cpp:277)\n[09:37:41|Debug] MAVLink: info: RTL: loiter 5.0s (system_impl.cpp:277)\n[09:37:46|Debug] MAVLink: info: RTL: land at home (system_impl.cpp:277)\n[09:37:56|Debug] MAVLink: info: Landing detected (system_impl.cpp:277)\n[09:37:59|Debug] MAVLink: info: DISARMED by auto disarm on land (system_impl.cpp:277)\nMission status update: 6 / 6\nDisarmed, exiting.\nHow it works\nThe operation of most of this code is discussed in the guide: Missions.\nSource code \n\nCMakeLists.txt\nfly_mission.cpp\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/examples/offboard_velocity.html":{"url":"cpp/examples/offboard_velocity.html","title":"Offboard Mode - Velocity Control","keywords":"","body":"Example: Offboard Velocity\nThis example shows how to how to control a vehicle in Offboard mode using velocity commands (in both the NED and body frames).\n\nRunning the Example \nThe example is built and run as described here (the standard way).\nThe example terminal output should be similar to that shown below:\n\n This is from a debug build of the SDK.\n A release build will omit the \"Debug\" messages.\n\n$ ./offboard udp://:14540\nWait for system to connect via heartbeat\n[12:53:03|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)\n[12:53:03|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:286)\n[12:53:03|Debug] Component Autopilot added. (mavlink_system.cpp:349)\n[12:53:03|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-05-23/0 (mavlink_system.cpp:286)\n[12:53:04|Debug] Found 1 component(s). (mavlink_system.cpp:481)\n[12:53:04|Debug] Discovered 4294967298 (mavlink_system.cpp:483)\nWaiting for system to be ready\nSystem is ready\nArmed\n[12:53:05|Debug] MAVLink: info: ARMED by arm/disarm component command (mavlink_system.cpp:286)\nIn Air...\n[12:53:05|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (mavlink_system.cpp:286)\n[12:53:05|Debug] MAVLink: info: Takeoff detected (mavlink_system.cpp:286)\n[12:53:05|Debug] MAVLink: critical: Using minimum takeoff altitude: 2.50 m (mavlink_system.cpp:286)\n[NED] Offboard started\n[NED] Turn to face East\n[NED] Go North and back South\n[NED] Turn to face West\n[NED] Go up 2 m/s, turn to face South\n[NED] Go down 1 m/s, turn to face North\n[NED] Offboard stopped\n[BODY] Offboard started\n[BODY] Turn clock-wise and climb\n[BODY] Turn back anti-clockwise\n[BODY] Wait for a bit\n[BODY] Fly a circle\n[BODY] Wait for a bit\n[BODY] Fly a circle sideways\n[BODY] Wait for a bit\n[BODY] Offboard stopped\n[12:54:29|Debug] MAVLink: info: Landing at current position (mavlink_system.cpp:286)\nLanded\nHow it works\nThe operation of most of this code is discussed in the guide: Offboard Control.\nSource code \n\nCMakeLists.txt\noffboard_velocity.cpp\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/examples/follow_me.html":{"url":"cpp/examples/follow_me.html","title":"Follow Me Mode","keywords":"","body":"Example: Follow Me Mode\nThis example demonstrates how to use the Follow Me plugin.\nIt shows how to send the drone both the current position of the target (FollowMe::TargetLocation) and the relative position at which it should follow (FollowMe::Config).\n\n\n A real application using this API will get the position information from the underlying operating system.\n The example uses a fake position source (FakeLocationProvider) to enable it to be run on computers that do not have position information.\n The FakeLocationProvider emulates the typical usage of common positioning APIs used in Android, Linux and iPhone.\n\nRunning the Example \nSpecial notes for this example:\n\nBefore running this example you will need to install Boost libraries. For Linux this is done as shown below:sudo apt-get install libboost-all-dev\n\n\nTo use QGroundControl with this example you must ensure that GSC Position Streaming is disabled (otherwise QGC and the SDK will both send position updates and they will conflict).\nTo do this use the latest QGC Daily Build and ensure that the Application Setting > General > Miscellaneous > Stream GCS Position is set to Never.\n\nOtherwise the example is built and run in the normal way (as described here).\nThe example terminal output should be similar to that shown below:\n\n This is from a debug build of the SDK.\n A release build will omit the \"Debug\" messages.\n\n$ ./follow_me udp://:14540\n[01:55:59|Info ] DronecodeSDK version: 0.2.8 (dronecode_sdk_impl.cpp:25)\nWait for system to connect via heartbeat\n[01:55:59|Info ] New device on: 127.0.0.1:14580 (udp_connection.cpp:200)\n[01:55:59|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:286)\n[01:55:59|Debug] Component Autopilot added. (system_impl.cpp:335)\n[01:56:00|Debug] Found 1 component(s). (system_impl.cpp:462)\n[01:56:00|Debug] Discovered 4294967298 (system_impl.cpp:464)\nWaiting for system to be ready\n...\nWaiting for system to be ready\nSystem is ready\nArmed\n[01:56:07|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:273)\nIn Air...\n[01:56:07|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:273)\n[01:56:07|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:273)\n[01:56:07|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:273)\n[FlightMode: Takeoff] Vehicle is at: nan, nan degrees.\n[FlightMode: Takeoff] Vehicle is at: nan, nan degrees.\n[FlightMode: Hold] Vehicle is at: nan, nan degrees.\n[01:56:12|Debug] Waiting for the system confirmation of the new configuration.. (follow_me_impl.cpp:81)\n[FlightMode: FollowMe] Vehicle is at: nan, nan degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54559 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54559 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54559 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54559 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54559 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54559 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54563 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54567 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.5457 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54574 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54577 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54581 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54588 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54592 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54595 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54595 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54595 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54595 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54592 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54588 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54581 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54577 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54574 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.5457 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54567 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54563 degrees.\n[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54563 degrees.\nwaiting until landed\n[01:56:53|Debug] MAVLink: info: Landing at current position (system_impl.cpp:273)\nwaiting until landed\n...\nwaiting until landed\n[01:57:12|Debug] MAVLink: info: Landing detected (system_impl.cpp:273)\n[01:57:12|Debug] MAVLink: info: DISARMED by auto disarm on land (system_impl.cpp:273)\nLanded...\nHow it works\nThe example registers with FakeLocationProvider for location updates.\nThese are passed to the Follow Me plugin, which in turn sends them to the vehicle.\nThe operation of the \"SDK-specific\" part of this code is discussed in the guide: Follow Me.\nSource code \n\nCMakeLists.txt\nfollow_me.cpp\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/examples/transition_vtol_fixed_wing.html":{"url":"cpp/examples/transition_vtol_fixed_wing.html","title":"VTOL Transitions","keywords":"","body":"Example: VTOL Transitions\nThis example shows how you can use the SDK Action class to transition between VTOL copter and fixed-wing modes (and back).\n\nRunning the Example \nThe example must be run against a VTOL aircraft (simulated or otherwise).\nOtherwise the example is built and run in the standard way.\n\n Instructions for running the Gazebo simulator for a standard VTOL can be found here: PX4 Development Guide > Gazebo Simulation.\n jMAVSim does not support VTOL simulation.\n\nThe example terminal output for a debug build of the SDK should be similar to that shown below (a release build will omit the \"Debug\" messages):\n$ ./transition_vtol_fixed_wing udp://:14540\nWaiting to discover system...\n[10:24:42|Info ] New system on: 127.0.0.1:14557 (udp_connection.cpp:210)\n[10:24:42|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2017-11-21/0 (mavlink_system.cpp:286)\n[10:24:43|Debug] Discovered 4294967298 (mavlink_system.cpp:483)\nDiscovered system with UUID: 4294967298\nArming...\nTaking off...\n[10:24:44|Debug] MAVLink: info: ARMED by arm/disarm component command (mavlink_system.cpp:286)\n[10:24:44|Debug] MAVLink: info: Using minimum takeoff altitude: 10.00 m (mavlink_system.cpp:286)\n[10:24:44|Debug] MAVLink: info: Takeoff detected (mavlink_system.cpp:286)\n[10:24:44|Debug] MAVLink: critical: Using minimum takeoff altitude: 10.00 m (mavlink_system.cpp:286)\nAltitude: 0.079 m\nAltitude: 0.507 m\n...\nAltitude: 10.254 m\nTransition to fixedwing...\nAltitude: 10.263 m\n...\nAltitude: 20.72 m\nAltitude: 24.616 m\nAltitude: 22.262 m\nTransition back to multicopter...\nAltitude: 17.083 m\n...\nReturn to launch...\nAltitude: 11.884 m\n[10:25:09|Debug] MAVLink: info: RTL: climb to 518 m (29 m above home) (mavlink_system.cpp:286)\nAltitude: 13.61 m\n...\nAltitude: 27.489 m\nAltitude: 28.892 m\n[10:25:18|Debug] MAVLink: info: RTL: return at 517 m (29 m above home) (mavlink_system.cpp:286)\nAltitude: 29.326 m\nAltitude: 29.33 m\n...\nAltitude: 29.323 m\nAltitude: 29.357 m\nLanding...\n[10:25:29|Debug] MAVLink: info: Landing at current position (mavlink_system.cpp:286)\nAltitude: 29.199 m\nAltitude: 28.722 m\nAltitude: 28.189 m\nAltitude: 27.62 m\nFinished...\nHow it works\nThe operation of the transition code is discussed in the guide: Takeoff and Landing (and other actions).\nSource code \n\nCMakeLists.txt\ntransition_vtol_fixed_wing.cpp\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/examples/autopilot_server.html":{"url":"cpp/examples/autopilot_server.html","title":"Autopilot Server","keywords":"","body":"Example: Autopilot Server\nThe Autopilot Server example creates two instances of MAVSDK, representing a client (GCS) and a server (Vehicle).\nThe MAVSDK instances communicates with each other via UDP transmitting telemetry, publishing parameters, missions and takeoff commands.\n\n This example shows how to use MAVSDK Server Plugins!\nThis is a good starting point if you are looking to implement MAVLink services to a non-MAVLink compatible system.\n\nRunning the Example \nThe example is built and run in the normal way (as described here).\nThe example terminal output should be similar to that shown below:\n\n This is from a debug build of the SDK.\n A release build will omit the \"Debug\" messages.\n\n$ ./autopilot_server\n[04:44:24|Info ] MAVSDK version: v0.44.0 (mavsdk_impl.cpp:29)\n[04:44:24|Info ] MAVSDK version: v0.44.0 (mavsdk_impl.cpp:29)\nConnected!\n[04:44:24|Error] Sending message failed (mavsdk_impl.cpp:278)\n[04:44:24|Debug] Initializing connection to remote system... (mavsdk_impl.cpp:473)\nConnected autopilot server side!\nSleeping thread \n[04:44:24|Info ] New system on: 127.0.0.1:40799 (with sysid: 1) (udp_connection.cpp:194)\n[04:44:24|Debug] New: System ID: 1 Comp ID: 1 (mavsdk_impl.cpp:475)\n[04:44:24|Debug] Component Autopilot (1) added. (system_impl.cpp:372)\n[04:44:24|Debug] New: System ID: 245 Comp ID: 190 (mavsdk_impl.cpp:222)\n[04:44:24|Debug] Component Unsupported component (190) added. (system_impl.cpp:372)\n[04:44:25|Debug] Discovered 1 component(s) (system_impl.cpp:520)\nDiscovered Autopilot from Client\n[04:44:25|Debug] Autopilot Capabilities Request (system_impl.cpp:297)\nSetting System\nMissionRawServer created\n[04:44:35|Debug] Setting interval for msg id: 245 interval_ms:1000 (telemetry_server_impl.cpp:38)\n[04:44:35|Debug] Request Param CAL_GYRO0_ID (mavlink_parameters.cpp:756)\n[04:44:35|Debug] Request Param CAL_ACC0_ID (mavlink_parameters.cpp:756)\n[04:44:35|Debug] Request Param CAL_MAG0_ID (mavlink_parameters.cpp:756)\n[04:44:35|Debug] Request Param SYS_HITL (mavlink_parameters.cpp:756)\n[04:44:40|Warn ] command unsupported (512). (mavlink_commands.cpp:205)\n[04:44:41|Debug] Falling back to gimbal protocol v1 (mission_impl.cpp:131)\n[04:44:45|Debug] Request Param my_param (mavlink_parameters.cpp:756)\nFound Param my_param: 1\nCreating Mission\nUploading mission...\nSystemID1\n[04:44:45|Debug] Receive Mission Count in Server (mission_raw_server_impl.cpp:150)\nReceived Uploaded Mission!\nmission_plan:\n{\n mission_items: [mission_item:\n{\n seq: 0\n frame: 6\n command: 16\n current: 1\n autocontinue: 1\n param1: 0.5\n param2: 1\n param3: 0\n param4: nan\nMission uploaded. x: \n473981703\n y: 85456490\n z: 10\n mission_type: 0\n}, mission_item:\n{\n seq: 1\n frame: 2\n command: 178\n current: 0\n autocontinue: 1\n param1: 1\n param2: 5\n param3: -1\n param4: 0\n x: 0\n y: 0\n z: nan\n mission_type: 0\n}, mission_item:\n{\n seq: 2\n frame: 2\n command: 204\n current: 0\n autocontinue: 1\n param1: 2\n param2: 0\n param3: 0\n param4: 1\n x: 0\n y: 0\n z: 2\n mission_type: 0\n}, mission_item:\n{\n seq: 3\n frame: 2\n command: 205\n current: 0\n autocontinue: 1\n param1: 20\n param2: 0\n param3: 60\n param4: nan\n x: 0\n y: 0\n z: 2\n mission_type: 0\n}]\n}\nCurrent Item Changed!\nCurrent Item: mission_item:\n{\n seq: 0\n frame: 6\n command: 16\n current: 1\n autocontinue: 1\n param1: 0.5\n param2: 1\n param3: 0\n param4: nan\n x: 473981703\n y: [8545649004:44:45|Debug] \n z: 10\n mission_type: 0\n}\ncurrent: 0, total: 1Current Item Changed! (\nCurrent Item: mission_item:\n{\nmission_impl.cpp seq: 1\n frame: 2\n command: 178\n current: 0\n autocontinue: 1\n param1: :1839)\nCurrent: 0\nTotal: 1\n\n param2: 5\n param3: -1\n param4: 0\n x: 0\n y: 0\n z: nan\n mission_type: 0\n}\n[Current Item Changed!\nCurrent Item: mission_item:\n{\n seq: 2\n frame: 2\n command: 204\n current: 0\n autocontinue: 1\n param1: 2\n param2: 0\n param3: 0\n param4: 1\n x: 0\n y: 0\n z: 2\n mission_type: 0\n}\nCurrent Item Changed!\nCurrent Item: mission_item:\n{\n seq: 3\n frame: 2\n command: 205\n current: 0\n autocontinue: 1\n param1: 20\n param2: 0\n param3: 60\n param4: nan\n x: 0\n y: 0\n z: 2\n mission_type: 0\n}\nCurrent Item Changed!\nCurrent Item: mission_item:\n{\n seq: 0\n frame: 6\n command: 16\n current: 1\n autocontinue: 1\n param1: 0.5\n param2: 1\n param3: 0\n param4: nan\n x: 473981703\n y: 85456490\n z: 10\n mission_type: 0\n}\n04:44:45|Debug] current: 1, total: 1 (mission_impl.cpp:839)\nCurrent: 1\nTotal: 1\nClear All Mission!\nClear Mission Request\n[04:45:05|Debug] Setting interval for msg id: 33 interval_ms:1000 (telemetry_server_impl.cpp:38)\nArming...\nAltitude: 0 m\n[04:45:05|Debug] Set Param Request: MIS_TAKEOFF_ALT (mavlink_parameters.cpp:724)\nTaking off...\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\nAltitude: 10 m\n...\nHow it works\nBy creating two MAVSDK instances on separate threads, configuring them and then using different plugins on each, we are able to create a full MAVLink system (GCS Vehicle)\nin one program.\nEach plugin (and it's respective server plugin) implements a particular MAVLink service.\nBy utilising the server plugins and client plugins we are able to create a full MAVLink\nsystem, without the need for a separate external autopilot.\nSource code \n\nCMakeLists.txt\nautopilot_server.cpp\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/server_plugins.html":{"url":"cpp/server_plugins.html","title":"Server plugins","keywords":"","body":"Server Plugins\nMAVSDK Server plugins are used to expose MAVLink services on non-MAVLink flight stacks, companions computers, cameras, gimbals and other components.\nThe plugins listen for commands from a ground station or other MAVLink client, pass them to the underlying native system using callbacks, and respond as needed. \n\n They are called \"server\" plugins because they perform the server role in communication - listening for commands and responding.\nThe client role is usually performed by a ground station (or \"ordinary\" MAVSDK plugin)\n\nAdding MAVLink support to your vehicle\nAdding MAVLink support to your vehicle is as simple as instantiating the required server plugin and actioning the vehicle on the appropriate callback.\nExamples\nThe Autopilot Server example uses many different MAVSDK server plugins to replicate a simple vehicle and autopilot system, with telemetry, mission handling, parameters and more.\nPlugins\nThe plugins developed specifically for this case are usually suffixed with Server, e.g.:\n\nActionServer\nMissionRawServer\nParamServer\nTelemetryServer\nTrackingServer\n\nThese server plugins can potentially also be used to test the \"client\" plugins of MAVSDK in the future. The Autopilot Server example uses multiple MAVSDK instances in this way.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_changes.html":{"url":"cpp/api_changes.html","title":"API Changes","keywords":"","body":"API Changes\nThis page tracks changes between versions.\nIt covers both breaking (incompatible) and non-breaking changes.\nSemantic Versioning\nMAVSDK follows semver/Semantic Versioning conventions where as possible.\nThe version number has the format: major.minor.patch.\nIndividual parts of the number are iterated when the:\n\nmajor: API is changed, or functionality is removed.\nminor: API is extended, functionality is added.\npatch: API is not changed, functionality is not changed, but a bug is fixed.\n\nThis means that breaking changes to the API result in a bump of the major version number (e.g. 1.4.3 to 2.0.0).\n\n: bumping of the major version is unrelated to the stability of the library. E.g. v2.0.0 is not by definition more stable than v1.4.18. It just means that the API has changed with v2. As development is carried on, stability is likely increasing whenever the minor or patch versions increase as incremental fixes are added.\n\nv2\nMavsdk configuration\nThe Mavsdk class no longer assumes the configuration of a ground station by default but instead a configuration needs to be passed as a constructor argument.\nThe configuration argument sets the identification, so the MAVLink MAV_TYPE and MAVLink component ID (also called compid) of the Mavsdk instance itself, so the source and not the target that you're connecting to.\nOld instantiation:\nMavsdk mavsdk;\nNew instantiation:\nMavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};\nNote:\nIt is still possible to change the configuration later (although not recommended) using Mavsdk::set_configuration(...).\nRationale:\nThe reasons behind this change is to make users aware of this configuration and not assume any default. The problem with a ground station default is that it can be potentially dangerous without the user being aware. We are aware that this makes the API more cumbersome and verbose to use but the goal of Mavsdk is always to erro on the side of safety.\nFor instance, in the case where MAVSDK is used on the companion computer, the autopilot would assume that it is connected to a ground station at all time, even if the real ground station was lost.\nAlso, having to set the default makes it less likely to misconfigure the overall integration and end up with several components that conflict.\nNote:\nIt is also possible to set the sysid/compid directly, just check out the API of Mavsdk::Configuration (TODO: add link).\nSubscription API\nThe subscription API (also called async functions) has changed:\nOld:\n// Subscribe\ntelemetry.subscribe_position([](Telemetry::Position position) {\n std::cout New:\n// Subscribe\nauto handle = telemetry.subscribe_position([](Telemetry::Position position) {\n std::cout Rationale:\nMAVSDK subscriptions had the drawback that there could only be one subscription per API. So subsequent subscribers would overwrite previous subscribers. With the new API there can be more than one subscriber per API, and each can unsubscribe using their own handle.\nServer component plugins\nA lost of work has gone into Mavsdk v2 to support \"server\" components. These are components that typically run on the drone, e.g. a companion computer or a camera.\nServer component plugins are all plugins that end in _server. They don't need a System to be instantiated as they are \"connected to and don't care who connects to them\".\nFor instance a camera server plugin can be used as follows:\nMavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::Camera}};\nauto camera_server = mavsdk::CameraServer{mavsdk.server_component()};\nIt's also possible to add more than one MAVLink component to one MAVSDK instance, e.g. a gimbal could be added like this:\nConnecting to first autopilot system\nDiscovering vehicles/systems required quite a bit of boilerplate code in the past. This has been simplified using a Mavsdk::first_autopilot(double timeout_s) method.\nOld discovering of first autopilot:\nstd::cout >{};\nauto fut = prom.get_future();\n\n// We wait for new systems to be discovered, once we find one that has an\n// autopilot, we decide to use it.\nmavsdk.subscribe_on_new_system([&mavsdk, &prom]() {\n auto system = mavsdk.systems().back();\n\n if (system->has_autopilot()) {\n std::cout New simplified way:\nauto system = mavsdk.first_autopilot(3.0);\nv1\nLinking\nWith version 1, we introduce bigger changes in the way the MAVSDK library is linked to. Essentially, the library is no longer split up in multiple library files, one for the core (e.g. mavsdk.so) and one each for every plugin (e.g. mavsdk_action.so) and instead everything is merged into one library file (usually mavsdk.so).\nThis means that linking in cmake gets easier.\nPreviously, this was required:\ntarget_link_libraries(my_executable\n MAVSDK::mavsdk_action\n MAVSDK::mavsdk_mission\n MAVSDK::mavsdk_telemetry\n MAVSDK::mavsdk\n)\nNow, this is all that is needed:\ntarget_link_libraries(my_executable\n MAVSDK::mavsdk\n)\nRationale\nWhy were the \"plugins\" split up in the first place?\n\nThe plugins were split because they were supposed to be extendable plugins. However, the last few years have shown that this is not really required, as there were no requests or contributions for it.\nAlso, having a real plugin architecture is not always easy. For instance, loading plugins at runtime with dlopen is not possible when the library is compiled with musl. (We use musl to compile mavsdk_server statically without dependencies, so that it can be shipped with PyPi and runs on any Linux distribution and version as well as cross-compiled on armv6/7/8).\n\nWhat are the advantages of the change?\n\nHaving one library to link to is easier and more inline with other libraries. When more functionality is needed, CMakeLists.txt doesn't need to be changed every time.\nHaving only one library makes it easier to check for ABI breaks.\nThe file overhead for every plugin is actually very small, so the overhead should be negligible.\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/":{"url":"cpp/api_reference/","title":"API Reference","keywords":"","body":"C++ API Reference\n\nclass Mavsdk\nclass Mavsdk::Configuration\nstruct MavlinkAddress\n\n\nclass Action\nclass ActionServer\nstruct AllowableFlightModes\nstruct ArmDisarm\n\n\nclass Calibration\nstruct ProgressData\n\n\nclass Camera\nstruct Information\nstruct CaptureInfo\nstruct Position\nstruct Quaternion\nstruct EulerAngle\nstruct Status\nstruct VideoStreamInfo\nstruct VideoStreamSettings\nstruct Option\nstruct Setting\nstruct SettingOptions\n\n\nclass CameraServer\nstruct CaptureInfo\nstruct CaptureStatus\nstruct Information\nstruct Position\nstruct Quaternion\nstruct StorageStatus\nstruct VideoStreaming\n\n\nclass ComponentInformation\nstruct FloatParam\nstruct FloatParamUpdate\n\n\nclass ComponentInformationServer\nstruct FloatParam\nstruct FloatParamUpdate\n\n\nclass Failure\nclass FollowMe\nstruct Config\nstruct TargetLocation\n\n\nclass Ftp\nclass FtpServer\nclass Geofence\nstruct Circle\nstruct GeofenceData\nstruct Polygon\nstruct Point\nstruct ProgressData\n\n\nclass geometry::CoordinateTransformation\nstruct GlobalCoordinate\nstruct LocalCoordinate\n\n\nclass Gimbal\nstruct ControlStatus\n\n\nclass Gripper\nclass Info\nstruct FlightInfo\nstruct Identification\nstruct Product\nstruct Version\n\n\nclass LogFiles\nstruct Entry\nstruct ProgressData\n\n\nclass ManualControl\nclass MavlinkPassthrough\nstruct CommandInt\nstruct CommandLong\n\n\nclass Mission\nstruct MissionItem\nstruct MissionPlan\nstruct MissionProgress\nstruct ProgressData\nstruct ProgressDataOrMission\n\n\nclass MissionRaw\nstruct MissionItem\nstruct MissionProgress\n\n\nclass MissionRawServer\nstruct MissionItem\nstruct MissionPlan\nstruct MissionProgress\n\n\nclass Mocap\nstruct AngleBody\nstruct AngularVelocityBody\nstruct AttitudePositionMocap\nstruct Covariance\nstruct Odometry\nstruct PositionBody\nstruct Quaternion\nstruct SpeedBody\nstruct VisionPositionEstimate\n\n\nclass Offboard\nstruct ActuatorControl\nstruct ActuatorControlGroup\nstruct Attitude\nstruct AttitudeRate\nstruct VelocityBodyYawspeed\nstruct VelocityNedYaw\nstruct PositionNedYaw\nstruct PositionGlobalYaw\n\n\nclass Param\nstruct AllParams\nstruct CustomParam\nstruct FloatParam\nstruct IntParam\n\n\nclass ParamServer\nstruct AllParams\nstruct CustomParam\nstruct FloatParam\nstruct IntParam\n\n\nclass Rtk\nstruct RtcmData\n\n\nclass ServerUtility\nclass Shell\nclass System\nstruct AutopilotVersion\n\n\nclass Telemetry\nstruct AccelerationFrd\nstruct ActuatorControlTarget\nstruct ActuatorOutputStatus\nstruct Altitude\nstruct AngularVelocityBody\nstruct AngularVelocityNed\nstruct Battery\nstruct Covariance\nstruct DistanceSensor\nstruct EulerAngle\nstruct FixedwingMetrics\nstruct GpsInfo\nstruct GpsGlobalOrigin\nstruct GroundTruth\nstruct Heading\nstruct Health\nstruct Imu\nstruct MagneticFieldFrd\nstruct Odometry\nstruct Position\nstruct PositionBody\nstruct PositionNed\nstruct VelocityNed\nstruct VelocityBody\nstruct PositionVelocityNed\nstruct Quaternion\nstruct RawGps\nstruct RcStatus\nstruct ScaledPressure\nstruct StatusText\n\n\nclass TelemetryServer\nstruct AccelerationFrd\nstruct ActuatorControlTarget\nstruct ActuatorOutputStatus\nstruct AngularVelocityBody\nstruct AngularVelocityFrd\nstruct Battery\nstruct Covariance\nstruct DistanceSensor\nstruct EulerAngle\nstruct FixedwingMetrics\nstruct GpsInfo\nstruct GroundTruth\nstruct Heading\nstruct Imu\nstruct MagneticFieldFrd\nstruct Odometry\nstruct Position\nstruct PositionBody\nstruct PositionNed\nstruct PositionVelocityNed\nstruct Quaternion\nstruct RawGps\nstruct RcStatus\nstruct ScaledPressure\nstruct StatusText\nstruct VelocityBody\nstruct VelocityNed\n\n\nclass TrackingServer\nstruct TrackPoint\nstruct TrackRectangle\n\n\nclass Transponder\nstruct AdsbVehicle\n\n\nclass Tune\nstruct TuneDescription\n\n\nclass Winch\nstruct Status\nstruct StatusFlags\n\n\nclass PluginBase\nclass Overloaded\nclass CallbackList\nclass CallbackListImpl\nclass Handle\nclass FakeHandle\nclass ServerComponent\nclass ServerPluginBase\nnamespace mavsdk (globals)\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/classmavsdk_1_1_action.html":{"url":"cpp/api_reference/classmavsdk_1_1_action.html","title":"class Action","keywords":"","body":"mavsdk::Action Class Reference\n#include: action.h\n\nEnable simple actions such as arming, taking off, and landing. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum OrbitYawBehavior\nYaw behaviour during orbit flight.\n\n\nenum Result\nPossible results returned for action requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Action calls.\n\n\nstd::functionResult, float)> GetTakeoffAltitudeCallback\nCallback type for get_takeoff_altitude_async.\n\n\nstd::functionResult, float)> GetMaximumSpeedCallback\nCallback type for get_maximum_speed_async.\n\n\nstd::functionResult, float)> GetReturnToLaunchAltitudeCallback\nCallback type for get_return_to_launch_altitude_async.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nAction (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nAction (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Action () override\nDestructor (internal use only).\n\n\n \nAction (const Action & other)\nCopy constructor.\n\n\nvoid\narm_async (const ResultCallback callback)\nSend command to arm the drone.\n\n\nResult\narm () const\nSend command to arm the drone.\n\n\nvoid\ndisarm_async (const ResultCallback callback)\nSend command to disarm the drone.\n\n\nResult\ndisarm () const\nSend command to disarm the drone.\n\n\nvoid\ntakeoff_async (const ResultCallback callback)\nSend command to take off and hover.\n\n\nResult\ntakeoff () const\nSend command to take off and hover.\n\n\nvoid\nland_async (const ResultCallback callback)\nSend command to land at the current position.\n\n\nResult\nland () const\nSend command to land at the current position.\n\n\nvoid\nreboot_async (const ResultCallback callback)\nSend command to reboot the drone components.\n\n\nResult\nreboot () const\nSend command to reboot the drone components.\n\n\nvoid\nshutdown_async (const ResultCallback callback)\nSend command to shut down the drone components.\n\n\nResult\nshutdown () const\nSend command to shut down the drone components.\n\n\nvoid\nterminate_async (const ResultCallback callback)\nSend command to terminate the drone.\n\n\nResult\nterminate () const\nSend command to terminate the drone.\n\n\nvoid\nkill_async (const ResultCallback callback)\nSend command to kill the drone.\n\n\nResult\nkill () const\nSend command to kill the drone.\n\n\nvoid\nreturn_to_launch_async (const ResultCallback callback)\nSend command to return to the launch (takeoff) position and land.\n\n\nResult\nreturn_to_launch () const\nSend command to return to the launch (takeoff) position and land.\n\n\nvoid\ngoto_location_async (double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg, const ResultCallback callback)\nSend command to move the vehicle to a specific global position.\n\n\nResult\ngoto_location (double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg)const\nSend command to move the vehicle to a specific global position.\n\n\nvoid\ndo_orbit_async (float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m, const ResultCallback callback)\nSend command do orbit to the drone.\n\n\nResult\ndo_orbit (float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m)const\nSend command do orbit to the drone.\n\n\nvoid\nhold_async (const ResultCallback callback)\nSend command to hold position (a.k.a. \"Loiter\").\n\n\nResult\nhold () const\nSend command to hold position (a.k.a. \"Loiter\").\n\n\nvoid\nset_actuator_async (int32_t index, float value, const ResultCallback callback)\nSend command to set the value of an actuator.\n\n\nResult\nset_actuator (int32_t index, float value)const\nSend command to set the value of an actuator.\n\n\nvoid\ntransition_to_fixedwing_async (const ResultCallback callback)\nSend command to transition the drone to fixedwing.\n\n\nResult\ntransition_to_fixedwing () const\nSend command to transition the drone to fixedwing.\n\n\nvoid\ntransition_to_multicopter_async (const ResultCallback callback)\nSend command to transition the drone to multicopter.\n\n\nResult\ntransition_to_multicopter () const\nSend command to transition the drone to multicopter.\n\n\nvoid\nget_takeoff_altitude_async (const GetTakeoffAltitudeCallback callback)\nGet the takeoff altitude (in meters above ground).\n\n\nstd::pairResult, float >\nget_takeoff_altitude () const\nGet the takeoff altitude (in meters above ground).\n\n\nvoid\nset_takeoff_altitude_async (float altitude, const ResultCallback callback)\nSet takeoff altitude (in meters above ground).\n\n\nResult\nset_takeoff_altitude (float altitude)const\nSet takeoff altitude (in meters above ground).\n\n\nvoid\nget_maximum_speed_async (const GetMaximumSpeedCallback callback)\nGet the vehicle maximum speed (in metres/second).\n\n\nstd::pairResult, float >\nget_maximum_speed () const\nGet the vehicle maximum speed (in metres/second).\n\n\nvoid\nset_maximum_speed_async (float speed, const ResultCallback callback)\nSet vehicle maximum speed (in metres/second).\n\n\nResult\nset_maximum_speed (float speed)const\nSet vehicle maximum speed (in metres/second).\n\n\nvoid\nget_return_to_launch_altitude_async (const GetReturnToLaunchAltitudeCallback callback)\nGet the return to launch minimum return altitude (in meters).\n\n\nstd::pairResult, float >\nget_return_to_launch_altitude () const\nGet the return to launch minimum return altitude (in meters).\n\n\nvoid\nset_return_to_launch_altitude_async (float relative_altitude_m, const ResultCallback callback)\nSet the return to launch minimum return altitude (in meters).\n\n\nResult\nset_return_to_launch_altitude (float relative_altitude_m)const\nSet the return to launch minimum return altitude (in meters).\n\n\nvoid\nset_current_speed_async (float speed_m_s, const ResultCallback callback)\nSet current speed.\n\n\nResult\nset_current_speed (float speed_m_s)const\nSet current speed.\n\n\nconst Action &\noperator= (const Action &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nAction() \nmavsdk::Action::Action(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto action = Action(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nAction() \nmavsdk::Action::Action(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto action = Action(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Action() \nmavsdk::Action::~Action() override\n\nDestructor (internal use only).\nAction() \nmavsdk::Action::Action(const Action &other)\n\nCopy constructor.\nParameters\n\nconst Action& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Action::ResultCallback = std::function\n\nCallback type for asynchronous Action calls.\ntypedef GetTakeoffAltitudeCallback \nusing mavsdk::Action::GetTakeoffAltitudeCallback = std::function\n\nCallback type for get_takeoff_altitude_async.\ntypedef GetMaximumSpeedCallback \nusing mavsdk::Action::GetMaximumSpeedCallback = std::function\n\nCallback type for get_maximum_speed_async.\ntypedef GetReturnToLaunchAltitudeCallback \nusing mavsdk::Action::GetReturnToLaunchAltitudeCallback = std::function\n\nCallback type for get_return_to_launch_altitude_async.\nMember Enumeration Documentation\nenum OrbitYawBehavior \nYaw behaviour during orbit flight.\n\n\n\nValue\nDescription\n\n\n\n\n HoldFrontToCircleCenter\nVehicle front points to the center (default). \n\n\n HoldInitialHeading\nVehicle front holds heading when message received. \n\n\n Uncontrolled\nYaw uncontrolled. \n\n\n HoldFrontTangentToCircle\nVehicle front follows flight path (tangential to circle). \n\n\n RcControlled\nYaw controlled by RC input. \n\n\n\nenum Result \nPossible results returned for action requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest was successful. \n\n\n NoSystem\nNo system is connected. \n\n\n ConnectionError\nConnection error. \n\n\n Busy\nVehicle is busy. \n\n\n CommandDenied\nCommand refused by vehicle. \n\n\n CommandDeniedLandedStateUnknown\nCommand refused because landed state is unknown. \n\n\n CommandDeniedNotLanded\nCommand refused because vehicle not landed. \n\n\n Timeout\nRequest timed out. \n\n\n VtolTransitionSupportUnknown\nHybrid/VTOL transition support is unknown. \n\n\n NoVtolTransitionSupport\nVehicle does not support hybrid/VTOL transitions. \n\n\n ParameterError\nError getting or setting parameter. \n\n\n Unsupported\nAction not supported. \n\n\n Failed\nAction failed. \n\n\n\nMember Function Documentation\narm_async() \nvoid mavsdk::Action::arm_async(const ResultCallback callback)\n\nSend command to arm the drone.\nArming a drone normally causes motors to spin at idle. Before arming take all safety precautions and stand clear of the drone!\nThis function is non-blocking. See 'arm' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\narm() \nResult mavsdk::Action::arm() const\n\nSend command to arm the drone.\nArming a drone normally causes motors to spin at idle. Before arming take all safety precautions and stand clear of the drone!\nThis function is blocking. See 'arm_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\ndisarm_async() \nvoid mavsdk::Action::disarm_async(const ResultCallback callback)\n\nSend command to disarm the drone.\nThis will disarm a drone that considers itself landed. If flying, the drone should reject the disarm command. Disarming means that all motors will stop.\nThis function is non-blocking. See 'disarm' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\ndisarm() \nResult mavsdk::Action::disarm() const\n\nSend command to disarm the drone.\nThis will disarm a drone that considers itself landed. If flying, the drone should reject the disarm command. Disarming means that all motors will stop.\nThis function is blocking. See 'disarm_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\ntakeoff_async() \nvoid mavsdk::Action::takeoff_async(const ResultCallback callback)\n\nSend command to take off and hover.\nThis switches the drone into position control mode and commands it to take off and hover at the takeoff altitude.\nNote that the vehicle must be armed before it can take off.\nThis function is non-blocking. See 'takeoff' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\ntakeoff() \nResult mavsdk::Action::takeoff() const\n\nSend command to take off and hover.\nThis switches the drone into position control mode and commands it to take off and hover at the takeoff altitude.\nNote that the vehicle must be armed before it can take off.\nThis function is blocking. See 'takeoff_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nland_async() \nvoid mavsdk::Action::land_async(const ResultCallback callback)\n\nSend command to land at the current position.\nThis switches the drone to 'Land' flight mode.\nThis function is non-blocking. See 'land' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nland() \nResult mavsdk::Action::land() const\n\nSend command to land at the current position.\nThis switches the drone to 'Land' flight mode.\nThis function is blocking. See 'land_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nreboot_async() \nvoid mavsdk::Action::reboot_async(const ResultCallback callback)\n\nSend command to reboot the drone components.\nThis will reboot the autopilot, companion computer, camera and gimbal.\nThis function is non-blocking. See 'reboot' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nreboot() \nResult mavsdk::Action::reboot() const\n\nSend command to reboot the drone components.\nThis will reboot the autopilot, companion computer, camera and gimbal.\nThis function is blocking. See 'reboot_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nshutdown_async() \nvoid mavsdk::Action::shutdown_async(const ResultCallback callback)\n\nSend command to shut down the drone components.\nThis will shut down the autopilot, onboard computer, camera and gimbal. This command should only be used when the autopilot is disarmed and autopilots commonly reject it if they are not already ready to shut down.\nThis function is non-blocking. See 'shutdown' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nshutdown() \nResult mavsdk::Action::shutdown() const\n\nSend command to shut down the drone components.\nThis will shut down the autopilot, onboard computer, camera and gimbal. This command should only be used when the autopilot is disarmed and autopilots commonly reject it if they are not already ready to shut down.\nThis function is blocking. See 'shutdown_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nterminate_async() \nvoid mavsdk::Action::terminate_async(const ResultCallback callback)\n\nSend command to terminate the drone.\nThis will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).\nThis function is non-blocking. See 'terminate' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nterminate() \nResult mavsdk::Action::terminate() const\n\nSend command to terminate the drone.\nThis will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).\nThis function is blocking. See 'terminate_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nkill_async() \nvoid mavsdk::Action::kill_async(const ResultCallback callback)\n\nSend command to kill the drone.\nThis will disarm a drone irrespective of whether it is landed or flying. Note that the drone will fall out of the sky if this command is used while flying.\nThis function is non-blocking. See 'kill' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nkill() \nResult mavsdk::Action::kill() const\n\nSend command to kill the drone.\nThis will disarm a drone irrespective of whether it is landed or flying. Note that the drone will fall out of the sky if this command is used while flying.\nThis function is blocking. See 'kill_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nreturn_to_launch_async() \nvoid mavsdk::Action::return_to_launch_async(const ResultCallback callback)\n\nSend command to return to the launch (takeoff) position and land.\nThis switches the drone into Return mode which generally means it will rise up to a certain altitude to clear any obstacles before heading back to the launch (takeoff) position and land there.\nThis function is non-blocking. See 'return_to_launch' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nreturn_to_launch() \nResult mavsdk::Action::return_to_launch() const\n\nSend command to return to the launch (takeoff) position and land.\nThis switches the drone into Return mode which generally means it will rise up to a certain altitude to clear any obstacles before heading back to the launch (takeoff) position and land there.\nThis function is blocking. See 'return_to_launch_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\ngoto_location_async() \nvoid mavsdk::Action::goto_location_async(double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg, const ResultCallback callback)\n\nSend command to move the vehicle to a specific global position.\nThe latitude and longitude are given in degrees (WGS84 frame) and the altitude in meters AMSL (above mean sea level).\nThe yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).\nThis function is non-blocking. See 'goto_location' for the blocking counterpart.\nParameters\n\ndouble latitude_deg - \ndouble longitude_deg - \nfloat absolute_altitude_m - \nfloat yaw_deg - \nconst ResultCallback callback - \n\ngoto_location() \nResult mavsdk::Action::goto_location(double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg) const\n\nSend command to move the vehicle to a specific global position.\nThe latitude and longitude are given in degrees (WGS84 frame) and the altitude in meters AMSL (above mean sea level).\nThe yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).\nThis function is blocking. See 'goto_location_async' for the non-blocking counterpart.\nParameters\n\ndouble latitude_deg - \ndouble longitude_deg - \nfloat absolute_altitude_m - \nfloat yaw_deg - \n\nReturns\n Result - Result of request.\ndo_orbit_async() \nvoid mavsdk::Action::do_orbit_async(float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m, const ResultCallback callback)\n\nSend command do orbit to the drone.\nThis will run the orbit routine with the given parameters.\nThis function is non-blocking. See 'do_orbit' for the blocking counterpart.\nParameters\n\nfloat radius_m - \nfloat velocity_ms - \nOrbitYawBehavior yaw_behavior - \ndouble latitude_deg - \ndouble longitude_deg - \ndouble absolute_altitude_m - \nconst ResultCallback callback - \n\ndo_orbit() \nResult mavsdk::Action::do_orbit(float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m) const\n\nSend command do orbit to the drone.\nThis will run the orbit routine with the given parameters.\nThis function is blocking. See 'do_orbit_async' for the non-blocking counterpart.\nParameters\n\nfloat radius_m - \nfloat velocity_ms - \nOrbitYawBehavior yaw_behavior - \ndouble latitude_deg - \ndouble longitude_deg - \ndouble absolute_altitude_m - \n\nReturns\n Result - Result of request.\nhold_async() \nvoid mavsdk::Action::hold_async(const ResultCallback callback)\n\nSend command to hold position (a.k.a. \"Loiter\").\nSends a command to drone to change to Hold flight mode, causing the vehicle to stop and maintain its current GPS position and altitude.\nNote: this command is specific to the PX4 Autopilot flight stack as it implies a change to a PX4-specific mode.\nThis function is non-blocking. See 'hold' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nhold() \nResult mavsdk::Action::hold() const\n\nSend command to hold position (a.k.a. \"Loiter\").\nSends a command to drone to change to Hold flight mode, causing the vehicle to stop and maintain its current GPS position and altitude.\nNote: this command is specific to the PX4 Autopilot flight stack as it implies a change to a PX4-specific mode.\nThis function is blocking. See 'hold_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nset_actuator_async() \nvoid mavsdk::Action::set_actuator_async(int32_t index, float value, const ResultCallback callback)\n\nSend command to set the value of an actuator.\nThis function is non-blocking. See 'set_actuator' for the blocking counterpart.\nParameters\n\nint32_t index - \nfloat value - \nconst ResultCallback callback - \n\nset_actuator() \nResult mavsdk::Action::set_actuator(int32_t index, float value) const\n\nSend command to set the value of an actuator.\nThis function is blocking. See 'set_actuator_async' for the non-blocking counterpart.\nParameters\n\nint32_t index - \nfloat value - \n\nReturns\n Result - Result of request.\ntransition_to_fixedwing_async() \nvoid mavsdk::Action::transition_to_fixedwing_async(const ResultCallback callback)\n\nSend command to transition the drone to fixedwing.\nThe associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in fixedwing mode.\nThis function is non-blocking. See 'transition_to_fixedwing' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\ntransition_to_fixedwing() \nResult mavsdk::Action::transition_to_fixedwing() const\n\nSend command to transition the drone to fixedwing.\nThe associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in fixedwing mode.\nThis function is blocking. See 'transition_to_fixedwing_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\ntransition_to_multicopter_async() \nvoid mavsdk::Action::transition_to_multicopter_async(const ResultCallback callback)\n\nSend command to transition the drone to multicopter.\nThe associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in multicopter mode.\nThis function is non-blocking. See 'transition_to_multicopter' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\ntransition_to_multicopter() \nResult mavsdk::Action::transition_to_multicopter() const\n\nSend command to transition the drone to multicopter.\nThe associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in multicopter mode.\nThis function is blocking. See 'transition_to_multicopter_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nget_takeoff_altitude_async() \nvoid mavsdk::Action::get_takeoff_altitude_async(const GetTakeoffAltitudeCallback callback)\n\nGet the takeoff altitude (in meters above ground).\nThis function is non-blocking. See 'get_takeoff_altitude' for the blocking counterpart.\nParameters\n\nconst GetTakeoffAltitudeCallback callback - \n\nget_takeoff_altitude() \nstd::pair mavsdk::Action::get_takeoff_altitude() const\n\nGet the takeoff altitude (in meters above ground).\nThis function is blocking. See 'get_takeoff_altitude_async' for the non-blocking counterpart.\nReturns\n std::pairResult, float > - Result of request.\nset_takeoff_altitude_async() \nvoid mavsdk::Action::set_takeoff_altitude_async(float altitude, const ResultCallback callback)\n\nSet takeoff altitude (in meters above ground).\nThis function is non-blocking. See 'set_takeoff_altitude' for the blocking counterpart.\nParameters\n\nfloat altitude - \nconst ResultCallback callback - \n\nset_takeoff_altitude() \nResult mavsdk::Action::set_takeoff_altitude(float altitude) const\n\nSet takeoff altitude (in meters above ground).\nThis function is blocking. See 'set_takeoff_altitude_async' for the non-blocking counterpart.\nParameters\n\nfloat altitude - \n\nReturns\n Result - Result of request.\nget_maximum_speed_async() \nvoid mavsdk::Action::get_maximum_speed_async(const GetMaximumSpeedCallback callback)\n\nGet the vehicle maximum speed (in metres/second).\nThis function is non-blocking. See 'get_maximum_speed' for the blocking counterpart.\nParameters\n\nconst GetMaximumSpeedCallback callback - \n\nget_maximum_speed() \nstd::pair mavsdk::Action::get_maximum_speed() const\n\nGet the vehicle maximum speed (in metres/second).\nThis function is blocking. See 'get_maximum_speed_async' for the non-blocking counterpart.\nReturns\n std::pairResult, float > - Result of request.\nset_maximum_speed_async() \nvoid mavsdk::Action::set_maximum_speed_async(float speed, const ResultCallback callback)\n\nSet vehicle maximum speed (in metres/second).\nThis function is non-blocking. See 'set_maximum_speed' for the blocking counterpart.\nParameters\n\nfloat speed - \nconst ResultCallback callback - \n\nset_maximum_speed() \nResult mavsdk::Action::set_maximum_speed(float speed) const\n\nSet vehicle maximum speed (in metres/second).\nThis function is blocking. See 'set_maximum_speed_async' for the non-blocking counterpart.\nParameters\n\nfloat speed - \n\nReturns\n Result - Result of request.\nget_return_to_launch_altitude_async() \nvoid mavsdk::Action::get_return_to_launch_altitude_async(const GetReturnToLaunchAltitudeCallback callback)\n\nGet the return to launch minimum return altitude (in meters).\nThis function is non-blocking. See 'get_return_to_launch_altitude' for the blocking counterpart.\nParameters\n\nconst GetReturnToLaunchAltitudeCallback callback - \n\nget_return_to_launch_altitude() \nstd::pair mavsdk::Action::get_return_to_launch_altitude() const\n\nGet the return to launch minimum return altitude (in meters).\nThis function is blocking. See 'get_return_to_launch_altitude_async' for the non-blocking counterpart.\nReturns\n std::pairResult, float > - Result of request.\nset_return_to_launch_altitude_async() \nvoid mavsdk::Action::set_return_to_launch_altitude_async(float relative_altitude_m, const ResultCallback callback)\n\nSet the return to launch minimum return altitude (in meters).\nThis function is non-blocking. See 'set_return_to_launch_altitude' for the blocking counterpart.\nParameters\n\nfloat relative_altitude_m - \nconst ResultCallback callback - \n\nset_return_to_launch_altitude() \nResult mavsdk::Action::set_return_to_launch_altitude(float relative_altitude_m) const\n\nSet the return to launch minimum return altitude (in meters).\nThis function is blocking. See 'set_return_to_launch_altitude_async' for the non-blocking counterpart.\nParameters\n\nfloat relative_altitude_m - \n\nReturns\n Result - Result of request.\nset_current_speed_async() \nvoid mavsdk::Action::set_current_speed_async(float speed_m_s, const ResultCallback callback)\n\nSet current speed.\nThis will set the speed during a mission, reposition, and similar. It is ephemeral, so not stored on the drone and does not survive a reboot.\nThis function is non-blocking. See 'set_current_speed' for the blocking counterpart.\nParameters\n\nfloat speed_m_s - \nconst ResultCallback callback - \n\nset_current_speed() \nResult mavsdk::Action::set_current_speed(float speed_m_s) const\n\nSet current speed.\nThis will set the speed during a mission, reposition, and similar. It is ephemeral, so not stored on the drone and does not survive a reboot.\nThis function is blocking. See 'set_current_speed_async' for the non-blocking counterpart.\nParameters\n\nfloat speed_m_s - \n\nReturns\n Result - Result of request.\noperator=() \nconst Action& mavsdk::Action::operator=(const Action &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Action& - \n\nReturns\n const Action & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/classmavsdk_1_1_action_server.html":{"url":"cpp/api_reference/classmavsdk_1_1_action_server.html","title":"class ActionServer","keywords":"","body":"mavsdk::ActionServer Class Reference\n#include: action_server.h\n\nProvide vehicle actions (as a server) such as arming, taking off, and landing. \nData Structures\nstruct AllowableFlightModes\nstruct ArmDisarm\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum FlightMode\nFlight modes.\n\n\nenum Result\nPossible results returned for action requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous ActionServer calls.\n\n\nstd::functionResult, ArmDisarm)> ArmDisarmCallback\nCallback type for subscribe_arm_disarm.\n\n\nHandleResult, ArmDisarm > ArmDisarmHandle\nHandle type for subscribe_arm_disarm.\n\n\nstd::functionResult, FlightMode)> FlightModeChangeCallback\nCallback type for subscribe_flight_mode_change.\n\n\nHandleResult, FlightMode > FlightModeChangeHandle\nHandle type for subscribe_flight_mode_change.\n\n\nstd::functionResult, bool)> TakeoffCallback\nCallback type for subscribe_takeoff.\n\n\nHandleResult, bool > TakeoffHandle\nHandle type for subscribe_takeoff.\n\n\nstd::functionResult, bool)> LandCallback\nCallback type for subscribe_land.\n\n\nHandleResult, bool > LandHandle\nHandle type for subscribe_land.\n\n\nstd::functionResult, bool)> RebootCallback\nCallback type for subscribe_reboot.\n\n\nHandleResult, bool > RebootHandle\nHandle type for subscribe_reboot.\n\n\nstd::functionResult, bool)> ShutdownCallback\nCallback type for subscribe_shutdown.\n\n\nHandleResult, bool > ShutdownHandle\nHandle type for subscribe_shutdown.\n\n\nstd::functionResult, bool)> TerminateCallback\nCallback type for subscribe_terminate.\n\n\nHandleResult, bool > TerminateHandle\nHandle type for subscribe_terminate.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nActionServer (std::shared_ptrServerComponent > server_component)\nConstructor. Creates the plugin for a ServerComponent instance.\n\n\n \n~ActionServer () override\nDestructor (internal use only).\n\n\n \nActionServer (const ActionServer & other)\nCopy constructor.\n\n\nArmDisarmHandle\nsubscribe_arm_disarm (const ArmDisarmCallback & callback)\nSubscribe to ARM/DISARM commands.\n\n\nvoid\nunsubscribe_arm_disarm (ArmDisarmHandle handle)\nUnsubscribe from subscribe_arm_disarm.\n\n\nFlightModeChangeHandle\nsubscribe_flight_mode_change (const FlightModeChangeCallback & callback)\nSubscribe to DO_SET_MODE.\n\n\nvoid\nunsubscribe_flight_mode_change (FlightModeChangeHandle handle)\nUnsubscribe from subscribe_flight_mode_change.\n\n\nTakeoffHandle\nsubscribe_takeoff (const TakeoffCallback & callback)\nSubscribe to takeoff command.\n\n\nvoid\nunsubscribe_takeoff (TakeoffHandle handle)\nUnsubscribe from subscribe_takeoff.\n\n\nLandHandle\nsubscribe_land (const LandCallback & callback)\nSubscribe to land command.\n\n\nvoid\nunsubscribe_land (LandHandle handle)\nUnsubscribe from subscribe_land.\n\n\nRebootHandle\nsubscribe_reboot (const RebootCallback & callback)\nSubscribe to reboot command.\n\n\nvoid\nunsubscribe_reboot (RebootHandle handle)\nUnsubscribe from subscribe_reboot.\n\n\nShutdownHandle\nsubscribe_shutdown (const ShutdownCallback & callback)\nSubscribe to shutdown command.\n\n\nvoid\nunsubscribe_shutdown (ShutdownHandle handle)\nUnsubscribe from subscribe_shutdown.\n\n\nTerminateHandle\nsubscribe_terminate (const TerminateCallback & callback)\nSubscribe to terminate command.\n\n\nvoid\nunsubscribe_terminate (TerminateHandle handle)\nUnsubscribe from subscribe_terminate.\n\n\nResult\nset_allow_takeoff (bool allow_takeoff)const\nCan the vehicle takeoff.\n\n\nResult\nset_armable (bool armable, bool force_armable)const\nCan the vehicle arm when requested.\n\n\nResult\nset_disarmable (bool disarmable, bool force_disarmable)const\nCan the vehicle disarm when requested.\n\n\nResult\nset_allowable_flight_modes (AllowableFlightModes flight_modes)const\nSet which modes the vehicle can transition to (Manual always allowed)\n\n\nActionServer::AllowableFlightModes\nget_allowable_flight_modes () const\nGet which modes the vehicle can transition to (Manual always allowed)\n\n\nconst ActionServer &\noperator= (const ActionServer &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nActionServer() \nmavsdk::ActionServer::ActionServer(std::shared_ptr server_component)\n\nConstructor. Creates the plugin for a ServerComponent instance.\nThe plugin is typically created as shown below: \nauto action_server = ActionServer(server_component);\n\nParameters\n\nstd::shared_ptrServerComponent > server_component - The ServerComponent instance associated with this server plugin.\n\n~ActionServer() \nmavsdk::ActionServer::~ActionServer() override\n\nDestructor (internal use only).\nActionServer() \nmavsdk::ActionServer::ActionServer(const ActionServer &other)\n\nCopy constructor.\nParameters\n\nconst ActionServer& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::ActionServer::ResultCallback = std::function\n\nCallback type for asynchronous ActionServer calls.\ntypedef ArmDisarmCallback \nusing mavsdk::ActionServer::ArmDisarmCallback = std::function\n\nCallback type for subscribe_arm_disarm.\ntypedef ArmDisarmHandle \nusing mavsdk::ActionServer::ArmDisarmHandle = Handle\n\nHandle type for subscribe_arm_disarm.\ntypedef FlightModeChangeCallback \nusing mavsdk::ActionServer::FlightModeChangeCallback = std::function\n\nCallback type for subscribe_flight_mode_change.\ntypedef FlightModeChangeHandle \nusing mavsdk::ActionServer::FlightModeChangeHandle = Handle\n\nHandle type for subscribe_flight_mode_change.\ntypedef TakeoffCallback \nusing mavsdk::ActionServer::TakeoffCallback = std::function\n\nCallback type for subscribe_takeoff.\ntypedef TakeoffHandle \nusing mavsdk::ActionServer::TakeoffHandle = Handle\n\nHandle type for subscribe_takeoff.\ntypedef LandCallback \nusing mavsdk::ActionServer::LandCallback = std::function\n\nCallback type for subscribe_land.\ntypedef LandHandle \nusing mavsdk::ActionServer::LandHandle = Handle\n\nHandle type for subscribe_land.\ntypedef RebootCallback \nusing mavsdk::ActionServer::RebootCallback = std::function\n\nCallback type for subscribe_reboot.\ntypedef RebootHandle \nusing mavsdk::ActionServer::RebootHandle = Handle\n\nHandle type for subscribe_reboot.\ntypedef ShutdownCallback \nusing mavsdk::ActionServer::ShutdownCallback = std::function\n\nCallback type for subscribe_shutdown.\ntypedef ShutdownHandle \nusing mavsdk::ActionServer::ShutdownHandle = Handle\n\nHandle type for subscribe_shutdown.\ntypedef TerminateCallback \nusing mavsdk::ActionServer::TerminateCallback = std::function\n\nCallback type for subscribe_terminate.\ntypedef TerminateHandle \nusing mavsdk::ActionServer::TerminateHandle = Handle\n\nHandle type for subscribe_terminate.\nMember Enumeration Documentation\nenum FlightMode \nFlight modes.\nFor more information about flight modes, check out https://docs.px4.io/master/en/config/flight_mode.html.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nMode not known. \n\n\n Ready\nArmed and ready to take off. \n\n\n Takeoff\nTaking off. \n\n\n Hold\nHolding (hovering in place (or circling for fixed-wing vehicles). \n\n\n Mission\nIn mission. \n\n\n ReturnToLaunch\nReturning to launch position (then landing). \n\n\n Land\nLanding. \n\n\n Offboard\nIn 'offboard' mode. \n\n\n FollowMe\nIn 'follow-me' mode. \n\n\n Manual\nIn 'Manual' mode. \n\n\n Altctl\nIn 'Altitude Control' mode. \n\n\n Posctl\nIn 'Position Control' mode. \n\n\n Acro\nIn 'Acro' mode. \n\n\n Stabilized\nIn 'Stabilize' mode. \n\n\n\nenum Result \nPossible results returned for action requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest was successful. \n\n\n NoSystem\nNo system is connected. \n\n\n ConnectionError\nConnection error. \n\n\n Busy\nVehicle is busy. \n\n\n CommandDenied\nCommand refused by vehicle. \n\n\n CommandDeniedLandedStateUnknown\nCommand refused because landed state is unknown. \n\n\n CommandDeniedNotLanded\nCommand refused because vehicle not landed. \n\n\n Timeout\nRequest timed out. \n\n\n VtolTransitionSupportUnknown\nHybrid/VTOL transition support is unknown. \n\n\n NoVtolTransitionSupport\nVehicle does not support hybrid/VTOL transitions. \n\n\n ParameterError\nError getting or setting parameter. \n\n\n Next\nIntermediate message showing progress or instructions on the next steps. \n\n\n\nMember Function Documentation\nsubscribe_arm_disarm() \nArmDisarmHandle mavsdk::ActionServer::subscribe_arm_disarm(const ArmDisarmCallback &callback)\n\nSubscribe to ARM/DISARM commands.\nParameters\n\nconst ArmDisarmCallback& callback - \n\nReturns\n ArmDisarmHandle - \nunsubscribe_arm_disarm() \nvoid mavsdk::ActionServer::unsubscribe_arm_disarm(ArmDisarmHandle handle)\n\nUnsubscribe from subscribe_arm_disarm.\nParameters\n\nArmDisarmHandle handle - \n\nsubscribe_flight_mode_change() \nFlightModeChangeHandle mavsdk::ActionServer::subscribe_flight_mode_change(const FlightModeChangeCallback &callback)\n\nSubscribe to DO_SET_MODE.\nParameters\n\nconst FlightModeChangeCallback& callback - \n\nReturns\n FlightModeChangeHandle - \nunsubscribe_flight_mode_change() \nvoid mavsdk::ActionServer::unsubscribe_flight_mode_change(FlightModeChangeHandle handle)\n\nUnsubscribe from subscribe_flight_mode_change.\nParameters\n\nFlightModeChangeHandle handle - \n\nsubscribe_takeoff() \nTakeoffHandle mavsdk::ActionServer::subscribe_takeoff(const TakeoffCallback &callback)\n\nSubscribe to takeoff command.\nParameters\n\nconst TakeoffCallback& callback - \n\nReturns\n TakeoffHandle - \nunsubscribe_takeoff() \nvoid mavsdk::ActionServer::unsubscribe_takeoff(TakeoffHandle handle)\n\nUnsubscribe from subscribe_takeoff.\nParameters\n\nTakeoffHandle handle - \n\nsubscribe_land() \nLandHandle mavsdk::ActionServer::subscribe_land(const LandCallback &callback)\n\nSubscribe to land command.\nParameters\n\nconst LandCallback& callback - \n\nReturns\n LandHandle - \nunsubscribe_land() \nvoid mavsdk::ActionServer::unsubscribe_land(LandHandle handle)\n\nUnsubscribe from subscribe_land.\nParameters\n\nLandHandle handle - \n\nsubscribe_reboot() \nRebootHandle mavsdk::ActionServer::subscribe_reboot(const RebootCallback &callback)\n\nSubscribe to reboot command.\nParameters\n\nconst RebootCallback& callback - \n\nReturns\n RebootHandle - \nunsubscribe_reboot() \nvoid mavsdk::ActionServer::unsubscribe_reboot(RebootHandle handle)\n\nUnsubscribe from subscribe_reboot.\nParameters\n\nRebootHandle handle - \n\nsubscribe_shutdown() \nShutdownHandle mavsdk::ActionServer::subscribe_shutdown(const ShutdownCallback &callback)\n\nSubscribe to shutdown command.\nParameters\n\nconst ShutdownCallback& callback - \n\nReturns\n ShutdownHandle - \nunsubscribe_shutdown() \nvoid mavsdk::ActionServer::unsubscribe_shutdown(ShutdownHandle handle)\n\nUnsubscribe from subscribe_shutdown.\nParameters\n\nShutdownHandle handle - \n\nsubscribe_terminate() \nTerminateHandle mavsdk::ActionServer::subscribe_terminate(const TerminateCallback &callback)\n\nSubscribe to terminate command.\nParameters\n\nconst TerminateCallback& callback - \n\nReturns\n TerminateHandle - \nunsubscribe_terminate() \nvoid mavsdk::ActionServer::unsubscribe_terminate(TerminateHandle handle)\n\nUnsubscribe from subscribe_terminate.\nParameters\n\nTerminateHandle handle - \n\nset_allow_takeoff() \nResult mavsdk::ActionServer::set_allow_takeoff(bool allow_takeoff) const\n\nCan the vehicle takeoff.\nThis function is blocking.\nParameters\n\nbool allow_takeoff - \n\nReturns\n Result - Result of request.\nset_armable() \nResult mavsdk::ActionServer::set_armable(bool armable, bool force_armable) const\n\nCan the vehicle arm when requested.\nThis function is blocking.\nParameters\n\nbool armable - \nbool force_armable - \n\nReturns\n Result - Result of request.\nset_disarmable() \nResult mavsdk::ActionServer::set_disarmable(bool disarmable, bool force_disarmable) const\n\nCan the vehicle disarm when requested.\nThis function is blocking.\nParameters\n\nbool disarmable - \nbool force_disarmable - \n\nReturns\n Result - Result of request.\nset_allowable_flight_modes() \nResult mavsdk::ActionServer::set_allowable_flight_modes(AllowableFlightModes flight_modes) const\n\nSet which modes the vehicle can transition to (Manual always allowed)\nThis function is blocking.\nParameters\n\nAllowableFlightModes flight_modes - \n\nReturns\n Result - Result of request.\nget_allowable_flight_modes() \nActionServer::AllowableFlightModes mavsdk::ActionServer::get_allowable_flight_modes() const\n\nGet which modes the vehicle can transition to (Manual always allowed)\nThis function is blocking.\nReturns\n ActionServer::AllowableFlightModes - Result of request.\noperator=() \nconst ActionServer& mavsdk::ActionServer::operator=(const ActionServer &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst ActionServer& - \n\nReturns\n const ActionServer & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_action_server_1_1_allowable_flight_modes.html":{"url":"cpp/api_reference/structmavsdk_1_1_action_server_1_1_allowable_flight_modes.html","title":"struct AllowableFlightModes","keywords":"","body":"mavsdk::ActionServer::AllowableFlightModes Struct Reference\n#include: action_server.h\n\nState to check if the vehicle can transition to respective flightmodes. \nData Fields\nbool can_auto_mode {} - Auto/mission mode.\nbool can_guided_mode {} - Guided mode.\nbool can_stabilize_mode {} - Stabilize mode.\nField Documentation\ncan_auto_mode \nbool mavsdk::ActionServer::AllowableFlightModes::can_auto_mode {}\n\nAuto/mission mode.\ncan_guided_mode \nbool mavsdk::ActionServer::AllowableFlightModes::can_guided_mode {}\n\nGuided mode.\ncan_stabilize_mode \nbool mavsdk::ActionServer::AllowableFlightModes::can_stabilize_mode {}\n\nStabilize mode.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_action_server_1_1_arm_disarm.html":{"url":"cpp/api_reference/structmavsdk_1_1_action_server_1_1_arm_disarm.html","title":"struct ArmDisarm","keywords":"","body":"mavsdk::ActionServer::ArmDisarm Struct Reference\n#include: action_server.h\n\nArming message type. \nData Fields\nbool arm {} - Should vehicle arm.\nbool force {} - Should arm override pre-flight checks.\nField Documentation\narm \nbool mavsdk::ActionServer::ArmDisarm::arm {}\n\nShould vehicle arm.\nforce \nbool mavsdk::ActionServer::ArmDisarm::force {}\n\nShould arm override pre-flight checks.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_calibration.html":{"url":"cpp/api_reference/classmavsdk_1_1_calibration.html","title":"class Calibration","keywords":"","body":"mavsdk::Calibration Class Reference\n#include: calibration.h\n\nEnable to calibrate sensors of a drone such as gyro, accelerometer, and magnetometer. \nData Structures\nstruct ProgressData\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for calibration commands.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Calibration calls.\n\n\nstd::functionResult, ProgressData)> CalibrateGyroCallback\nCallback type for calibrate_gyro_async.\n\n\nstd::functionResult, ProgressData)> CalibrateAccelerometerCallback\nCallback type for calibrate_accelerometer_async.\n\n\nstd::functionResult, ProgressData)> CalibrateMagnetometerCallback\nCallback type for calibrate_magnetometer_async.\n\n\nstd::functionResult, ProgressData)> CalibrateLevelHorizonCallback\nCallback type for calibrate_level_horizon_async.\n\n\nstd::functionResult, ProgressData)> CalibrateGimbalAccelerometerCallback\nCallback type for calibrate_gimbal_accelerometer_async.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nCalibration (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nCalibration (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Calibration () override\nDestructor (internal use only).\n\n\n \nCalibration (const Calibration & other)\nCopy constructor.\n\n\nvoid\ncalibrate_gyro_async (const CalibrateGyroCallback & callback)\nPerform gyro calibration.\n\n\nvoid\ncalibrate_accelerometer_async (const CalibrateAccelerometerCallback & callback)\nPerform accelerometer calibration.\n\n\nvoid\ncalibrate_magnetometer_async (const CalibrateMagnetometerCallback & callback)\nPerform magnetometer calibration.\n\n\nvoid\ncalibrate_level_horizon_async (const CalibrateLevelHorizonCallback & callback)\nPerform board level horizon calibration.\n\n\nvoid\ncalibrate_gimbal_accelerometer_async (const CalibrateGimbalAccelerometerCallback & callback)\nPerform gimbal accelerometer calibration.\n\n\nResult\ncancel () const\nCancel ongoing calibration process.\n\n\nconst Calibration &\noperator= (const Calibration &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nCalibration() \nmavsdk::Calibration::Calibration(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto calibration = Calibration(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nCalibration() \nmavsdk::Calibration::Calibration(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto calibration = Calibration(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Calibration() \nmavsdk::Calibration::~Calibration() override\n\nDestructor (internal use only).\nCalibration() \nmavsdk::Calibration::Calibration(const Calibration &other)\n\nCopy constructor.\nParameters\n\nconst Calibration& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Calibration::ResultCallback = std::function\n\nCallback type for asynchronous Calibration calls.\ntypedef CalibrateGyroCallback \nusing mavsdk::Calibration::CalibrateGyroCallback = std::function\n\nCallback type for calibrate_gyro_async.\ntypedef CalibrateAccelerometerCallback \nusing mavsdk::Calibration::CalibrateAccelerometerCallback = std::function\n\nCallback type for calibrate_accelerometer_async.\ntypedef CalibrateMagnetometerCallback \nusing mavsdk::Calibration::CalibrateMagnetometerCallback = std::function\n\nCallback type for calibrate_magnetometer_async.\ntypedef CalibrateLevelHorizonCallback \nusing mavsdk::Calibration::CalibrateLevelHorizonCallback = std::function\n\nCallback type for calibrate_level_horizon_async.\ntypedef CalibrateGimbalAccelerometerCallback \nusing mavsdk::Calibration::CalibrateGimbalAccelerometerCallback = std::function\n\nCallback type for calibrate_gimbal_accelerometer_async.\nMember Enumeration Documentation\nenum Result \nPossible results returned for calibration commands.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nThe calibration succeeded. \n\n\n Next\nIntermediate message showing progress or instructions on the next steps. \n\n\n Failed\nCalibration failed. \n\n\n NoSystem\nNo system is connected. \n\n\n ConnectionError\nConnection error. \n\n\n Busy\nVehicle is busy. \n\n\n CommandDenied\nCommand refused by vehicle. \n\n\n Timeout\nCommand timed out. \n\n\n Cancelled\nCalibration process was cancelled. \n\n\n FailedArmed\nCalibration process failed since the vehicle is armed. \n\n\n Unsupported\nFunctionality not supported. \n\n\n\nMember Function Documentation\ncalibrate_gyro_async() \nvoid mavsdk::Calibration::calibrate_gyro_async(const CalibrateGyroCallback &callback)\n\nPerform gyro calibration.\nParameters\n\nconst CalibrateGyroCallback& callback - \n\ncalibrate_accelerometer_async() \nvoid mavsdk::Calibration::calibrate_accelerometer_async(const CalibrateAccelerometerCallback &callback)\n\nPerform accelerometer calibration.\nParameters\n\nconst CalibrateAccelerometerCallback& callback - \n\ncalibrate_magnetometer_async() \nvoid mavsdk::Calibration::calibrate_magnetometer_async(const CalibrateMagnetometerCallback &callback)\n\nPerform magnetometer calibration.\nParameters\n\nconst CalibrateMagnetometerCallback& callback - \n\ncalibrate_level_horizon_async() \nvoid mavsdk::Calibration::calibrate_level_horizon_async(const CalibrateLevelHorizonCallback &callback)\n\nPerform board level horizon calibration.\nParameters\n\nconst CalibrateLevelHorizonCallback& callback - \n\ncalibrate_gimbal_accelerometer_async() \nvoid mavsdk::Calibration::calibrate_gimbal_accelerometer_async(const CalibrateGimbalAccelerometerCallback &callback)\n\nPerform gimbal accelerometer calibration.\nParameters\n\nconst CalibrateGimbalAccelerometerCallback& callback - \n\ncancel() \nResult mavsdk::Calibration::cancel() const\n\nCancel ongoing calibration process.\nThis function is blocking.\nReturns\n Result - Result of request.\noperator=() \nconst Calibration& mavsdk::Calibration::operator=(const Calibration &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Calibration& - \n\nReturns\n const Calibration & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_calibration_1_1_progress_data.html":{"url":"cpp/api_reference/structmavsdk_1_1_calibration_1_1_progress_data.html","title":"struct ProgressData","keywords":"","body":"mavsdk::Calibration::ProgressData Struct Reference\n#include: calibration.h\n\nProgress data coming from calibration. \nCan be a progress percentage, or an instruction text. \nData Fields\nbool has_progress { false} - Whether this ProgressData contains a 'progress' status or not.\nfloat progress {float(NAN)} - Progress (percentage)\nbool has_status_text { false} - Whether this ProgressData contains a 'status_text' or not.\nstd::string status_text {} - Instruction text.\nField Documentation\nhas_progress \nbool mavsdk::Calibration::ProgressData::has_progress { false}\n\nWhether this ProgressData contains a 'progress' status or not.\nprogress \nfloat mavsdk::Calibration::ProgressData::progress {float(NAN)}\n\nProgress (percentage)\nhas_status_text \nbool mavsdk::Calibration::ProgressData::has_status_text { false}\n\nWhether this ProgressData contains a 'status_text' or not.\nstatus_text \nstd::string mavsdk::Calibration::ProgressData::status_text {}\n\nInstruction text.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_camera.html":{"url":"cpp/api_reference/classmavsdk_1_1_camera.html","title":"class Camera","keywords":"","body":"mavsdk::Camera Class Reference\n#include: camera.h\n\nCan be used to manage cameras that implement the MAVLink Camera Protocol: https://mavlink.io/en/protocol/camera.html. \nCurrently only a single camera is supported. When multiple cameras are supported the plugin will need to be instantiated separately for every camera and the camera selected using select_camera. \nData Structures\nstruct CaptureInfo\nstruct EulerAngle\nstruct Information\nstruct Option\nstruct Position\nstruct Quaternion\nstruct Setting\nstruct SettingOptions\nstruct Status\nstruct VideoStreamInfo\nstruct VideoStreamSettings\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Mode\nCamera mode type.\n\n\nenum PhotosRange\nPhotos range type.\n\n\nenum Result\nPossible results returned for camera commands.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Camera calls.\n\n\nstd::functionResult, std::vectorCaptureInfo >)> ListPhotosCallback\nCallback type for list_photos_async.\n\n\nstd::functionMode)> ModeCallback\nCallback type for subscribe_mode.\n\n\nHandleMode > ModeHandle\nHandle type for subscribe_mode.\n\n\nstd::functionInformation)> InformationCallback\nCallback type for subscribe_information.\n\n\nHandleInformation > InformationHandle\nHandle type for subscribe_information.\n\n\nstd::functionVideoStreamInfo)> VideoStreamInfoCallback\nCallback type for subscribe_video_stream_info.\n\n\nHandleVideoStreamInfo > VideoStreamInfoHandle\nHandle type for subscribe_video_stream_info.\n\n\nstd::functionCaptureInfo)> CaptureInfoCallback\nCallback type for subscribe_capture_info.\n\n\nHandleCaptureInfo > CaptureInfoHandle\nHandle type for subscribe_capture_info.\n\n\nstd::functionStatus)> StatusCallback\nCallback type for subscribe_status.\n\n\nHandleStatus > StatusHandle\nHandle type for subscribe_status.\n\n\nstd::functionSetting >)> CurrentSettingsCallback\nCallback type for subscribe_current_settings.\n\n\nHandleSetting > > CurrentSettingsHandle\nHandle type for subscribe_current_settings.\n\n\nstd::functionSettingOptions >)> PossibleSettingOptionsCallback\nCallback type for subscribe_possible_setting_options.\n\n\nHandleSettingOptions > > PossibleSettingOptionsHandle\nHandle type for subscribe_possible_setting_options.\n\n\nstd::functionResult, Setting)> GetSettingCallback\nCallback type for get_setting_async.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nCamera (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nCamera (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Camera () override\nDestructor (internal use only).\n\n\n \nCamera (const Camera & other)\nCopy constructor.\n\n\nvoid\nprepare_async (const ResultCallback callback)\nPrepare the camera plugin (e.g. download the camera definition, etc).\n\n\nResult\nprepare () const\nPrepare the camera plugin (e.g. download the camera definition, etc).\n\n\nvoid\ntake_photo_async (const ResultCallback callback)\nTake one photo.\n\n\nResult\ntake_photo () const\nTake one photo.\n\n\nvoid\nstart_photo_interval_async (float interval_s, const ResultCallback callback)\nStart photo timelapse with a given interval.\n\n\nResult\nstart_photo_interval (float interval_s)const\nStart photo timelapse with a given interval.\n\n\nvoid\nstop_photo_interval_async (const ResultCallback callback)\nStop a running photo timelapse.\n\n\nResult\nstop_photo_interval () const\nStop a running photo timelapse.\n\n\nvoid\nstart_video_async (const ResultCallback callback)\nStart a video recording.\n\n\nResult\nstart_video () const\nStart a video recording.\n\n\nvoid\nstop_video_async (const ResultCallback callback)\nStop a running video recording.\n\n\nResult\nstop_video () const\nStop a running video recording.\n\n\nResult\nstart_video_streaming (int32_t stream_id)const\nStart video streaming.\n\n\nResult\nstop_video_streaming (int32_t stream_id)const\nStop current video streaming.\n\n\nvoid\nset_mode_async (Mode mode, const ResultCallback callback)\nSet camera mode.\n\n\nResult\nset_mode (Mode mode)const\nSet camera mode.\n\n\nvoid\nlist_photos_async (PhotosRange photos_range, const ListPhotosCallback callback)\nList photos available on the camera.\n\n\nstd::pairResult, std::vectorCamera::CaptureInfo > >\nlist_photos (PhotosRange photos_range)const\nList photos available on the camera.\n\n\nModeHandle\nsubscribe_mode (const ModeCallback & callback)\nSubscribe to camera mode updates.\n\n\nvoid\nunsubscribe_mode (ModeHandle handle)\nUnsubscribe from subscribe_mode.\n\n\nMode\nmode () const\nPoll for 'Mode' (blocking).\n\n\nInformationHandle\nsubscribe_information (const InformationCallback & callback)\nSubscribe to camera information updates.\n\n\nvoid\nunsubscribe_information (InformationHandle handle)\nUnsubscribe from subscribe_information.\n\n\nInformation\ninformation () const\nPoll for 'Information' (blocking).\n\n\nVideoStreamInfoHandle\nsubscribe_video_stream_info (const VideoStreamInfoCallback & callback)\nSubscribe to video stream info updates.\n\n\nvoid\nunsubscribe_video_stream_info (VideoStreamInfoHandle handle)\nUnsubscribe from subscribe_video_stream_info.\n\n\nVideoStreamInfo\nvideo_stream_info () const\nPoll for 'VideoStreamInfo' (blocking).\n\n\nCaptureInfoHandle\nsubscribe_capture_info (const CaptureInfoCallback & callback)\nSubscribe to capture info updates.\n\n\nvoid\nunsubscribe_capture_info (CaptureInfoHandle handle)\nUnsubscribe from subscribe_capture_info.\n\n\nStatusHandle\nsubscribe_status (const StatusCallback & callback)\nSubscribe to camera status updates.\n\n\nvoid\nunsubscribe_status (StatusHandle handle)\nUnsubscribe from subscribe_status.\n\n\nStatus\nstatus () const\nPoll for 'Status' (blocking).\n\n\nCurrentSettingsHandle\nsubscribe_current_settings (const CurrentSettingsCallback & callback)\nGet the list of current camera settings.\n\n\nvoid\nunsubscribe_current_settings (CurrentSettingsHandle handle)\nUnsubscribe from subscribe_current_settings.\n\n\nPossibleSettingOptionsHandle\nsubscribe_possible_setting_options (const PossibleSettingOptionsCallback & callback)\nGet the list of settings that can be changed.\n\n\nvoid\nunsubscribe_possible_setting_options (PossibleSettingOptionsHandle handle)\nUnsubscribe from subscribe_possible_setting_options.\n\n\nstd::vectorSettingOptions >\npossible_setting_options () const\nPoll for 'std::vector' (blocking).\n\n\nvoid\nset_setting_async (Setting setting, const ResultCallback callback)\nSet a setting to some value.\n\n\nResult\nset_setting (Setting setting)const\nSet a setting to some value.\n\n\nvoid\nget_setting_async (Setting setting, const GetSettingCallback callback)\nGet a setting.\n\n\nstd::pairResult, Camera::Setting >\nget_setting (Setting setting)const\nGet a setting.\n\n\nvoid\nformat_storage_async (int32_t storage_id, const ResultCallback callback)\nFormat storage (e.g. SD card) in camera.\n\n\nResult\nformat_storage (int32_t storage_id)const\nFormat storage (e.g. SD card) in camera.\n\n\nResult\nselect_camera (int32_t camera_id)const\nSelect current camera .\n\n\nvoid\nreset_settings_async (const ResultCallback callback)\nReset all settings in camera.\n\n\nResult\nreset_settings () const\nReset all settings in camera.\n\n\nconst Camera &\noperator= (const Camera &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nCamera() \nmavsdk::Camera::Camera(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto camera = Camera(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nCamera() \nmavsdk::Camera::Camera(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto camera = Camera(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Camera() \nmavsdk::Camera::~Camera() override\n\nDestructor (internal use only).\nCamera() \nmavsdk::Camera::Camera(const Camera &other)\n\nCopy constructor.\nParameters\n\nconst Camera& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Camera::ResultCallback = std::function\n\nCallback type for asynchronous Camera calls.\ntypedef ListPhotosCallback \nusing mavsdk::Camera::ListPhotosCallback = std::function)>\n\nCallback type for list_photos_async.\ntypedef ModeCallback \nusing mavsdk::Camera::ModeCallback = std::function\n\nCallback type for subscribe_mode.\ntypedef ModeHandle \nusing mavsdk::Camera::ModeHandle = Handle\n\nHandle type for subscribe_mode.\ntypedef InformationCallback \nusing mavsdk::Camera::InformationCallback = std::function\n\nCallback type for subscribe_information.\ntypedef InformationHandle \nusing mavsdk::Camera::InformationHandle = Handle\n\nHandle type for subscribe_information.\ntypedef VideoStreamInfoCallback \nusing mavsdk::Camera::VideoStreamInfoCallback = std::function\n\nCallback type for subscribe_video_stream_info.\ntypedef VideoStreamInfoHandle \nusing mavsdk::Camera::VideoStreamInfoHandle = Handle\n\nHandle type for subscribe_video_stream_info.\ntypedef CaptureInfoCallback \nusing mavsdk::Camera::CaptureInfoCallback = std::function\n\nCallback type for subscribe_capture_info.\ntypedef CaptureInfoHandle \nusing mavsdk::Camera::CaptureInfoHandle = Handle\n\nHandle type for subscribe_capture_info.\ntypedef StatusCallback \nusing mavsdk::Camera::StatusCallback = std::function\n\nCallback type for subscribe_status.\ntypedef StatusHandle \nusing mavsdk::Camera::StatusHandle = Handle\n\nHandle type for subscribe_status.\ntypedef CurrentSettingsCallback \nusing mavsdk::Camera::CurrentSettingsCallback = std::function)>\n\nCallback type for subscribe_current_settings.\ntypedef CurrentSettingsHandle \nusing mavsdk::Camera::CurrentSettingsHandle = Handle >\n\nHandle type for subscribe_current_settings.\ntypedef PossibleSettingOptionsCallback \nusing mavsdk::Camera::PossibleSettingOptionsCallback = std::function)>\n\nCallback type for subscribe_possible_setting_options.\ntypedef PossibleSettingOptionsHandle \nusing mavsdk::Camera::PossibleSettingOptionsHandle = Handle >\n\nHandle type for subscribe_possible_setting_options.\ntypedef GetSettingCallback \nusing mavsdk::Camera::GetSettingCallback = std::function\n\nCallback type for get_setting_async.\nMember Enumeration Documentation\nenum Mode \nCamera mode type.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown. \n\n\n Photo\nPhoto mode. \n\n\n Video\nVideo mode. \n\n\n\nenum PhotosRange \nPhotos range type.\n\n\n\nValue\nDescription\n\n\n\n\n All\nAll the photos present on the camera. \n\n\n SinceConnection\nPhotos taken since MAVSDK got connected. \n\n\n\nenum Result \nPossible results returned for camera commands.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nCommand executed successfully. \n\n\n InProgress\nCommand in progress. \n\n\n Busy\nCamera is busy and rejected command. \n\n\n Denied\nCamera denied the command. \n\n\n Error\nAn error has occurred while executing the command. \n\n\n Timeout\nCommand timed out. \n\n\n WrongArgument\nCommand has wrong argument(s). \n\n\n NoSystem\nNo system connected. \n\n\n ProtocolUnsupported\nDefinition file protocol not supported. \n\n\n\nMember Function Documentation\nprepare_async() \nvoid mavsdk::Camera::prepare_async(const ResultCallback callback)\n\nPrepare the camera plugin (e.g. download the camera definition, etc).\nThis function is non-blocking. See 'prepare' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nprepare() \nResult mavsdk::Camera::prepare() const\n\nPrepare the camera plugin (e.g. download the camera definition, etc).\nThis function is blocking. See 'prepare_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\ntake_photo_async() \nvoid mavsdk::Camera::take_photo_async(const ResultCallback callback)\n\nTake one photo.\nThis function is non-blocking. See 'take_photo' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\ntake_photo() \nResult mavsdk::Camera::take_photo() const\n\nTake one photo.\nThis function is blocking. See 'take_photo_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nstart_photo_interval_async() \nvoid mavsdk::Camera::start_photo_interval_async(float interval_s, const ResultCallback callback)\n\nStart photo timelapse with a given interval.\nThis function is non-blocking. See 'start_photo_interval' for the blocking counterpart.\nParameters\n\nfloat interval_s - \nconst ResultCallback callback - \n\nstart_photo_interval() \nResult mavsdk::Camera::start_photo_interval(float interval_s) const\n\nStart photo timelapse with a given interval.\nThis function is blocking. See 'start_photo_interval_async' for the non-blocking counterpart.\nParameters\n\nfloat interval_s - \n\nReturns\n Result - Result of request.\nstop_photo_interval_async() \nvoid mavsdk::Camera::stop_photo_interval_async(const ResultCallback callback)\n\nStop a running photo timelapse.\nThis function is non-blocking. See 'stop_photo_interval' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nstop_photo_interval() \nResult mavsdk::Camera::stop_photo_interval() const\n\nStop a running photo timelapse.\nThis function is blocking. See 'stop_photo_interval_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nstart_video_async() \nvoid mavsdk::Camera::start_video_async(const ResultCallback callback)\n\nStart a video recording.\nThis function is non-blocking. See 'start_video' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nstart_video() \nResult mavsdk::Camera::start_video() const\n\nStart a video recording.\nThis function is blocking. See 'start_video_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nstop_video_async() \nvoid mavsdk::Camera::stop_video_async(const ResultCallback callback)\n\nStop a running video recording.\nThis function is non-blocking. See 'stop_video' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nstop_video() \nResult mavsdk::Camera::stop_video() const\n\nStop a running video recording.\nThis function is blocking. See 'stop_video_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nstart_video_streaming() \nResult mavsdk::Camera::start_video_streaming(int32_t stream_id) const\n\nStart video streaming.\nThis function is blocking.\nParameters\n\nint32_t stream_id - \n\nReturns\n Result - Result of request.\nstop_video_streaming() \nResult mavsdk::Camera::stop_video_streaming(int32_t stream_id) const\n\nStop current video streaming.\nThis function is blocking.\nParameters\n\nint32_t stream_id - \n\nReturns\n Result - Result of request.\nset_mode_async() \nvoid mavsdk::Camera::set_mode_async(Mode mode, const ResultCallback callback)\n\nSet camera mode.\nThis function is non-blocking. See 'set_mode' for the blocking counterpart.\nParameters\n\nMode mode - \nconst ResultCallback callback - \n\nset_mode() \nResult mavsdk::Camera::set_mode(Mode mode) const\n\nSet camera mode.\nThis function is blocking. See 'set_mode_async' for the non-blocking counterpart.\nParameters\n\nMode mode - \n\nReturns\n Result - Result of request.\nlist_photos_async() \nvoid mavsdk::Camera::list_photos_async(PhotosRange photos_range, const ListPhotosCallback callback)\n\nList photos available on the camera.\nThis function is non-blocking. See 'list_photos' for the blocking counterpart.\nParameters\n\nPhotosRange photos_range - \nconst ListPhotosCallback callback - \n\nlist_photos() \nstd::pair > mavsdk::Camera::list_photos(PhotosRange photos_range) const\n\nList photos available on the camera.\nThis function is blocking. See 'list_photos_async' for the non-blocking counterpart.\nParameters\n\nPhotosRange photos_range - \n\nReturns\n std::pairResult, std::vectorCamera::CaptureInfo > > - Result of request.\nsubscribe_mode() \nModeHandle mavsdk::Camera::subscribe_mode(const ModeCallback &callback)\n\nSubscribe to camera mode updates.\nParameters\n\nconst ModeCallback& callback - \n\nReturns\n ModeHandle - \nunsubscribe_mode() \nvoid mavsdk::Camera::unsubscribe_mode(ModeHandle handle)\n\nUnsubscribe from subscribe_mode.\nParameters\n\nModeHandle handle - \n\nmode() \nMode mavsdk::Camera::mode() const\n\nPoll for 'Mode' (blocking).\nReturns\n Mode - One Mode update.\nsubscribe_information() \nInformationHandle mavsdk::Camera::subscribe_information(const InformationCallback &callback)\n\nSubscribe to camera information updates.\nParameters\n\nconst InformationCallback& callback - \n\nReturns\n InformationHandle - \nunsubscribe_information() \nvoid mavsdk::Camera::unsubscribe_information(InformationHandle handle)\n\nUnsubscribe from subscribe_information.\nParameters\n\nInformationHandle handle - \n\ninformation() \nInformation mavsdk::Camera::information() const\n\nPoll for 'Information' (blocking).\nReturns\n Information - One Information update.\nsubscribe_video_stream_info() \nVideoStreamInfoHandle mavsdk::Camera::subscribe_video_stream_info(const VideoStreamInfoCallback &callback)\n\nSubscribe to video stream info updates.\nParameters\n\nconst VideoStreamInfoCallback& callback - \n\nReturns\n VideoStreamInfoHandle - \nunsubscribe_video_stream_info() \nvoid mavsdk::Camera::unsubscribe_video_stream_info(VideoStreamInfoHandle handle)\n\nUnsubscribe from subscribe_video_stream_info.\nParameters\n\nVideoStreamInfoHandle handle - \n\nvideo_stream_info() \nVideoStreamInfo mavsdk::Camera::video_stream_info() const\n\nPoll for 'VideoStreamInfo' (blocking).\nReturns\n VideoStreamInfo - One VideoStreamInfo update.\nsubscribe_capture_info() \nCaptureInfoHandle mavsdk::Camera::subscribe_capture_info(const CaptureInfoCallback &callback)\n\nSubscribe to capture info updates.\nParameters\n\nconst CaptureInfoCallback& callback - \n\nReturns\n CaptureInfoHandle - \nunsubscribe_capture_info() \nvoid mavsdk::Camera::unsubscribe_capture_info(CaptureInfoHandle handle)\n\nUnsubscribe from subscribe_capture_info.\nParameters\n\nCaptureInfoHandle handle - \n\nsubscribe_status() \nStatusHandle mavsdk::Camera::subscribe_status(const StatusCallback &callback)\n\nSubscribe to camera status updates.\nParameters\n\nconst StatusCallback& callback - \n\nReturns\n StatusHandle - \nunsubscribe_status() \nvoid mavsdk::Camera::unsubscribe_status(StatusHandle handle)\n\nUnsubscribe from subscribe_status.\nParameters\n\nStatusHandle handle - \n\nstatus() \nStatus mavsdk::Camera::status() const\n\nPoll for 'Status' (blocking).\nReturns\n Status - One Status update.\nsubscribe_current_settings() \nCurrentSettingsHandle mavsdk::Camera::subscribe_current_settings(const CurrentSettingsCallback &callback)\n\nGet the list of current camera settings.\nParameters\n\nconst CurrentSettingsCallback& callback - \n\nReturns\n CurrentSettingsHandle - \nunsubscribe_current_settings() \nvoid mavsdk::Camera::unsubscribe_current_settings(CurrentSettingsHandle handle)\n\nUnsubscribe from subscribe_current_settings.\nParameters\n\nCurrentSettingsHandle handle - \n\nsubscribe_possible_setting_options() \nPossibleSettingOptionsHandle mavsdk::Camera::subscribe_possible_setting_options(const PossibleSettingOptionsCallback &callback)\n\nGet the list of settings that can be changed.\nParameters\n\nconst PossibleSettingOptionsCallback& callback - \n\nReturns\n PossibleSettingOptionsHandle - \nunsubscribe_possible_setting_options() \nvoid mavsdk::Camera::unsubscribe_possible_setting_options(PossibleSettingOptionsHandle handle)\n\nUnsubscribe from subscribe_possible_setting_options.\nParameters\n\nPossibleSettingOptionsHandle handle - \n\npossible_setting_options() \nstd::vector mavsdk::Camera::possible_setting_options() const\n\nPoll for 'std::vector' (blocking).\nReturns\n std::vectorSettingOptions > - One std::vector update.\nset_setting_async() \nvoid mavsdk::Camera::set_setting_async(Setting setting, const ResultCallback callback)\n\nSet a setting to some value.\nOnly setting_id of setting and option_id of option needs to be set.\nThis function is non-blocking. See 'set_setting' for the blocking counterpart.\nParameters\n\nSetting setting - \nconst ResultCallback callback - \n\nset_setting() \nResult mavsdk::Camera::set_setting(Setting setting) const\n\nSet a setting to some value.\nOnly setting_id of setting and option_id of option needs to be set.\nThis function is blocking. See 'set_setting_async' for the non-blocking counterpart.\nParameters\n\nSetting setting - \n\nReturns\n Result - Result of request.\nget_setting_async() \nvoid mavsdk::Camera::get_setting_async(Setting setting, const GetSettingCallback callback)\n\nGet a setting.\nOnly setting_id of setting needs to be set.\nThis function is non-blocking. See 'get_setting' for the blocking counterpart.\nParameters\n\nSetting setting - \nconst GetSettingCallback callback - \n\nget_setting() \nstd::pair mavsdk::Camera::get_setting(Setting setting) const\n\nGet a setting.\nOnly setting_id of setting needs to be set.\nThis function is blocking. See 'get_setting_async' for the non-blocking counterpart.\nParameters\n\nSetting setting - \n\nReturns\n std::pairResult, Camera::Setting > - Result of request.\nformat_storage_async() \nvoid mavsdk::Camera::format_storage_async(int32_t storage_id, const ResultCallback callback)\n\nFormat storage (e.g. SD card) in camera.\nThis will delete all content of the camera storage!\nThis function is non-blocking. See 'format_storage' for the blocking counterpart.\nParameters\n\nint32_t storage_id - \nconst ResultCallback callback - \n\nformat_storage() \nResult mavsdk::Camera::format_storage(int32_t storage_id) const\n\nFormat storage (e.g. SD card) in camera.\nThis will delete all content of the camera storage!\nThis function is blocking. See 'format_storage_async' for the non-blocking counterpart.\nParameters\n\nint32_t storage_id - \n\nReturns\n Result - Result of request.\nselect_camera() \nResult mavsdk::Camera::select_camera(int32_t camera_id) const\n\nSelect current camera .\nBind the plugin instance to a specific camera_id\nThis function is blocking.\nParameters\n\nint32_t camera_id - \n\nReturns\n Result - Result of request.\nreset_settings_async() \nvoid mavsdk::Camera::reset_settings_async(const ResultCallback callback)\n\nReset all settings in camera.\nThis will reset all camera settings to default value\nThis function is non-blocking. See 'reset_settings' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nreset_settings() \nResult mavsdk::Camera::reset_settings() const\n\nReset all settings in camera.\nThis will reset all camera settings to default value\nThis function is blocking. See 'reset_settings_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\noperator=() \nconst Camera& mavsdk::Camera::operator=(const Camera &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Camera& - \n\nReturns\n const Camera & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_camera_1_1_information.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_1_1_information.html","title":"struct Information","keywords":"","body":"mavsdk::Camera::Information Struct Reference\n#include: camera.h\n\nType to represent a camera information. \nData Fields\nstd::string vendor_name {} - Name of the camera vendor.\nstd::string model_name {} - Name of the camera model.\nfloat focal_length_mm {} - Focal length.\nfloat horizontal_sensor_size_mm {} - Horizontal sensor size.\nfloat vertical_sensor_size_mm {} - Vertical sensor size.\nuint32_t horizontal_resolution_px {} - Horizontal image resolution in pixels.\nuint32_t vertical_resolution_px {} - Vertical image resolution in pixels.\nField Documentation\nvendor_name \nstd::string mavsdk::Camera::Information::vendor_name {}\n\nName of the camera vendor.\nmodel_name \nstd::string mavsdk::Camera::Information::model_name {}\n\nName of the camera model.\nfocal_length_mm \nfloat mavsdk::Camera::Information::focal_length_mm {}\n\nFocal length.\nhorizontal_sensor_size_mm \nfloat mavsdk::Camera::Information::horizontal_sensor_size_mm {}\n\nHorizontal sensor size.\nvertical_sensor_size_mm \nfloat mavsdk::Camera::Information::vertical_sensor_size_mm {}\n\nVertical sensor size.\nhorizontal_resolution_px \nuint32_t mavsdk::Camera::Information::horizontal_resolution_px {}\n\nHorizontal image resolution in pixels.\nvertical_resolution_px \nuint32_t mavsdk::Camera::Information::vertical_resolution_px {}\n\nVertical image resolution in pixels.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_1_1_capture_info.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_1_1_capture_info.html","title":"struct CaptureInfo","keywords":"","body":"mavsdk::Camera::CaptureInfo Struct Reference\n#include: camera.h\n\nInformation about a picture just captured. \nData Fields\nPosition position {} - Location where the picture was taken.\nQuaternion attitude_quaternion {} - Attitude of the camera when the picture was taken (quaternion)\nEulerAngle attitude_euler_angle {} - Attitude of the camera when the picture was taken (euler angle)\nuint64_t time_utc_us {} - Timestamp in UTC (since UNIX epoch) in microseconds.\nbool is_success {} - True if the capture was successful.\nint32_t index {} - Zero-based index of this image since vehicle was armed.\nstd::string file_url {} - Download URL of this image.\nField Documentation\nposition \nPosition mavsdk::Camera::CaptureInfo::position {}\n\nLocation where the picture was taken.\nattitude_quaternion \nQuaternion mavsdk::Camera::CaptureInfo::attitude_quaternion {}\n\nAttitude of the camera when the picture was taken (quaternion)\nattitude_euler_angle \nEulerAngle mavsdk::Camera::CaptureInfo::attitude_euler_angle {}\n\nAttitude of the camera when the picture was taken (euler angle)\ntime_utc_us \nuint64_t mavsdk::Camera::CaptureInfo::time_utc_us {}\n\nTimestamp in UTC (since UNIX epoch) in microseconds.\nis_success \nbool mavsdk::Camera::CaptureInfo::is_success {}\n\nTrue if the capture was successful.\nindex \nint32_t mavsdk::Camera::CaptureInfo::index {}\n\nZero-based index of this image since vehicle was armed.\nfile_url \nstd::string mavsdk::Camera::CaptureInfo::file_url {}\n\nDownload URL of this image.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_1_1_position.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_1_1_position.html","title":"struct Position","keywords":"","body":"mavsdk::Camera::Position Struct Reference\n#include: camera.h\n\nPosition type in global coordinates. \nData Fields\ndouble latitude_deg {} - Latitude in degrees (range: -90 to +90)\ndouble longitude_deg {} - Longitude in degrees (range: -180 to +180)\nfloat absolute_altitude_m {} - Altitude AMSL (above mean sea level) in metres.\nfloat relative_altitude_m {} - Altitude relative to takeoff altitude in metres.\nField Documentation\nlatitude_deg \ndouble mavsdk::Camera::Position::latitude_deg {}\n\nLatitude in degrees (range: -90 to +90)\nlongitude_deg \ndouble mavsdk::Camera::Position::longitude_deg {}\n\nLongitude in degrees (range: -180 to +180)\nabsolute_altitude_m \nfloat mavsdk::Camera::Position::absolute_altitude_m {}\n\nAltitude AMSL (above mean sea level) in metres.\nrelative_altitude_m \nfloat mavsdk::Camera::Position::relative_altitude_m {}\n\nAltitude relative to takeoff altitude in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_1_1_quaternion.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_1_1_quaternion.html","title":"struct Quaternion","keywords":"","body":"mavsdk::Camera::Quaternion Struct Reference\n#include: camera.h\n\nQuaternion type. \nAll rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.\nFor more info see: https://en.wikipedia.org/wiki/Quaternion \nData Fields\nfloat w {} - Quaternion entry 0, also denoted as a.\nfloat x {} - Quaternion entry 1, also denoted as b.\nfloat y {} - Quaternion entry 2, also denoted as c.\nfloat z {} - Quaternion entry 3, also denoted as d.\nField Documentation\nw \nfloat mavsdk::Camera::Quaternion::w {}\n\nQuaternion entry 0, also denoted as a.\nx \nfloat mavsdk::Camera::Quaternion::x {}\n\nQuaternion entry 1, also denoted as b.\ny \nfloat mavsdk::Camera::Quaternion::y {}\n\nQuaternion entry 2, also denoted as c.\nz \nfloat mavsdk::Camera::Quaternion::z {}\n\nQuaternion entry 3, also denoted as d.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_1_1_euler_angle.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_1_1_euler_angle.html","title":"struct EulerAngle","keywords":"","body":"mavsdk::Camera::EulerAngle Struct Reference\n#include: camera.h\n\nEuler angle type. \nAll rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.\nFor more info see https://en.wikipedia.org/wiki/Euler_angles \nData Fields\nfloat roll_deg {} - Roll angle in degrees, positive is banking to the right.\nfloat pitch_deg {} - Pitch angle in degrees, positive is pitching nose up.\nfloat yaw_deg {} - Yaw angle in degrees, positive is clock-wise seen from above.\nField Documentation\nroll_deg \nfloat mavsdk::Camera::EulerAngle::roll_deg {}\n\nRoll angle in degrees, positive is banking to the right.\npitch_deg \nfloat mavsdk::Camera::EulerAngle::pitch_deg {}\n\nPitch angle in degrees, positive is pitching nose up.\nyaw_deg \nfloat mavsdk::Camera::EulerAngle::yaw_deg {}\n\nYaw angle in degrees, positive is clock-wise seen from above.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_1_1_status.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_1_1_status.html","title":"struct Status","keywords":"","body":"mavsdk::Camera::Status Struct Reference\n#include: camera.h\n\nInformation about the camera status. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum StorageStatus\nStorage status type.\n\n\nenum StorageType\nStorage type.\n\n\n\nData Fields\nbool video_on {} - Whether video recording is currently in process.\nbool photo_interval_on {} - Whether a photo interval is currently in process.\nfloat used_storage_mib {} - Used storage (in MiB)\nfloat available_storage_mib {} - Available storage (in MiB)\nfloat total_storage_mib {} - Total storage (in MiB)\nfloat recording_time_s {} - Elapsed time since starting the video recording (in seconds)\nstd::string media_folder_name {} - Current folder name where media are saved.\nStorageStatus storage_status {} - Storage status.\nuint32_t storage_id {} - Storage ID starting at 1.\nStorageType storage_type {} - Storage type.\nMember Enumeration Documentation\nenum StorageStatus \nStorage status type.\n\n\n\nValue\nDescription\n\n\n\n\n NotAvailable\nStatus not available. \n\n\n Unformatted\nStorage is not formatted (i.e. has no recognized file system). \n\n\n Formatted\nStorage is formatted (i.e. has recognized a file system). \n\n\n NotSupported\nStorage status is not supported. \n\n\n\nenum StorageType \nStorage type.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nStorage type unknown. \n\n\n UsbStick\nStorage type USB stick. \n\n\n Sd\nStorage type SD card. \n\n\n Microsd\nStorage type MicroSD card. \n\n\n Hd\nStorage type HD mass storage. \n\n\n Other\nStorage type other, not listed. \n\n\n\nField Documentation\nvideo_on \nbool mavsdk::Camera::Status::video_on {}\n\nWhether video recording is currently in process.\nphoto_interval_on \nbool mavsdk::Camera::Status::photo_interval_on {}\n\nWhether a photo interval is currently in process.\nused_storage_mib \nfloat mavsdk::Camera::Status::used_storage_mib {}\n\nUsed storage (in MiB)\navailable_storage_mib \nfloat mavsdk::Camera::Status::available_storage_mib {}\n\nAvailable storage (in MiB)\ntotal_storage_mib \nfloat mavsdk::Camera::Status::total_storage_mib {}\n\nTotal storage (in MiB)\nrecording_time_s \nfloat mavsdk::Camera::Status::recording_time_s {}\n\nElapsed time since starting the video recording (in seconds)\nmedia_folder_name \nstd::string mavsdk::Camera::Status::media_folder_name {}\n\nCurrent folder name where media are saved.\nstorage_status \nStorageStatus mavsdk::Camera::Status::storage_status {}\n\nStorage status.\nstorage_id \nuint32_t mavsdk::Camera::Status::storage_id {}\n\nStorage ID starting at 1.\nstorage_type \nStorageType mavsdk::Camera::Status::storage_type {}\n\nStorage type.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_info.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_info.html","title":"struct VideoStreamInfo","keywords":"","body":"mavsdk::Camera::VideoStreamInfo Struct Reference\n#include: camera.h\n\nInformation about the video stream. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum VideoStreamStatus\nVideo stream status type.\n\n\nenum VideoStreamSpectrum\nVideo stream light spectrum type.\n\n\n\nData Fields\nVideoStreamSettings settings {} - Video stream settings.\nVideoStreamStatus status {} - Current status of video streaming.\nVideoStreamSpectrum spectrum {} - Light-spectrum of the video stream.\nMember Enumeration Documentation\nenum VideoStreamStatus \nVideo stream status type.\n\n\n\nValue\nDescription\n\n\n\n\n NotRunning\nVideo stream is not running. \n\n\n InProgress\nVideo stream is running. \n\n\n\nenum VideoStreamSpectrum \nVideo stream light spectrum type.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown. \n\n\n VisibleLight\nVisible light. \n\n\n Infrared\nInfrared. \n\n\n\nField Documentation\nsettings \nVideoStreamSettings mavsdk::Camera::VideoStreamInfo::settings {}\n\nVideo stream settings.\nstatus \nVideoStreamStatus mavsdk::Camera::VideoStreamInfo::status {}\n\nCurrent status of video streaming.\nspectrum \nVideoStreamSpectrum mavsdk::Camera::VideoStreamInfo::spectrum {}\n\nLight-spectrum of the video stream.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_settings.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_settings.html","title":"struct VideoStreamSettings","keywords":"","body":"mavsdk::Camera::VideoStreamSettings Struct Reference\n#include: camera.h\n\nType for video stream settings. \nData Fields\nfloat frame_rate_hz {} - Frames per second.\nuint32_t horizontal_resolution_pix {} - Horizontal resolution (in pixels)\nuint32_t vertical_resolution_pix {} - Vertical resolution (in pixels)\nuint32_t bit_rate_b_s {} - Bit rate (in bits per second)\nuint32_t rotation_deg {} - Video image rotation (clockwise, 0-359 degrees)\nstd::string uri {} - Video stream URI.\nfloat horizontal_fov_deg {} - Horizontal fov in degrees.\nField Documentation\nframe_rate_hz \nfloat mavsdk::Camera::VideoStreamSettings::frame_rate_hz {}\n\nFrames per second.\nhorizontal_resolution_pix \nuint32_t mavsdk::Camera::VideoStreamSettings::horizontal_resolution_pix {}\n\nHorizontal resolution (in pixels)\nvertical_resolution_pix \nuint32_t mavsdk::Camera::VideoStreamSettings::vertical_resolution_pix {}\n\nVertical resolution (in pixels)\nbit_rate_b_s \nuint32_t mavsdk::Camera::VideoStreamSettings::bit_rate_b_s {}\n\nBit rate (in bits per second)\nrotation_deg \nuint32_t mavsdk::Camera::VideoStreamSettings::rotation_deg {}\n\nVideo image rotation (clockwise, 0-359 degrees)\nuri \nstd::string mavsdk::Camera::VideoStreamSettings::uri {}\n\nVideo stream URI.\nhorizontal_fov_deg \nfloat mavsdk::Camera::VideoStreamSettings::horizontal_fov_deg {}\n\nHorizontal fov in degrees.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_1_1_option.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_1_1_option.html","title":"struct Option","keywords":"","body":"mavsdk::Camera::Option Struct Reference\n#include: camera.h\n\nType to represent a setting option. \nData Fields\nstd::string option_id {} - Name of the option (machine readable)\nstd::string option_description {} - Description of the option (human readable)\nField Documentation\noption_id \nstd::string mavsdk::Camera::Option::option_id {}\n\nName of the option (machine readable)\noption_description \nstd::string mavsdk::Camera::Option::option_description {}\n\nDescription of the option (human readable)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_1_1_setting.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_1_1_setting.html","title":"struct Setting","keywords":"","body":"mavsdk::Camera::Setting Struct Reference\n#include: camera.h\n\nType to represent a setting with a selected option. \nData Fields\nstd::string setting_id {} - Name of a setting (machine readable)\nstd::string setting_description {} - Description of the setting (human readable). This field is meant to be read from the drone, ignore it when setting.\nOption option {} - Selected option.\nbool is_range {} - If option is given as a range. This field is meant to be read from the drone, ignore it when setting.\nField Documentation\nsetting_id \nstd::string mavsdk::Camera::Setting::setting_id {}\n\nName of a setting (machine readable)\nsetting_description \nstd::string mavsdk::Camera::Setting::setting_description {}\n\nDescription of the setting (human readable). This field is meant to be read from the drone, ignore it when setting.\noption \nOption mavsdk::Camera::Setting::option {}\n\nSelected option.\nis_range \nbool mavsdk::Camera::Setting::is_range {}\n\nIf option is given as a range. This field is meant to be read from the drone, ignore it when setting.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_1_1_setting_options.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_1_1_setting_options.html","title":"struct SettingOptions","keywords":"","body":"mavsdk::Camera::SettingOptions Struct Reference\n#include: camera.h\n\nType to represent a setting with a list of options to choose from. \nData Fields\nstd::string setting_id {} - Name of the setting (machine readable)\nstd::string setting_description {} - Description of the setting (human readable)\nstd::vectorOption > options {} - List of options or if range [min, max] or [min, max, interval].\nbool is_range {} - If option is given as a range.\nField Documentation\nsetting_id \nstd::string mavsdk::Camera::SettingOptions::setting_id {}\n\nName of the setting (machine readable)\nsetting_description \nstd::string mavsdk::Camera::SettingOptions::setting_description {}\n\nDescription of the setting (human readable)\noptions \nstd::vector mavsdk::Camera::SettingOptions::options {}\n\nList of options or if range [min, max] or [min, max, interval].\nis_range \nbool mavsdk::Camera::SettingOptions::is_range {}\n\nIf option is given as a range.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_camera_server.html":{"url":"cpp/api_reference/classmavsdk_1_1_camera_server.html","title":"class CameraServer","keywords":"","body":"mavsdk::CameraServer Class Reference\n#include: camera_server.h\n\nProvides handling of camera trigger commands. \nData Structures\nstruct CaptureInfo\nstruct CaptureStatus\nstruct Information\nstruct Position\nstruct Quaternion\nstruct StorageInformation\nstruct VideoStreaming\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum CameraFeedback\nPossible feedback results for camera respond command.\n\n\nenum Mode\nCamera mode type.\n\n\nenum Result\nPossible results returned for action requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous CameraServer calls.\n\n\nstd::function TakePhotoCallback\nCallback type for subscribe_take_photo.\n\n\nHandle TakePhotoHandle\nHandle type for subscribe_take_photo.\n\n\nstd::function StartVideoCallback\nCallback type for subscribe_start_video.\n\n\nHandle StartVideoHandle\nHandle type for subscribe_start_video.\n\n\nstd::function StopVideoCallback\nCallback type for subscribe_stop_video.\n\n\nHandle StopVideoHandle\nHandle type for subscribe_stop_video.\n\n\nstd::function StartVideoStreamingCallback\nCallback type for subscribe_start_video_streaming.\n\n\nHandle StartVideoStreamingHandle\nHandle type for subscribe_start_video_streaming.\n\n\nstd::function StopVideoStreamingCallback\nCallback type for subscribe_stop_video_streaming.\n\n\nHandle StopVideoStreamingHandle\nHandle type for subscribe_stop_video_streaming.\n\n\nstd::functionMode)> SetModeCallback\nCallback type for subscribe_set_mode.\n\n\nHandleMode > SetModeHandle\nHandle type for subscribe_set_mode.\n\n\nstd::function StorageInformationCallback\nCallback type for subscribe_storage_information.\n\n\nHandle StorageInformationHandle\nHandle type for subscribe_storage_information.\n\n\nstd::function CaptureStatusCallback\nCallback type for subscribe_capture_status.\n\n\nHandle CaptureStatusHandle\nHandle type for subscribe_capture_status.\n\n\nstd::function FormatStorageCallback\nCallback type for subscribe_format_storage.\n\n\nHandle FormatStorageHandle\nHandle type for subscribe_format_storage.\n\n\nstd::function ResetSettingsCallback\nCallback type for subscribe_reset_settings.\n\n\nHandle ResetSettingsHandle\nHandle type for subscribe_reset_settings.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nCameraServer (std::shared_ptrServerComponent > server_component)\nConstructor. Creates the plugin for a ServerComponent instance.\n\n\n \n~CameraServer () override\nDestructor (internal use only).\n\n\n \nCameraServer (const CameraServer & other)\nCopy constructor.\n\n\nResult\nset_information (Information information)const\nSets the camera information. This must be called as soon as the camera server is created.\n\n\nResult\nset_video_streaming (VideoStreaming video_streaming)const\nSets video streaming settings.\n\n\nResult\nset_in_progress (bool in_progress)const\nSets image capture in progress status flags. This should be set to true when the camera is busy taking a photo and false when it is done.\n\n\nTakePhotoHandle\nsubscribe_take_photo (const TakePhotoCallback & callback)\nSubscribe to image capture requests. Each request received should respond to using RespondTakePhoto.\n\n\nvoid\nunsubscribe_take_photo (TakePhotoHandle handle)\nUnsubscribe from subscribe_take_photo.\n\n\nResult\nrespond_take_photo (CameraFeedback take_photo_feedback, CaptureInfo capture_info)const\nRespond to an image capture request from SubscribeTakePhoto.\n\n\nStartVideoHandle\nsubscribe_start_video (const StartVideoCallback & callback)\nSubscribe to start video requests. Each request received should respond to using RespondStartVideo.\n\n\nvoid\nunsubscribe_start_video (StartVideoHandle handle)\nUnsubscribe from subscribe_start_video.\n\n\nResult\nrespond_start_video (CameraFeedback start_video_feedback)const\nSubscribe to stop video requests. Each request received should respond using StopVideoResponse.\n\n\nStopVideoHandle\nsubscribe_stop_video (const StopVideoCallback & callback)\nSubscribe to stop video requests. Each request received should response to using RespondStopVideo.\n\n\nvoid\nunsubscribe_stop_video (StopVideoHandle handle)\nUnsubscribe from subscribe_stop_video.\n\n\nResult\nrespond_stop_video (CameraFeedback stop_video_feedback)const\nRespond to stop video request from SubscribeStopVideo.\n\n\nStartVideoStreamingHandle\nsubscribe_start_video_streaming (const StartVideoStreamingCallback & callback)\nSubscribe to start video streaming requests. Each request received should response to using RespondStartVideoStreaming.\n\n\nvoid\nunsubscribe_start_video_streaming (StartVideoStreamingHandle handle)\nUnsubscribe from subscribe_start_video_streaming.\n\n\nResult\nrespond_start_video_streaming (CameraFeedback start_video_streaming_feedback)const\nRespond to start video streaming from SubscribeStartVideoStreaming.\n\n\nStopVideoStreamingHandle\nsubscribe_stop_video_streaming (const StopVideoStreamingCallback & callback)\nSubscribe to stop video streaming requests. Each request received should response to using RespondStopVideoStreaming.\n\n\nvoid\nunsubscribe_stop_video_streaming (StopVideoStreamingHandle handle)\nUnsubscribe from subscribe_stop_video_streaming.\n\n\nResult\nrespond_stop_video_streaming (CameraFeedback stop_video_streaming_feedback)const\nRespond to stop video streaming from SubscribeStopVideoStreaming.\n\n\nSetModeHandle\nsubscribe_set_mode (const SetModeCallback & callback)\nSubscribe to set camera mode requests. Each request received should response to using RespondSetMode.\n\n\nvoid\nunsubscribe_set_mode (SetModeHandle handle)\nUnsubscribe from subscribe_set_mode.\n\n\nResult\nrespond_set_mode (CameraFeedback set_mode_feedback)const\nRespond to set camera mode from SubscribeSetMode.\n\n\nStorageInformationHandle\nsubscribe_storage_information (const StorageInformationCallback & callback)\nSubscribe to camera storage information requests. Each request received should response to using RespondStorageInformation.\n\n\nvoid\nunsubscribe_storage_information (StorageInformationHandle handle)\nUnsubscribe from subscribe_storage_information.\n\n\nResult\nrespond_storage_information (CameraFeedback storage_information_feedback, StorageInformation storage_information)const\nRespond to camera storage information from SubscribeStorageInformation.\n\n\nCaptureStatusHandle\nsubscribe_capture_status (const CaptureStatusCallback & callback)\nSubscribe to camera capture status requests. Each request received should response to using RespondCaptureStatus.\n\n\nvoid\nunsubscribe_capture_status (CaptureStatusHandle handle)\nUnsubscribe from subscribe_capture_status.\n\n\nResult\nrespond_capture_status (CameraFeedback capture_status_feedback, CaptureStatus capture_status)const\nRespond to camera capture status from SubscribeCaptureStatus.\n\n\nFormatStorageHandle\nsubscribe_format_storage (const FormatStorageCallback & callback)\nSubscribe to format storage requests. Each request received should response to using RespondFormatStorage.\n\n\nvoid\nunsubscribe_format_storage (FormatStorageHandle handle)\nUnsubscribe from subscribe_format_storage.\n\n\nResult\nrespond_format_storage (CameraFeedback format_storage_feedback)const\nRespond to format storage from SubscribeFormatStorage.\n\n\nResetSettingsHandle\nsubscribe_reset_settings (const ResetSettingsCallback & callback)\nSubscribe to reset settings requests. Each request received should response to using RespondResetSettings.\n\n\nvoid\nunsubscribe_reset_settings (ResetSettingsHandle handle)\nUnsubscribe from subscribe_reset_settings.\n\n\nResult\nrespond_reset_settings (CameraFeedback reset_settings_feedback)const\nRespond to reset settings from SubscribeResetSettings.\n\n\nconst CameraServer &\noperator= (const CameraServer &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nCameraServer() \nmavsdk::CameraServer::CameraServer(std::shared_ptr server_component)\n\nConstructor. Creates the plugin for a ServerComponent instance.\nThe plugin is typically created as shown below: \nauto camera_server = CameraServer(server_component);\n\nParameters\n\nstd::shared_ptrServerComponent > server_component - The ServerComponent instance associated with this server plugin.\n\n~CameraServer() \nmavsdk::CameraServer::~CameraServer() override\n\nDestructor (internal use only).\nCameraServer() \nmavsdk::CameraServer::CameraServer(const CameraServer &other)\n\nCopy constructor.\nParameters\n\nconst CameraServer& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::CameraServer::ResultCallback = std::function\n\nCallback type for asynchronous CameraServer calls.\ntypedef TakePhotoCallback \nusing mavsdk::CameraServer::TakePhotoCallback = std::function\n\nCallback type for subscribe_take_photo.\ntypedef TakePhotoHandle \nusing mavsdk::CameraServer::TakePhotoHandle = Handle\n\nHandle type for subscribe_take_photo.\ntypedef StartVideoCallback \nusing mavsdk::CameraServer::StartVideoCallback = std::function\n\nCallback type for subscribe_start_video.\ntypedef StartVideoHandle \nusing mavsdk::CameraServer::StartVideoHandle = Handle\n\nHandle type for subscribe_start_video.\ntypedef StopVideoCallback \nusing mavsdk::CameraServer::StopVideoCallback = std::function\n\nCallback type for subscribe_stop_video.\ntypedef StopVideoHandle \nusing mavsdk::CameraServer::StopVideoHandle = Handle\n\nHandle type for subscribe_stop_video.\ntypedef StartVideoStreamingCallback \nusing mavsdk::CameraServer::StartVideoStreamingCallback = std::function\n\nCallback type for subscribe_start_video_streaming.\ntypedef StartVideoStreamingHandle \nusing mavsdk::CameraServer::StartVideoStreamingHandle = Handle\n\nHandle type for subscribe_start_video_streaming.\ntypedef StopVideoStreamingCallback \nusing mavsdk::CameraServer::StopVideoStreamingCallback = std::function\n\nCallback type for subscribe_stop_video_streaming.\ntypedef StopVideoStreamingHandle \nusing mavsdk::CameraServer::StopVideoStreamingHandle = Handle\n\nHandle type for subscribe_stop_video_streaming.\ntypedef SetModeCallback \nusing mavsdk::CameraServer::SetModeCallback = std::function\n\nCallback type for subscribe_set_mode.\ntypedef SetModeHandle \nusing mavsdk::CameraServer::SetModeHandle = Handle\n\nHandle type for subscribe_set_mode.\ntypedef StorageInformationCallback \nusing mavsdk::CameraServer::StorageInformationCallback = std::function\n\nCallback type for subscribe_storage_information.\ntypedef StorageInformationHandle \nusing mavsdk::CameraServer::StorageInformationHandle = Handle\n\nHandle type for subscribe_storage_information.\ntypedef CaptureStatusCallback \nusing mavsdk::CameraServer::CaptureStatusCallback = std::function\n\nCallback type for subscribe_capture_status.\ntypedef CaptureStatusHandle \nusing mavsdk::CameraServer::CaptureStatusHandle = Handle\n\nHandle type for subscribe_capture_status.\ntypedef FormatStorageCallback \nusing mavsdk::CameraServer::FormatStorageCallback = std::function\n\nCallback type for subscribe_format_storage.\ntypedef FormatStorageHandle \nusing mavsdk::CameraServer::FormatStorageHandle = Handle\n\nHandle type for subscribe_format_storage.\ntypedef ResetSettingsCallback \nusing mavsdk::CameraServer::ResetSettingsCallback = std::function\n\nCallback type for subscribe_reset_settings.\ntypedef ResetSettingsHandle \nusing mavsdk::CameraServer::ResetSettingsHandle = Handle\n\nHandle type for subscribe_reset_settings.\nMember Enumeration Documentation\nenum CameraFeedback \nPossible feedback results for camera respond command.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown. \n\n\n Ok\nOk. \n\n\n Busy\nBusy. \n\n\n Failed\nFailed. \n\n\n\nenum Mode \nCamera mode type.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown mode. \n\n\n Photo\nPhoto mode. \n\n\n Video\nVideo mode. \n\n\n\nenum Result \nPossible results returned for action requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nCommand executed successfully. \n\n\n InProgress\nCommand in progress. \n\n\n Busy\nCamera is busy and rejected command. \n\n\n Denied\nCamera denied the command. \n\n\n Error\nAn error has occurred while executing the command. \n\n\n Timeout\nCommand timed out. \n\n\n WrongArgument\nCommand has wrong argument(s). \n\n\n NoSystem\nNo system connected. \n\n\n\nMember Function Documentation\nset_information() \nResult mavsdk::CameraServer::set_information(Information information) const\n\nSets the camera information. This must be called as soon as the camera server is created.\nThis function is blocking.\nParameters\n\nInformation information - \n\nReturns\n Result - Result of request.\nset_video_streaming() \nResult mavsdk::CameraServer::set_video_streaming(VideoStreaming video_streaming) const\n\nSets video streaming settings.\nThis function is blocking.\nParameters\n\nVideoStreaming video_streaming - \n\nReturns\n Result - Result of request.\nset_in_progress() \nResult mavsdk::CameraServer::set_in_progress(bool in_progress) const\n\nSets image capture in progress status flags. This should be set to true when the camera is busy taking a photo and false when it is done.\nThis function is blocking.\nParameters\n\nbool in_progress - \n\nReturns\n Result - Result of request.\nsubscribe_take_photo() \nTakePhotoHandle mavsdk::CameraServer::subscribe_take_photo(const TakePhotoCallback &callback)\n\nSubscribe to image capture requests. Each request received should respond to using RespondTakePhoto.\nParameters\n\nconst TakePhotoCallback& callback - \n\nReturns\n TakePhotoHandle - \nunsubscribe_take_photo() \nvoid mavsdk::CameraServer::unsubscribe_take_photo(TakePhotoHandle handle)\n\nUnsubscribe from subscribe_take_photo.\nParameters\n\nTakePhotoHandle handle - \n\nrespond_take_photo() \nResult mavsdk::CameraServer::respond_take_photo(CameraFeedback take_photo_feedback, CaptureInfo capture_info) const\n\nRespond to an image capture request from SubscribeTakePhoto.\nThis function is blocking.\nParameters\n\nCameraFeedback take_photo_feedback - \nCaptureInfo capture_info - \n\nReturns\n Result - Result of request.\nsubscribe_start_video() \nStartVideoHandle mavsdk::CameraServer::subscribe_start_video(const StartVideoCallback &callback)\n\nSubscribe to start video requests. Each request received should respond to using RespondStartVideo.\nParameters\n\nconst StartVideoCallback& callback - \n\nReturns\n StartVideoHandle - \nunsubscribe_start_video() \nvoid mavsdk::CameraServer::unsubscribe_start_video(StartVideoHandle handle)\n\nUnsubscribe from subscribe_start_video.\nParameters\n\nStartVideoHandle handle - \n\nrespond_start_video() \nResult mavsdk::CameraServer::respond_start_video(CameraFeedback start_video_feedback) const\n\nSubscribe to stop video requests. Each request received should respond using StopVideoResponse.\nThis function is blocking.\nParameters\n\nCameraFeedback start_video_feedback - \n\nReturns\n Result - Result of request.\nsubscribe_stop_video() \nStopVideoHandle mavsdk::CameraServer::subscribe_stop_video(const StopVideoCallback &callback)\n\nSubscribe to stop video requests. Each request received should response to using RespondStopVideo.\nParameters\n\nconst StopVideoCallback& callback - \n\nReturns\n StopVideoHandle - \nunsubscribe_stop_video() \nvoid mavsdk::CameraServer::unsubscribe_stop_video(StopVideoHandle handle)\n\nUnsubscribe from subscribe_stop_video.\nParameters\n\nStopVideoHandle handle - \n\nrespond_stop_video() \nResult mavsdk::CameraServer::respond_stop_video(CameraFeedback stop_video_feedback) const\n\nRespond to stop video request from SubscribeStopVideo.\nThis function is blocking.\nParameters\n\nCameraFeedback stop_video_feedback - \n\nReturns\n Result - Result of request.\nsubscribe_start_video_streaming() \nStartVideoStreamingHandle mavsdk::CameraServer::subscribe_start_video_streaming(const StartVideoStreamingCallback &callback)\n\nSubscribe to start video streaming requests. Each request received should response to using RespondStartVideoStreaming.\nParameters\n\nconst StartVideoStreamingCallback& callback - \n\nReturns\n StartVideoStreamingHandle - \nunsubscribe_start_video_streaming() \nvoid mavsdk::CameraServer::unsubscribe_start_video_streaming(StartVideoStreamingHandle handle)\n\nUnsubscribe from subscribe_start_video_streaming.\nParameters\n\nStartVideoStreamingHandle handle - \n\nrespond_start_video_streaming() \nResult mavsdk::CameraServer::respond_start_video_streaming(CameraFeedback start_video_streaming_feedback) const\n\nRespond to start video streaming from SubscribeStartVideoStreaming.\nThis function is blocking.\nParameters\n\nCameraFeedback start_video_streaming_feedback - \n\nReturns\n Result - Result of request.\nsubscribe_stop_video_streaming() \nStopVideoStreamingHandle mavsdk::CameraServer::subscribe_stop_video_streaming(const StopVideoStreamingCallback &callback)\n\nSubscribe to stop video streaming requests. Each request received should response to using RespondStopVideoStreaming.\nParameters\n\nconst StopVideoStreamingCallback& callback - \n\nReturns\n StopVideoStreamingHandle - \nunsubscribe_stop_video_streaming() \nvoid mavsdk::CameraServer::unsubscribe_stop_video_streaming(StopVideoStreamingHandle handle)\n\nUnsubscribe from subscribe_stop_video_streaming.\nParameters\n\nStopVideoStreamingHandle handle - \n\nrespond_stop_video_streaming() \nResult mavsdk::CameraServer::respond_stop_video_streaming(CameraFeedback stop_video_streaming_feedback) const\n\nRespond to stop video streaming from SubscribeStopVideoStreaming.\nThis function is blocking.\nParameters\n\nCameraFeedback stop_video_streaming_feedback - \n\nReturns\n Result - Result of request.\nsubscribe_set_mode() \nSetModeHandle mavsdk::CameraServer::subscribe_set_mode(const SetModeCallback &callback)\n\nSubscribe to set camera mode requests. Each request received should response to using RespondSetMode.\nParameters\n\nconst SetModeCallback& callback - \n\nReturns\n SetModeHandle - \nunsubscribe_set_mode() \nvoid mavsdk::CameraServer::unsubscribe_set_mode(SetModeHandle handle)\n\nUnsubscribe from subscribe_set_mode.\nParameters\n\nSetModeHandle handle - \n\nrespond_set_mode() \nResult mavsdk::CameraServer::respond_set_mode(CameraFeedback set_mode_feedback) const\n\nRespond to set camera mode from SubscribeSetMode.\nThis function is blocking.\nParameters\n\nCameraFeedback set_mode_feedback - \n\nReturns\n Result - Result of request.\nsubscribe_storage_information() \nStorageInformationHandle mavsdk::CameraServer::subscribe_storage_information(const StorageInformationCallback &callback)\n\nSubscribe to camera storage information requests. Each request received should response to using RespondStorageInformation.\nParameters\n\nconst StorageInformationCallback& callback - \n\nReturns\n StorageInformationHandle - \nunsubscribe_storage_information() \nvoid mavsdk::CameraServer::unsubscribe_storage_information(StorageInformationHandle handle)\n\nUnsubscribe from subscribe_storage_information.\nParameters\n\nStorageInformationHandle handle - \n\nrespond_storage_information() \nResult mavsdk::CameraServer::respond_storage_information(CameraFeedback storage_information_feedback, StorageInformation storage_information) const\n\nRespond to camera storage information from SubscribeStorageInformation.\nThis function is blocking.\nParameters\n\nCameraFeedback storage_information_feedback - \nStorageInformation storage_information - \n\nReturns\n Result - Result of request.\nsubscribe_capture_status() \nCaptureStatusHandle mavsdk::CameraServer::subscribe_capture_status(const CaptureStatusCallback &callback)\n\nSubscribe to camera capture status requests. Each request received should response to using RespondCaptureStatus.\nParameters\n\nconst CaptureStatusCallback& callback - \n\nReturns\n CaptureStatusHandle - \nunsubscribe_capture_status() \nvoid mavsdk::CameraServer::unsubscribe_capture_status(CaptureStatusHandle handle)\n\nUnsubscribe from subscribe_capture_status.\nParameters\n\nCaptureStatusHandle handle - \n\nrespond_capture_status() \nResult mavsdk::CameraServer::respond_capture_status(CameraFeedback capture_status_feedback, CaptureStatus capture_status) const\n\nRespond to camera capture status from SubscribeCaptureStatus.\nThis function is blocking.\nParameters\n\nCameraFeedback capture_status_feedback - \nCaptureStatus capture_status - \n\nReturns\n Result - Result of request.\nsubscribe_format_storage() \nFormatStorageHandle mavsdk::CameraServer::subscribe_format_storage(const FormatStorageCallback &callback)\n\nSubscribe to format storage requests. Each request received should response to using RespondFormatStorage.\nParameters\n\nconst FormatStorageCallback& callback - \n\nReturns\n FormatStorageHandle - \nunsubscribe_format_storage() \nvoid mavsdk::CameraServer::unsubscribe_format_storage(FormatStorageHandle handle)\n\nUnsubscribe from subscribe_format_storage.\nParameters\n\nFormatStorageHandle handle - \n\nrespond_format_storage() \nResult mavsdk::CameraServer::respond_format_storage(CameraFeedback format_storage_feedback) const\n\nRespond to format storage from SubscribeFormatStorage.\nThis function is blocking.\nParameters\n\nCameraFeedback format_storage_feedback - \n\nReturns\n Result - Result of request.\nsubscribe_reset_settings() \nResetSettingsHandle mavsdk::CameraServer::subscribe_reset_settings(const ResetSettingsCallback &callback)\n\nSubscribe to reset settings requests. Each request received should response to using RespondResetSettings.\nParameters\n\nconst ResetSettingsCallback& callback - \n\nReturns\n ResetSettingsHandle - \nunsubscribe_reset_settings() \nvoid mavsdk::CameraServer::unsubscribe_reset_settings(ResetSettingsHandle handle)\n\nUnsubscribe from subscribe_reset_settings.\nParameters\n\nResetSettingsHandle handle - \n\nrespond_reset_settings() \nResult mavsdk::CameraServer::respond_reset_settings(CameraFeedback reset_settings_feedback) const\n\nRespond to reset settings from SubscribeResetSettings.\nThis function is blocking.\nParameters\n\nCameraFeedback reset_settings_feedback - \n\nReturns\n Result - Result of request.\noperator=() \nconst CameraServer& mavsdk::CameraServer::operator=(const CameraServer &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst CameraServer& - \n\nReturns\n const CameraServer & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_info.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_info.html","title":"struct CaptureInfo","keywords":"","body":"mavsdk::CameraServer::CaptureInfo Struct Reference\n#include: camera_server.h\n\nInformation about a picture just captured. \nData Fields\nPosition position {} - Location where the picture was taken.\nQuaternion attitude_quaternion {} - Attitude of the camera when the picture was taken (quaternion)\nuint64_t time_utc_us {} - Timestamp in UTC (since UNIX epoch) in microseconds.\nbool is_success {} - True if the capture was successful.\nint32_t index {} - Index from TakePhotoResponse.\nstd::string file_url {} - Download URL of this image.\nField Documentation\nposition \nPosition mavsdk::CameraServer::CaptureInfo::position {}\n\nLocation where the picture was taken.\nattitude_quaternion \nQuaternion mavsdk::CameraServer::CaptureInfo::attitude_quaternion {}\n\nAttitude of the camera when the picture was taken (quaternion)\ntime_utc_us \nuint64_t mavsdk::CameraServer::CaptureInfo::time_utc_us {}\n\nTimestamp in UTC (since UNIX epoch) in microseconds.\nis_success \nbool mavsdk::CameraServer::CaptureInfo::is_success {}\n\nTrue if the capture was successful.\nindex \nint32_t mavsdk::CameraServer::CaptureInfo::index {}\n\nIndex from TakePhotoResponse.\nfile_url \nstd::string mavsdk::CameraServer::CaptureInfo::file_url {}\n\nDownload URL of this image.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_server_1_1_information.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_server_1_1_information.html","title":"struct Information","keywords":"","body":"mavsdk::CameraServer::Information Struct Reference\n#include: camera_server.h\n\nType to represent a camera information. \nData Fields\nstd::string vendor_name {} - Name of the camera vendor.\nstd::string model_name {} - Name of the camera model.\nstd::string firmware_version {} - Camera firmware version in major[.minor[.patch[.dev]]] format.\nfloat focal_length_mm {} - Focal length.\nfloat horizontal_sensor_size_mm {} - Horizontal sensor size.\nfloat vertical_sensor_size_mm {} - Vertical sensor size.\nuint32_t horizontal_resolution_px {} - Horizontal image resolution in pixels.\nuint32_t vertical_resolution_px {} - Vertical image resolution in pixels.\nuint32_t lens_id {} - Lens ID.\nuint32_t definition_file_version {} - Camera definition file version (iteration)\nstd::string definition_file_uri {} - Camera definition URI (http or mavlink ftp)\nField Documentation\nvendor_name \nstd::string mavsdk::CameraServer::Information::vendor_name {}\n\nName of the camera vendor.\nmodel_name \nstd::string mavsdk::CameraServer::Information::model_name {}\n\nName of the camera model.\nfirmware_version \nstd::string mavsdk::CameraServer::Information::firmware_version {}\n\nCamera firmware version in major[.minor[.patch[.dev]]] format.\nfocal_length_mm \nfloat mavsdk::CameraServer::Information::focal_length_mm {}\n\nFocal length.\nhorizontal_sensor_size_mm \nfloat mavsdk::CameraServer::Information::horizontal_sensor_size_mm {}\n\nHorizontal sensor size.\nvertical_sensor_size_mm \nfloat mavsdk::CameraServer::Information::vertical_sensor_size_mm {}\n\nVertical sensor size.\nhorizontal_resolution_px \nuint32_t mavsdk::CameraServer::Information::horizontal_resolution_px {}\n\nHorizontal image resolution in pixels.\nvertical_resolution_px \nuint32_t mavsdk::CameraServer::Information::vertical_resolution_px {}\n\nVertical image resolution in pixels.\nlens_id \nuint32_t mavsdk::CameraServer::Information::lens_id {}\n\nLens ID.\ndefinition_file_version \nuint32_t mavsdk::CameraServer::Information::definition_file_version {}\n\nCamera definition file version (iteration)\ndefinition_file_uri \nstd::string mavsdk::CameraServer::Information::definition_file_uri {}\n\nCamera definition URI (http or mavlink ftp)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_server_1_1_position.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_server_1_1_position.html","title":"struct Position","keywords":"","body":"mavsdk::CameraServer::Position Struct Reference\n#include: camera_server.h\n\nPosition type in global coordinates. \nData Fields\ndouble latitude_deg {} - Latitude in degrees (range: -90 to +90)\ndouble longitude_deg {} - Longitude in degrees (range: -180 to +180)\nfloat absolute_altitude_m {} - Altitude AMSL (above mean sea level) in metres.\nfloat relative_altitude_m {} - Altitude relative to takeoff altitude in metres.\nField Documentation\nlatitude_deg \ndouble mavsdk::CameraServer::Position::latitude_deg {}\n\nLatitude in degrees (range: -90 to +90)\nlongitude_deg \ndouble mavsdk::CameraServer::Position::longitude_deg {}\n\nLongitude in degrees (range: -180 to +180)\nabsolute_altitude_m \nfloat mavsdk::CameraServer::Position::absolute_altitude_m {}\n\nAltitude AMSL (above mean sea level) in metres.\nrelative_altitude_m \nfloat mavsdk::CameraServer::Position::relative_altitude_m {}\n\nAltitude relative to takeoff altitude in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_camera_server_1_1_quaternion.html":{"url":"cpp/api_reference/structmavsdk_1_1_camera_server_1_1_quaternion.html","title":"struct Quaternion","keywords":"","body":"mavsdk::CameraServer::Quaternion Struct Reference\n#include: camera_server.h\n\nQuaternion type. \nAll rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.\nFor more info see: https://en.wikipedia.org/wiki/Quaternion \nData Fields\nfloat w {} - Quaternion entry 0, also denoted as a.\nfloat x {} - Quaternion entry 1, also denoted as b.\nfloat y {} - Quaternion entry 2, also denoted as c.\nfloat z {} - Quaternion entry 3, also denoted as d.\nField Documentation\nw \nfloat mavsdk::CameraServer::Quaternion::w {}\n\nQuaternion entry 0, also denoted as a.\nx \nfloat mavsdk::CameraServer::Quaternion::x {}\n\nQuaternion entry 1, also denoted as b.\ny \nfloat mavsdk::CameraServer::Quaternion::y {}\n\nQuaternion entry 2, also denoted as c.\nz \nfloat mavsdk::CameraServer::Quaternion::z {}\n\nQuaternion entry 3, also denoted as d.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_component_information.html":{"url":"cpp/api_reference/classmavsdk_1_1_component_information.html","title":"class ComponentInformation","keywords":"","body":"mavsdk::ComponentInformation Class Reference\n#include: component_information.h\n\nAccess component information such as parameters. \nData Structures\nstruct FloatParam\nstruct FloatParamUpdate\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for param requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous ComponentInformation calls.\n\n\nstd::functionFloatParamUpdate)> FloatParamCallback\nCallback type for subscribe_float_param.\n\n\nHandleFloatParamUpdate > FloatParamHandle\nHandle type for subscribe_float_param.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nComponentInformation (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nComponentInformation (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~ComponentInformation () override\nDestructor (internal use only).\n\n\n \nComponentInformation (const ComponentInformation & other)\nCopy constructor.\n\n\nstd::pairResult, std::vectorComponentInformation::FloatParam > >\naccess_float_params () const\nList available float params.\n\n\nFloatParamHandle\nsubscribe_float_param (const FloatParamCallback & callback)\nSubscribe to float param changes/updates.\n\n\nvoid\nunsubscribe_float_param (FloatParamHandle handle)\nUnsubscribe from subscribe_float_param.\n\n\nconst ComponentInformation &\noperator= (const ComponentInformation &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nComponentInformation() \nmavsdk::ComponentInformation::ComponentInformation(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto component_information = ComponentInformation(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nComponentInformation() \nmavsdk::ComponentInformation::ComponentInformation(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto component_information = ComponentInformation(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~ComponentInformation() \nmavsdk::ComponentInformation::~ComponentInformation() override\n\nDestructor (internal use only).\nComponentInformation() \nmavsdk::ComponentInformation::ComponentInformation(const ComponentInformation &other)\n\nCopy constructor.\nParameters\n\nconst ComponentInformation& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::ComponentInformation::ResultCallback = std::function\n\nCallback type for asynchronous ComponentInformation calls.\ntypedef FloatParamCallback \nusing mavsdk::ComponentInformation::FloatParamCallback = std::function\n\nCallback type for subscribe_float_param.\ntypedef FloatParamHandle \nusing mavsdk::ComponentInformation::FloatParamHandle = Handle\n\nHandle type for subscribe_float_param.\nMember Enumeration Documentation\nenum Result \nPossible results returned for param requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n NoSystem\nNo system is connected. \n\n\n\nMember Function Documentation\naccess_float_params() \nstd::pair > mavsdk::ComponentInformation::access_float_params() const\n\nList available float params.\nThis function is blocking.\nReturns\n std::pairResult, std::vectorComponentInformation::FloatParam > > - Result of request.\nsubscribe_float_param() \nFloatParamHandle mavsdk::ComponentInformation::subscribe_float_param(const FloatParamCallback &callback)\n\nSubscribe to float param changes/updates.\nParameters\n\nconst FloatParamCallback& callback - \n\nReturns\n FloatParamHandle - \nunsubscribe_float_param() \nvoid mavsdk::ComponentInformation::unsubscribe_float_param(FloatParamHandle handle)\n\nUnsubscribe from subscribe_float_param.\nParameters\n\nFloatParamHandle handle - \n\noperator=() \nconst ComponentInformation& mavsdk::ComponentInformation::operator=(const ComponentInformation &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst ComponentInformation& - \n\nReturns\n const ComponentInformation & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param.html":{"url":"cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param.html","title":"struct FloatParam","keywords":"","body":"mavsdk::ComponentInformation::FloatParam Struct Reference\n#include: component_information.h\n\nMeta information for parameter of type float. \nData Fields\nstd::string name {} - Name (max 16 chars)\nstd::string short_description {} - Short description.\nstd::string long_description {} - Long description.\nstd::string unit {} - Unit.\nint32_t decimal_places {} - Decimal places for user to show.\nfloat start_value {} - Current/starting value.\nfloat default_value {} - Default value.\nfloat min_value {} - Minimum value.\nfloat max_value {} - Maximum value.\nField Documentation\nname \nstd::string mavsdk::ComponentInformation::FloatParam::name {}\n\nName (max 16 chars)\nshort_description \nstd::string mavsdk::ComponentInformation::FloatParam::short_description {}\n\nShort description.\nlong_description \nstd::string mavsdk::ComponentInformation::FloatParam::long_description {}\n\nLong description.\nunit \nstd::string mavsdk::ComponentInformation::FloatParam::unit {}\n\nUnit.\ndecimal_places \nint32_t mavsdk::ComponentInformation::FloatParam::decimal_places {}\n\nDecimal places for user to show.\nstart_value \nfloat mavsdk::ComponentInformation::FloatParam::start_value {}\n\nCurrent/starting value.\ndefault_value \nfloat mavsdk::ComponentInformation::FloatParam::default_value {}\n\nDefault value.\nmin_value \nfloat mavsdk::ComponentInformation::FloatParam::min_value {}\n\nMinimum value.\nmax_value \nfloat mavsdk::ComponentInformation::FloatParam::max_value {}\n\nMaximum value.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param_update.html":{"url":"cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param_update.html","title":"struct FloatParamUpdate","keywords":"","body":"mavsdk::ComponentInformation::FloatParamUpdate Struct Reference\n#include: component_information.h\n\nA float param that has been updated. \nData Fields\nstd::string name {} - Name of param that changed.\nfloat value {} - New value of param.\nField Documentation\nname \nstd::string mavsdk::ComponentInformation::FloatParamUpdate::name {}\n\nName of param that changed.\nvalue \nfloat mavsdk::ComponentInformation::FloatParamUpdate::value {}\n\nNew value of param.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_component_information_server.html":{"url":"cpp/api_reference/classmavsdk_1_1_component_information_server.html","title":"class ComponentInformationServer","keywords":"","body":"mavsdk::ComponentInformationServer Class Reference\n#include: component_information_server.h\n\nProvide component information such as parameters. \nData Structures\nstruct FloatParam\nstruct FloatParamUpdate\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for param requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous ComponentInformationServer calls.\n\n\nstd::functionFloatParamUpdate)> FloatParamCallback\nCallback type for subscribe_float_param.\n\n\nHandleFloatParamUpdate > FloatParamHandle\nHandle type for subscribe_float_param.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nComponentInformationServer (std::shared_ptrServerComponent > server_component)\nConstructor. Creates the plugin for a ServerComponent instance.\n\n\n \n~ComponentInformationServer () override\nDestructor (internal use only).\n\n\n \nComponentInformationServer (const ComponentInformationServer & other)\nCopy constructor.\n\n\nResult\nprovide_float_param (FloatParam param)const\nProvide a param of type float.\n\n\nFloatParamHandle\nsubscribe_float_param (const FloatParamCallback & callback)\nSubscribe to float param updates.\n\n\nvoid\nunsubscribe_float_param (FloatParamHandle handle)\nUnsubscribe from subscribe_float_param.\n\n\nconst ComponentInformationServer &\noperator= (const ComponentInformationServer &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nComponentInformationServer() \nmavsdk::ComponentInformationServer::ComponentInformationServer(std::shared_ptr server_component)\n\nConstructor. Creates the plugin for a ServerComponent instance.\nThe plugin is typically created as shown below: \nauto component_information_server = ComponentInformationServer(server_component);\n\nParameters\n\nstd::shared_ptrServerComponent > server_component - The ServerComponent instance associated with this server plugin.\n\n~ComponentInformationServer() \nmavsdk::ComponentInformationServer::~ComponentInformationServer() override\n\nDestructor (internal use only).\nComponentInformationServer() \nmavsdk::ComponentInformationServer::ComponentInformationServer(const ComponentInformationServer &other)\n\nCopy constructor.\nParameters\n\nconst ComponentInformationServer& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::ComponentInformationServer::ResultCallback = std::function\n\nCallback type for asynchronous ComponentInformationServer calls.\ntypedef FloatParamCallback \nusing mavsdk::ComponentInformationServer::FloatParamCallback = std::function\n\nCallback type for subscribe_float_param.\ntypedef FloatParamHandle \nusing mavsdk::ComponentInformationServer::FloatParamHandle = Handle\n\nHandle type for subscribe_float_param.\nMember Enumeration Documentation\nenum Result \nPossible results returned for param requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n DuplicateParam\nDuplicate param. \n\n\n InvalidParamStartValue\nInvalid start param value. \n\n\n InvalidParamDefaultValue\nInvalid default param value. \n\n\n InvalidParamName\nInvalid param name. \n\n\n NoSystem\nNo system is connected. \n\n\n\nMember Function Documentation\nprovide_float_param() \nResult mavsdk::ComponentInformationServer::provide_float_param(FloatParam param) const\n\nProvide a param of type float.\nThis function is blocking.\nParameters\n\nFloatParam param - \n\nReturns\n Result - Result of request.\nsubscribe_float_param() \nFloatParamHandle mavsdk::ComponentInformationServer::subscribe_float_param(const FloatParamCallback &callback)\n\nSubscribe to float param updates.\nParameters\n\nconst FloatParamCallback& callback - \n\nReturns\n FloatParamHandle - \nunsubscribe_float_param() \nvoid mavsdk::ComponentInformationServer::unsubscribe_float_param(FloatParamHandle handle)\n\nUnsubscribe from subscribe_float_param.\nParameters\n\nFloatParamHandle handle - \n\noperator=() \nconst ComponentInformationServer& mavsdk::ComponentInformationServer::operator=(const ComponentInformationServer &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst ComponentInformationServer& - \n\nReturns\n const ComponentInformationServer & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param.html":{"url":"cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param.html","title":"struct FloatParam","keywords":"","body":"mavsdk::ComponentInformationServer::FloatParam Struct Reference\n#include: component_information_server.h\n\nMeta information for parameter of type float. \nData Fields\nstd::string name {} - Name (max 16 chars)\nstd::string short_description {} - Short description.\nstd::string long_description {} - Long description.\nstd::string unit {} - Unit.\nint32_t decimal_places {} - Decimal places for user to show.\nfloat start_value {} - Current/starting value.\nfloat default_value {} - Default value.\nfloat min_value {} - Minimum value.\nfloat max_value {} - Maximum value.\nField Documentation\nname \nstd::string mavsdk::ComponentInformationServer::FloatParam::name {}\n\nName (max 16 chars)\nshort_description \nstd::string mavsdk::ComponentInformationServer::FloatParam::short_description {}\n\nShort description.\nlong_description \nstd::string mavsdk::ComponentInformationServer::FloatParam::long_description {}\n\nLong description.\nunit \nstd::string mavsdk::ComponentInformationServer::FloatParam::unit {}\n\nUnit.\ndecimal_places \nint32_t mavsdk::ComponentInformationServer::FloatParam::decimal_places {}\n\nDecimal places for user to show.\nstart_value \nfloat mavsdk::ComponentInformationServer::FloatParam::start_value {}\n\nCurrent/starting value.\ndefault_value \nfloat mavsdk::ComponentInformationServer::FloatParam::default_value {}\n\nDefault value.\nmin_value \nfloat mavsdk::ComponentInformationServer::FloatParam::min_value {}\n\nMinimum value.\nmax_value \nfloat mavsdk::ComponentInformationServer::FloatParam::max_value {}\n\nMaximum value.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param_update.html":{"url":"cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param_update.html","title":"struct FloatParamUpdate","keywords":"","body":"mavsdk::ComponentInformationServer::FloatParamUpdate Struct Reference\n#include: component_information_server.h\n\nA float param that has been updated. \nData Fields\nstd::string name {} - Name of param that changed.\nfloat value {} - New value of param.\nField Documentation\nname \nstd::string mavsdk::ComponentInformationServer::FloatParamUpdate::name {}\n\nName of param that changed.\nvalue \nfloat mavsdk::ComponentInformationServer::FloatParamUpdate::value {}\n\nNew value of param.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_failure.html":{"url":"cpp/api_reference/classmavsdk_1_1_failure.html","title":"class Failure","keywords":"","body":"mavsdk::Failure Class Reference\n#include: failure.h\n\nInject failures into system to test failsafes. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum FailureUnit\nA failure unit.\n\n\nenum FailureType\nA failure type.\n\n\nenum Result\nPossible results returned for failure requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Failure calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nFailure (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nFailure (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Failure () override\nDestructor (internal use only).\n\n\n \nFailure (const Failure & other)\nCopy constructor.\n\n\nResult\ninject (FailureUnit failure_unit, FailureType failure_type, int32_t instance)const\nInjects a failure.\n\n\nconst Failure &\noperator= (const Failure &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nFailure() \nmavsdk::Failure::Failure(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto failure = Failure(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nFailure() \nmavsdk::Failure::Failure(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto failure = Failure(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Failure() \nmavsdk::Failure::~Failure() override\n\nDestructor (internal use only).\nFailure() \nmavsdk::Failure::Failure(const Failure &other)\n\nCopy constructor.\nParameters\n\nconst Failure& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Failure::ResultCallback = std::function\n\nCallback type for asynchronous Failure calls.\nMember Enumeration Documentation\nenum FailureUnit \nA failure unit.\n\n\n\nValue\nDescription\n\n\n\n\n SensorGyro\nGyro. \n\n\n SensorAccel\nAccelerometer. \n\n\n SensorMag\nMagnetometer. \n\n\n SensorBaro\nBarometer. \n\n\n SensorGps\nGPS. \n\n\n SensorOpticalFlow\nOptical flow. \n\n\n SensorVio\nVisual inertial odometry. \n\n\n SensorDistanceSensor\nDistance sensor. \n\n\n SensorAirspeed\nAirspeed. \n\n\n SystemBattery\nBattery. \n\n\n SystemMotor\nMotor. \n\n\n SystemServo\nServo. \n\n\n SystemAvoidance\nAvoidance. \n\n\n SystemRcSignal\nRC signal. \n\n\n SystemMavlinkSignal\nMAVLink signal. \n\n\n\nenum FailureType \nA failure type.\n\n\n\nValue\nDescription\n\n\n\n\n Ok\nNo failure injected, used to reset a previous failure. \n\n\n Off\nSets unit off, so completely non-responsive. \n\n\n Stuck\nUnit is stuck e.g. keeps reporting the same value. \n\n\n Garbage\nUnit is reporting complete garbage. \n\n\n Wrong\nUnit is consistently wrong. \n\n\n Slow\nUnit is slow, so e.g. reporting at slower than expected rate. \n\n\n Delayed\nData of unit is delayed in time. \n\n\n Intermittent\nUnit is sometimes working, sometimes not. \n\n\n\nenum Result \nPossible results returned for failure requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n NoSystem\nNo system is connected. \n\n\n ConnectionError\nConnection error. \n\n\n Unsupported\nFailure not supported. \n\n\n Denied\nFailure injection denied. \n\n\n Disabled\nFailure injection is disabled. \n\n\n Timeout\nRequest timed out. \n\n\n\nMember Function Documentation\ninject() \nResult mavsdk::Failure::inject(FailureUnit failure_unit, FailureType failure_type, int32_t instance) const\n\nInjects a failure.\nThis function is blocking.\nParameters\n\nFailureUnit failure_unit - \nFailureType failure_type - \nint32_t instance - \n\nReturns\n Result - Result of request.\noperator=() \nconst Failure& mavsdk::Failure::operator=(const Failure &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Failure& - \n\nReturns\n const Failure & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/classmavsdk_1_1_follow_me.html":{"url":"cpp/api_reference/classmavsdk_1_1_follow_me.html","title":"class FollowMe","keywords":"","body":"mavsdk::FollowMe Class Reference\n#include: follow_me.h\n\nAllow users to command the vehicle to follow a specific target. The target is provided as a GPS coordinate and altitude. \nData Structures\nstruct Config\nstruct TargetLocation\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for followme operations.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous FollowMe calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nFollowMe (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nFollowMe (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~FollowMe () override\nDestructor (internal use only).\n\n\n \nFollowMe (const FollowMe & other)\nCopy constructor.\n\n\nFollowMe::Config\nget_config () const\nGet current configuration.\n\n\nResult\nset_config (Config config)const\nApply configuration by sending it to the system.\n\n\nbool\nis_active () const\nCheck if FollowMe is active.\n\n\nResult\nset_target_location (TargetLocation location)const\nSet location of the moving target.\n\n\nFollowMe::TargetLocation\nget_last_location () const\nGet the last location of the target.\n\n\nResult\nstart () const\nStart FollowMe mode.\n\n\nResult\nstop () const\nStop FollowMe mode.\n\n\nconst FollowMe &\noperator= (const FollowMe &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nFollowMe() \nmavsdk::FollowMe::FollowMe(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto follow_me = FollowMe(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nFollowMe() \nmavsdk::FollowMe::FollowMe(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto follow_me = FollowMe(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~FollowMe() \nmavsdk::FollowMe::~FollowMe() override\n\nDestructor (internal use only).\nFollowMe() \nmavsdk::FollowMe::FollowMe(const FollowMe &other)\n\nCopy constructor.\nParameters\n\nconst FollowMe& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::FollowMe::ResultCallback = std::function\n\nCallback type for asynchronous FollowMe calls.\nMember Enumeration Documentation\nenum Result \nPossible results returned for followme operations.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n NoSystem\nNo system connected. \n\n\n ConnectionError\nConnection error. \n\n\n Busy\nVehicle is busy. \n\n\n CommandDenied\nCommand denied. \n\n\n Timeout\nRequest timed out. \n\n\n NotActive\nFollowMe is not active. \n\n\n SetConfigFailed\nFailed to set FollowMe configuration. \n\n\n\nMember Function Documentation\nget_config() \nFollowMe::Config mavsdk::FollowMe::get_config() const\n\nGet current configuration.\nThis function is blocking.\nReturns\n FollowMe::Config - Result of request.\nset_config() \nResult mavsdk::FollowMe::set_config(Config config) const\n\nApply configuration by sending it to the system.\nThis function is blocking.\nParameters\n\nConfig config - \n\nReturns\n Result - Result of request.\nis_active() \nbool mavsdk::FollowMe::is_active() const\n\nCheck if FollowMe is active.\nThis function is blocking.\nReturns\n bool - Result of request.\nset_target_location() \nResult mavsdk::FollowMe::set_target_location(TargetLocation location) const\n\nSet location of the moving target.\nThis function is blocking.\nParameters\n\nTargetLocation location - \n\nReturns\n Result - Result of request.\nget_last_location() \nFollowMe::TargetLocation mavsdk::FollowMe::get_last_location() const\n\nGet the last location of the target.\nThis function is blocking.\nReturns\n FollowMe::TargetLocation - Result of request.\nstart() \nResult mavsdk::FollowMe::start() const\n\nStart FollowMe mode.\nThis function is blocking.\nReturns\n Result - Result of request.\nstop() \nResult mavsdk::FollowMe::stop() const\n\nStop FollowMe mode.\nThis function is blocking.\nReturns\n Result - Result of request.\noperator=() \nconst FollowMe& mavsdk::FollowMe::operator=(const FollowMe &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst FollowMe& - \n\nReturns\n const FollowMe & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_follow_me_1_1_config.html":{"url":"cpp/api_reference/structmavsdk_1_1_follow_me_1_1_config.html","title":"struct Config","keywords":"","body":"mavsdk::FollowMe::Config Struct Reference\n#include: follow_me.h\n\nConfiguration type. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum FollowAltitudeMode\nAltitude mode to configure which altitude the follow me will assume the target to be at.\n\n\n\nData Fields\nfloat follow_height_m { 8.0f} - [m] Follow height in meters (recommended minimum 8 meters)\nfloat follow_distance_m {8.0f} - [m] Follow distance to target in meters (recommended minimum 4 meter)\nfloat responsiveness {0.1f} - How responsive the vehicle is to the motion of the target, Lower value = More responsive (range 0.0 to 1.0)\nFollowAltitudeMode altitude_mode {} - Follow Altitude control mode.\nfloat max_tangential_vel_m_s { 8.0f} - [m/s] Maximum orbit tangential velocity relative to the target, in meters per second. Higher value = More aggressive follow angle tracking.\nfloat follow_angle_deg { 180.0f} - [deg] Follow Angle relative to the target. 0 equals following in front of the target's direction. Angle increases in Clockwise direction, so following from right would be 90 degrees, from the left is -90 degrees, and so on.\nMember Enumeration Documentation\nenum FollowAltitudeMode \nAltitude mode to configure which altitude the follow me will assume the target to be at.\n\n\n\nValue\nDescription\n\n\n\n\n Constant\nTarget assumed to be mobing at a constant altitude of home position (where the vehicle armed). \n\n\n Terrain\nTarget assumed to be at the terrain level sensed by the distance sensor. \n\n\n TargetGps\nTarget GPS altitude taken into account to do 3D tracking. \n\n\n\nField Documentation\nfollow_height_m \nfloat mavsdk::FollowMe::Config::follow_height_m { 8.0f}\n\n[m] Follow height in meters (recommended minimum 8 meters)\nfollow_distance_m \nfloat mavsdk::FollowMe::Config::follow_distance_m {8.0f}\n\n[m] Follow distance to target in meters (recommended minimum 4 meter)\nresponsiveness \nfloat mavsdk::FollowMe::Config::responsiveness {0.1f}\n\nHow responsive the vehicle is to the motion of the target, Lower value = More responsive (range 0.0 to 1.0)\naltitude_mode \nFollowAltitudeMode mavsdk::FollowMe::Config::altitude_mode {}\n\nFollow Altitude control mode.\nmax_tangential_vel_m_s \nfloat mavsdk::FollowMe::Config::max_tangential_vel_m_s { 8.0f}\n\n[m/s] Maximum orbit tangential velocity relative to the target, in meters per second. Higher value = More aggressive follow angle tracking.\nfollow_angle_deg \nfloat mavsdk::FollowMe::Config::follow_angle_deg { 180.0f}\n\n[deg] Follow Angle relative to the target. 0 equals following in front of the target's direction. Angle increases in Clockwise direction, so following from right would be 90 degrees, from the left is -90 degrees, and so on.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_follow_me_1_1_target_location.html":{"url":"cpp/api_reference/structmavsdk_1_1_follow_me_1_1_target_location.html","title":"struct TargetLocation","keywords":"","body":"mavsdk::FollowMe::TargetLocation Struct Reference\n#include: follow_me.h\n\nTarget location for the vehicle to follow. \nData Fields\ndouble latitude_deg {double(NAN)} - Target latitude in degrees.\ndouble longitude_deg {double(NAN)} - Target longitude in degrees.\nfloat absolute_altitude_m {float(NAN)} - Target altitude in meters above MSL.\nfloat velocity_x_m_s { float(NAN)} - Target velocity in X axis, in meters per second.\nfloat velocity_y_m_s { float(NAN)} - Target velocity in Y axis, in meters per second.\nfloat velocity_z_m_s { float(NAN)} - Target velocity in Z axis, in meters per second.\nField Documentation\nlatitude_deg \ndouble mavsdk::FollowMe::TargetLocation::latitude_deg {double(NAN)}\n\nTarget latitude in degrees.\nlongitude_deg \ndouble mavsdk::FollowMe::TargetLocation::longitude_deg {double(NAN)}\n\nTarget longitude in degrees.\nabsolute_altitude_m \nfloat mavsdk::FollowMe::TargetLocation::absolute_altitude_m {float(NAN)}\n\nTarget altitude in meters above MSL.\nvelocity_x_m_s \nfloat mavsdk::FollowMe::TargetLocation::velocity_x_m_s { float(NAN)}\n\nTarget velocity in X axis, in meters per second.\nvelocity_y_m_s \nfloat mavsdk::FollowMe::TargetLocation::velocity_y_m_s { float(NAN)}\n\nTarget velocity in Y axis, in meters per second.\nvelocity_z_m_s \nfloat mavsdk::FollowMe::TargetLocation::velocity_z_m_s { float(NAN)}\n\nTarget velocity in Z axis, in meters per second.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_ftp.html":{"url":"cpp/api_reference/classmavsdk_1_1_ftp.html","title":"class Ftp","keywords":"","body":"mavsdk::Ftp Class Reference\n#include: ftp.h\n\nImplements file transfer functionality using MAVLink FTP. \nData Structures\nstruct ProgressData\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for FTP commands.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Ftp calls.\n\n\nstd::functionResult, ProgressData)> DownloadCallback\nCallback type for download_async.\n\n\nstd::functionResult, ProgressData)> UploadCallback\nCallback type for upload_async.\n\n\nstd::functionResult, std::vector)> ListDirectoryCallback\nCallback type for list_directory_async.\n\n\nstd::functionResult, bool)> AreFilesIdenticalCallback\nCallback type for are_files_identical_async.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nFtp (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nFtp (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Ftp () override\nDestructor (internal use only).\n\n\n \nFtp (const Ftp & other)\nCopy constructor.\n\n\nvoid\ndownload_async (std::string remote_file_path, std::string local_dir, bool use_burst, const DownloadCallback & callback)\nDownloads a file to local directory.\n\n\nvoid\nupload_async (std::string local_file_path, std::string remote_dir, const UploadCallback & callback)\nUploads local file to remote directory.\n\n\nvoid\nlist_directory_async (std::string remote_dir, const ListDirectoryCallback callback)\nLists items from a remote directory.\n\n\nstd::pairResult, std::vector >\nlist_directory (std::string remote_dir)const\nLists items from a remote directory.\n\n\nvoid\ncreate_directory_async (std::string remote_dir, const ResultCallback callback)\nCreates a remote directory.\n\n\nResult\ncreate_directory (std::string remote_dir)const\nCreates a remote directory.\n\n\nvoid\nremove_directory_async (std::string remote_dir, const ResultCallback callback)\nRemoves a remote directory.\n\n\nResult\nremove_directory (std::string remote_dir)const\nRemoves a remote directory.\n\n\nvoid\nremove_file_async (std::string remote_file_path, const ResultCallback callback)\nRemoves a remote file.\n\n\nResult\nremove_file (std::string remote_file_path)const\nRemoves a remote file.\n\n\nvoid\nrename_async (std::string remote_from_path, std::string remote_to_path, const ResultCallback callback)\nRenames a remote file or remote directory.\n\n\nResult\nrename (std::string remote_from_path, std::string remote_to_path)const\nRenames a remote file or remote directory.\n\n\nvoid\nare_files_identical_async (std::string local_file_path, std::string remote_file_path, const AreFilesIdenticalCallback callback)\nCompares a local file to a remote file using a CRC32 checksum.\n\n\nstd::pairResult, bool >\nare_files_identical (std::string local_file_path, std::string remote_file_path)const\nCompares a local file to a remote file using a CRC32 checksum.\n\n\nResult\nset_target_compid (uint32_t compid)const\nSet target component ID. By default it is the autopilot.\n\n\nconst Ftp &\noperator= (const Ftp &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nFtp() \nmavsdk::Ftp::Ftp(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto ftp = Ftp(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nFtp() \nmavsdk::Ftp::Ftp(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto ftp = Ftp(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Ftp() \nmavsdk::Ftp::~Ftp() override\n\nDestructor (internal use only).\nFtp() \nmavsdk::Ftp::Ftp(const Ftp &other)\n\nCopy constructor.\nParameters\n\nconst Ftp& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Ftp::ResultCallback = std::function\n\nCallback type for asynchronous Ftp calls.\ntypedef DownloadCallback \nusing mavsdk::Ftp::DownloadCallback = std::function\n\nCallback type for download_async.\ntypedef UploadCallback \nusing mavsdk::Ftp::UploadCallback = std::function\n\nCallback type for upload_async.\ntypedef ListDirectoryCallback \nusing mavsdk::Ftp::ListDirectoryCallback = std::function)>\n\nCallback type for list_directory_async.\ntypedef AreFilesIdenticalCallback \nusing mavsdk::Ftp::AreFilesIdenticalCallback = std::function\n\nCallback type for are_files_identical_async.\nMember Enumeration Documentation\nenum Result \nPossible results returned for FTP commands.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nSuccess. \n\n\n Next\nIntermediate message showing progress. \n\n\n Timeout\nTimeout. \n\n\n Busy\nOperation is already in progress. \n\n\n FileIoError\nFile IO operation error. \n\n\n FileExists\nFile exists already. \n\n\n FileDoesNotExist\nFile does not exist. \n\n\n FileProtected\nFile is write protected. \n\n\n InvalidParameter\nInvalid parameter. \n\n\n Unsupported\nUnsupported command. \n\n\n ProtocolError\nGeneral protocol error. \n\n\n NoSystem\nNo system connected. \n\n\n\nMember Function Documentation\ndownload_async() \nvoid mavsdk::Ftp::download_async(std::string remote_file_path, std::string local_dir, bool use_burst, const DownloadCallback &callback)\n\nDownloads a file to local directory.\nParameters\n\nstd::string remote_file_path - \nstd::string local_dir - \nbool use_burst - \nconst DownloadCallback& callback - \n\nupload_async() \nvoid mavsdk::Ftp::upload_async(std::string local_file_path, std::string remote_dir, const UploadCallback &callback)\n\nUploads local file to remote directory.\nParameters\n\nstd::string local_file_path - \nstd::string remote_dir - \nconst UploadCallback& callback - \n\nlist_directory_async() \nvoid mavsdk::Ftp::list_directory_async(std::string remote_dir, const ListDirectoryCallback callback)\n\nLists items from a remote directory.\nThis function is non-blocking. See 'list_directory' for the blocking counterpart.\nParameters\n\nstd::string remote_dir - \nconst ListDirectoryCallback callback - \n\nlist_directory() \nstd::pair > mavsdk::Ftp::list_directory(std::string remote_dir) const\n\nLists items from a remote directory.\nThis function is blocking. See 'list_directory_async' for the non-blocking counterpart.\nParameters\n\nstd::string remote_dir - \n\nReturns\n std::pairResult, std::vector > - Result of request.\ncreate_directory_async() \nvoid mavsdk::Ftp::create_directory_async(std::string remote_dir, const ResultCallback callback)\n\nCreates a remote directory.\nThis function is non-blocking. See 'create_directory' for the blocking counterpart.\nParameters\n\nstd::string remote_dir - \nconst ResultCallback callback - \n\ncreate_directory() \nResult mavsdk::Ftp::create_directory(std::string remote_dir) const\n\nCreates a remote directory.\nThis function is blocking. See 'create_directory_async' for the non-blocking counterpart.\nParameters\n\nstd::string remote_dir - \n\nReturns\n Result - Result of request.\nremove_directory_async() \nvoid mavsdk::Ftp::remove_directory_async(std::string remote_dir, const ResultCallback callback)\n\nRemoves a remote directory.\nThis function is non-blocking. See 'remove_directory' for the blocking counterpart.\nParameters\n\nstd::string remote_dir - \nconst ResultCallback callback - \n\nremove_directory() \nResult mavsdk::Ftp::remove_directory(std::string remote_dir) const\n\nRemoves a remote directory.\nThis function is blocking. See 'remove_directory_async' for the non-blocking counterpart.\nParameters\n\nstd::string remote_dir - \n\nReturns\n Result - Result of request.\nremove_file_async() \nvoid mavsdk::Ftp::remove_file_async(std::string remote_file_path, const ResultCallback callback)\n\nRemoves a remote file.\nThis function is non-blocking. See 'remove_file' for the blocking counterpart.\nParameters\n\nstd::string remote_file_path - \nconst ResultCallback callback - \n\nremove_file() \nResult mavsdk::Ftp::remove_file(std::string remote_file_path) const\n\nRemoves a remote file.\nThis function is blocking. See 'remove_file_async' for the non-blocking counterpart.\nParameters\n\nstd::string remote_file_path - \n\nReturns\n Result - Result of request.\nrename_async() \nvoid mavsdk::Ftp::rename_async(std::string remote_from_path, std::string remote_to_path, const ResultCallback callback)\n\nRenames a remote file or remote directory.\nThis function is non-blocking. See 'rename' for the blocking counterpart.\nParameters\n\nstd::string remote_from_path - \nstd::string remote_to_path - \nconst ResultCallback callback - \n\nrename() \nResult mavsdk::Ftp::rename(std::string remote_from_path, std::string remote_to_path) const\n\nRenames a remote file or remote directory.\nThis function is blocking. See 'rename_async' for the non-blocking counterpart.\nParameters\n\nstd::string remote_from_path - \nstd::string remote_to_path - \n\nReturns\n Result - Result of request.\nare_files_identical_async() \nvoid mavsdk::Ftp::are_files_identical_async(std::string local_file_path, std::string remote_file_path, const AreFilesIdenticalCallback callback)\n\nCompares a local file to a remote file using a CRC32 checksum.\nThis function is non-blocking. See 'are_files_identical' for the blocking counterpart.\nParameters\n\nstd::string local_file_path - \nstd::string remote_file_path - \nconst AreFilesIdenticalCallback callback - \n\nare_files_identical() \nstd::pair mavsdk::Ftp::are_files_identical(std::string local_file_path, std::string remote_file_path) const\n\nCompares a local file to a remote file using a CRC32 checksum.\nThis function is blocking. See 'are_files_identical_async' for the non-blocking counterpart.\nParameters\n\nstd::string local_file_path - \nstd::string remote_file_path - \n\nReturns\n std::pairResult, bool > - Result of request.\nset_target_compid() \nResult mavsdk::Ftp::set_target_compid(uint32_t compid) const\n\nSet target component ID. By default it is the autopilot.\nThis function is blocking.\nParameters\n\nuint32_t compid - \n\nReturns\n Result - Result of request.\noperator=() \nconst Ftp& mavsdk::Ftp::operator=(const Ftp &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Ftp& - \n\nReturns\n const Ftp & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/classmavsdk_1_1_geofence.html":{"url":"cpp/api_reference/classmavsdk_1_1_geofence.html","title":"class Geofence","keywords":"","body":"mavsdk::Geofence Class Reference\n#include: geofence.h\n\nEnable setting a geofence. \nData Structures\nstruct Circle\nstruct GeofenceData\nstruct Point\nstruct Polygon\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum FenceType\nGeofence types.\n\n\nenum Result\nPossible results returned for geofence requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Geofence calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nGeofence (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nGeofence (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Geofence () override\nDestructor (internal use only).\n\n\n \nGeofence (const Geofence & other)\nCopy constructor.\n\n\nvoid\nupload_geofence_async (GeofenceData geofence_data, const ResultCallback callback)\nUpload geofences.\n\n\nResult\nupload_geofence (GeofenceData geofence_data)const\nUpload geofences.\n\n\nvoid\nclear_geofence_async (const ResultCallback callback)\nClear all geofences saved on the vehicle.\n\n\nResult\nclear_geofence () const\nClear all geofences saved on the vehicle.\n\n\nconst Geofence &\noperator= (const Geofence &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nGeofence() \nmavsdk::Geofence::Geofence(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto geofence = Geofence(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nGeofence() \nmavsdk::Geofence::Geofence(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto geofence = Geofence(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Geofence() \nmavsdk::Geofence::~Geofence() override\n\nDestructor (internal use only).\nGeofence() \nmavsdk::Geofence::Geofence(const Geofence &other)\n\nCopy constructor.\nParameters\n\nconst Geofence& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Geofence::ResultCallback = std::function\n\nCallback type for asynchronous Geofence calls.\nMember Enumeration Documentation\nenum FenceType \nGeofence types.\n\n\n\nValue\nDescription\n\n\n\n\n Inclusion\nType representing an inclusion fence. \n\n\n Exclusion\nType representing an exclusion fence. \n\n\n\nenum Result \nPossible results returned for geofence requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n Error\nError. \n\n\n TooManyGeofenceItems\nToo many objects in the geofence. \n\n\n Busy\nVehicle is busy. \n\n\n Timeout\nRequest timed out. \n\n\n InvalidArgument\nInvalid argument. \n\n\n NoSystem\nNo system connected. \n\n\n\nMember Function Documentation\nupload_geofence_async() \nvoid mavsdk::Geofence::upload_geofence_async(GeofenceData geofence_data, const ResultCallback callback)\n\nUpload geofences.\nPolygon and Circular geofences are uploaded to a drone. Once uploaded, the geofence will remain on the drone even if a connection is lost.\nThis function is non-blocking. See 'upload_geofence' for the blocking counterpart.\nParameters\n\nGeofenceData geofence_data - \nconst ResultCallback callback - \n\nupload_geofence() \nResult mavsdk::Geofence::upload_geofence(GeofenceData geofence_data) const\n\nUpload geofences.\nPolygon and Circular geofences are uploaded to a drone. Once uploaded, the geofence will remain on the drone even if a connection is lost.\nThis function is blocking. See 'upload_geofence_async' for the non-blocking counterpart.\nParameters\n\nGeofenceData geofence_data - \n\nReturns\n Result - Result of request.\nclear_geofence_async() \nvoid mavsdk::Geofence::clear_geofence_async(const ResultCallback callback)\n\nClear all geofences saved on the vehicle.\nThis function is non-blocking. See 'clear_geofence' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nclear_geofence() \nResult mavsdk::Geofence::clear_geofence() const\n\nClear all geofences saved on the vehicle.\nThis function is blocking. See 'clear_geofence_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\noperator=() \nconst Geofence& mavsdk::Geofence::operator=(const Geofence &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Geofence& - \n\nReturns\n const Geofence & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_geofence_1_1_polygon.html":{"url":"cpp/api_reference/structmavsdk_1_1_geofence_1_1_polygon.html","title":"struct Polygon","keywords":"","body":"mavsdk::Geofence::Polygon Struct Reference\n#include: geofence.h\n\nPolygon type. \nData Fields\nstd::vectorPoint > points {} - Points defining the polygon.\nFenceType fence_type {} - Fence type.\nField Documentation\npoints \nstd::vector mavsdk::Geofence::Polygon::points {}\n\nPoints defining the polygon.\nfence_type \nFenceType mavsdk::Geofence::Polygon::fence_type {}\n\nFence type.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_geofence_1_1_point.html":{"url":"cpp/api_reference/structmavsdk_1_1_geofence_1_1_point.html","title":"struct Point","keywords":"","body":"mavsdk::Geofence::Point Struct Reference\n#include: geofence.h\n\nPoint type. \nData Fields\ndouble latitude_deg {} - Latitude in degrees (range: -90 to +90)\ndouble longitude_deg {} - Longitude in degrees (range: -180 to +180)\nField Documentation\nlatitude_deg \ndouble mavsdk::Geofence::Point::latitude_deg {}\n\nLatitude in degrees (range: -90 to +90)\nlongitude_deg \ndouble mavsdk::Geofence::Point::longitude_deg {}\n\nLongitude in degrees (range: -180 to +180)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_ftp_1_1_progress_data.html":{"url":"cpp/api_reference/structmavsdk_1_1_ftp_1_1_progress_data.html","title":"struct ProgressData","keywords":"","body":"mavsdk::Ftp::ProgressData Struct Reference\n#include: ftp.h\n\nProgress data type for file transfer. \nData Fields\nuint32_t bytes_transferred {} - The number of bytes already transferred.\nuint32_t total_bytes {} - The total bytes to transfer.\nField Documentation\nbytes_transferred \nuint32_t mavsdk::Ftp::ProgressData::bytes_transferred {}\n\nThe number of bytes already transferred.\ntotal_bytes \nuint32_t mavsdk::Ftp::ProgressData::total_bytes {}\n\nThe total bytes to transfer.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1geometry_1_1_coordinate_transformation.html":{"url":"cpp/api_reference/classmavsdk_1_1geometry_1_1_coordinate_transformation.html","title":"class geometry::CoordinateTransformation","keywords":"","body":"mavsdk::geometry::CoordinateTransformation Class Reference\n#include: geometry.h\n\nThis is a utility class for coordinate transformations. \nThe projections used to transform from global (lat/lon) to local (meter) coordinates are taken from: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html and inspired by the implementations in: https://github.com/PX4/ecl/blob/master/geo/geo.cpp \nData Structures\nstruct GlobalCoordinate\nstruct LocalCoordinate\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nCoordinateTransformation ()=delete\nDefault constructor not available.\n\n\n \nCoordinateTransformation (GlobalCoordinate reference)\nConstructor to initialize projection reference.\n\n\n \n~CoordinateTransformation ()=default\nDestructor.\n\n\nLocalCoordinate\nlocal_from_global (GlobalCoordinate global_coordinate)const\nCalculate local coordinates from global coordinates.\n\n\nGlobalCoordinate\nglobal_from_local (LocalCoordinate local_coordinate)const\nCalculate global coordinates from local coordinates.\n\n\n\nConstructor & Destructor Documentation\nCoordinateTransformation() \nmavsdk::geometry::CoordinateTransformation::CoordinateTransformation()=delete\n\nDefault constructor not available.\nCoordinateTransformation() \nmavsdk::geometry::CoordinateTransformation::CoordinateTransformation(GlobalCoordinate reference)\n\nConstructor to initialize projection reference.\nParameters\n\nGlobalCoordinate reference - Reference coordinate to project from.\n\n~CoordinateTransformation() \nmavsdk::geometry::CoordinateTransformation::~CoordinateTransformation()=default\n\nDestructor.\nMember Function Documentation\nlocal_from_global() \nLocalCoordinate mavsdk::geometry::CoordinateTransformation::local_from_global(GlobalCoordinate global_coordinate) const\n\nCalculate local coordinates from global coordinates.\nParameters\n\nGlobalCoordinate global_coordinate - The global coordinate to project from.\n\nReturns\n LocalCoordinate - \nglobal_from_local() \nGlobalCoordinate mavsdk::geometry::CoordinateTransformation::global_from_local(LocalCoordinate local_coordinate) const\n\nCalculate global coordinates from local coordinates.\nParameters\n\nLocalCoordinate local_coordinate - The local coordinate to project from.\n\nReturns\n GlobalCoordinate - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.html":{"url":"cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.html","title":"struct GlobalCoordinate","keywords":"","body":"mavsdk::geometry::CoordinateTransformation::GlobalCoordinate Struct Reference\n#include: geometry.h\n\nType for global coordinate in latitude/longitude in degrees. \nData Fields\ndouble latitude_deg - Latitude in degrees.\ndouble longitude_deg - Longitude in degrees.\nField Documentation\nlatitude_deg \ndouble mavsdk::geometry::CoordinateTransformation::GlobalCoordinate::latitude_deg\n\nLatitude in degrees.\nlongitude_deg \ndouble mavsdk::geometry::CoordinateTransformation::GlobalCoordinate::longitude_deg\n\nLongitude in degrees.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.html":{"url":"cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.html","title":"struct LocalCoordinate","keywords":"","body":"mavsdk::geometry::CoordinateTransformation::LocalCoordinate Struct Reference\n#include: geometry.h\n\nType for local coordinate relative to reference in meters. \nData Fields\ndouble north_m - Position in North direction in meters.\ndouble east_m - Position in East direction in meters.\nField Documentation\nnorth_m \ndouble mavsdk::geometry::CoordinateTransformation::LocalCoordinate::north_m\n\nPosition in North direction in meters.\neast_m \ndouble mavsdk::geometry::CoordinateTransformation::LocalCoordinate::east_m\n\nPosition in East direction in meters.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_gimbal.html":{"url":"cpp/api_reference/classmavsdk_1_1_gimbal.html","title":"class Gimbal","keywords":"","body":"mavsdk::Gimbal Class Reference\n#include: gimbal.h\n\nProvide control over a gimbal. \nData Structures\nstruct ControlStatus\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum GimbalMode\nGimbal mode type.\n\n\nenum ControlMode\nControl mode.\n\n\nenum Result\nPossible results returned for gimbal commands.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Gimbal calls.\n\n\nstd::functionControlStatus)> ControlCallback\nCallback type for subscribe_control.\n\n\nHandleControlStatus > ControlHandle\nHandle type for subscribe_control.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nGimbal (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nGimbal (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Gimbal () override\nDestructor (internal use only).\n\n\n \nGimbal (const Gimbal & other)\nCopy constructor.\n\n\nvoid\nset_pitch_and_yaw_async (float pitch_deg, float yaw_deg, const ResultCallback callback)\nSet gimbal pitch and yaw angles.\n\n\nResult\nset_pitch_and_yaw (float pitch_deg, float yaw_deg)const\nSet gimbal pitch and yaw angles.\n\n\nvoid\nset_pitch_rate_and_yaw_rate_async (float pitch_rate_deg_s, float yaw_rate_deg_s, const ResultCallback callback)\nSet gimbal angular rates around pitch and yaw axes.\n\n\nResult\nset_pitch_rate_and_yaw_rate (float pitch_rate_deg_s, float yaw_rate_deg_s)const\nSet gimbal angular rates around pitch and yaw axes.\n\n\nvoid\nset_mode_async (GimbalMode gimbal_mode, const ResultCallback callback)\nSet gimbal mode.\n\n\nResult\nset_mode (GimbalMode gimbal_mode)const\nSet gimbal mode.\n\n\nvoid\nset_roi_location_async (double latitude_deg, double longitude_deg, float altitude_m, const ResultCallback callback)\nSet gimbal region of interest (ROI).\n\n\nResult\nset_roi_location (double latitude_deg, double longitude_deg, float altitude_m)const\nSet gimbal region of interest (ROI).\n\n\nvoid\ntake_control_async (ControlMode control_mode, const ResultCallback callback)\nTake control.\n\n\nResult\ntake_control (ControlMode control_mode)const\nTake control.\n\n\nvoid\nrelease_control_async (const ResultCallback callback)\nRelease control.\n\n\nResult\nrelease_control () const\nRelease control.\n\n\nControlHandle\nsubscribe_control (const ControlCallback & callback)\nSubscribe to control status updates.\n\n\nvoid\nunsubscribe_control (ControlHandle handle)\nUnsubscribe from subscribe_control.\n\n\nControlStatus\ncontrol () const\nPoll for 'ControlStatus' (blocking).\n\n\nconst Gimbal &\noperator= (const Gimbal &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nGimbal() \nmavsdk::Gimbal::Gimbal(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto gimbal = Gimbal(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nGimbal() \nmavsdk::Gimbal::Gimbal(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto gimbal = Gimbal(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Gimbal() \nmavsdk::Gimbal::~Gimbal() override\n\nDestructor (internal use only).\nGimbal() \nmavsdk::Gimbal::Gimbal(const Gimbal &other)\n\nCopy constructor.\nParameters\n\nconst Gimbal& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Gimbal::ResultCallback = std::function\n\nCallback type for asynchronous Gimbal calls.\ntypedef ControlCallback \nusing mavsdk::Gimbal::ControlCallback = std::function\n\nCallback type for subscribe_control.\ntypedef ControlHandle \nusing mavsdk::Gimbal::ControlHandle = Handle\n\nHandle type for subscribe_control.\nMember Enumeration Documentation\nenum GimbalMode \nGimbal mode type.\n\n\n\nValue\nDescription\n\n\n\n\n YawFollow\nYaw follow will point the gimbal to the vehicle heading. \n\n\n YawLock\nYaw lock will fix the gimbal pointing to an absolute direction. \n\n\n\nenum ControlMode \nControl mode.\n\n\n\nValue\nDescription\n\n\n\n\n None\nIndicates that the component does not have control over the gimbal. \n\n\n Primary\nTo take primary control over the gimbal. \n\n\n Secondary\nTo take secondary control over the gimbal. \n\n\n\nenum Result \nPossible results returned for gimbal commands.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nCommand was accepted. \n\n\n Error\nError occurred sending the command. \n\n\n Timeout\nCommand timed out. \n\n\n Unsupported\nFunctionality not supported. \n\n\n NoSystem\nNo system connected. \n\n\n\nMember Function Documentation\nset_pitch_and_yaw_async() \nvoid mavsdk::Gimbal::set_pitch_and_yaw_async(float pitch_deg, float yaw_deg, const ResultCallback callback)\n\nSet gimbal pitch and yaw angles.\nThis sets the desired pitch and yaw angles of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually be set to the new angles.\nThis function is non-blocking. See 'set_pitch_and_yaw' for the blocking counterpart.\nParameters\n\nfloat pitch_deg - \nfloat yaw_deg - \nconst ResultCallback callback - \n\nset_pitch_and_yaw() \nResult mavsdk::Gimbal::set_pitch_and_yaw(float pitch_deg, float yaw_deg) const\n\nSet gimbal pitch and yaw angles.\nThis sets the desired pitch and yaw angles of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually be set to the new angles.\nThis function is blocking. See 'set_pitch_and_yaw_async' for the non-blocking counterpart.\nParameters\n\nfloat pitch_deg - \nfloat yaw_deg - \n\nReturns\n Result - Result of request.\nset_pitch_rate_and_yaw_rate_async() \nvoid mavsdk::Gimbal::set_pitch_rate_and_yaw_rate_async(float pitch_rate_deg_s, float yaw_rate_deg_s, const ResultCallback callback)\n\nSet gimbal angular rates around pitch and yaw axes.\nThis sets the desired angular rates around pitch and yaw axes of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually reach the angular rate.\nThis function is non-blocking. See 'set_pitch_rate_and_yaw_rate' for the blocking counterpart.\nParameters\n\nfloat pitch_rate_deg_s - \nfloat yaw_rate_deg_s - \nconst ResultCallback callback - \n\nset_pitch_rate_and_yaw_rate() \nResult mavsdk::Gimbal::set_pitch_rate_and_yaw_rate(float pitch_rate_deg_s, float yaw_rate_deg_s) const\n\nSet gimbal angular rates around pitch and yaw axes.\nThis sets the desired angular rates around pitch and yaw axes of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually reach the angular rate.\nThis function is blocking. See 'set_pitch_rate_and_yaw_rate_async' for the non-blocking counterpart.\nParameters\n\nfloat pitch_rate_deg_s - \nfloat yaw_rate_deg_s - \n\nReturns\n Result - Result of request.\nset_mode_async() \nvoid mavsdk::Gimbal::set_mode_async(GimbalMode gimbal_mode, const ResultCallback callback)\n\nSet gimbal mode.\nThis sets the desired yaw mode of a gimbal. Will return when the command is accepted. However, it might take the gimbal longer to actually be set to the new angles.\nThis function is non-blocking. See 'set_mode' for the blocking counterpart.\nParameters\n\nGimbalMode gimbal_mode - \nconst ResultCallback callback - \n\nset_mode() \nResult mavsdk::Gimbal::set_mode(GimbalMode gimbal_mode) const\n\nSet gimbal mode.\nThis sets the desired yaw mode of a gimbal. Will return when the command is accepted. However, it might take the gimbal longer to actually be set to the new angles.\nThis function is blocking. See 'set_mode_async' for the non-blocking counterpart.\nParameters\n\nGimbalMode gimbal_mode - \n\nReturns\n Result - Result of request.\nset_roi_location_async() \nvoid mavsdk::Gimbal::set_roi_location_async(double latitude_deg, double longitude_deg, float altitude_m, const ResultCallback callback)\n\nSet gimbal region of interest (ROI).\nThis sets a region of interest that the gimbal will point to. The gimbal will continue to point to the specified region until it receives a new command. The function will return when the command is accepted, however, it might take the gimbal longer to actually rotate to the ROI.\nThis function is non-blocking. See 'set_roi_location' for the blocking counterpart.\nParameters\n\ndouble latitude_deg - \ndouble longitude_deg - \nfloat altitude_m - \nconst ResultCallback callback - \n\nset_roi_location() \nResult mavsdk::Gimbal::set_roi_location(double latitude_deg, double longitude_deg, float altitude_m) const\n\nSet gimbal region of interest (ROI).\nThis sets a region of interest that the gimbal will point to. The gimbal will continue to point to the specified region until it receives a new command. The function will return when the command is accepted, however, it might take the gimbal longer to actually rotate to the ROI.\nThis function is blocking. See 'set_roi_location_async' for the non-blocking counterpart.\nParameters\n\ndouble latitude_deg - \ndouble longitude_deg - \nfloat altitude_m - \n\nReturns\n Result - Result of request.\ntake_control_async() \nvoid mavsdk::Gimbal::take_control_async(ControlMode control_mode, const ResultCallback callback)\n\nTake control.\nThere can be only two components in control of a gimbal at any given time. One with \"primary\" control, and one with \"secondary\" control. The way the secondary control is implemented is not specified and hence depends on the vehicle.\nComponents are expected to be cooperative, which means that they can override each other and should therefore do it carefully.\nThis function is non-blocking. See 'take_control' for the blocking counterpart.\nParameters\n\nControlMode control_mode - \nconst ResultCallback callback - \n\ntake_control() \nResult mavsdk::Gimbal::take_control(ControlMode control_mode) const\n\nTake control.\nThere can be only two components in control of a gimbal at any given time. One with \"primary\" control, and one with \"secondary\" control. The way the secondary control is implemented is not specified and hence depends on the vehicle.\nComponents are expected to be cooperative, which means that they can override each other and should therefore do it carefully.\nThis function is blocking. See 'take_control_async' for the non-blocking counterpart.\nParameters\n\nControlMode control_mode - \n\nReturns\n Result - Result of request.\nrelease_control_async() \nvoid mavsdk::Gimbal::release_control_async(const ResultCallback callback)\n\nRelease control.\nRelease control, such that other components can control the gimbal.\nThis function is non-blocking. See 'release_control' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nrelease_control() \nResult mavsdk::Gimbal::release_control() const\n\nRelease control.\nRelease control, such that other components can control the gimbal.\nThis function is blocking. See 'release_control_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nsubscribe_control() \nControlHandle mavsdk::Gimbal::subscribe_control(const ControlCallback &callback)\n\nSubscribe to control status updates.\nThis allows a component to know if it has primary, secondary or no control over the gimbal. Also, it gives the system and component ids of the other components in control (if any).\nParameters\n\nconst ControlCallback& callback - \n\nReturns\n ControlHandle - \nunsubscribe_control() \nvoid mavsdk::Gimbal::unsubscribe_control(ControlHandle handle)\n\nUnsubscribe from subscribe_control.\nParameters\n\nControlHandle handle - \n\ncontrol() \nControlStatus mavsdk::Gimbal::control() const\n\nPoll for 'ControlStatus' (blocking).\nReturns\n ControlStatus - One ControlStatus update.\noperator=() \nconst Gimbal& mavsdk::Gimbal::operator=(const Gimbal &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Gimbal& - \n\nReturns\n const Gimbal & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_gimbal_1_1_control_status.html":{"url":"cpp/api_reference/structmavsdk_1_1_gimbal_1_1_control_status.html","title":"struct ControlStatus","keywords":"","body":"mavsdk::Gimbal::ControlStatus Struct Reference\n#include: gimbal.h\n\nControl status. \nData Fields\nControlMode control_mode {} - Control mode (none, primary or secondary)\nint32_t sysid_primary_control {} - Sysid of the component that has primary control over the gimbal (0 if no one is in control)\nint32_t compid_primary_control {} - Compid of the component that has primary control over the gimbal (0 if no one is in control)\nint32_t sysid_secondary_control {} - Sysid of the component that has secondary control over the gimbal (0 if no one is in control)\nint32_t compid_secondary_control {} - Compid of the component that has secondary control over the gimbal (0 if no one is in control)\nField Documentation\ncontrol_mode \nControlMode mavsdk::Gimbal::ControlStatus::control_mode {}\n\nControl mode (none, primary or secondary)\nsysid_primary_control \nint32_t mavsdk::Gimbal::ControlStatus::sysid_primary_control {}\n\nSysid of the component that has primary control over the gimbal (0 if no one is in control)\ncompid_primary_control \nint32_t mavsdk::Gimbal::ControlStatus::compid_primary_control {}\n\nCompid of the component that has primary control over the gimbal (0 if no one is in control)\nsysid_secondary_control \nint32_t mavsdk::Gimbal::ControlStatus::sysid_secondary_control {}\n\nSysid of the component that has secondary control over the gimbal (0 if no one is in control)\ncompid_secondary_control \nint32_t mavsdk::Gimbal::ControlStatus::compid_secondary_control {}\n\nCompid of the component that has secondary control over the gimbal (0 if no one is in control)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_info.html":{"url":"cpp/api_reference/classmavsdk_1_1_info.html","title":"class Info","keywords":"","body":"mavsdk::Info Class Reference\n#include: info.h\n\nProvide information about the hardware and/or software of a system. \nData Structures\nstruct FlightInfo\nstruct Identification\nstruct Product\nstruct Version\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for info requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Info calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nInfo (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nInfo (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Info () override\nDestructor (internal use only).\n\n\n \nInfo (const Info & other)\nCopy constructor.\n\n\nstd::pairResult, Info::FlightInfo >\nget_flight_information () const\nGet flight information of the system.\n\n\nstd::pairResult, Info::Identification >\nget_identification () const\nGet the identification of the system.\n\n\nstd::pairResult, Info::Product >\nget_product () const\nGet product information of the system.\n\n\nstd::pairResult, Info::Version >\nget_version () const\nGet the version information of the system.\n\n\nstd::pairResult, double >\nget_speed_factor () const\nGet the speed factor of a simulation (with lockstep a simulation can run faster or slower than realtime).\n\n\nconst Info &\noperator= (const Info &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nInfo() \nmavsdk::Info::Info(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto info = Info(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nInfo() \nmavsdk::Info::Info(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto info = Info(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Info() \nmavsdk::Info::~Info() override\n\nDestructor (internal use only).\nInfo() \nmavsdk::Info::Info(const Info &other)\n\nCopy constructor.\nParameters\n\nconst Info& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Info::ResultCallback = std::function\n\nCallback type for asynchronous Info calls.\nMember Enumeration Documentation\nenum Result \nPossible results returned for info requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n InformationNotReceivedYet\nInformation has not been received yet. \n\n\n NoSystem\nNo system is connected. \n\n\n\nMember Function Documentation\nget_flight_information() \nstd::pair mavsdk::Info::get_flight_information() const\n\nGet flight information of the system.\nThis function is blocking.\nReturns\n std::pairResult, Info::FlightInfo > - Result of request.\nget_identification() \nstd::pair mavsdk::Info::get_identification() const\n\nGet the identification of the system.\nThis function is blocking.\nReturns\n std::pairResult, Info::Identification > - Result of request.\nget_product() \nstd::pair mavsdk::Info::get_product() const\n\nGet product information of the system.\nThis function is blocking.\nReturns\n std::pairResult, Info::Product > - Result of request.\nget_version() \nstd::pair mavsdk::Info::get_version() const\n\nGet the version information of the system.\nThis function is blocking.\nReturns\n std::pairResult, Info::Version > - Result of request.\nget_speed_factor() \nstd::pair mavsdk::Info::get_speed_factor() const\n\nGet the speed factor of a simulation (with lockstep a simulation can run faster or slower than realtime).\nThis function is blocking.\nReturns\n std::pairResult, double > - Result of request.\noperator=() \nconst Info& mavsdk::Info::operator=(const Info &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Info& - \n\nReturns\n const Info & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_info_1_1_flight_info.html":{"url":"cpp/api_reference/structmavsdk_1_1_info_1_1_flight_info.html","title":"struct FlightInfo","keywords":"","body":"mavsdk::Info::FlightInfo Struct Reference\n#include: info.h\n\nSystem flight information. \nData Fields\nuint32_t time_boot_ms {} - Time since system boot.\nuint64_t flight_uid {} - Flight counter. Starts from zero, is incremented at every disarm and is never reset (even after reboot)\nField Documentation\ntime_boot_ms \nuint32_t mavsdk::Info::FlightInfo::time_boot_ms {}\n\nTime since system boot.\nflight_uid \nuint64_t mavsdk::Info::FlightInfo::flight_uid {}\n\nFlight counter. Starts from zero, is incremented at every disarm and is never reset (even after reboot)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_info_1_1_identification.html":{"url":"cpp/api_reference/structmavsdk_1_1_info_1_1_identification.html","title":"struct Identification","keywords":"","body":"mavsdk::Info::Identification Struct Reference\n#include: info.h\n\nSystem identification. \nData Fields\nstd::string hardware_uid {} - UID of the hardware. This refers to uid2 of MAVLink. If the system does not support uid2 yet, this is all zeros.\nuint64_t legacy_uid {} - Legacy UID of the hardware, referred to as uid in MAVLink (formerly exposed during system discovery as UUID).\nField Documentation\nhardware_uid \nstd::string mavsdk::Info::Identification::hardware_uid {}\n\nUID of the hardware. This refers to uid2 of MAVLink. If the system does not support uid2 yet, this is all zeros.\nlegacy_uid \nuint64_t mavsdk::Info::Identification::legacy_uid {}\n\nLegacy UID of the hardware, referred to as uid in MAVLink (formerly exposed during system discovery as UUID).\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_info_1_1_product.html":{"url":"cpp/api_reference/structmavsdk_1_1_info_1_1_product.html","title":"struct Product","keywords":"","body":"mavsdk::Info::Product Struct Reference\n#include: info.h\n\nSystem product information. \nData Fields\nint32_t vendor_id {} - ID of the board vendor.\nstd::string vendor_name {} - Name of the vendor.\nint32_t product_id {} - ID of the product.\nstd::string product_name {} - Name of the product.\nField Documentation\nvendor_id \nint32_t mavsdk::Info::Product::vendor_id {}\n\nID of the board vendor.\nvendor_name \nstd::string mavsdk::Info::Product::vendor_name {}\n\nName of the vendor.\nproduct_id \nint32_t mavsdk::Info::Product::product_id {}\n\nID of the product.\nproduct_name \nstd::string mavsdk::Info::Product::product_name {}\n\nName of the product.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_info_1_1_version.html":{"url":"cpp/api_reference/structmavsdk_1_1_info_1_1_version.html","title":"struct Version","keywords":"","body":"mavsdk::Info::Version Struct Reference\n#include: info.h\n\nSystem version information. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum FlightSoftwareVersionType\nThese values define the type of firmware/flight software release.\n\n\n\nData Fields\nint32_t flight_sw_major {} - Flight software major version.\nint32_t flight_sw_minor {} - Flight software minor version.\nint32_t flight_sw_patch {} - Flight software patch version.\nint32_t flight_sw_vendor_major {} - Flight software vendor major version.\nint32_t flight_sw_vendor_minor {} - Flight software vendor minor version.\nint32_t flight_sw_vendor_patch {} - Flight software vendor patch version.\nint32_t os_sw_major {} - Operating system software major version.\nint32_t os_sw_minor {} - Operating system software minor version.\nint32_t os_sw_patch {} - Operating system software patch version.\nstd::string flight_sw_git_hash {} - Flight software git hash.\nstd::string os_sw_git_hash {} - Operating system software git hash.\nFlightSoftwareVersionType flight_sw_version_type {} - Flight software version type.\nMember Enumeration Documentation\nenum FlightSoftwareVersionType \nThese values define the type of firmware/flight software release.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown type. \n\n\n Dev\nDevelopment release. \n\n\n Alpha\nAlpha release. \n\n\n Beta\nBeta release. \n\n\n Rc\nRelease candidate. \n\n\n Release\nOfficial stable release. \n\n\n\nField Documentation\nflight_sw_major \nint32_t mavsdk::Info::Version::flight_sw_major {}\n\nFlight software major version.\nflight_sw_minor \nint32_t mavsdk::Info::Version::flight_sw_minor {}\n\nFlight software minor version.\nflight_sw_patch \nint32_t mavsdk::Info::Version::flight_sw_patch {}\n\nFlight software patch version.\nflight_sw_vendor_major \nint32_t mavsdk::Info::Version::flight_sw_vendor_major {}\n\nFlight software vendor major version.\nflight_sw_vendor_minor \nint32_t mavsdk::Info::Version::flight_sw_vendor_minor {}\n\nFlight software vendor minor version.\nflight_sw_vendor_patch \nint32_t mavsdk::Info::Version::flight_sw_vendor_patch {}\n\nFlight software vendor patch version.\nos_sw_major \nint32_t mavsdk::Info::Version::os_sw_major {}\n\nOperating system software major version.\nos_sw_minor \nint32_t mavsdk::Info::Version::os_sw_minor {}\n\nOperating system software minor version.\nos_sw_patch \nint32_t mavsdk::Info::Version::os_sw_patch {}\n\nOperating system software patch version.\nflight_sw_git_hash \nstd::string mavsdk::Info::Version::flight_sw_git_hash {}\n\nFlight software git hash.\nos_sw_git_hash \nstd::string mavsdk::Info::Version::os_sw_git_hash {}\n\nOperating system software git hash.\nflight_sw_version_type \nFlightSoftwareVersionType mavsdk::Info::Version::flight_sw_version_type {}\n\nFlight software version type.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/classmavsdk_1_1_log_files.html":{"url":"cpp/api_reference/classmavsdk_1_1_log_files.html","title":"class LogFiles","keywords":"","body":"mavsdk::LogFiles Class Reference\n#include: log_files.h\n\nAllow to download log files from the vehicle after a flight is complete. For log streaming during flight check the logging plugin. \nData Structures\nstruct Entry\nstruct ProgressData\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for calibration commands.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous LogFiles calls.\n\n\nstd::functionResult, std::vectorEntry >)> GetEntriesCallback\nCallback type for get_entries_async.\n\n\nstd::functionResult, ProgressData)> DownloadLogFileCallback\nCallback type for download_log_file_async.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nLogFiles (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nLogFiles (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~LogFiles () override\nDestructor (internal use only).\n\n\n \nLogFiles (const LogFiles & other)\nCopy constructor.\n\n\nvoid\nget_entries_async (const GetEntriesCallback callback)\nGet List of log files.\n\n\nstd::pairResult, std::vectorLogFiles::Entry > >\nget_entries () const\nGet List of log files.\n\n\nvoid\ndownload_log_file_async (Entry entry, std::string path, const DownloadLogFileCallback & callback)\nDownload log file.\n\n\nResult\nerase_all_log_files () const\nErase all log files.\n\n\nconst LogFiles &\noperator= (const LogFiles &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nLogFiles() \nmavsdk::LogFiles::LogFiles(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto log_files = LogFiles(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nLogFiles() \nmavsdk::LogFiles::LogFiles(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto log_files = LogFiles(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~LogFiles() \nmavsdk::LogFiles::~LogFiles() override\n\nDestructor (internal use only).\nLogFiles() \nmavsdk::LogFiles::LogFiles(const LogFiles &other)\n\nCopy constructor.\nParameters\n\nconst LogFiles& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::LogFiles::ResultCallback = std::function\n\nCallback type for asynchronous LogFiles calls.\ntypedef GetEntriesCallback \nusing mavsdk::LogFiles::GetEntriesCallback = std::function)>\n\nCallback type for get_entries_async.\ntypedef DownloadLogFileCallback \nusing mavsdk::LogFiles::DownloadLogFileCallback = std::function\n\nCallback type for download_log_file_async.\nMember Enumeration Documentation\nenum Result \nPossible results returned for calibration commands.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n Next\nProgress update. \n\n\n NoLogfiles\nNo log files found. \n\n\n Timeout\nA timeout happened. \n\n\n InvalidArgument\nInvalid argument. \n\n\n FileOpenFailed\nFile open failed. \n\n\n NoSystem\nNo system is connected. \n\n\n\nMember Function Documentation\nget_entries_async() \nvoid mavsdk::LogFiles::get_entries_async(const GetEntriesCallback callback)\n\nGet List of log files.\nThis function is non-blocking. See 'get_entries' for the blocking counterpart.\nParameters\n\nconst GetEntriesCallback callback - \n\nget_entries() \nstd::pair > mavsdk::LogFiles::get_entries() const\n\nGet List of log files.\nThis function is blocking. See 'get_entries_async' for the non-blocking counterpart.\nReturns\n std::pairResult, std::vectorLogFiles::Entry > > - Result of request.\ndownload_log_file_async() \nvoid mavsdk::LogFiles::download_log_file_async(Entry entry, std::string path, const DownloadLogFileCallback &callback)\n\nDownload log file.\nParameters\n\nEntry entry - \nstd::string path - \nconst DownloadLogFileCallback& callback - \n\nerase_all_log_files() \nResult mavsdk::LogFiles::erase_all_log_files() const\n\nErase all log files.\nThis function is blocking.\nReturns\n Result - Result of request.\noperator=() \nconst LogFiles& mavsdk::LogFiles::operator=(const LogFiles &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst LogFiles& - \n\nReturns\n const LogFiles & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_log_files_1_1_entry.html":{"url":"cpp/api_reference/structmavsdk_1_1_log_files_1_1_entry.html","title":"struct Entry","keywords":"","body":"mavsdk::LogFiles::Entry Struct Reference\n#include: log_files.h\n\nLog file entry type. \nData Fields\nuint32_t id {} - ID of the log file, to specify a file to be downloaded.\nstd::string date {} - Date of the log file in UTC in ISO 8601 format \"yyyy-mm-ddThh:mm:ssZ\".\nuint32_t size_bytes {} - Size of file in bytes.\nField Documentation\nid \nuint32_t mavsdk::LogFiles::Entry::id {}\n\nID of the log file, to specify a file to be downloaded.\ndate \nstd::string mavsdk::LogFiles::Entry::date {}\n\nDate of the log file in UTC in ISO 8601 format \"yyyy-mm-ddThh:mm:ssZ\".\nsize_bytes \nuint32_t mavsdk::LogFiles::Entry::size_bytes {}\n\nSize of file in bytes.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_log_files_1_1_progress_data.html":{"url":"cpp/api_reference/structmavsdk_1_1_log_files_1_1_progress_data.html","title":"struct ProgressData","keywords":"","body":"mavsdk::LogFiles::ProgressData Struct Reference\n#include: log_files.h\n\nProgress data coming when downloading a log file. \nData Fields\nfloat progress {float(NAN)} - Progress from 0 to 1.\nField Documentation\nprogress \nfloat mavsdk::LogFiles::ProgressData::progress {float(NAN)}\n\nProgress from 0 to 1.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_manual_control.html":{"url":"cpp/api_reference/classmavsdk_1_1_manual_control.html","title":"class ManualControl","keywords":"","body":"mavsdk::ManualControl Class Reference\n#include: manual_control.h\n\nEnable manual control using e.g. a joystick or gamepad. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for manual control requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous ManualControl calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nManualControl (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nManualControl (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~ManualControl () override\nDestructor (internal use only).\n\n\n \nManualControl (const ManualControl & other)\nCopy constructor.\n\n\nvoid\nstart_position_control_async (const ResultCallback callback)\nStart position control using e.g. joystick input.\n\n\nResult\nstart_position_control () const\nStart position control using e.g. joystick input.\n\n\nvoid\nstart_altitude_control_async (const ResultCallback callback)\nStart altitude control.\n\n\nResult\nstart_altitude_control () const\nStart altitude control.\n\n\nResult\nset_manual_control_input (float x, float y, float z, float r)const\nSet manual control input.\n\n\nconst ManualControl &\noperator= (const ManualControl &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nManualControl() \nmavsdk::ManualControl::ManualControl(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto manual_control = ManualControl(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nManualControl() \nmavsdk::ManualControl::ManualControl(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto manual_control = ManualControl(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~ManualControl() \nmavsdk::ManualControl::~ManualControl() override\n\nDestructor (internal use only).\nManualControl() \nmavsdk::ManualControl::ManualControl(const ManualControl &other)\n\nCopy constructor.\nParameters\n\nconst ManualControl& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::ManualControl::ResultCallback = std::function\n\nCallback type for asynchronous ManualControl calls.\nMember Enumeration Documentation\nenum Result \nPossible results returned for manual control requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest was successful. \n\n\n NoSystem\nNo system is connected. \n\n\n ConnectionError\nConnection error. \n\n\n Busy\nVehicle is busy. \n\n\n CommandDenied\nCommand refused by vehicle. \n\n\n Timeout\nRequest timed out. \n\n\n InputOutOfRange\nInput out of range. \n\n\n InputNotSet\nNo Input set. \n\n\n\nMember Function Documentation\nstart_position_control_async() \nvoid mavsdk::ManualControl::start_position_control_async(const ResultCallback callback)\n\nStart position control using e.g. joystick input.\nRequires manual control input to be sent regularly already. Requires a valid position using e.g. GPS, external vision, or optical flow.\nThis function is non-blocking. See 'start_position_control' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nstart_position_control() \nResult mavsdk::ManualControl::start_position_control() const\n\nStart position control using e.g. joystick input.\nRequires manual control input to be sent regularly already. Requires a valid position using e.g. GPS, external vision, or optical flow.\nThis function is blocking. See 'start_position_control_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nstart_altitude_control_async() \nvoid mavsdk::ManualControl::start_altitude_control_async(const ResultCallback callback)\n\nStart altitude control.\nRequires manual control input to be sent regularly already. Does not require a valid position e.g. GPS.\nThis function is non-blocking. See 'start_altitude_control' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nstart_altitude_control() \nResult mavsdk::ManualControl::start_altitude_control() const\n\nStart altitude control.\nRequires manual control input to be sent regularly already. Does not require a valid position e.g. GPS.\nThis function is blocking. See 'start_altitude_control_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nset_manual_control_input() \nResult mavsdk::ManualControl::set_manual_control_input(float x, float y, float z, float r) const\n\nSet manual control input.\nThe manual control input needs to be sent at a rate high enough to prevent triggering of RC loss, a good minimum rate is 10 Hz.\nThis function is blocking.\nParameters\n\nfloat x - \nfloat y - \nfloat z - \nfloat r - \n\nReturns\n Result - Result of request.\noperator=() \nconst ManualControl& mavsdk::ManualControl::operator=(const ManualControl &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst ManualControl& - \n\nReturns\n const ManualControl & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/classmavsdk_1_1_mavlink_passthrough.html":{"url":"cpp/api_reference/classmavsdk_1_1_mavlink_passthrough.html","title":"class MavlinkPassthrough","keywords":"","body":"mavsdk::MavlinkPassthrough Class Reference\n#include: mavlink_passthrough.h\n\nThe MavlinkPassthrough class provides direct MAVLink access. \n\"With great power comes great responsibility.\" - This plugin allows you to send and receive MAVLink messages. There is no checking or safe-guards, you're on your own, and you have been warned. \nData Structures\nstruct CommandInt\nstruct CommandLong\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for requests.\n\n\nstd::function MessageCallback\nCallback type for message subscriptions.\n\n\nHandle MessageHandle\nHandle type for subscribe_message_async.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nMavlinkPassthrough (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nMavlinkPassthrough (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~MavlinkPassthrough ()\nDestructor (internal use only).\n\n\n \nMavlinkPassthrough (const MavlinkPassthrough &)=delete\nCopy Constructor (object is not copyable).\n\n\nDEPRECATED Result\nsend_message (mavlink_message_t & message)\nSend message (deprecated).\n\n\nResult\nqueue_message (std::functionMavlinkAddress mavlink_address, uint8_t channel)> fun)\nSend message by queueing it.\n\n\nResult\nsend_command_long (const CommandLong & command)\nSend a MAVLink command_long.\n\n\nResult\nsend_command_int (const CommandInt & command)\nSend a MAVLink command_long.\n\n\nmavlink_message_t\nmake_command_ack_message (const uint8_t target_sysid, const uint8_t target_compid, const uint16_t command, MAV_RESULT result)\nCreate a command_ack.\n\n\nstd::pairResult, int32_t >\nget_param_int (const std::string & name, std::optional maybe_component_id, bool extended)\nRequest param (int).\n\n\nstd::pairResult, float >\nget_param_float (const std::string & name, std::optional maybe_component_id, bool extended)\nRequest param (float).\n\n\nMessageHandle\nsubscribe_message (uint16_t message_id, const MessageCallback & callback)\nSubscribe to messages using message ID.\n\n\nvoid\nunsubscribe_message (uint16_t message_id, MessageHandle handle)\nUnsubscribe from subscribe_message.\n\n\nuint8_t\nget_our_sysid () const\nGet our own system ID.\n\n\nuint8_t\nget_our_compid () const\nGet our own component ID.\n\n\nuint8_t\nget_target_sysid () const\nGet system ID of target.\n\n\nuint8_t\nget_target_compid () const\nGet target component ID.\n\n\nconst MavlinkPassthrough &\noperator= (const MavlinkPassthrough &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nMavlinkPassthrough() \nmavsdk::MavlinkPassthrough::MavlinkPassthrough(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto mavlink_passthrough = MavlinkPassthrough(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nMavlinkPassthrough() \nmavsdk::MavlinkPassthrough::MavlinkPassthrough(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto mavlink_passthrough = MavlinkPassthrough(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~MavlinkPassthrough() \nmavsdk::MavlinkPassthrough::~MavlinkPassthrough()\n\nDestructor (internal use only).\nMavlinkPassthrough() \nmavsdk::MavlinkPassthrough::MavlinkPassthrough(const MavlinkPassthrough &)=delete\n\nCopy Constructor (object is not copyable).\nParameters\n\nconst MavlinkPassthrough& - \n\nMember Typdef Documentation\ntypedef MessageCallback \nusing mavsdk::MavlinkPassthrough::MessageCallback = std::function\n\nCallback type for message subscriptions.\ntypedef MessageHandle \nusing mavsdk::MavlinkPassthrough::MessageHandle = Handle\n\nHandle type for subscribe_message_async.\nMember Enumeration Documentation\nenum Result \nPossible results returned for requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown error. \n\n\n Success\nSuccess. \n\n\n ConnectionError\nConnection error. \n\n\n CommandNoSystem\nSystem not available. \n\n\n CommandBusy\nSystem is busy. \n\n\n CommandDenied\nCommand has been denied. \n\n\n CommandUnsupported\nCommand is not supported. \n\n\n CommandTimeout\nA timeout happened. \n\n\n CommandTemporarilyRejected\nCommand has been rejected for now. \n\n\n CommandFailed\nCommand has failed. \n\n\n ParamWrongType\nWrong type for requested param. \n\n\n ParamNameTooLong\nParam name too long. \n\n\n ParamValueTooLong\nParam value too long. \n\n\n ParamNotFound\nParam not found. \n\n\n ParamValueUnsupported\nParam value unsupported. \n\n\n\nMember Function Documentation\nsend_message() \nDEPRECATED Result mavsdk::MavlinkPassthrough::send_message(mavlink_message_t &message)\n\nSend message (deprecated).\n\n This interface is deprecated. Instead the method queue_message() should be used.\n\nParameters\n\nmavlink_message_t& message - \n\nReturns\n DEPRECATED Result - result of the request.\nqueue_message() \nResult mavsdk::MavlinkPassthrough::queue_message(std::function fun)\n\nSend message by queueing it.\n\n This interface replaces the previous send_message method.\n\nThe interface changed in order to prevent accessing the internal MAVLink status from different threads and to make sure the seq numbers are not unique toMavsdk instances and server components.\nParameters\n\nstd::functionMavlinkAddress mavlink_address, uint8_t channel)> fun - Function which is (immediately) executed to send a message. It is passed the mavlink_address and channel, both data required to send a message using mavlink_message_xx_pack_chan().\n\nReturns\n Result - result of request\nsend_command_long() \nResult mavsdk::MavlinkPassthrough::send_command_long(const CommandLong &command)\n\nSend a MAVLink command_long.\nParameters\n\nconst CommandLong& command - Command to send.\n\nReturns\n Result - result of the request.\nsend_command_int() \nResult mavsdk::MavlinkPassthrough::send_command_int(const CommandInt &command)\n\nSend a MAVLink command_long.\nParameters\n\nconst CommandInt& command - Command to send.\n\nReturns\n Result - result of the request.\nmake_command_ack_message() \nmavlink_message_t mavsdk::MavlinkPassthrough::make_command_ack_message(const uint8_t target_sysid, const uint8_t target_compid, const uint16_t command, MAV_RESULT result)\n\nCreate a command_ack.\nParameters\n\nconst uint8_t target_sysid - Target system ID where to send command_ack to.\nconst uint8_t target_compid - Target component ID where to send command_ack to.\nconst uint16_t command - Command to respond to.\nMAV_RESULT result - Result of command.\n\nReturns\n mavlink_message_t - message to send.\nget_param_int() \nstd::pair mavsdk::MavlinkPassthrough::get_param_int(const std::string &name, std::optional maybe_component_id, bool extended)\n\nRequest param (int).\nParameters\n\nconst std::string& name - \nstd::optional maybe_component_id - \nbool extended - \n\nReturns\n std::pairResult, int32_t > - \nget_param_float() \nstd::pair mavsdk::MavlinkPassthrough::get_param_float(const std::string &name, std::optional maybe_component_id, bool extended)\n\nRequest param (float).\nParameters\n\nconst std::string& name - \nstd::optional maybe_component_id - \nbool extended - \n\nReturns\n std::pairResult, float > - \nsubscribe_message() \nMessageHandle mavsdk::MavlinkPassthrough::subscribe_message(uint16_t message_id, const MessageCallback &callback)\n\nSubscribe to messages using message ID.\nThis means that all future messages being received will trigger the callback to be called. To stop the subscription, call this method with nullptr as the argument.\nParameters\n\nuint16_t message_id - The MAVLink message ID.\nconst MessageCallback& callback - Callback to be called for message subscription.\n\nReturns\n MessageHandle - \nunsubscribe_message() \nvoid mavsdk::MavlinkPassthrough::unsubscribe_message(uint16_t message_id, MessageHandle handle)\n\nUnsubscribe from subscribe_message.\nParameters\n\nuint16_t message_id - The MAVLink message ID.\nMessageHandle handle - The handle returned from subscribe_message.\n\nget_our_sysid() \nuint8_t mavsdk::MavlinkPassthrough::get_our_sysid() const\n\nGet our own system ID.\nReturns\n uint8_t - our own system ID.\nget_our_compid() \nuint8_t mavsdk::MavlinkPassthrough::get_our_compid() const\n\nGet our own component ID.\nReturns\n uint8_t - our own component ID.\nget_target_sysid() \nuint8_t mavsdk::MavlinkPassthrough::get_target_sysid() const\n\nGet system ID of target.\nReturns\n uint8_t - system ID of target.\nget_target_compid() \nuint8_t mavsdk::MavlinkPassthrough::get_target_compid() const\n\nGet target component ID.\nThis defaults to the component ID of the autopilot (1) if available and otherwise to all components (0).\nReturns\n uint8_t - component ID of target.\noperator=() \nconst MavlinkPassthrough& mavsdk::MavlinkPassthrough::operator=(const MavlinkPassthrough &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst MavlinkPassthrough& - \n\nReturns\n const MavlinkPassthrough & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_int.html":{"url":"cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_int.html","title":"struct CommandInt","keywords":"","body":"mavsdk::MavlinkPassthrough::CommandInt Struct Reference\n#include: mavlink_passthrough.h\n\nType for MAVLink command_int. \nData Fields\nuint8_t target_sysid - System ID to send command to.\nuint8_t target_compid - Component ID to send command to.\nuint16_t command - command to send.\nMAV_FRAME frame -\nfloat param1 - param1.\nfloat param2 - param2.\nfloat param3 - param3.\nfloat param4 - param4.\nint32_t x - x.\nint32_t y - y.\nfloat z - z.\nField Documentation\ntarget_sysid \nuint8_t mavsdk::MavlinkPassthrough::CommandInt::target_sysid\n\nSystem ID to send command to.\ntarget_compid \nuint8_t mavsdk::MavlinkPassthrough::CommandInt::target_compid\n\nComponent ID to send command to.\ncommand \nuint16_t mavsdk::MavlinkPassthrough::CommandInt::command\n\ncommand to send.\nframe \nMAV_FRAME mavsdk::MavlinkPassthrough::CommandInt::frame\n\nFrame of command.\nparam1 \nfloat mavsdk::MavlinkPassthrough::CommandInt::param1\n\nparam1.\nparam2 \nfloat mavsdk::MavlinkPassthrough::CommandInt::param2\n\nparam2.\nparam3 \nfloat mavsdk::MavlinkPassthrough::CommandInt::param3\n\nparam3.\nparam4 \nfloat mavsdk::MavlinkPassthrough::CommandInt::param4\n\nparam4.\nx \nint32_t mavsdk::MavlinkPassthrough::CommandInt::x\n\nx.\ny \nint32_t mavsdk::MavlinkPassthrough::CommandInt::y\n\ny.\nz \nfloat mavsdk::MavlinkPassthrough::CommandInt::z\n\nz.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_long.html":{"url":"cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_long.html","title":"struct CommandLong","keywords":"","body":"mavsdk::MavlinkPassthrough::CommandLong Struct Reference\n#include: mavlink_passthrough.h\n\nType for MAVLink command_long. \nData Fields\nuint8_t target_sysid - System ID to send command to.\nuint8_t target_compid - Component ID to send command to.\nuint16_t command - command to send.\nfloat param1 - param1.\nfloat param2 - param2.\nfloat param3 - param3.\nfloat param4 - param4.\nfloat param5 - param5.\nfloat param6 - param6.\nfloat param7 - param7.\nField Documentation\ntarget_sysid \nuint8_t mavsdk::MavlinkPassthrough::CommandLong::target_sysid\n\nSystem ID to send command to.\ntarget_compid \nuint8_t mavsdk::MavlinkPassthrough::CommandLong::target_compid\n\nComponent ID to send command to.\ncommand \nuint16_t mavsdk::MavlinkPassthrough::CommandLong::command\n\ncommand to send.\nparam1 \nfloat mavsdk::MavlinkPassthrough::CommandLong::param1\n\nparam1.\nparam2 \nfloat mavsdk::MavlinkPassthrough::CommandLong::param2\n\nparam2.\nparam3 \nfloat mavsdk::MavlinkPassthrough::CommandLong::param3\n\nparam3.\nparam4 \nfloat mavsdk::MavlinkPassthrough::CommandLong::param4\n\nparam4.\nparam5 \nfloat mavsdk::MavlinkPassthrough::CommandLong::param5\n\nparam5.\nparam6 \nfloat mavsdk::MavlinkPassthrough::CommandLong::param6\n\nparam6.\nparam7 \nfloat mavsdk::MavlinkPassthrough::CommandLong::param7\n\nparam7.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_mavsdk.html":{"url":"cpp/api_reference/classmavsdk_1_1_mavsdk.html","title":"class Mavsdk","keywords":"","body":"mavsdk::Mavsdk Class Reference\n#include: mavsdk.h\n\nThis is the main class of MAVSDK (a MAVLink API Library). \nIt is used to discover vehicles and manage active connections.\nAn instance of this class must be created (first) in order to use the library. The instance must be destroyed after use in order to break connections and release all resources. \nData Structures\nstruct Configuration\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum ComponentType\nComponentType of configurations, used for automatic ID setting.\n\n\nHandle<> ConnectionHandle\nHandle type to remove a connection.\n\n\nstd::function NewSystemCallback\nCallback type discover and timeout notifications.\n\n\nHandle<> NewSystemHandle\nHandle type to unsubscribe from subscribe_on_new_system.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nMavsdk ()=delete\nDefault constructor without configuration, no longer recommended.\n\n\n \nMavsdk (Configuration configuration)\nConstructor with configuration.\n\n\n \n~Mavsdk ()\nDestructor.\n\n\nstd::string\nversion () const\nReturns the version of MAVSDK.\n\n\nConnectionResult\nadd_any_connection (const std::string & connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\nAdds Connection via URL.\n\n\nstd::pairConnectionResult, ConnectionHandle >\nadd_any_connection_with_handle (const std::string & connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\nAdds Connection via URL Additionally returns a handle to remove the connection later.\n\n\nConnectionResult\nadd_udp_connection (int local_port=DEFAULT_UDP_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\nAdds a UDP connection to the specified port number.\n\n\nConnectionResult\nadd_udp_connection (const std::string & local_ip, int local_port=DEFAULT_UDP_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\nAdds a UDP connection to the specified port number and local interface.\n\n\nConnectionResult\nsetup_udp_remote (const std::string & remote_ip, int remote_port, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\nSets up instance to send heartbeats to the specified remote interface and port number.\n\n\nConnectionResult\nadd_tcp_connection (const std::string & remote_ip, int remote_port=DEFAULT_TCP_REMOTE_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\nAdds a TCP connection with a specific IP address and port number.\n\n\nConnectionResult\nadd_serial_connection (const std::string & dev_path, int baudrate=DEFAULT_SERIAL_BAUDRATE, bool flow_control=false, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\nAdds a serial connection with a specific port (COM or UART dev node) and baudrate as specified.\n\n\nvoid\nremove_connection (ConnectionHandle handle)\n\n\n\nstd::vectorSystem > >\nsystems () const\nGet a vector of systems which have been discovered or set-up.\n\n\nstd::optionalSystem > >\nfirst_autopilot (double timeout_s)const\nGet the first autopilot that has been discovered.\n\n\nvoid\nset_configuration (Configuration configuration)\nSet Configuration of SDK.\n\n\nvoid\nset_timeout_s (double timeout_s)\nSet timeout of MAVLink transfers.\n\n\nvoid\nset_system_status (uint8_t system_status)\nSet system status of this MAVLink entity.\n\n\nNewSystemHandle\nsubscribe_on_new_system (const NewSystemCallback & callback)\nGet notification about a change in systems.\n\n\nvoid\nunsubscribe_on_new_system (NewSystemHandle handle)\nunsubscribe from subscribe_on_new_system.\n\n\nstd::shared_ptrServerComponent >\nserver_component (unsigned instance=0)\nGet server component with default type of Mavsdk instance.\n\n\nstd::shared_ptrServerComponent >\nserver_component_by_type (ComponentType component_type, unsigned instance=0)\nGet server component by a high level type.\n\n\nstd::shared_ptrServerComponent >\nserver_component_by_id (uint8_t component_id)\nGet server component by the low MAVLink component ID.\n\n\nvoid\nintercept_incoming_messages_async (std::function callback)\nIntercept incoming messages.\n\n\nvoid\nintercept_outgoing_messages_async (std::function callback)\nIntercept outgoing messages.\n\n\n\nStatic Public Attributes\nstatic constexpr auto DEFAULT_UDP_BIND_IP = \"0.0.0.0\" - Default UDP bind IP (accepts any incoming connections).\nstatic constexpr int DEFAULT_UDP_PORT = 14540 - Default UDP bind port (same port as used by MAVROS).\nstatic constexpr auto DEFAULT_TCP_REMOTE_IP = \"127.0.0.1\" - Default TCP remote IP (localhost).\nstatic constexpr int DEFAULT_TCP_REMOTE_PORT = 5760 - Default TCP remote port.\nstatic constexpr int DEFAULT_SERIAL_BAUDRATE = 57600 - Default serial baudrate.\nstatic constexpr double DEFAULT_TIMEOUT_S = 0.5 - Default internal timeout in seconds.\nConstructor & Destructor Documentation\nMavsdk() \nmavsdk::Mavsdk::Mavsdk()=delete\n\nDefault constructor without configuration, no longer recommended.\n\n This has been removed because MAVSDK used to identify itself as a ground station by default which isn't always the safest choice. For instance, when MAVSDK is used on a companion computer (set as a ground station) it means that the appropriate failsafe doesn't trigger.\n\nMavsdk() \nmavsdk::Mavsdk::Mavsdk(Configuration configuration)\n\nConstructor with configuration.\nParameters\n\nConfiguration configuration - Configuration to use in MAVSDK instance.\n\n~Mavsdk() \nmavsdk::Mavsdk::~Mavsdk()\n\nDestructor.\nDisconnects all connected vehicles and releases all resources.\nMember Typdef Documentation\ntypedef ConnectionHandle \nusing mavsdk::Mavsdk::ConnectionHandle = Handle<>\n\nHandle type to remove a connection.\ntypedef NewSystemCallback \nusing mavsdk::Mavsdk::NewSystemCallback = std::function\n\nCallback type discover and timeout notifications.\ntypedef NewSystemHandle \nusing mavsdk::Mavsdk::NewSystemHandle = Handle<>\n\nHandle type to unsubscribe from subscribe_on_new_system.\nMember Enumeration Documentation\nenum ComponentType \nComponentType of configurations, used for automatic ID setting.\n\n\n\nValue\nDescription\n\n\n\n\n Autopilot\nSDK is used as an autopilot. \n\n\n GroundStation\nSDK is used as a ground station. \n\n\n CompanionComputer\nSDK is used as a companion computer on board the MAV. \n\n\n Camera\n\n\n\n Custom\nSDK is used as a camera. \n\n\n\nthe SDK is used in a custom configuration, no automatic ID will be provided\nMember Function Documentation\nversion() \nstd::string mavsdk::Mavsdk::version() const\n\nReturns the version of MAVSDK.\nNote, you're not supposed to request the version too many times.\nReturns\n std::string - A string containing the version.\nadd_any_connection() \nConnectionResult mavsdk::Mavsdk::add_any_connection(const std::string &connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\n\nAdds Connection via URL.\nSupports connection: Serial, TCP or UDP. Connection URL format should be:\n\nUDP: udp://[host][:bind_port]\n\nTCP: tcp://[host][:remote_port]\n\nSerial: serial://dev_node[:baudrate]\n\n\n\n\nFor UDP, the host can be set to either:\n\nzero IP: 0.0.0.0 -> behave like a server and listen for heartbeats.\n\nsome IP: 192.168.1.12 -> behave like a client, initiate connection and start sending heartbeats.\n\n\n\nParameters\n\nconst std::string& connection_url - connection URL string.\nForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).\n\nReturns\n ConnectionResult - The result of adding the connection.\nadd_any_connection_with_handle() \nstd::pair mavsdk::Mavsdk::add_any_connection_with_handle(const std::string &connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\n\nAdds Connection via URL Additionally returns a handle to remove the connection later.\nSupports connection: Serial, TCP or UDP. Connection URL format should be:\n\nUDP: udp://[host][:bind_port]\n\nTCP: tcp://[host][:remote_port]\n\nSerial: serial://dev_node[:baudrate]\n\n\n\n\nFor UDP, the host can be set to either:\n\nzero IP: 0.0.0.0 -> behave like a server and listen for heartbeats.\n\nsome IP: 192.168.1.12 -> behave like a client, initiate connection and start sending heartbeats.\n\n\n\nParameters\n\nconst std::string& connection_url - connection URL string.\nForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).\n\nReturns\n std::pairConnectionResult, ConnectionHandle > - A pair containing the result of adding the connection as well as a handle to remove it later.\nadd_udp_connection() \nConnectionResult mavsdk::Mavsdk::add_udp_connection(int local_port=DEFAULT_UDP_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\n\nAdds a UDP connection to the specified port number.\nAny incoming connections are accepted (0.0.0.0).\nParameters\n\nint local_port - The local UDP port to listen to (defaults to 14540, the same as MAVROS).\nForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).\n\nReturns\n ConnectionResult - The result of adding the connection.\nadd_udp_connection() \nConnectionResult mavsdk::Mavsdk::add_udp_connection(const std::string &local_ip, int local_port=DEFAULT_UDP_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\n\nAdds a UDP connection to the specified port number and local interface.\nTo accept only local connections of the machine, use 127.0.0.1. For any incoming connections, use 0.0.0.0.\nParameters\n\nconst std::string& local_ip - The local UDP IP address to listen to.\nint local_port - The local UDP port to listen to (defaults to 14540, the same as MAVROS).\nForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).\n\nReturns\n ConnectionResult - The result of adding the connection.\nsetup_udp_remote() \nConnectionResult mavsdk::Mavsdk::setup_udp_remote(const std::string &remote_ip, int remote_port, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\n\nSets up instance to send heartbeats to the specified remote interface and port number.\nParameters\n\nconst std::string& remote_ip - The remote UDP IP address to report to.\nint remote_port - The local UDP port to report to.\nForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).\n\nReturns\n ConnectionResult - The result of operation.\nadd_tcp_connection() \nConnectionResult mavsdk::Mavsdk::add_tcp_connection(const std::string &remote_ip, int remote_port=DEFAULT_TCP_REMOTE_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\n\nAdds a TCP connection with a specific IP address and port number.\nParameters\n\nconst std::string& remote_ip - Remote IP address to connect to.\nint remote_port - The TCP port to connect to (defaults to 5760).\nForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).\n\nReturns\n ConnectionResult - The result of adding the connection.\nadd_serial_connection() \nConnectionResult mavsdk::Mavsdk::add_serial_connection(const std::string &dev_path, int baudrate=DEFAULT_SERIAL_BAUDRATE, bool flow_control=false, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)\n\nAdds a serial connection with a specific port (COM or UART dev node) and baudrate as specified.\nParameters\n\nconst std::string& dev_path - COM or UART dev node name/path (e.g. \"/dev/ttyS0\", or \"COM3\" on Windows).\nint baudrate - Baudrate of the serial port (defaults to 57600).\nbool flow_control - enable/disable flow control.\nForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).\n\nReturns\n ConnectionResult - The result of adding the connection.\nremove_connection() \nvoid mavsdk::Mavsdk::remove_connection(ConnectionHandle handle)\n\nRemove connection again.\nParameters\n\nConnectionHandle handle - Handle returned when connection was added.\n\nsystems() \nstd::vector > mavsdk::Mavsdk::systems() const\n\nGet a vector of systems which have been discovered or set-up.\nReturns\n std::vectorSystem > > - The vector of systems which are available.\nfirst_autopilot() \nstd::optional > mavsdk::Mavsdk::first_autopilot(double timeout_s) const\n\nGet the first autopilot that has been discovered.\n\n This requires a MAVLink component with component ID 1 sending heartbeats.\n\nParameters\n\ndouble timeout_s - A timeout in seconds. A timeout of 0 will not wait and return immediately. A negative timeout will wait forever.\n\nReturns\n std::optionalSystem > > - A system or nothing if nothing was discovered within the timeout.\nset_configuration() \nvoid mavsdk::Mavsdk::set_configuration(Configuration configuration)\n\nSet Configuration of SDK.\nThe default configuration is Configuration::GroundStation The configuration is used in order to set the MAVLink system ID, the component ID, as well as the MAV_TYPE accordingly.\nParameters\n\nConfiguration configuration - Configuration chosen.\n\nset_timeout_s() \nvoid mavsdk::Mavsdk::set_timeout_s(double timeout_s)\n\nSet timeout of MAVLink transfers.\nThe default timeout used is generally DEFAULT_SERIAL_BAUDRATE (0.5 seconds) seconds. If MAVSDK is used on the same host this timeout can be reduced, while if MAVSDK has to communicate over links with high latency it might need to be increased to prevent timeouts.\nParameters\n\ndouble timeout_s - \n\nset_system_status() \nvoid mavsdk::Mavsdk::set_system_status(uint8_t system_status)\n\nSet system status of this MAVLink entity.\nThe default system status is MAV_STATE_UNINIT.\nParameters\n\nuint8_t system_status - system status.\n\nsubscribe_on_new_system() \nNewSystemHandle mavsdk::Mavsdk::subscribe_on_new_system(const NewSystemCallback &callback)\n\nGet notification about a change in systems.\nThis gets called whenever a system is added.\nParameters\n\nconst NewSystemCallback& callback - Callback to subscribe.\n\nReturns\n NewSystemHandle - A handle to unsubscribe again.\nunsubscribe_on_new_system() \nvoid mavsdk::Mavsdk::unsubscribe_on_new_system(NewSystemHandle handle)\n\nunsubscribe from subscribe_on_new_system.\nParameters\n\nNewSystemHandle handle - Handle received on subscription.\n\nserver_component() \nstd::shared_ptr mavsdk::Mavsdk::server_component(unsigned instance=0)\n\nGet server component with default type of Mavsdk instance.\nParameters\n\nunsigned instance - \n\nReturns\n std::shared_ptrServerComponent > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.\nserver_component_by_type() \nstd::shared_ptr mavsdk::Mavsdk::server_component_by_type(ComponentType component_type, unsigned instance=0)\n\nGet server component by a high level type.\nThis represents a server component of the MAVSDK instance.\nParameters\n\nComponentType component_type - The high level type of the component.\nunsigned instance - The instance of the component if there are multiple, starting at 0.\n\nReturns\n std::shared_ptrServerComponent > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.\nserver_component_by_id() \nstd::shared_ptr mavsdk::Mavsdk::server_component_by_id(uint8_t component_id)\n\nGet server component by the low MAVLink component ID.\nThis represents a server component of the MAVSDK instance.\nParameters\n\nuint8_t component_id - MAVLink component ID to use\n\nReturns\n std::shared_ptrServerComponent > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.\nintercept_incoming_messages_async() \nvoid mavsdk::Mavsdk::intercept_incoming_messages_async(std::function callback)\n\nIntercept incoming messages.\nThis is a hook which allows to change or drop MAVLink messages as they are received before they get forwarded any subscribers.\n\n This functionality is provided primarily for testing in order to simulate packet drops or actors not adhering to the MAVLink protocols.\n\nParameters\n\nstd::function callback - Callback to be called for each incoming message. To drop a message, return 'false' from the callback.\n\nintercept_outgoing_messages_async() \nvoid mavsdk::Mavsdk::intercept_outgoing_messages_async(std::function callback)\n\nIntercept outgoing messages.\nThis is a hook which allows to change or drop MAVLink messages before they are sent.\n\n This functionality is provided primarily for testing in order to simulate packet drops or actors not adhering to the MAVLink protocols.\n\nParameters\n\nstd::function callback - Callback to be called for each outgoing message. To drop a message, return 'false' from the callback.\n\nField Documentation\nDEFAULT_UDP_BIND_IP \nconstexpr auto mavsdk::Mavsdk::DEFAULT_UDP_BIND_IP = \"0.0.0.0\"\n\nDefault UDP bind IP (accepts any incoming connections).\nDEFAULT_UDP_PORT \nconstexpr int mavsdk::Mavsdk::DEFAULT_UDP_PORT = 14540\n\nDefault UDP bind port (same port as used by MAVROS).\nDEFAULT_TCP_REMOTE_IP \nconstexpr auto mavsdk::Mavsdk::DEFAULT_TCP_REMOTE_IP = \"127.0.0.1\"\n\nDefault TCP remote IP (localhost).\nDEFAULT_TCP_REMOTE_PORT \nconstexpr int mavsdk::Mavsdk::DEFAULT_TCP_REMOTE_PORT = 5760\n\nDefault TCP remote port.\nDEFAULT_SERIAL_BAUDRATE \nconstexpr int mavsdk::Mavsdk::DEFAULT_SERIAL_BAUDRATE = 57600\n\nDefault serial baudrate.\nDEFAULT_TIMEOUT_S \nconstexpr double mavsdk::Mavsdk::DEFAULT_TIMEOUT_S = 0.5\n\nDefault internal timeout in seconds.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/classmavsdk_1_1_mavsdk_1_1_configuration.html":{"url":"cpp/api_reference/classmavsdk_1_1_mavsdk_1_1_configuration.html","title":"class Mavsdk::Configuration","keywords":"","body":"mavsdk::Mavsdk::Configuration Class Reference\n#include: mavsdk.h\n\nPossible configurations. \nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nConfiguration (uint8_t system_id, uint8_t component_id, bool always_send_heartbeats)\nCreate new Configuration via manually configured system and component ID.\n\n\n \nConfiguration (ComponentType component_type)\nCreate new Configuration using a component type. In this mode, the system and component ID will be automatically chosen.\n\n\n \nConfiguration ()=delete\n\n\n\n \n~Configuration ()=default\n\n\n\nuint8_t\nget_system_id () const\nGet the system id of this configuration.\n\n\nvoid\nset_system_id (uint8_t system_id)\nSet the system id of this configuration.\n\n\nuint8_t\nget_component_id () const\nGet the component id of this configuration.\n\n\nvoid\nset_component_id (uint8_t component_id)\nSet the component id of this configuration.\n\n\nbool\nget_always_send_heartbeats () const\nGet whether to send heartbeats by default.\n\n\nvoid\nset_always_send_heartbeats (bool always_send_heartbeats)\nSet whether to send heartbeats by default.\n\n\nComponentType\nget_component_type () const\nComponent type of this configuration, used for automatic ID set.\n\n\nvoid\nset_component_type (ComponentType component_type)\nSet the component type of this configuration.\n\n\n\nConstructor & Destructor Documentation\nConfiguration() \nmavsdk::Mavsdk::Configuration::Configuration(uint8_t system_id, uint8_t component_id, bool always_send_heartbeats)\n\nCreate new Configuration via manually configured system and component ID.\nParameters\n\nuint8_t system_id - the system id to store in this configuration\nuint8_t component_id - the component id to store in this configuration\nbool always_send_heartbeats - send heartbeats by default even without a system connected\n\nConfiguration() \nmavsdk::Mavsdk::Configuration::Configuration(ComponentType component_type)\n\nCreate new Configuration using a component type. In this mode, the system and component ID will be automatically chosen.\nParameters\n\nComponentType component_type - the component type, used for automatically choosing ids.\n\nConfiguration() \nmavsdk::Mavsdk::Configuration::Configuration()=delete\n\n~Configuration() \nmavsdk::Mavsdk::Configuration::~Configuration()=default\n\nMember Function Documentation\nget_system_id() \nuint8_t mavsdk::Mavsdk::Configuration::get_system_id() const\n\nGet the system id of this configuration.\nReturns\n uint8_t - uint8_t the system id stored in this configuration, from 1-255\nset_system_id() \nvoid mavsdk::Mavsdk::Configuration::set_system_id(uint8_t system_id)\n\nSet the system id of this configuration.\nParameters\n\nuint8_t system_id - \n\nget_component_id() \nuint8_t mavsdk::Mavsdk::Configuration::get_component_id() const\n\nGet the component id of this configuration.\nReturns\n uint8_t - uint8_t the component id stored in this configuration,from 1-255\nset_component_id() \nvoid mavsdk::Mavsdk::Configuration::set_component_id(uint8_t component_id)\n\nSet the component id of this configuration.\nParameters\n\nuint8_t component_id - \n\nget_always_send_heartbeats() \nbool mavsdk::Mavsdk::Configuration::get_always_send_heartbeats() const\n\nGet whether to send heartbeats by default.\nReturns\n bool - whether to always send heartbeats\nset_always_send_heartbeats() \nvoid mavsdk::Mavsdk::Configuration::set_always_send_heartbeats(bool always_send_heartbeats)\n\nSet whether to send heartbeats by default.\nParameters\n\nbool always_send_heartbeats - \n\nget_component_type() \nComponentType mavsdk::Mavsdk::Configuration::get_component_type() const\n\nComponent type of this configuration, used for automatic ID set.\nReturns\n ComponentType - \nset_component_type() \nvoid mavsdk::Mavsdk::Configuration::set_component_type(ComponentType component_type)\n\nSet the component type of this configuration.\nParameters\n\nComponentType component_type - \n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/classmavsdk_1_1_mission.html":{"url":"cpp/api_reference/classmavsdk_1_1_mission.html","title":"class Mission","keywords":"","body":"mavsdk::Mission Class Reference\n#include: mission.h\n\nEnable waypoint missions. \nData Structures\nstruct MissionItem\nstruct MissionPlan\nstruct MissionProgress\nstruct ProgressData\nstruct ProgressDataOrMission\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for action requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Mission calls.\n\n\nstd::functionResult, ProgressData)> UploadMissionWithProgressCallback\nCallback type for upload_mission_with_progress_async.\n\n\nstd::functionResult, MissionPlan)> DownloadMissionCallback\nCallback type for download_mission_async.\n\n\nstd::functionResult, ProgressDataOrMission)> DownloadMissionWithProgressCallback\nCallback type for download_mission_with_progress_async.\n\n\nstd::functionMissionProgress)> MissionProgressCallback\nCallback type for subscribe_mission_progress.\n\n\nHandleMissionProgress > MissionProgressHandle\nHandle type for subscribe_mission_progress.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nMission (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nMission (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Mission () override\nDestructor (internal use only).\n\n\n \nMission (const Mission & other)\nCopy constructor.\n\n\nvoid\nupload_mission_async (MissionPlan mission_plan, const ResultCallback callback)\nUpload a list of mission items to the system.\n\n\nResult\nupload_mission (MissionPlan mission_plan)const\nUpload a list of mission items to the system.\n\n\nvoid\nupload_mission_with_progress_async (MissionPlan mission_plan, const UploadMissionWithProgressCallback & callback)\nUpload a list of mission items to the system and report upload progress.\n\n\nResult\ncancel_mission_upload () const\nCancel an ongoing mission upload.\n\n\nvoid\ndownload_mission_async (const DownloadMissionCallback callback)\nDownload a list of mission items from the system (asynchronous).\n\n\nstd::pairResult, Mission::MissionPlan >\ndownload_mission () const\nDownload a list of mission items from the system (asynchronous).\n\n\nvoid\ndownload_mission_with_progress_async (const DownloadMissionWithProgressCallback & callback)\nDownload a list of mission items from the system (asynchronous) and report progress.\n\n\nResult\ncancel_mission_download () const\nCancel an ongoing mission download.\n\n\nvoid\nstart_mission_async (const ResultCallback callback)\nStart the mission.\n\n\nResult\nstart_mission () const\nStart the mission.\n\n\nvoid\npause_mission_async (const ResultCallback callback)\nPause the mission.\n\n\nResult\npause_mission () const\nPause the mission.\n\n\nvoid\nclear_mission_async (const ResultCallback callback)\nClear the mission saved on the vehicle.\n\n\nResult\nclear_mission () const\nClear the mission saved on the vehicle.\n\n\nvoid\nset_current_mission_item_async (int32_t index, const ResultCallback callback)\nSets the mission item index to go to.\n\n\nResult\nset_current_mission_item (int32_t index)const\nSets the mission item index to go to.\n\n\nstd::pairResult, bool >\nis_mission_finished () const\nCheck if the mission has been finished.\n\n\nMissionProgressHandle\nsubscribe_mission_progress (const MissionProgressCallback & callback)\nSubscribe to mission progress updates.\n\n\nvoid\nunsubscribe_mission_progress (MissionProgressHandle handle)\nUnsubscribe from subscribe_mission_progress.\n\n\nMissionProgress\nmission_progress () const\nPoll for 'MissionProgress' (blocking).\n\n\nstd::pairResult, bool >\nget_return_to_launch_after_mission () const\nGet whether to trigger Return-to-Launch (RTL) after mission is complete.\n\n\nResult\nset_return_to_launch_after_mission (bool enable)const\nSet whether to trigger Return-to-Launch (RTL) after the mission is complete.\n\n\nconst Mission &\noperator= (const Mission &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nMission() \nmavsdk::Mission::Mission(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto mission = Mission(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nMission() \nmavsdk::Mission::Mission(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto mission = Mission(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Mission() \nmavsdk::Mission::~Mission() override\n\nDestructor (internal use only).\nMission() \nmavsdk::Mission::Mission(const Mission &other)\n\nCopy constructor.\nParameters\n\nconst Mission& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Mission::ResultCallback = std::function\n\nCallback type for asynchronous Mission calls.\ntypedef UploadMissionWithProgressCallback \nusing mavsdk::Mission::UploadMissionWithProgressCallback = std::function\n\nCallback type for upload_mission_with_progress_async.\ntypedef DownloadMissionCallback \nusing mavsdk::Mission::DownloadMissionCallback = std::function\n\nCallback type for download_mission_async.\ntypedef DownloadMissionWithProgressCallback \nusing mavsdk::Mission::DownloadMissionWithProgressCallback = std::function\n\nCallback type for download_mission_with_progress_async.\ntypedef MissionProgressCallback \nusing mavsdk::Mission::MissionProgressCallback = std::function\n\nCallback type for subscribe_mission_progress.\ntypedef MissionProgressHandle \nusing mavsdk::Mission::MissionProgressHandle = Handle\n\nHandle type for subscribe_mission_progress.\nMember Enumeration Documentation\nenum Result \nPossible results returned for action requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n Error\nError. \n\n\n TooManyMissionItems\nToo many mission items in the mission. \n\n\n Busy\nVehicle is busy. \n\n\n Timeout\nRequest timed out. \n\n\n InvalidArgument\nInvalid argument. \n\n\n Unsupported\nMission downloaded from the system is not supported. \n\n\n NoMissionAvailable\nNo mission available on the system. \n\n\n UnsupportedMissionCmd\nUnsupported mission command. \n\n\n TransferCancelled\nMission transfer (upload or download) has been cancelled. \n\n\n NoSystem\nNo system connected. \n\n\n Next\nIntermediate message showing progress. \n\n\n Denied\nRequest denied. \n\n\n ProtocolError\nThere was a protocol error. \n\n\n IntMessagesNotSupported\nThe system does not support the MISSION_INT protocol. \n\n\n\nMember Function Documentation\nupload_mission_async() \nvoid mavsdk::Mission::upload_mission_async(MissionPlan mission_plan, const ResultCallback callback)\n\nUpload a list of mission items to the system.\nThe mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.\nThis function is non-blocking. See 'upload_mission' for the blocking counterpart.\nParameters\n\nMissionPlan mission_plan - \nconst ResultCallback callback - \n\nupload_mission() \nResult mavsdk::Mission::upload_mission(MissionPlan mission_plan) const\n\nUpload a list of mission items to the system.\nThe mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.\nThis function is blocking. See 'upload_mission_async' for the non-blocking counterpart.\nParameters\n\nMissionPlan mission_plan - \n\nReturns\n Result - Result of request.\nupload_mission_with_progress_async() \nvoid mavsdk::Mission::upload_mission_with_progress_async(MissionPlan mission_plan, const UploadMissionWithProgressCallback &callback)\n\nUpload a list of mission items to the system and report upload progress.\nThe mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.\nParameters\n\nMissionPlan mission_plan - \nconst UploadMissionWithProgressCallback& callback - \n\ncancel_mission_upload() \nResult mavsdk::Mission::cancel_mission_upload() const\n\nCancel an ongoing mission upload.\nThis function is blocking.\nReturns\n Result - Result of request.\ndownload_mission_async() \nvoid mavsdk::Mission::download_mission_async(const DownloadMissionCallback callback)\n\nDownload a list of mission items from the system (asynchronous).\nWill fail if any of the downloaded mission items are not supported by the MAVSDK API.\nThis function is non-blocking. See 'download_mission' for the blocking counterpart.\nParameters\n\nconst DownloadMissionCallback callback - \n\ndownload_mission() \nstd::pair mavsdk::Mission::download_mission() const\n\nDownload a list of mission items from the system (asynchronous).\nWill fail if any of the downloaded mission items are not supported by the MAVSDK API.\nThis function is blocking. See 'download_mission_async' for the non-blocking counterpart.\nReturns\n std::pairResult, Mission::MissionPlan > - Result of request.\ndownload_mission_with_progress_async() \nvoid mavsdk::Mission::download_mission_with_progress_async(const DownloadMissionWithProgressCallback &callback)\n\nDownload a list of mission items from the system (asynchronous) and report progress.\nWill fail if any of the downloaded mission items are not supported by the MAVSDK API.\nParameters\n\nconst DownloadMissionWithProgressCallback& callback - \n\ncancel_mission_download() \nResult mavsdk::Mission::cancel_mission_download() const\n\nCancel an ongoing mission download.\nThis function is blocking.\nReturns\n Result - Result of request.\nstart_mission_async() \nvoid mavsdk::Mission::start_mission_async(const ResultCallback callback)\n\nStart the mission.\nA mission must be uploaded to the vehicle before this can be called.\nThis function is non-blocking. See 'start_mission' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nstart_mission() \nResult mavsdk::Mission::start_mission() const\n\nStart the mission.\nA mission must be uploaded to the vehicle before this can be called.\nThis function is blocking. See 'start_mission_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\npause_mission_async() \nvoid mavsdk::Mission::pause_mission_async(const ResultCallback callback)\n\nPause the mission.\nPausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.\nThis function is non-blocking. See 'pause_mission' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\npause_mission() \nResult mavsdk::Mission::pause_mission() const\n\nPause the mission.\nPausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.\nThis function is blocking. See 'pause_mission_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nclear_mission_async() \nvoid mavsdk::Mission::clear_mission_async(const ResultCallback callback)\n\nClear the mission saved on the vehicle.\nThis function is non-blocking. See 'clear_mission' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nclear_mission() \nResult mavsdk::Mission::clear_mission() const\n\nClear the mission saved on the vehicle.\nThis function is blocking. See 'clear_mission_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nset_current_mission_item_async() \nvoid mavsdk::Mission::set_current_mission_item_async(int32_t index, const ResultCallback callback)\n\nSets the mission item index to go to.\nBy setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a mission item, the mission will be set to this item.\nNote that this is not necessarily true for general missions using MAVLink if loop counters are used.\nThis function is non-blocking. See 'set_current_mission_item' for the blocking counterpart.\nParameters\n\nint32_t index - \nconst ResultCallback callback - \n\nset_current_mission_item() \nResult mavsdk::Mission::set_current_mission_item(int32_t index) const\n\nSets the mission item index to go to.\nBy setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a mission item, the mission will be set to this item.\nNote that this is not necessarily true for general missions using MAVLink if loop counters are used.\nThis function is blocking. See 'set_current_mission_item_async' for the non-blocking counterpart.\nParameters\n\nint32_t index - \n\nReturns\n Result - Result of request.\nis_mission_finished() \nstd::pair mavsdk::Mission::is_mission_finished() const\n\nCheck if the mission has been finished.\nThis function is blocking.\nReturns\n std::pairResult, bool > - Result of request.\nsubscribe_mission_progress() \nMissionProgressHandle mavsdk::Mission::subscribe_mission_progress(const MissionProgressCallback &callback)\n\nSubscribe to mission progress updates.\nParameters\n\nconst MissionProgressCallback& callback - \n\nReturns\n MissionProgressHandle - \nunsubscribe_mission_progress() \nvoid mavsdk::Mission::unsubscribe_mission_progress(MissionProgressHandle handle)\n\nUnsubscribe from subscribe_mission_progress.\nParameters\n\nMissionProgressHandle handle - \n\nmission_progress() \nMissionProgress mavsdk::Mission::mission_progress() const\n\nPoll for 'MissionProgress' (blocking).\nReturns\n MissionProgress - One MissionProgress update.\nget_return_to_launch_after_mission() \nstd::pair mavsdk::Mission::get_return_to_launch_after_mission() const\n\nGet whether to trigger Return-to-Launch (RTL) after mission is complete.\nBefore getting this option, it needs to be set, or a mission needs to be downloaded.\nThis function is blocking.\nReturns\n std::pairResult, bool > - Result of request.\nset_return_to_launch_after_mission() \nResult mavsdk::Mission::set_return_to_launch_after_mission(bool enable) const\n\nSet whether to trigger Return-to-Launch (RTL) after the mission is complete.\nThis will only take effect for the next mission upload, meaning that the mission may have to be uploaded again.\nThis function is blocking.\nParameters\n\nbool enable - \n\nReturns\n Result - Result of request.\noperator=() \nconst Mission& mavsdk::Mission::operator=(const Mission &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Mission& - \n\nReturns\n const Mission & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_item.html":{"url":"cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_item.html","title":"struct MissionItem","keywords":"","body":"mavsdk::Mission::MissionItem Struct Reference\n#include: mission.h\n\nType representing a mission item. \nA MissionItem can contain a position and/or actions. Mission items are building blocks to assemble a mission, which can be sent to (or received from) a system. They cannot be used independently. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum CameraAction\nPossible camera actions at a mission item.\n\n\nenum VehicleAction\nPossible vehicle actions at a mission item.\n\n\n\nData Fields\ndouble latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)\ndouble longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to +180)\nfloat relative_altitude_m { float(NAN)} - Altitude relative to takeoff altitude in metres.\nfloat speed_m_s { float(NAN)} - Speed to use after this mission item (in metres/second)\nbool is_fly_through { false} - True will make the drone fly through without stopping, while false will make the drone stop on the waypoint.\nfloat gimbal_pitch_deg {float(NAN)} - Gimbal pitch (in degrees)\nfloat gimbal_yaw_deg {float(NAN)} - Gimbal yaw (in degrees)\nCameraAction camera_action {} - Camera action to trigger at this mission item.\nfloat loiter_time_s {float(NAN)} - Loiter time (in seconds)\ndouble camera_photo_interval_s { 1.0} - Camera photo interval to use after this mission item (in seconds)\nfloat acceptance_radius_m { float(NAN)} - Radius for completing a mission item (in metres)\nfloat yaw_deg {float(NAN)} - Absolute yaw angle (in degrees)\nfloat camera_photo_distance_m { NAN} - Camera photo distance to use after this mission item (in meters)\nVehicleAction vehicle_action {} - Vehicle action to trigger at this mission item.\nMember Enumeration Documentation\nenum CameraAction \nPossible camera actions at a mission item.\n\n\n\nValue\nDescription\n\n\n\n\n None\nNo action. \n\n\n TakePhoto\nTake a single photo. \n\n\n StartPhotoInterval\nStart capturing photos at regular intervals. \n\n\n StopPhotoInterval\nStop capturing photos at regular intervals. \n\n\n StartVideo\nStart capturing video. \n\n\n StopVideo\nStop capturing video. \n\n\n StartPhotoDistance\nStart capturing photos at regular distance. \n\n\n StopPhotoDistance\nStop capturing photos at regular distance. \n\n\n\nenum VehicleAction \nPossible vehicle actions at a mission item.\n\n\n\nValue\nDescription\n\n\n\n\n None\nNo action. \n\n\n Takeoff\nVehicle will takeoff and go to defined waypoint. \n\n\n Land\nWhen a waypoint is reached vehicle will land at current position. \n\n\n TransitionToFw\nWhen a waypoint is reached vehicle will transition to fixed-wing mode. \n\n\n TransitionToMc\nWhen a waypoint is reached vehicle will transition to multi-copter mode. \n\n\n\nField Documentation\nlatitude_deg \ndouble mavsdk::Mission::MissionItem::latitude_deg {double(NAN)}\n\nLatitude in degrees (range: -90 to +90)\nlongitude_deg \ndouble mavsdk::Mission::MissionItem::longitude_deg {double(NAN)}\n\nLongitude in degrees (range: -180 to +180)\nrelative_altitude_m \nfloat mavsdk::Mission::MissionItem::relative_altitude_m { float(NAN)}\n\nAltitude relative to takeoff altitude in metres.\nspeed_m_s \nfloat mavsdk::Mission::MissionItem::speed_m_s { float(NAN)}\n\nSpeed to use after this mission item (in metres/second)\nis_fly_through \nbool mavsdk::Mission::MissionItem::is_fly_through { false}\n\nTrue will make the drone fly through without stopping, while false will make the drone stop on the waypoint.\ngimbal_pitch_deg \nfloat mavsdk::Mission::MissionItem::gimbal_pitch_deg {float(NAN)}\n\nGimbal pitch (in degrees)\ngimbal_yaw_deg \nfloat mavsdk::Mission::MissionItem::gimbal_yaw_deg {float(NAN)}\n\nGimbal yaw (in degrees)\ncamera_action \nCameraAction mavsdk::Mission::MissionItem::camera_action {}\n\nCamera action to trigger at this mission item.\nloiter_time_s \nfloat mavsdk::Mission::MissionItem::loiter_time_s {float(NAN)}\n\nLoiter time (in seconds)\ncamera_photo_interval_s \ndouble mavsdk::Mission::MissionItem::camera_photo_interval_s { 1.0}\n\nCamera photo interval to use after this mission item (in seconds)\nacceptance_radius_m \nfloat mavsdk::Mission::MissionItem::acceptance_radius_m { float(NAN)}\n\nRadius for completing a mission item (in metres)\nyaw_deg \nfloat mavsdk::Mission::MissionItem::yaw_deg {float(NAN)}\n\nAbsolute yaw angle (in degrees)\ncamera_photo_distance_m \nfloat mavsdk::Mission::MissionItem::camera_photo_distance_m { NAN}\n\nCamera photo distance to use after this mission item (in meters)\nvehicle_action \nVehicleAction mavsdk::Mission::MissionItem::vehicle_action {}\n\nVehicle action to trigger at this mission item.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_plan.html":{"url":"cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_plan.html","title":"struct MissionPlan","keywords":"","body":"mavsdk::Mission::MissionPlan Struct Reference\n#include: mission.h\n\nMission plan type. \nData Fields\nstd::vectorMissionItem > mission_items {} - The mission items.\nField Documentation\nmission_items \nstd::vector mavsdk::Mission::MissionPlan::mission_items {}\n\nThe mission items.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_progress.html":{"url":"cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_progress.html","title":"struct MissionProgress","keywords":"","body":"mavsdk::Mission::MissionProgress Struct Reference\n#include: mission.h\n\nMission progress type. \nData Fields\nint32_t current {} - Current mission item index (0-based), if equal to total, the mission is finished.\nint32_t total {} - Total number of mission items.\nField Documentation\ncurrent \nint32_t mavsdk::Mission::MissionProgress::current {}\n\nCurrent mission item index (0-based), if equal to total, the mission is finished.\ntotal \nint32_t mavsdk::Mission::MissionProgress::total {}\n\nTotal number of mission items.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data.html":{"url":"cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data.html","title":"struct ProgressData","keywords":"","body":"mavsdk::Mission::ProgressData Struct Reference\n#include: mission.h\n\nProgress data coming from mission upload. \nData Fields\nfloat progress {float(NAN)} - Progress (0..1.0)\nField Documentation\nprogress \nfloat mavsdk::Mission::ProgressData::progress {float(NAN)}\n\nProgress (0..1.0)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data_or_mission.html":{"url":"cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data_or_mission.html","title":"struct ProgressDataOrMission","keywords":"","body":"mavsdk::Mission::ProgressDataOrMission Struct Reference\n#include: mission.h\n\nProgress data coming from mission download, or the mission itself (if the transfer succeeds). \nData Fields\nbool has_progress { false} - Whether this ProgressData contains a 'progress' status or not.\nfloat progress {float(NAN)} - Progress (0..1.0)\nbool has_mission {} - Whether this ProgressData contains a 'mission_plan' or not.\nMissionPlan mission_plan {} - Mission plan.\nField Documentation\nhas_progress \nbool mavsdk::Mission::ProgressDataOrMission::has_progress { false}\n\nWhether this ProgressData contains a 'progress' status or not.\nprogress \nfloat mavsdk::Mission::ProgressDataOrMission::progress {float(NAN)}\n\nProgress (0..1.0)\nhas_mission \nbool mavsdk::Mission::ProgressDataOrMission::has_mission {}\n\nWhether this ProgressData contains a 'mission_plan' or not.\nmission_plan \nMissionPlan mavsdk::Mission::ProgressDataOrMission::mission_plan {}\n\nMission plan.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_mission_raw.html":{"url":"cpp/api_reference/classmavsdk_1_1_mission_raw.html","title":"class MissionRaw","keywords":"","body":"mavsdk::MissionRaw Class Reference\n#include: mission_raw.h\n\nEnable raw missions as exposed by MAVLink. \nData Structures\nstruct MissionImportData\nstruct MissionItem\nstruct MissionProgress\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for action requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous MissionRaw calls.\n\n\nstd::functionResult, std::vectorMissionItem >)> DownloadMissionCallback\nCallback type for download_mission_async.\n\n\nstd::functionMissionProgress)> MissionProgressCallback\nCallback type for subscribe_mission_progress.\n\n\nHandleMissionProgress > MissionProgressHandle\nHandle type for subscribe_mission_progress.\n\n\nstd::function MissionChangedCallback\nCallback type for subscribe_mission_changed.\n\n\nHandle MissionChangedHandle\nHandle type for subscribe_mission_changed.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nMissionRaw (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nMissionRaw (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~MissionRaw () override\nDestructor (internal use only).\n\n\n \nMissionRaw (const MissionRaw & other)\nCopy constructor.\n\n\nvoid\nupload_mission_async (std::vectorMissionItem > mission_items, const ResultCallback callback)\nUpload a list of raw mission items to the system.\n\n\nResult\nupload_mission (std::vectorMissionItem > mission_items)const\nUpload a list of raw mission items to the system.\n\n\nvoid\nupload_geofence_async (std::vectorMissionItem > mission_items, const ResultCallback callback)\nUpload a list of geofence items to the system.\n\n\nResult\nupload_geofence (std::vectorMissionItem > mission_items)const\nUpload a list of geofence items to the system.\n\n\nvoid\nupload_rally_points_async (std::vectorMissionItem > mission_items, const ResultCallback callback)\nUpload a list of rally point items to the system.\n\n\nResult\nupload_rally_points (std::vectorMissionItem > mission_items)const\nUpload a list of rally point items to the system.\n\n\nResult\ncancel_mission_upload () const\nCancel an ongoing mission upload.\n\n\nvoid\ndownload_mission_async (const DownloadMissionCallback callback)\nDownload a list of raw mission items from the system (asynchronous).\n\n\nstd::pairResult, std::vectorMissionRaw::MissionItem > >\ndownload_mission () const\nDownload a list of raw mission items from the system (asynchronous).\n\n\nResult\ncancel_mission_download () const\nCancel an ongoing mission download.\n\n\nvoid\nstart_mission_async (const ResultCallback callback)\nStart the mission.\n\n\nResult\nstart_mission () const\nStart the mission.\n\n\nvoid\npause_mission_async (const ResultCallback callback)\nPause the mission.\n\n\nResult\npause_mission () const\nPause the mission.\n\n\nvoid\nclear_mission_async (const ResultCallback callback)\nClear the mission saved on the vehicle.\n\n\nResult\nclear_mission () const\nClear the mission saved on the vehicle.\n\n\nvoid\nset_current_mission_item_async (int32_t index, const ResultCallback callback)\nSets the raw mission item index to go to.\n\n\nResult\nset_current_mission_item (int32_t index)const\nSets the raw mission item index to go to.\n\n\nMissionProgressHandle\nsubscribe_mission_progress (const MissionProgressCallback & callback)\nSubscribe to mission progress updates.\n\n\nvoid\nunsubscribe_mission_progress (MissionProgressHandle handle)\nUnsubscribe from subscribe_mission_progress.\n\n\nMissionProgress\nmission_progress () const\nPoll for 'MissionProgress' (blocking).\n\n\nMissionChangedHandle\nsubscribe_mission_changed (const MissionChangedCallback & callback)\n\n\n\n\nSubscribes to mission changed. \n\n\nvoid | unsubscribe_mission_changed (MissionChangedHandle handle) | Unsubscribe from subscribe_mission_changed.\nstd::pairResult, MissionRaw::MissionImportData > | import_qgroundcontrol_mission (std::string qgc_plan_path)const | Import a QGroundControl missions in JSON .plan format, from a file.\nstd::pairResult, MissionRaw::MissionImportData > | import_qgroundcontrol_mission_from_string (std::string qgc_plan)const | Import a QGroundControl missions in JSON .plan format, from a string.\nconst MissionRaw & | operator= (const MissionRaw &)=delete | Equality operator (object is not copyable).\nConstructor & Destructor Documentation\nMissionRaw() \nmavsdk::MissionRaw::MissionRaw(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto mission_raw = MissionRaw(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nMissionRaw() \nmavsdk::MissionRaw::MissionRaw(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto mission_raw = MissionRaw(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~MissionRaw() \nmavsdk::MissionRaw::~MissionRaw() override\n\nDestructor (internal use only).\nMissionRaw() \nmavsdk::MissionRaw::MissionRaw(const MissionRaw &other)\n\nCopy constructor.\nParameters\n\nconst MissionRaw& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::MissionRaw::ResultCallback = std::function\n\nCallback type for asynchronous MissionRaw calls.\ntypedef DownloadMissionCallback \nusing mavsdk::MissionRaw::DownloadMissionCallback = std::function)>\n\nCallback type for download_mission_async.\ntypedef MissionProgressCallback \nusing mavsdk::MissionRaw::MissionProgressCallback = std::function\n\nCallback type for subscribe_mission_progress.\ntypedef MissionProgressHandle \nusing mavsdk::MissionRaw::MissionProgressHandle = Handle\n\nHandle type for subscribe_mission_progress.\ntypedef MissionChangedCallback \nusing mavsdk::MissionRaw::MissionChangedCallback = std::function\n\nCallback type for subscribe_mission_changed.\ntypedef MissionChangedHandle \nusing mavsdk::MissionRaw::MissionChangedHandle = Handle\n\nHandle type for subscribe_mission_changed.\nMember Enumeration Documentation\nenum Result \nPossible results returned for action requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n Error\nError. \n\n\n TooManyMissionItems\nToo many mission items in the mission. \n\n\n Busy\nVehicle is busy. \n\n\n Timeout\nRequest timed out. \n\n\n InvalidArgument\nInvalid argument. \n\n\n Unsupported\nMission downloaded from the system is not supported. \n\n\n NoMissionAvailable\nNo mission available on the system. \n\n\n TransferCancelled\nMission transfer (upload or download) has been cancelled. \n\n\n FailedToOpenQgcPlan\nFailed to open the QGroundControl plan. \n\n\n FailedToParseQgcPlan\nFailed to parse the QGroundControl plan. \n\n\n NoSystem\nNo system connected. \n\n\n Denied\nRequest denied. \n\n\n MissionTypeNotConsistent\nMission type is not consistent. \n\n\n InvalidSequence\nThe mission item sequences are not increasing correctly. \n\n\n CurrentInvalid\nThe current item is not set correctly. \n\n\n ProtocolError\nThere was a protocol error. \n\n\n IntMessagesNotSupported\nThe system does not support the MISSION_INT protocol. \n\n\n\nMember Function Documentation\nupload_mission_async() \nvoid mavsdk::MissionRaw::upload_mission_async(std::vector mission_items, const ResultCallback callback)\n\nUpload a list of raw mission items to the system.\nThe raw mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.\nThis function is non-blocking. See 'upload_mission' for the blocking counterpart.\nParameters\n\nstd::vectorMissionItem > mission_items - \nconst ResultCallback callback - \n\nupload_mission() \nResult mavsdk::MissionRaw::upload_mission(std::vector mission_items) const\n\nUpload a list of raw mission items to the system.\nThe raw mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.\nThis function is blocking. See 'upload_mission_async' for the non-blocking counterpart.\nParameters\n\nstd::vectorMissionItem > mission_items - \n\nReturns\n Result - Result of request.\nupload_geofence_async() \nvoid mavsdk::MissionRaw::upload_geofence_async(std::vector mission_items, const ResultCallback callback)\n\nUpload a list of geofence items to the system.\nThis function is non-blocking. See 'upload_geofence' for the blocking counterpart.\nParameters\n\nstd::vectorMissionItem > mission_items - \nconst ResultCallback callback - \n\nupload_geofence() \nResult mavsdk::MissionRaw::upload_geofence(std::vector mission_items) const\n\nUpload a list of geofence items to the system.\nThis function is blocking. See 'upload_geofence_async' for the non-blocking counterpart.\nParameters\n\nstd::vectorMissionItem > mission_items - \n\nReturns\n Result - Result of request.\nupload_rally_points_async() \nvoid mavsdk::MissionRaw::upload_rally_points_async(std::vector mission_items, const ResultCallback callback)\n\nUpload a list of rally point items to the system.\nThis function is non-blocking. See 'upload_rally_points' for the blocking counterpart.\nParameters\n\nstd::vectorMissionItem > mission_items - \nconst ResultCallback callback - \n\nupload_rally_points() \nResult mavsdk::MissionRaw::upload_rally_points(std::vector mission_items) const\n\nUpload a list of rally point items to the system.\nThis function is blocking. See 'upload_rally_points_async' for the non-blocking counterpart.\nParameters\n\nstd::vectorMissionItem > mission_items - \n\nReturns\n Result - Result of request.\ncancel_mission_upload() \nResult mavsdk::MissionRaw::cancel_mission_upload() const\n\nCancel an ongoing mission upload.\nThis function is blocking.\nReturns\n Result - Result of request.\ndownload_mission_async() \nvoid mavsdk::MissionRaw::download_mission_async(const DownloadMissionCallback callback)\n\nDownload a list of raw mission items from the system (asynchronous).\nThis function is non-blocking. See 'download_mission' for the blocking counterpart.\nParameters\n\nconst DownloadMissionCallback callback - \n\ndownload_mission() \nstd::pair > mavsdk::MissionRaw::download_mission() const\n\nDownload a list of raw mission items from the system (asynchronous).\nThis function is blocking. See 'download_mission_async' for the non-blocking counterpart.\nReturns\n std::pairResult, std::vectorMissionRaw::MissionItem > > - Result of request.\ncancel_mission_download() \nResult mavsdk::MissionRaw::cancel_mission_download() const\n\nCancel an ongoing mission download.\nThis function is blocking.\nReturns\n Result - Result of request.\nstart_mission_async() \nvoid mavsdk::MissionRaw::start_mission_async(const ResultCallback callback)\n\nStart the mission.\nA mission must be uploaded to the vehicle before this can be called.\nThis function is non-blocking. See 'start_mission' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nstart_mission() \nResult mavsdk::MissionRaw::start_mission() const\n\nStart the mission.\nA mission must be uploaded to the vehicle before this can be called.\nThis function is blocking. See 'start_mission_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\npause_mission_async() \nvoid mavsdk::MissionRaw::pause_mission_async(const ResultCallback callback)\n\nPause the mission.\nPausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.\nThis function is non-blocking. See 'pause_mission' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\npause_mission() \nResult mavsdk::MissionRaw::pause_mission() const\n\nPause the mission.\nPausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.\nThis function is blocking. See 'pause_mission_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nclear_mission_async() \nvoid mavsdk::MissionRaw::clear_mission_async(const ResultCallback callback)\n\nClear the mission saved on the vehicle.\nThis function is non-blocking. See 'clear_mission' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nclear_mission() \nResult mavsdk::MissionRaw::clear_mission() const\n\nClear the mission saved on the vehicle.\nThis function is blocking. See 'clear_mission_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nset_current_mission_item_async() \nvoid mavsdk::MissionRaw::set_current_mission_item_async(int32_t index, const ResultCallback callback)\n\nSets the raw mission item index to go to.\nBy setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a raw mission item, the mission will be set to this item.\nThis function is non-blocking. See 'set_current_mission_item' for the blocking counterpart.\nParameters\n\nint32_t index - \nconst ResultCallback callback - \n\nset_current_mission_item() \nResult mavsdk::MissionRaw::set_current_mission_item(int32_t index) const\n\nSets the raw mission item index to go to.\nBy setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a raw mission item, the mission will be set to this item.\nThis function is blocking. See 'set_current_mission_item_async' for the non-blocking counterpart.\nParameters\n\nint32_t index - \n\nReturns\n Result - Result of request.\nsubscribe_mission_progress() \nMissionProgressHandle mavsdk::MissionRaw::subscribe_mission_progress(const MissionProgressCallback &callback)\n\nSubscribe to mission progress updates.\nParameters\n\nconst MissionProgressCallback& callback - \n\nReturns\n MissionProgressHandle - \nunsubscribe_mission_progress() \nvoid mavsdk::MissionRaw::unsubscribe_mission_progress(MissionProgressHandle handle)\n\nUnsubscribe from subscribe_mission_progress.\nParameters\n\nMissionProgressHandle handle - \n\nmission_progress() \nMissionProgress mavsdk::MissionRaw::mission_progress() const\n\nPoll for 'MissionProgress' (blocking).\nReturns\n MissionProgress - One MissionProgress update.\nsubscribe_mission_changed() \nMissionChangedHandle mavsdk::MissionRaw::subscribe_mission_changed(const MissionChangedCallback &callback)\n\n\nSubscribes to mission changed. \n\n\n\nThis notification can be used to be informed if a ground station has been uploaded or changed by a ground station or companion computer.\nParameters\n\nconst MissionChangedCallback& callback - Callback to notify about change.\n\nReturns\n MissionChangedHandle - \nunsubscribe_mission_changed() \nvoid mavsdk::MissionRaw::unsubscribe_mission_changed(MissionChangedHandle handle)\n\nUnsubscribe from subscribe_mission_changed.\nParameters\n\nMissionChangedHandle handle - \n\nimport_qgroundcontrol_mission() \nstd::pair mavsdk::MissionRaw::import_qgroundcontrol_mission(std::string qgc_plan_path) const\n\nImport a QGroundControl missions in JSON .plan format, from a file.\nSupported:\n\nWaypoints\n\nSurvey Not supported:\n\nStructure Scan\n\n\n\n\nThis function is blocking.\nParameters\n\nstd::string qgc_plan_path - \n\nReturns\n std::pairResult, MissionRaw::MissionImportData > - Result of request.\nimport_qgroundcontrol_mission_from_string() \nstd::pair mavsdk::MissionRaw::import_qgroundcontrol_mission_from_string(std::string qgc_plan) const\n\nImport a QGroundControl missions in JSON .plan format, from a string.\nSupported:\n\nWaypoints\n\nSurvey Not supported:\n\nStructure Scan\n\n\n\n\nThis function is blocking.\nParameters\n\nstd::string qgc_plan - \n\nReturns\n std::pairResult, MissionRaw::MissionImportData > - Result of request.\noperator=() \nconst MissionRaw& mavsdk::MissionRaw::operator=(const MissionRaw &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst MissionRaw& - \n\nReturns\n const MissionRaw & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_import_data.html":{"url":"cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_import_data.html","title":"struct MissionImportData","keywords":"","body":"mavsdk::MissionRaw::MissionImportData Struct Reference\n#include: mission_raw.h\n\nMission import data. \nData Fields\nstd::vectorMissionItem > mission_items {} - Mission items.\nstd::vectorMissionItem > geofence_items {} - Geofence items.\nstd::vectorMissionItem > rally_items {} - Rally items.\nField Documentation\nmission_items \nstd::vector mavsdk::MissionRaw::MissionImportData::mission_items {}\n\nMission items.\ngeofence_items \nstd::vector mavsdk::MissionRaw::MissionImportData::geofence_items {}\n\nGeofence items.\nrally_items \nstd::vector mavsdk::MissionRaw::MissionImportData::rally_items {}\n\nRally items.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_item.html":{"url":"cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_item.html","title":"struct MissionItem","keywords":"","body":"mavsdk::MissionRaw::MissionItem Struct Reference\n#include: mission_raw.h\n\nMission item exactly identical to MAVLink MISSION_ITEM_INT. \nData Fields\nuint32_t seq {} - Sequence (uint16_t)\nuint32_t frame {} - The coordinate system of the waypoint (actually uint8_t)\nuint32_t command {} - The scheduled action for the waypoint (actually uint16_t)\nuint32_t current {} - false:0, true:1 (actually uint8_t)\nuint32_t autocontinue {} - Autocontinue to next waypoint (actually uint8_t)\nfloat param1 {} - PARAM1, see MAV_CMD enum.\nfloat param2 {} - PARAM2, see MAV_CMD enum.\nfloat param3 {} - PARAM3, see MAV_CMD enum.\nfloat param4 {} - PARAM4, see MAV_CMD enum.\nint32_t x {} - PARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7.\nint32_t y {} - PARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7.\nfloat z {} - PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)\nuint32_t mission_type {} - Mission type (actually uint8_t)\nField Documentation\nseq \nuint32_t mavsdk::MissionRaw::MissionItem::seq {}\n\nSequence (uint16_t)\nframe \nuint32_t mavsdk::MissionRaw::MissionItem::frame {}\n\nThe coordinate system of the waypoint (actually uint8_t)\ncommand \nuint32_t mavsdk::MissionRaw::MissionItem::command {}\n\nThe scheduled action for the waypoint (actually uint16_t)\ncurrent \nuint32_t mavsdk::MissionRaw::MissionItem::current {}\n\nfalse:0, true:1 (actually uint8_t)\nautocontinue \nuint32_t mavsdk::MissionRaw::MissionItem::autocontinue {}\n\nAutocontinue to next waypoint (actually uint8_t)\nparam1 \nfloat mavsdk::MissionRaw::MissionItem::param1 {}\n\nPARAM1, see MAV_CMD enum.\nparam2 \nfloat mavsdk::MissionRaw::MissionItem::param2 {}\n\nPARAM2, see MAV_CMD enum.\nparam3 \nfloat mavsdk::MissionRaw::MissionItem::param3 {}\n\nPARAM3, see MAV_CMD enum.\nparam4 \nfloat mavsdk::MissionRaw::MissionItem::param4 {}\n\nPARAM4, see MAV_CMD enum.\nx \nint32_t mavsdk::MissionRaw::MissionItem::x {}\n\nPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7.\ny \nint32_t mavsdk::MissionRaw::MissionItem::y {}\n\nPARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7.\nz \nfloat mavsdk::MissionRaw::MissionItem::z {}\n\nPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)\nmission_type \nuint32_t mavsdk::MissionRaw::MissionItem::mission_type {}\n\nMission type (actually uint8_t)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_progress.html":{"url":"cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_progress.html","title":"struct MissionProgress","keywords":"","body":"mavsdk::MissionRaw::MissionProgress Struct Reference\n#include: mission_raw.h\n\nMission progress type. \nData Fields\nint32_t current {} - Current mission item index (0-based), if equal to total, the mission is finished.\nint32_t total {} - Total number of mission items.\nField Documentation\ncurrent \nint32_t mavsdk::MissionRaw::MissionProgress::current {}\n\nCurrent mission item index (0-based), if equal to total, the mission is finished.\ntotal \nint32_t mavsdk::MissionRaw::MissionProgress::total {}\n\nTotal number of mission items.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_mission_raw_server.html":{"url":"cpp/api_reference/classmavsdk_1_1_mission_raw_server.html","title":"class MissionRawServer","keywords":"","body":"mavsdk::MissionRawServer Class Reference\n#include: mission_raw_server.h\n\nActs as a vehicle and receives incoming missions from GCS (in raw MAVLINK format). Provides current mission item state, so the server can progress through missions. \nData Structures\nstruct MissionItem\nstruct MissionPlan\nstruct MissionProgress\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for action requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous MissionRawServer calls.\n\n\nstd::functionResult, MissionPlan)> IncomingMissionCallback\nCallback type for subscribe_incoming_mission.\n\n\nHandleResult, MissionPlan > IncomingMissionHandle\nHandle type for subscribe_incoming_mission.\n\n\nstd::functionMissionItem)> CurrentItemChangedCallback\nCallback type for subscribe_current_item_changed.\n\n\nHandleMissionItem > CurrentItemChangedHandle\nHandle type for subscribe_current_item_changed.\n\n\nstd::function ClearAllCallback\nCallback type for subscribe_clear_all.\n\n\nHandle ClearAllHandle\nHandle type for subscribe_clear_all.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nMissionRawServer (std::shared_ptrServerComponent > server_component)\nConstructor. Creates the plugin for a ServerComponent instance.\n\n\n \n~MissionRawServer () override\nDestructor (internal use only).\n\n\n \nMissionRawServer (const MissionRawServer & other)\nCopy constructor.\n\n\nIncomingMissionHandle\nsubscribe_incoming_mission (const IncomingMissionCallback & callback)\nSubscribe to when a new mission is uploaded (asynchronous).\n\n\nvoid\nunsubscribe_incoming_mission (IncomingMissionHandle handle)\nUnsubscribe from subscribe_incoming_mission.\n\n\nMissionPlan\nincoming_mission () const\nPoll for 'MissionPlan' (blocking).\n\n\nCurrentItemChangedHandle\nsubscribe_current_item_changed (const CurrentItemChangedCallback & callback)\nSubscribe to when a new current item is set.\n\n\nvoid\nunsubscribe_current_item_changed (CurrentItemChangedHandle handle)\nUnsubscribe from subscribe_current_item_changed.\n\n\nMissionItem\ncurrent_item_changed () const\nPoll for 'MissionItem' (blocking).\n\n\nvoid\nset_current_item_complete () const\nSet Current item as completed.\n\n\nClearAllHandle\nsubscribe_clear_all (const ClearAllCallback & callback)\nSubscribe when a MISSION_CLEAR_ALL is received.\n\n\nvoid\nunsubscribe_clear_all (ClearAllHandle handle)\nUnsubscribe from subscribe_clear_all.\n\n\nuint32_t\nclear_all () const\nPoll for 'uint32_t' (blocking).\n\n\nconst MissionRawServer &\noperator= (const MissionRawServer &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nMissionRawServer() \nmavsdk::MissionRawServer::MissionRawServer(std::shared_ptr server_component)\n\nConstructor. Creates the plugin for a ServerComponent instance.\nThe plugin is typically created as shown below: \nauto mission_raw_server = MissionRawServer(server_component);\n\nParameters\n\nstd::shared_ptrServerComponent > server_component - The ServerComponent instance associated with this server plugin.\n\n~MissionRawServer() \nmavsdk::MissionRawServer::~MissionRawServer() override\n\nDestructor (internal use only).\nMissionRawServer() \nmavsdk::MissionRawServer::MissionRawServer(const MissionRawServer &other)\n\nCopy constructor.\nParameters\n\nconst MissionRawServer& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::MissionRawServer::ResultCallback = std::function\n\nCallback type for asynchronous MissionRawServer calls.\ntypedef IncomingMissionCallback \nusing mavsdk::MissionRawServer::IncomingMissionCallback = std::function\n\nCallback type for subscribe_incoming_mission.\ntypedef IncomingMissionHandle \nusing mavsdk::MissionRawServer::IncomingMissionHandle = Handle\n\nHandle type for subscribe_incoming_mission.\ntypedef CurrentItemChangedCallback \nusing mavsdk::MissionRawServer::CurrentItemChangedCallback = std::function\n\nCallback type for subscribe_current_item_changed.\ntypedef CurrentItemChangedHandle \nusing mavsdk::MissionRawServer::CurrentItemChangedHandle = Handle\n\nHandle type for subscribe_current_item_changed.\ntypedef ClearAllCallback \nusing mavsdk::MissionRawServer::ClearAllCallback = std::function\n\nCallback type for subscribe_clear_all.\ntypedef ClearAllHandle \nusing mavsdk::MissionRawServer::ClearAllHandle = Handle\n\nHandle type for subscribe_clear_all.\nMember Enumeration Documentation\nenum Result \nPossible results returned for action requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n Error\nError. \n\n\n TooManyMissionItems\nToo many mission items in the mission. \n\n\n Busy\nVehicle is busy. \n\n\n Timeout\nRequest timed out. \n\n\n InvalidArgument\nInvalid argument. \n\n\n Unsupported\nMission downloaded from the system is not supported. \n\n\n NoMissionAvailable\nNo mission available on the system. \n\n\n UnsupportedMissionCmd\nUnsupported mission command. \n\n\n TransferCancelled\nMission transfer (upload or download) has been cancelled. \n\n\n NoSystem\nNo system connected. \n\n\n Next\nIntermediate message showing progress or instructions on the next steps. \n\n\n\nMember Function Documentation\nsubscribe_incoming_mission() \nIncomingMissionHandle mavsdk::MissionRawServer::subscribe_incoming_mission(const IncomingMissionCallback &callback)\n\nSubscribe to when a new mission is uploaded (asynchronous).\nParameters\n\nconst IncomingMissionCallback& callback - \n\nReturns\n IncomingMissionHandle - \nunsubscribe_incoming_mission() \nvoid mavsdk::MissionRawServer::unsubscribe_incoming_mission(IncomingMissionHandle handle)\n\nUnsubscribe from subscribe_incoming_mission.\nParameters\n\nIncomingMissionHandle handle - \n\nincoming_mission() \nMissionPlan mavsdk::MissionRawServer::incoming_mission() const\n\nPoll for 'MissionPlan' (blocking).\nReturns\n MissionPlan - One MissionPlan update.\nsubscribe_current_item_changed() \nCurrentItemChangedHandle mavsdk::MissionRawServer::subscribe_current_item_changed(const CurrentItemChangedCallback &callback)\n\nSubscribe to when a new current item is set.\nParameters\n\nconst CurrentItemChangedCallback& callback - \n\nReturns\n CurrentItemChangedHandle - \nunsubscribe_current_item_changed() \nvoid mavsdk::MissionRawServer::unsubscribe_current_item_changed(CurrentItemChangedHandle handle)\n\nUnsubscribe from subscribe_current_item_changed.\nParameters\n\nCurrentItemChangedHandle handle - \n\ncurrent_item_changed() \nMissionItem mavsdk::MissionRawServer::current_item_changed() const\n\nPoll for 'MissionItem' (blocking).\nReturns\n MissionItem - One MissionItem update.\nset_current_item_complete() \nvoid mavsdk::MissionRawServer::set_current_item_complete() const\n\nSet Current item as completed.\nThis function is blocking.\nsubscribe_clear_all() \nClearAllHandle mavsdk::MissionRawServer::subscribe_clear_all(const ClearAllCallback &callback)\n\nSubscribe when a MISSION_CLEAR_ALL is received.\nParameters\n\nconst ClearAllCallback& callback - \n\nReturns\n ClearAllHandle - \nunsubscribe_clear_all() \nvoid mavsdk::MissionRawServer::unsubscribe_clear_all(ClearAllHandle handle)\n\nUnsubscribe from subscribe_clear_all.\nParameters\n\nClearAllHandle handle - \n\nclear_all() \nuint32_t mavsdk::MissionRawServer::clear_all() const\n\nPoll for 'uint32_t' (blocking).\nReturns\n uint32_t - One uint32_t update.\noperator=() \nconst MissionRawServer& mavsdk::MissionRawServer::operator=(const MissionRawServer &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst MissionRawServer& - \n\nReturns\n const MissionRawServer & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_item.html":{"url":"cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_item.html","title":"struct MissionItem","keywords":"","body":"mavsdk::MissionRawServer::MissionItem Struct Reference\n#include: mission_raw_server.h\n\nMission item exactly identical to MAVLink MISSION_ITEM_INT. \nData Fields\nuint32_t seq {} - Sequence (uint16_t)\nuint32_t frame {} - The coordinate system of the waypoint (actually uint8_t)\nuint32_t command {} - The scheduled action for the waypoint (actually uint16_t)\nuint32_t current {} - false:0, true:1 (actually uint8_t)\nuint32_t autocontinue {} - Autocontinue to next waypoint (actually uint8_t)\nfloat param1 {} - PARAM1, see MAV_CMD enum.\nfloat param2 {} - PARAM2, see MAV_CMD enum.\nfloat param3 {} - PARAM3, see MAV_CMD enum.\nfloat param4 {} - PARAM4, see MAV_CMD enum.\nint32_t x {} - PARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7.\nint32_t y {} - PARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7.\nfloat z {} - PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)\nuint32_t mission_type {} - Mission type (actually uint8_t)\nField Documentation\nseq \nuint32_t mavsdk::MissionRawServer::MissionItem::seq {}\n\nSequence (uint16_t)\nframe \nuint32_t mavsdk::MissionRawServer::MissionItem::frame {}\n\nThe coordinate system of the waypoint (actually uint8_t)\ncommand \nuint32_t mavsdk::MissionRawServer::MissionItem::command {}\n\nThe scheduled action for the waypoint (actually uint16_t)\ncurrent \nuint32_t mavsdk::MissionRawServer::MissionItem::current {}\n\nfalse:0, true:1 (actually uint8_t)\nautocontinue \nuint32_t mavsdk::MissionRawServer::MissionItem::autocontinue {}\n\nAutocontinue to next waypoint (actually uint8_t)\nparam1 \nfloat mavsdk::MissionRawServer::MissionItem::param1 {}\n\nPARAM1, see MAV_CMD enum.\nparam2 \nfloat mavsdk::MissionRawServer::MissionItem::param2 {}\n\nPARAM2, see MAV_CMD enum.\nparam3 \nfloat mavsdk::MissionRawServer::MissionItem::param3 {}\n\nPARAM3, see MAV_CMD enum.\nparam4 \nfloat mavsdk::MissionRawServer::MissionItem::param4 {}\n\nPARAM4, see MAV_CMD enum.\nx \nint32_t mavsdk::MissionRawServer::MissionItem::x {}\n\nPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7.\ny \nint32_t mavsdk::MissionRawServer::MissionItem::y {}\n\nPARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7.\nz \nfloat mavsdk::MissionRawServer::MissionItem::z {}\n\nPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)\nmission_type \nuint32_t mavsdk::MissionRawServer::MissionItem::mission_type {}\n\nMission type (actually uint8_t)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_plan.html":{"url":"cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_plan.html","title":"struct MissionPlan","keywords":"","body":"mavsdk::MissionRawServer::MissionPlan Struct Reference\n#include: mission_raw_server.h\n\nMission plan type. \nData Fields\nstd::vectorMissionItem > mission_items {} - The mission items.\nField Documentation\nmission_items \nstd::vector mavsdk::MissionRawServer::MissionPlan::mission_items {}\n\nThe mission items.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_progress.html":{"url":"cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_progress.html","title":"struct MissionProgress","keywords":"","body":"mavsdk::MissionRawServer::MissionProgress Struct Reference\n#include: mission_raw_server.h\n\nMission progress type. \nData Fields\nint32_t current {} - Current mission item index (0-based), if equal to total, the mission is finished.\nint32_t total {} - Total number of mission items.\nField Documentation\ncurrent \nint32_t mavsdk::MissionRawServer::MissionProgress::current {}\n\nCurrent mission item index (0-based), if equal to total, the mission is finished.\ntotal \nint32_t mavsdk::MissionRawServer::MissionProgress::total {}\n\nTotal number of mission items.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_mocap.html":{"url":"cpp/api_reference/classmavsdk_1_1_mocap.html","title":"class Mocap","keywords":"","body":"mavsdk::Mocap Class Reference\n#include: mocap.h\n\n\nAllows interfacing a vehicle with a motion capture system in order to allow navigation without global positioning sources available (e.g. indoors, or when flying under a bridge. etc.). \n\n\n\n\nData Structures\nstruct AngleBody\nstruct AngularVelocityBody\nstruct AttitudePositionMocap\nstruct Covariance\nstruct Odometry\nstruct PositionBody\nstruct Quaternion\nstruct SpeedBody\nstruct VisionPositionEstimate\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for mocap requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Mocap calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nMocap (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nMocap (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Mocap () override\nDestructor (internal use only).\n\n\n \nMocap (const Mocap & other)\nCopy constructor.\n\n\nResult\nset_vision_position_estimate (VisionPositionEstimate vision_position_estimate)const\nSend Global position/attitude estimate from a vision source.\n\n\nResult\nset_attitude_position_mocap (AttitudePositionMocap attitude_position_mocap)const\nSend motion capture attitude and position.\n\n\nResult\nset_odometry (Odometry odometry)const\nSend odometry information with an external interface.\n\n\nconst Mocap &\noperator= (const Mocap &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nMocap() \nmavsdk::Mocap::Mocap(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto mocap = Mocap(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nMocap() \nmavsdk::Mocap::Mocap(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto mocap = Mocap(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Mocap() \nmavsdk::Mocap::~Mocap() override\n\nDestructor (internal use only).\nMocap() \nmavsdk::Mocap::Mocap(const Mocap &other)\n\nCopy constructor.\nParameters\n\nconst Mocap& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Mocap::ResultCallback = std::function\n\nCallback type for asynchronous Mocap calls.\nMember Enumeration Documentation\nenum Result \nPossible results returned for mocap requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown error. \n\n\n Success\nRequest succeeded. \n\n\n NoSystem\nNo system is connected. \n\n\n ConnectionError\nConnection error. \n\n\n InvalidRequestData\nInvalid request data. \n\n\n Unsupported\nFunction unsupported. \n\n\n\nMember Function Documentation\nset_vision_position_estimate() \nResult mavsdk::Mocap::set_vision_position_estimate(VisionPositionEstimate vision_position_estimate) const\n\nSend Global position/attitude estimate from a vision source.\nThis function is blocking.\nParameters\n\nVisionPositionEstimate vision_position_estimate - \n\nReturns\n Result - Result of request.\nset_attitude_position_mocap() \nResult mavsdk::Mocap::set_attitude_position_mocap(AttitudePositionMocap attitude_position_mocap) const\n\nSend motion capture attitude and position.\nThis function is blocking.\nParameters\n\nAttitudePositionMocap attitude_position_mocap - \n\nReturns\n Result - Result of request.\nset_odometry() \nResult mavsdk::Mocap::set_odometry(Odometry odometry) const\n\nSend odometry information with an external interface.\nThis function is blocking.\nParameters\n\nOdometry odometry - \n\nReturns\n Result - Result of request.\noperator=() \nconst Mocap& mavsdk::Mocap::operator=(const Mocap &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Mocap& - \n\nReturns\n const Mocap & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_mocap_1_1_angle_body.html":{"url":"cpp/api_reference/structmavsdk_1_1_mocap_1_1_angle_body.html","title":"struct AngleBody","keywords":"","body":"mavsdk::Mocap::AngleBody Struct Reference\n#include: mocap.h\n\nBody angle type. \nData Fields\nfloat roll_rad {} - Roll angle in radians.\nfloat pitch_rad {} - Pitch angle in radians.\nfloat yaw_rad {} - Yaw angle in radians.\nField Documentation\nroll_rad \nfloat mavsdk::Mocap::AngleBody::roll_rad {}\n\nRoll angle in radians.\npitch_rad \nfloat mavsdk::Mocap::AngleBody::pitch_rad {}\n\nPitch angle in radians.\nyaw_rad \nfloat mavsdk::Mocap::AngleBody::yaw_rad {}\n\nYaw angle in radians.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mocap_1_1_angular_velocity_body.html":{"url":"cpp/api_reference/structmavsdk_1_1_mocap_1_1_angular_velocity_body.html","title":"struct AngularVelocityBody","keywords":"","body":"mavsdk::Mocap::AngularVelocityBody Struct Reference\n#include: mocap.h\n\nAngular velocity type. \nData Fields\nfloat roll_rad_s {} - Roll angular velocity in radians/second.\nfloat pitch_rad_s {} - Pitch angular velocity in radians/second.\nfloat yaw_rad_s {} - Yaw angular velocity in radians/second.\nField Documentation\nroll_rad_s \nfloat mavsdk::Mocap::AngularVelocityBody::roll_rad_s {}\n\nRoll angular velocity in radians/second.\npitch_rad_s \nfloat mavsdk::Mocap::AngularVelocityBody::pitch_rad_s {}\n\nPitch angular velocity in radians/second.\nyaw_rad_s \nfloat mavsdk::Mocap::AngularVelocityBody::yaw_rad_s {}\n\nYaw angular velocity in radians/second.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mocap_1_1_attitude_position_mocap.html":{"url":"cpp/api_reference/structmavsdk_1_1_mocap_1_1_attitude_position_mocap.html","title":"struct AttitudePositionMocap","keywords":"","body":"mavsdk::Mocap::AttitudePositionMocap Struct Reference\n#include: mocap.h\n\nMotion capture attitude and position. \nData Fields\nuint64_t time_usec {} - PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)\nQuaternion q {} - Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)\nPositionBody position_body {} - Body Position (NED)\nCovariance pose_covariance {} - Pose cross-covariance matrix.\nField Documentation\ntime_usec \nuint64_t mavsdk::Mocap::AttitudePositionMocap::time_usec {}\n\nPositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)\nq \nQuaternion mavsdk::Mocap::AttitudePositionMocap::q {}\n\nAttitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)\nposition_body \nPositionBody mavsdk::Mocap::AttitudePositionMocap::position_body {}\n\nBody Position (NED)\npose_covariance \nCovariance mavsdk::Mocap::AttitudePositionMocap::pose_covariance {}\n\nPose cross-covariance matrix.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mocap_1_1_covariance.html":{"url":"cpp/api_reference/structmavsdk_1_1_mocap_1_1_covariance.html","title":"struct Covariance","keywords":"","body":"mavsdk::Mocap::Covariance Struct Reference\n#include: mocap.h\n\nCovariance type. Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Needs to be 21 entries or 1 entry with NaN if unknown. \nData Fields\nstd::vector covariance_matrix {} - The covariance matrix.\nField Documentation\ncovariance_matrix \nstd::vector mavsdk::Mocap::Covariance::covariance_matrix {}\n\nThe covariance matrix.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mocap_1_1_odometry.html":{"url":"cpp/api_reference/structmavsdk_1_1_mocap_1_1_odometry.html","title":"struct Odometry","keywords":"","body":"mavsdk::Mocap::Odometry Struct Reference\n#include: mocap.h\n\nOdometry message to communicate odometry information with an external interface. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum MavFrame\nMavlink frame id.\n\n\n\nData Fields\nuint64_t time_usec {} - Timestamp (0 to use Backend timestamp).\nMavFrame frame_id {} - Coordinate frame of reference for the pose data.\nPositionBody position_body {} - Body Position.\nQuaternion q {} - Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).\nSpeedBody speed_body {} - Linear speed (m/s).\nAngularVelocityBody angular_velocity_body {} - Angular speed (rad/s).\nCovariance pose_covariance {} - Pose cross-covariance matrix.\nCovariance velocity_covariance {} - Velocity cross-covariance matrix.\nMember Enumeration Documentation\nenum MavFrame \nMavlink frame id.\n\n\n\nValue\nDescription\n\n\n\n\n MocapNed\nMAVLink number: 14. Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down).. \n\n\n LocalFrd\nMAVLink number: 20. Forward, Right, Down coordinate frame. This is a local frame with Z-down and arbitrary F/R alignment (i.e. not aligned with NED/earth frame). Replacement for MAV_FRAME_MOCAP_NED, MAV_FRAME_VISION_NED, MAV_FRAME_ESTIM_NED.. \n\n\n\nField Documentation\ntime_usec \nuint64_t mavsdk::Mocap::Odometry::time_usec {}\n\nTimestamp (0 to use Backend timestamp).\nframe_id \nMavFrame mavsdk::Mocap::Odometry::frame_id {}\n\nCoordinate frame of reference for the pose data.\nposition_body \nPositionBody mavsdk::Mocap::Odometry::position_body {}\n\nBody Position.\nq \nQuaternion mavsdk::Mocap::Odometry::q {}\n\nQuaternion components, w, x, y, z (1 0 0 0 is the null-rotation).\nspeed_body \nSpeedBody mavsdk::Mocap::Odometry::speed_body {}\n\nLinear speed (m/s).\nangular_velocity_body \nAngularVelocityBody mavsdk::Mocap::Odometry::angular_velocity_body {}\n\nAngular speed (rad/s).\npose_covariance \nCovariance mavsdk::Mocap::Odometry::pose_covariance {}\n\nPose cross-covariance matrix.\nvelocity_covariance \nCovariance mavsdk::Mocap::Odometry::velocity_covariance {}\n\nVelocity cross-covariance matrix.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mocap_1_1_position_body.html":{"url":"cpp/api_reference/structmavsdk_1_1_mocap_1_1_position_body.html","title":"struct PositionBody","keywords":"","body":"mavsdk::Mocap::PositionBody Struct Reference\n#include: mocap.h\n\nBody position type. \nData Fields\nfloat x_m {} - X position in metres.\nfloat y_m {} - Y position in metres.\nfloat z_m {} - Z position in metres.\nField Documentation\nx_m \nfloat mavsdk::Mocap::PositionBody::x_m {}\n\nX position in metres.\ny_m \nfloat mavsdk::Mocap::PositionBody::y_m {}\n\nY position in metres.\nz_m \nfloat mavsdk::Mocap::PositionBody::z_m {}\n\nZ position in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mocap_1_1_quaternion.html":{"url":"cpp/api_reference/structmavsdk_1_1_mocap_1_1_quaternion.html","title":"struct Quaternion","keywords":"","body":"mavsdk::Mocap::Quaternion Struct Reference\n#include: mocap.h\n\nQuaternion type. \nAll rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.\nFor more info see: https://en.wikipedia.org/wiki/Quaternion \nData Fields\nfloat w {} - Quaternion entry 0, also denoted as a.\nfloat x {} - Quaternion entry 1, also denoted as b.\nfloat y {} - Quaternion entry 2, also denoted as c.\nfloat z {} - Quaternion entry 3, also denoted as d.\nField Documentation\nw \nfloat mavsdk::Mocap::Quaternion::w {}\n\nQuaternion entry 0, also denoted as a.\nx \nfloat mavsdk::Mocap::Quaternion::x {}\n\nQuaternion entry 1, also denoted as b.\ny \nfloat mavsdk::Mocap::Quaternion::y {}\n\nQuaternion entry 2, also denoted as c.\nz \nfloat mavsdk::Mocap::Quaternion::z {}\n\nQuaternion entry 3, also denoted as d.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mocap_1_1_speed_body.html":{"url":"cpp/api_reference/structmavsdk_1_1_mocap_1_1_speed_body.html","title":"struct SpeedBody","keywords":"","body":"mavsdk::Mocap::SpeedBody Struct Reference\n#include: mocap.h\n\nSpeed type, represented in the Body (X Y Z) frame and in metres/second. \nData Fields\nfloat x_m_s {} - Velocity in X in metres/second.\nfloat y_m_s {} - Velocity in Y in metres/second.\nfloat z_m_s {} - Velocity in Z in metres/second.\nField Documentation\nx_m_s \nfloat mavsdk::Mocap::SpeedBody::x_m_s {}\n\nVelocity in X in metres/second.\ny_m_s \nfloat mavsdk::Mocap::SpeedBody::y_m_s {}\n\nVelocity in Y in metres/second.\nz_m_s \nfloat mavsdk::Mocap::SpeedBody::z_m_s {}\n\nVelocity in Z in metres/second.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_mocap_1_1_vision_position_estimate.html":{"url":"cpp/api_reference/structmavsdk_1_1_mocap_1_1_vision_position_estimate.html","title":"struct VisionPositionEstimate","keywords":"","body":"mavsdk::Mocap::VisionPositionEstimate Struct Reference\n#include: mocap.h\n\nGlobal position/attitude estimate from a vision source. \nData Fields\nuint64_t time_usec {} - PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)\nPositionBody position_body {} - Global position (m)\nAngleBody angle_body {} - Body angle (rad).\nCovariance pose_covariance {} - Pose cross-covariance matrix.\nField Documentation\ntime_usec \nuint64_t mavsdk::Mocap::VisionPositionEstimate::time_usec {}\n\nPositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)\nposition_body \nPositionBody mavsdk::Mocap::VisionPositionEstimate::position_body {}\n\nGlobal position (m)\nangle_body \nAngleBody mavsdk::Mocap::VisionPositionEstimate::angle_body {}\n\nBody angle (rad).\npose_covariance \nCovariance mavsdk::Mocap::VisionPositionEstimate::pose_covariance {}\n\nPose cross-covariance matrix.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_offboard.html":{"url":"cpp/api_reference/classmavsdk_1_1_offboard.html","title":"class Offboard","keywords":"","body":"mavsdk::Offboard Class Reference\n#include: offboard.h\n\n\nControl a drone with position, velocity, attitude or motor commands. \n\n\n\n\nThe module is called offboard because the commands can be sent from external sources as opposed to onboard control right inside the autopilot \"board\".\nClient code must specify a setpoint before starting offboard mode. Mavsdk automatically sends setpoints at 20Hz (PX4 Offboard mode requires that setpoints are minimally sent at 2Hz). \nData Structures\nstruct AccelerationNed\nstruct ActuatorControl\nstruct ActuatorControlGroup\nstruct Attitude\nstruct AttitudeRate\nstruct PositionGlobalYaw\nstruct PositionNedYaw\nstruct VelocityBodyYawspeed\nstruct VelocityNedYaw\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for offboard requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Offboard calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nOffboard (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nOffboard (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Offboard () override\nDestructor (internal use only).\n\n\n \nOffboard (const Offboard & other)\nCopy constructor.\n\n\nvoid\nstart_async (const ResultCallback callback)\nStart offboard control.\n\n\nResult\nstart () const\nStart offboard control.\n\n\nvoid\nstop_async (const ResultCallback callback)\nStop offboard control.\n\n\nResult\nstop () const\nStop offboard control.\n\n\nbool\nis_active () const\nCheck if offboard control is active.\n\n\nResult\nset_attitude (Attitude attitude)const\nSet the attitude in terms of roll, pitch and yaw in degrees with thrust.\n\n\nResult\nset_actuator_control (ActuatorControl actuator_control)const\nSet direct actuator control values to groups #0 and #1.\n\n\nResult\nset_attitude_rate (AttitudeRate attitude_rate)const\nSet the attitude rate in terms of pitch, roll and yaw angular rate along with thrust.\n\n\nResult\nset_position_ned (PositionNedYaw position_ned_yaw)const\nSet the position in NED coordinates and yaw.\n\n\nResult\nset_position_global (PositionGlobalYaw position_global_yaw)const\nSet the position in Global coordinates (latitude, longitude, altitude) and yaw.\n\n\nResult\nset_velocity_body (VelocityBodyYawspeed velocity_body_yawspeed)const\nSet the velocity in body coordinates and yaw angular rate. Not available for fixed-wing aircraft.\n\n\nResult\nset_velocity_ned (VelocityNedYaw velocity_ned_yaw)const\nSet the velocity in NED coordinates and yaw. Not available for fixed-wing aircraft.\n\n\nResult\nset_position_velocity_ned (PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw)const\nSet the position in NED coordinates, with the velocity to be used as feed-forward.\n\n\nResult\nset_position_velocity_acceleration_ned (PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw, AccelerationNed acceleration_ned)const\nSet the position, velocity and acceleration in NED coordinates, with velocity and acceleration used as feed-forward.\n\n\nResult\nset_acceleration_ned (AccelerationNed acceleration_ned)const\nSet the acceleration in NED coordinates.\n\n\nconst Offboard &\noperator= (const Offboard &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nOffboard() \nmavsdk::Offboard::Offboard(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto offboard = Offboard(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nOffboard() \nmavsdk::Offboard::Offboard(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto offboard = Offboard(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Offboard() \nmavsdk::Offboard::~Offboard() override\n\nDestructor (internal use only).\nOffboard() \nmavsdk::Offboard::Offboard(const Offboard &other)\n\nCopy constructor.\nParameters\n\nconst Offboard& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Offboard::ResultCallback = std::function\n\nCallback type for asynchronous Offboard calls.\nMember Enumeration Documentation\nenum Result \nPossible results returned for offboard requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n NoSystem\nNo system is connected. \n\n\n ConnectionError\nConnection error. \n\n\n Busy\nVehicle is busy. \n\n\n CommandDenied\nCommand denied. \n\n\n Timeout\nRequest timed out. \n\n\n NoSetpointSet\nCannot start without setpoint set. \n\n\n Failed\nRequest failed. \n\n\n\nMember Function Documentation\nstart_async() \nvoid mavsdk::Offboard::start_async(const ResultCallback callback)\n\nStart offboard control.\nThis function is non-blocking. See 'start' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nstart() \nResult mavsdk::Offboard::start() const\n\nStart offboard control.\nThis function is blocking. See 'start_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nstop_async() \nvoid mavsdk::Offboard::stop_async(const ResultCallback callback)\n\nStop offboard control.\nThe vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html\nThis function is non-blocking. See 'stop' for the blocking counterpart.\nParameters\n\nconst ResultCallback callback - \n\nstop() \nResult mavsdk::Offboard::stop() const\n\nStop offboard control.\nThe vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html\nThis function is blocking. See 'stop_async' for the non-blocking counterpart.\nReturns\n Result - Result of request.\nis_active() \nbool mavsdk::Offboard::is_active() const\n\nCheck if offboard control is active.\nTrue means that the vehicle is in offboard mode and we are actively sending setpoints.\nThis function is blocking.\nReturns\n bool - Result of request.\nset_attitude() \nResult mavsdk::Offboard::set_attitude(Attitude attitude) const\n\nSet the attitude in terms of roll, pitch and yaw in degrees with thrust.\nThis function is blocking.\nParameters\n\nAttitude attitude - \n\nReturns\n Result - Result of request.\nset_actuator_control() \nResult mavsdk::Offboard::set_actuator_control(ActuatorControl actuator_control) const\n\nSet direct actuator control values to groups #0 and #1.\nFirst 8 controls will go to control group 0, the following 8 controls to control group 1 (if actuator_control.num_controls more than 8).\nThis function is blocking.\nParameters\n\nActuatorControl actuator_control - \n\nReturns\n Result - Result of request.\nset_attitude_rate() \nResult mavsdk::Offboard::set_attitude_rate(AttitudeRate attitude_rate) const\n\nSet the attitude rate in terms of pitch, roll and yaw angular rate along with thrust.\nThis function is blocking.\nParameters\n\nAttitudeRate attitude_rate - \n\nReturns\n Result - Result of request.\nset_position_ned() \nResult mavsdk::Offboard::set_position_ned(PositionNedYaw position_ned_yaw) const\n\nSet the position in NED coordinates and yaw.\nThis function is blocking.\nParameters\n\nPositionNedYaw position_ned_yaw - \n\nReturns\n Result - Result of request.\nset_position_global() \nResult mavsdk::Offboard::set_position_global(PositionGlobalYaw position_global_yaw) const\n\nSet the position in Global coordinates (latitude, longitude, altitude) and yaw.\nThis function is blocking.\nParameters\n\nPositionGlobalYaw position_global_yaw - \n\nReturns\n Result - Result of request.\nset_velocity_body() \nResult mavsdk::Offboard::set_velocity_body(VelocityBodyYawspeed velocity_body_yawspeed) const\n\nSet the velocity in body coordinates and yaw angular rate. Not available for fixed-wing aircraft.\nThis function is blocking.\nParameters\n\nVelocityBodyYawspeed velocity_body_yawspeed - \n\nReturns\n Result - Result of request.\nset_velocity_ned() \nResult mavsdk::Offboard::set_velocity_ned(VelocityNedYaw velocity_ned_yaw) const\n\nSet the velocity in NED coordinates and yaw. Not available for fixed-wing aircraft.\nThis function is blocking.\nParameters\n\nVelocityNedYaw velocity_ned_yaw - \n\nReturns\n Result - Result of request.\nset_position_velocity_ned() \nResult mavsdk::Offboard::set_position_velocity_ned(PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw) const\n\nSet the position in NED coordinates, with the velocity to be used as feed-forward.\nThis function is blocking.\nParameters\n\nPositionNedYaw position_ned_yaw - \nVelocityNedYaw velocity_ned_yaw - \n\nReturns\n Result - Result of request.\nset_position_velocity_acceleration_ned() \nResult mavsdk::Offboard::set_position_velocity_acceleration_ned(PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw, AccelerationNed acceleration_ned) const\n\nSet the position, velocity and acceleration in NED coordinates, with velocity and acceleration used as feed-forward.\nThis function is blocking.\nParameters\n\nPositionNedYaw position_ned_yaw - \nVelocityNedYaw velocity_ned_yaw - \nAccelerationNed acceleration_ned - \n\nReturns\n Result - Result of request.\nset_acceleration_ned() \nResult mavsdk::Offboard::set_acceleration_ned(AccelerationNed acceleration_ned) const\n\nSet the acceleration in NED coordinates.\nThis function is blocking.\nParameters\n\nAccelerationNed acceleration_ned - \n\nReturns\n Result - Result of request.\noperator=() \nconst Offboard& mavsdk::Offboard::operator=(const Offboard &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Offboard& - \n\nReturns\n const Offboard & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_offboard_1_1_acceleration_ned.html":{"url":"cpp/api_reference/structmavsdk_1_1_offboard_1_1_acceleration_ned.html","title":"struct AccelerationNed","keywords":"","body":"mavsdk::Offboard::AccelerationNed Struct Reference\n#include: offboard.h\n\nType for acceleration commands in NED (North East Down) coordinates. \nData Fields\nfloat north_m_s2 {} - Acceleration North (in metres/second^2)\nfloat east_m_s2 {} - Acceleration East (in metres/second^2)\nfloat down_m_s2 {} - Acceleration Down (in metres/second^2)\nField Documentation\nnorth_m_s2 \nfloat mavsdk::Offboard::AccelerationNed::north_m_s2 {}\n\nAcceleration North (in metres/second^2)\neast_m_s2 \nfloat mavsdk::Offboard::AccelerationNed::east_m_s2 {}\n\nAcceleration East (in metres/second^2)\ndown_m_s2 \nfloat mavsdk::Offboard::AccelerationNed::down_m_s2 {}\n\nAcceleration Down (in metres/second^2)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control.html":{"url":"cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control.html","title":"struct ActuatorControl","keywords":"","body":"mavsdk::Offboard::ActuatorControl Struct Reference\n#include: offboard.h\n\nType for actuator control. \nControl members should be normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction.\nOne group support eight controls.\nUp to 16 actuator controls can be set. To ignore an output group, set all it controls to NaN. If one or more controls in group is not NaN, then all NaN controls will sent as zero. The first 8 actuator controls internally map to control group 0, the latter 8 actuator controls map to control group 1. Depending on what controls are set (instead of NaN) 1 or 2 MAVLink messages are actually sent.\nIn PX4 v1.9.0 Only first four Control Groups are supported (https://github.com/PX4/Firmware/blob/v1.9.0/src/modules/mavlink/mavlink_receiver.cpp#L980). \nData Fields\nstd::vectorActuatorControlGroup > groups {} - Control groups.\nField Documentation\ngroups \nstd::vector mavsdk::Offboard::ActuatorControl::groups {}\n\nControl groups.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control_group.html":{"url":"cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control_group.html","title":"struct ActuatorControlGroup","keywords":"","body":"mavsdk::Offboard::ActuatorControlGroup Struct Reference\n#include: offboard.h\n\nEight controls that will be given to the group. Each control is a normalized (-1..+1) command value, which will be mapped and scaled through the mixer. \nData Fields\nstd::vector controls {} - Controls in the group.\nField Documentation\ncontrols \nstd::vector mavsdk::Offboard::ActuatorControlGroup::controls {}\n\nControls in the group.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude.html":{"url":"cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude.html","title":"struct Attitude","keywords":"","body":"mavsdk::Offboard::Attitude Struct Reference\n#include: offboard.h\n\nType for attitude body angles in NED reference frame (roll, pitch, yaw and thrust) \nData Fields\nfloat roll_deg {} - Roll angle (in degrees, positive is right side down)\nfloat pitch_deg {} - Pitch angle (in degrees, positive is nose up)\nfloat yaw_deg {} - Yaw angle (in degrees, positive is move nose to the right)\nfloat thrust_value {} - Thrust (range: 0 to 1)\nField Documentation\nroll_deg \nfloat mavsdk::Offboard::Attitude::roll_deg {}\n\nRoll angle (in degrees, positive is right side down)\npitch_deg \nfloat mavsdk::Offboard::Attitude::pitch_deg {}\n\nPitch angle (in degrees, positive is nose up)\nyaw_deg \nfloat mavsdk::Offboard::Attitude::yaw_deg {}\n\nYaw angle (in degrees, positive is move nose to the right)\nthrust_value \nfloat mavsdk::Offboard::Attitude::thrust_value {}\n\nThrust (range: 0 to 1)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude_rate.html":{"url":"cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude_rate.html","title":"struct AttitudeRate","keywords":"","body":"mavsdk::Offboard::AttitudeRate Struct Reference\n#include: offboard.h\n\nType for attitude rate commands in body coordinates (roll, pitch, yaw angular rate and thrust) \nData Fields\nfloat roll_deg_s {} - Roll angular rate (in degrees/second, positive for clock-wise looking from front)\nfloat pitch_deg_s {} - Pitch angular rate (in degrees/second, positive for head/front moving up)\nfloat yaw_deg_s {} - Yaw angular rate (in degrees/second, positive for clock-wise looking from above)\nfloat thrust_value {} - Thrust (range: 0 to 1)\nField Documentation\nroll_deg_s \nfloat mavsdk::Offboard::AttitudeRate::roll_deg_s {}\n\nRoll angular rate (in degrees/second, positive for clock-wise looking from front)\npitch_deg_s \nfloat mavsdk::Offboard::AttitudeRate::pitch_deg_s {}\n\nPitch angular rate (in degrees/second, positive for head/front moving up)\nyaw_deg_s \nfloat mavsdk::Offboard::AttitudeRate::yaw_deg_s {}\n\nYaw angular rate (in degrees/second, positive for clock-wise looking from above)\nthrust_value \nfloat mavsdk::Offboard::AttitudeRate::thrust_value {}\n\nThrust (range: 0 to 1)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed.html":{"url":"cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed.html","title":"struct VelocityBodyYawspeed","keywords":"","body":"mavsdk::Offboard::VelocityBodyYawspeed Struct Reference\n#include: offboard.h\n\nType for velocity commands in body coordinates. \nData Fields\nfloat forward_m_s {} - Velocity forward (in metres/second)\nfloat right_m_s {} - Velocity right (in metres/second)\nfloat down_m_s {} - Velocity down (in metres/second)\nfloat yawspeed_deg_s {} - Yaw angular rate (in degrees/second, positive for clock-wise looking from above)\nField Documentation\nforward_m_s \nfloat mavsdk::Offboard::VelocityBodyYawspeed::forward_m_s {}\n\nVelocity forward (in metres/second)\nright_m_s \nfloat mavsdk::Offboard::VelocityBodyYawspeed::right_m_s {}\n\nVelocity right (in metres/second)\ndown_m_s \nfloat mavsdk::Offboard::VelocityBodyYawspeed::down_m_s {}\n\nVelocity down (in metres/second)\nyawspeed_deg_s \nfloat mavsdk::Offboard::VelocityBodyYawspeed::yawspeed_deg_s {}\n\nYaw angular rate (in degrees/second, positive for clock-wise looking from above)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.html":{"url":"cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.html","title":"struct VelocityNedYaw","keywords":"","body":"mavsdk::Offboard::VelocityNedYaw Struct Reference\n#include: offboard.h\n\nType for velocity commands in NED (North East Down) coordinates and yaw. \nData Fields\nfloat north_m_s {} - Velocity North (in metres/second)\nfloat east_m_s {} - Velocity East (in metres/second)\nfloat down_m_s {} - Velocity Down (in metres/second)\nfloat yaw_deg {} - Yaw in degrees (0 North, positive is clock-wise looking from above)\nField Documentation\nnorth_m_s \nfloat mavsdk::Offboard::VelocityNedYaw::north_m_s {}\n\nVelocity North (in metres/second)\neast_m_s \nfloat mavsdk::Offboard::VelocityNedYaw::east_m_s {}\n\nVelocity East (in metres/second)\ndown_m_s \nfloat mavsdk::Offboard::VelocityNedYaw::down_m_s {}\n\nVelocity Down (in metres/second)\nyaw_deg \nfloat mavsdk::Offboard::VelocityNedYaw::yaw_deg {}\n\nYaw in degrees (0 North, positive is clock-wise looking from above)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_ned_yaw.html":{"url":"cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_ned_yaw.html","title":"struct PositionNedYaw","keywords":"","body":"mavsdk::Offboard::PositionNedYaw Struct Reference\n#include: offboard.h\n\nType for position commands in NED (North East Down) coordinates and yaw. \nData Fields\nfloat north_m {} - Position North (in metres)\nfloat east_m {} - Position East (in metres)\nfloat down_m {} - Position Down (in metres)\nfloat yaw_deg {} - Yaw in degrees (0 North, positive is clock-wise looking from above)\nField Documentation\nnorth_m \nfloat mavsdk::Offboard::PositionNedYaw::north_m {}\n\nPosition North (in metres)\neast_m \nfloat mavsdk::Offboard::PositionNedYaw::east_m {}\n\nPosition East (in metres)\ndown_m \nfloat mavsdk::Offboard::PositionNedYaw::down_m {}\n\nPosition Down (in metres)\nyaw_deg \nfloat mavsdk::Offboard::PositionNedYaw::yaw_deg {}\n\nYaw in degrees (0 North, positive is clock-wise looking from above)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_global_yaw.html":{"url":"cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_global_yaw.html","title":"struct PositionGlobalYaw","keywords":"","body":"mavsdk::Offboard::PositionGlobalYaw Struct Reference\n#include: offboard.h\n\nType for position commands in Global (Latitude, Longitude, Altitude) coordinates and yaw. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum AltitudeType\nPossible altitude options.\n\n\n\nData Fields\ndouble lat_deg {} - Latitude (in degrees)\ndouble lon_deg {} - Longitude (in degrees)\nfloat alt_m {} - altitude (in metres)\nfloat yaw_deg {} - Yaw in degrees (0 North, positive is clock-wise looking from above)\nAltitudeType altitude_type {} - altitude type for this position\nMember Enumeration Documentation\nenum AltitudeType \nPossible altitude options.\n\n\n\nValue\nDescription\n\n\n\n\n RelHome\nAltitude relative to the Home position. \n\n\n Amsl\nAltitude above mean sea level (AMSL). \n\n\n Agl\nAltitude above ground level (AGL). \n\n\n\nField Documentation\nlat_deg \ndouble mavsdk::Offboard::PositionGlobalYaw::lat_deg {}\n\nLatitude (in degrees)\nlon_deg \ndouble mavsdk::Offboard::PositionGlobalYaw::lon_deg {}\n\nLongitude (in degrees)\nalt_m \nfloat mavsdk::Offboard::PositionGlobalYaw::alt_m {}\n\naltitude (in metres)\nyaw_deg \nfloat mavsdk::Offboard::PositionGlobalYaw::yaw_deg {}\n\nYaw in degrees (0 North, positive is clock-wise looking from above)\naltitude_type \nAltitudeType mavsdk::Offboard::PositionGlobalYaw::altitude_type {}\n\naltitude type for this position\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_param.html":{"url":"cpp/api_reference/classmavsdk_1_1_param.html","title":"class Param","keywords":"","body":"mavsdk::Param Class Reference\n#include: param.h\n\nProvide raw access to get and set parameters. \nData Structures\nstruct AllParams\nstruct CustomParam\nstruct FloatParam\nstruct IntParam\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum ProtocolVersion\nParameter version.\n\n\nenum Result\nPossible results returned for param requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Param calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nParam (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nParam (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Param () override\nDestructor (internal use only).\n\n\n \nParam (const Param & other)\nCopy constructor.\n\n\nstd::pairResult, int32_t >\nget_param_int (std::string name)const\nGet an int parameter.\n\n\nResult\nset_param_int (std::string name, int32_t value)const\nSet an int parameter.\n\n\nstd::pairResult, float >\nget_param_float (std::string name)const\nGet a float parameter.\n\n\nResult\nset_param_float (std::string name, float value)const\nSet a float parameter.\n\n\nstd::pairResult, std::string >\nget_param_custom (std::string name)const\nGet a custom parameter.\n\n\nResult\nset_param_custom (std::string name, std::string value)const\nSet a custom parameter.\n\n\nParam::AllParams\nget_all_params () const\nGet all parameters.\n\n\nResult\nselect_component (int32_t component_id, ProtocolVersion protocol_version)const\nSelect component ID of parameter component to talk to and param protocol version.\n\n\nconst Param &\noperator= (const Param &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nParam() \nmavsdk::Param::Param(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto param = Param(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nParam() \nmavsdk::Param::Param(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto param = Param(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Param() \nmavsdk::Param::~Param() override\n\nDestructor (internal use only).\nParam() \nmavsdk::Param::Param(const Param &other)\n\nCopy constructor.\nParameters\n\nconst Param& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Param::ResultCallback = std::function\n\nCallback type for asynchronous Param calls.\nMember Enumeration Documentation\nenum ProtocolVersion \nParameter version.\n\n\n\nValue\nDescription\n\n\n\n\n V1\nOriginal v1 version. \n\n\n Ext\nExtended param version. \n\n\n\nenum Result \nPossible results returned for param requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n Timeout\nRequest timed out. \n\n\n ConnectionError\nConnection error. \n\n\n WrongType\nWrong type. \n\n\n ParamNameTooLong\nParameter name too long (> 16). \n\n\n NoSystem\nNo system connected. \n\n\n ParamValueTooLong\nParam value too long (> 128). \n\n\n Failed\nOperation failed.. \n\n\n\nMember Function Documentation\nget_param_int() \nstd::pair mavsdk::Param::get_param_int(std::string name) const\n\nGet an int parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \n\nReturns\n std::pairResult, int32_t > - Result of request.\nset_param_int() \nResult mavsdk::Param::set_param_int(std::string name, int32_t value) const\n\nSet an int parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \nint32_t value - \n\nReturns\n Result - Result of request.\nget_param_float() \nstd::pair mavsdk::Param::get_param_float(std::string name) const\n\nGet a float parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \n\nReturns\n std::pairResult, float > - Result of request.\nset_param_float() \nResult mavsdk::Param::set_param_float(std::string name, float value) const\n\nSet a float parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \nfloat value - \n\nReturns\n Result - Result of request.\nget_param_custom() \nstd::pair mavsdk::Param::get_param_custom(std::string name) const\n\nGet a custom parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \n\nReturns\n std::pairResult, std::string > - Result of request.\nset_param_custom() \nResult mavsdk::Param::set_param_custom(std::string name, std::string value) const\n\nSet a custom parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \nstd::string value - \n\nReturns\n Result - Result of request.\nget_all_params() \nParam::AllParams mavsdk::Param::get_all_params() const\n\nGet all parameters.\nThis function is blocking.\nReturns\n Param::AllParams - Result of request.\nselect_component() \nResult mavsdk::Param::select_component(int32_t component_id, ProtocolVersion protocol_version) const\n\nSelect component ID of parameter component to talk to and param protocol version.\nDefault is the autopilot component (1), and Version (0).\nThis function is blocking.\nParameters\n\nint32_t component_id - \nProtocolVersion protocol_version - \n\nReturns\n Result - Result of request.\noperator=() \nconst Param& mavsdk::Param::operator=(const Param &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Param& - \n\nReturns\n const Param & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_param_1_1_all_params.html":{"url":"cpp/api_reference/structmavsdk_1_1_param_1_1_all_params.html","title":"struct AllParams","keywords":"","body":"mavsdk::Param::AllParams Struct Reference\n#include: param.h\n\nType collecting all integer, float, and custom parameters. \nData Fields\nstd::vectorIntParam > int_params {} - Collection of all parameter names and values of type int.\nstd::vectorFloatParam > float_params {} - Collection of all parameter names and values of type float.\nstd::vectorCustomParam > custom_params {} - Collection of all parameter names and values of type custom.\nField Documentation\nint_params \nstd::vector mavsdk::Param::AllParams::int_params {}\n\nCollection of all parameter names and values of type int.\nfloat_params \nstd::vector mavsdk::Param::AllParams::float_params {}\n\nCollection of all parameter names and values of type float.\ncustom_params \nstd::vector mavsdk::Param::AllParams::custom_params {}\n\nCollection of all parameter names and values of type custom.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_param_1_1_custom_param.html":{"url":"cpp/api_reference/structmavsdk_1_1_param_1_1_custom_param.html","title":"struct CustomParam","keywords":"","body":"mavsdk::Param::CustomParam Struct Reference\n#include: param.h\n\nType for custom parameters. \nData Fields\nstd::string name {} - Name of the parameter.\nstd::string value {} - Value of the parameter (max len 128 bytes)\nField Documentation\nname \nstd::string mavsdk::Param::CustomParam::name {}\n\nName of the parameter.\nvalue \nstd::string mavsdk::Param::CustomParam::value {}\n\nValue of the parameter (max len 128 bytes)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_param_1_1_float_param.html":{"url":"cpp/api_reference/structmavsdk_1_1_param_1_1_float_param.html","title":"struct FloatParam","keywords":"","body":"mavsdk::Param::FloatParam Struct Reference\n#include: param.h\n\nType for float parameters. \nData Fields\nstd::string name {} - Name of the parameter.\nfloat value {} - Value of the parameter.\nField Documentation\nname \nstd::string mavsdk::Param::FloatParam::name {}\n\nName of the parameter.\nvalue \nfloat mavsdk::Param::FloatParam::value {}\n\nValue of the parameter.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_param_1_1_int_param.html":{"url":"cpp/api_reference/structmavsdk_1_1_param_1_1_int_param.html","title":"struct IntParam","keywords":"","body":"mavsdk::Param::IntParam Struct Reference\n#include: param.h\n\nType for integer parameters. \nData Fields\nstd::string name {} - Name of the parameter.\nint32_t value {} - Value of the parameter.\nField Documentation\nname \nstd::string mavsdk::Param::IntParam::name {}\n\nName of the parameter.\nvalue \nint32_t mavsdk::Param::IntParam::value {}\n\nValue of the parameter.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_param_server.html":{"url":"cpp/api_reference/classmavsdk_1_1_param_server.html","title":"class ParamServer","keywords":"","body":"mavsdk::ParamServer Class Reference\n#include: param_server.h\n\nProvide raw access to retrieve and provide server parameters. \nData Structures\nstruct AllParams\nstruct CustomParam\nstruct FloatParam\nstruct IntParam\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for param requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous ParamServer calls.\n\n\nstd::functionIntParam)> ChangedParamIntCallback\nCallback type for subscribe_changed_param_int.\n\n\nHandleIntParam > ChangedParamIntHandle\nHandle type for subscribe_changed_param_int.\n\n\nstd::functionFloatParam)> ChangedParamFloatCallback\nCallback type for subscribe_changed_param_float.\n\n\nHandleFloatParam > ChangedParamFloatHandle\nHandle type for subscribe_changed_param_float.\n\n\nstd::functionCustomParam)> ChangedParamCustomCallback\nCallback type for subscribe_changed_param_custom.\n\n\nHandleCustomParam > ChangedParamCustomHandle\nHandle type for subscribe_changed_param_custom.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nParamServer (std::shared_ptrServerComponent > server_component)\nConstructor. Creates the plugin for a ServerComponent instance.\n\n\n \n~ParamServer () override\nDestructor (internal use only).\n\n\n \nParamServer (const ParamServer & other)\nCopy constructor.\n\n\nstd::pairResult, int32_t >\nretrieve_param_int (std::string name)const\nRetrieve an int parameter.\n\n\nResult\nprovide_param_int (std::string name, int32_t value)const\nProvide an int parameter.\n\n\nstd::pairResult, float >\nretrieve_param_float (std::string name)const\nRetrieve a float parameter.\n\n\nResult\nprovide_param_float (std::string name, float value)const\nProvide a float parameter.\n\n\nstd::pairResult, std::string >\nretrieve_param_custom (std::string name)const\nRetrieve a custom parameter.\n\n\nResult\nprovide_param_custom (std::string name, std::string value)const\nProvide a custom parameter.\n\n\nParamServer::AllParams\nretrieve_all_params () const\nRetrieve all parameters.\n\n\nChangedParamIntHandle\nsubscribe_changed_param_int (const ChangedParamIntCallback & callback)\nSubscribe to changed int param.\n\n\nvoid\nunsubscribe_changed_param_int (ChangedParamIntHandle handle)\nUnsubscribe from subscribe_changed_param_int.\n\n\nChangedParamFloatHandle\nsubscribe_changed_param_float (const ChangedParamFloatCallback & callback)\nSubscribe to changed float param.\n\n\nvoid\nunsubscribe_changed_param_float (ChangedParamFloatHandle handle)\nUnsubscribe from subscribe_changed_param_float.\n\n\nChangedParamCustomHandle\nsubscribe_changed_param_custom (const ChangedParamCustomCallback & callback)\nSubscribe to changed custom param.\n\n\nvoid\nunsubscribe_changed_param_custom (ChangedParamCustomHandle handle)\nUnsubscribe from subscribe_changed_param_custom.\n\n\nconst ParamServer &\noperator= (const ParamServer &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nParamServer() \nmavsdk::ParamServer::ParamServer(std::shared_ptr server_component)\n\nConstructor. Creates the plugin for a ServerComponent instance.\nThe plugin is typically created as shown below: \nauto param_server = ParamServer(server_component);\n\nParameters\n\nstd::shared_ptrServerComponent > server_component - The ServerComponent instance associated with this server plugin.\n\n~ParamServer() \nmavsdk::ParamServer::~ParamServer() override\n\nDestructor (internal use only).\nParamServer() \nmavsdk::ParamServer::ParamServer(const ParamServer &other)\n\nCopy constructor.\nParameters\n\nconst ParamServer& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::ParamServer::ResultCallback = std::function\n\nCallback type for asynchronous ParamServer calls.\ntypedef ChangedParamIntCallback \nusing mavsdk::ParamServer::ChangedParamIntCallback = std::function\n\nCallback type for subscribe_changed_param_int.\ntypedef ChangedParamIntHandle \nusing mavsdk::ParamServer::ChangedParamIntHandle = Handle\n\nHandle type for subscribe_changed_param_int.\ntypedef ChangedParamFloatCallback \nusing mavsdk::ParamServer::ChangedParamFloatCallback = std::function\n\nCallback type for subscribe_changed_param_float.\ntypedef ChangedParamFloatHandle \nusing mavsdk::ParamServer::ChangedParamFloatHandle = Handle\n\nHandle type for subscribe_changed_param_float.\ntypedef ChangedParamCustomCallback \nusing mavsdk::ParamServer::ChangedParamCustomCallback = std::function\n\nCallback type for subscribe_changed_param_custom.\ntypedef ChangedParamCustomHandle \nusing mavsdk::ParamServer::ChangedParamCustomHandle = Handle\n\nHandle type for subscribe_changed_param_custom.\nMember Enumeration Documentation\nenum Result \nPossible results returned for param requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n NotFound\nNot Found. \n\n\n WrongType\nWrong type. \n\n\n ParamNameTooLong\nParameter name too long (> 16). \n\n\n NoSystem\nNo system available. \n\n\n ParamValueTooLong\nParameter name too long (> 128). \n\n\n\nMember Function Documentation\nretrieve_param_int() \nstd::pair mavsdk::ParamServer::retrieve_param_int(std::string name) const\n\nRetrieve an int parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \n\nReturns\n std::pairResult, int32_t > - Result of request.\nprovide_param_int() \nResult mavsdk::ParamServer::provide_param_int(std::string name, int32_t value) const\n\nProvide an int parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \nint32_t value - \n\nReturns\n Result - Result of request.\nretrieve_param_float() \nstd::pair mavsdk::ParamServer::retrieve_param_float(std::string name) const\n\nRetrieve a float parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \n\nReturns\n std::pairResult, float > - Result of request.\nprovide_param_float() \nResult mavsdk::ParamServer::provide_param_float(std::string name, float value) const\n\nProvide a float parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \nfloat value - \n\nReturns\n Result - Result of request.\nretrieve_param_custom() \nstd::pair mavsdk::ParamServer::retrieve_param_custom(std::string name) const\n\nRetrieve a custom parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \n\nReturns\n std::pairResult, std::string > - Result of request.\nprovide_param_custom() \nResult mavsdk::ParamServer::provide_param_custom(std::string name, std::string value) const\n\nProvide a custom parameter.\nIf the type is wrong, the result will be WRONG_TYPE.\nThis function is blocking.\nParameters\n\nstd::string name - \nstd::string value - \n\nReturns\n Result - Result of request.\nretrieve_all_params() \nParamServer::AllParams mavsdk::ParamServer::retrieve_all_params() const\n\nRetrieve all parameters.\nThis function is blocking.\nReturns\n ParamServer::AllParams - Result of request.\nsubscribe_changed_param_int() \nChangedParamIntHandle mavsdk::ParamServer::subscribe_changed_param_int(const ChangedParamIntCallback &callback)\n\nSubscribe to changed int param.\nParameters\n\nconst ChangedParamIntCallback& callback - \n\nReturns\n ChangedParamIntHandle - \nunsubscribe_changed_param_int() \nvoid mavsdk::ParamServer::unsubscribe_changed_param_int(ChangedParamIntHandle handle)\n\nUnsubscribe from subscribe_changed_param_int.\nParameters\n\nChangedParamIntHandle handle - \n\nsubscribe_changed_param_float() \nChangedParamFloatHandle mavsdk::ParamServer::subscribe_changed_param_float(const ChangedParamFloatCallback &callback)\n\nSubscribe to changed float param.\nParameters\n\nconst ChangedParamFloatCallback& callback - \n\nReturns\n ChangedParamFloatHandle - \nunsubscribe_changed_param_float() \nvoid mavsdk::ParamServer::unsubscribe_changed_param_float(ChangedParamFloatHandle handle)\n\nUnsubscribe from subscribe_changed_param_float.\nParameters\n\nChangedParamFloatHandle handle - \n\nsubscribe_changed_param_custom() \nChangedParamCustomHandle mavsdk::ParamServer::subscribe_changed_param_custom(const ChangedParamCustomCallback &callback)\n\nSubscribe to changed custom param.\nParameters\n\nconst ChangedParamCustomCallback& callback - \n\nReturns\n ChangedParamCustomHandle - \nunsubscribe_changed_param_custom() \nvoid mavsdk::ParamServer::unsubscribe_changed_param_custom(ChangedParamCustomHandle handle)\n\nUnsubscribe from subscribe_changed_param_custom.\nParameters\n\nChangedParamCustomHandle handle - \n\noperator=() \nconst ParamServer& mavsdk::ParamServer::operator=(const ParamServer &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst ParamServer& - \n\nReturns\n const ParamServer & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_param_server_1_1_all_params.html":{"url":"cpp/api_reference/structmavsdk_1_1_param_server_1_1_all_params.html","title":"struct AllParams","keywords":"","body":"mavsdk::ParamServer::AllParams Struct Reference\n#include: param_server.h\n\nType collecting all integer, float, and custom parameters. \nData Fields\nstd::vectorIntParam > int_params {} - Collection of all parameter names and values of type int.\nstd::vectorFloatParam > float_params {} - Collection of all parameter names and values of type float.\nstd::vectorCustomParam > custom_params {} - Collection of all parameter names and values of type custom.\nField Documentation\nint_params \nstd::vector mavsdk::ParamServer::AllParams::int_params {}\n\nCollection of all parameter names and values of type int.\nfloat_params \nstd::vector mavsdk::ParamServer::AllParams::float_params {}\n\nCollection of all parameter names and values of type float.\ncustom_params \nstd::vector mavsdk::ParamServer::AllParams::custom_params {}\n\nCollection of all parameter names and values of type custom.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_param_server_1_1_custom_param.html":{"url":"cpp/api_reference/structmavsdk_1_1_param_server_1_1_custom_param.html","title":"struct CustomParam","keywords":"","body":"mavsdk::ParamServer::CustomParam Struct Reference\n#include: param_server.h\n\nType for float parameters. \nData Fields\nstd::string name {} - Name of the parameter.\nstd::string value {} - Value of the parameter.\nField Documentation\nname \nstd::string mavsdk::ParamServer::CustomParam::name {}\n\nName of the parameter.\nvalue \nstd::string mavsdk::ParamServer::CustomParam::value {}\n\nValue of the parameter.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_param_server_1_1_float_param.html":{"url":"cpp/api_reference/structmavsdk_1_1_param_server_1_1_float_param.html","title":"struct FloatParam","keywords":"","body":"mavsdk::ParamServer::FloatParam Struct Reference\n#include: param_server.h\n\nType for float parameters. \nData Fields\nstd::string name {} - Name of the parameter.\nfloat value {} - Value of the parameter.\nField Documentation\nname \nstd::string mavsdk::ParamServer::FloatParam::name {}\n\nName of the parameter.\nvalue \nfloat mavsdk::ParamServer::FloatParam::value {}\n\nValue of the parameter.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_param_server_1_1_int_param.html":{"url":"cpp/api_reference/structmavsdk_1_1_param_server_1_1_int_param.html","title":"struct IntParam","keywords":"","body":"mavsdk::ParamServer::IntParam Struct Reference\n#include: param_server.h\n\nType for integer parameters. \nData Fields\nstd::string name {} - Name of the parameter.\nint32_t value {} - Value of the parameter.\nField Documentation\nname \nstd::string mavsdk::ParamServer::IntParam::name {}\n\nName of the parameter.\nvalue \nint32_t mavsdk::ParamServer::IntParam::value {}\n\nValue of the parameter.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_rtk.html":{"url":"cpp/api_reference/classmavsdk_1_1_rtk.html","title":"class Rtk","keywords":"","body":"mavsdk::Rtk Class Reference\n#include: rtk.h\n\nService to send RTK corrections to the vehicle. \nData Structures\nstruct RtcmData\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for rtk requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Rtk calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nRtk (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nRtk (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Rtk () override\nDestructor (internal use only).\n\n\n \nRtk (const Rtk & other)\nCopy constructor.\n\n\nResult\nsend_rtcm_data (RtcmData rtcm_data)const\nSend RTCM data.\n\n\nconst Rtk &\noperator= (const Rtk &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nRtk() \nmavsdk::Rtk::Rtk(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto rtk = Rtk(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nRtk() \nmavsdk::Rtk::Rtk(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto rtk = Rtk(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Rtk() \nmavsdk::Rtk::~Rtk() override\n\nDestructor (internal use only).\nRtk() \nmavsdk::Rtk::Rtk(const Rtk &other)\n\nCopy constructor.\nParameters\n\nconst Rtk& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Rtk::ResultCallback = std::function\n\nCallback type for asynchronous Rtk calls.\nMember Enumeration Documentation\nenum Result \nPossible results returned for rtk requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n TooLong\nPassed data is too long. \n\n\n NoSystem\nNo system connected. \n\n\n ConnectionError\nConnection error. \n\n\n\nMember Function Documentation\nsend_rtcm_data() \nResult mavsdk::Rtk::send_rtcm_data(RtcmData rtcm_data) const\n\nSend RTCM data.\nThis function is blocking.\nParameters\n\nRtcmData rtcm_data - \n\nReturns\n Result - Result of request.\noperator=() \nconst Rtk& mavsdk::Rtk::operator=(const Rtk &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Rtk& - \n\nReturns\n const Rtk & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_rtk_1_1_rtcm_data.html":{"url":"cpp/api_reference/structmavsdk_1_1_rtk_1_1_rtcm_data.html","title":"struct RtcmData","keywords":"","body":"mavsdk::Rtk::RtcmData Struct Reference\n#include: rtk.h\n\nRTCM data type. \nData Fields\nstd::string data {} - The data encoded as a string.\nField Documentation\ndata \nstd::string mavsdk::Rtk::RtcmData::data {}\n\nThe data encoded as a string.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_server_utility.html":{"url":"cpp/api_reference/classmavsdk_1_1_server_utility.html","title":"class ServerUtility","keywords":"","body":"mavsdk::ServerUtility Class Reference\n#include: server_utility.h\n\nUtility for onboard MAVSDK instances for common \"server\" tasks. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum StatusTextType\nStatus types.\n\n\nenum Result\nPossible results returned for server utility requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous ServerUtility calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nServerUtility (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nServerUtility (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~ServerUtility () override\nDestructor (internal use only).\n\n\n \nServerUtility (const ServerUtility & other)\nCopy constructor.\n\n\nResult\nsend_status_text (StatusTextType type, std::string text)const\nSends a statustext.\n\n\nconst ServerUtility &\noperator= (const ServerUtility &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nServerUtility() \nmavsdk::ServerUtility::ServerUtility(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto server_utility = ServerUtility(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nServerUtility() \nmavsdk::ServerUtility::ServerUtility(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto server_utility = ServerUtility(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~ServerUtility() \nmavsdk::ServerUtility::~ServerUtility() override\n\nDestructor (internal use only).\nServerUtility() \nmavsdk::ServerUtility::ServerUtility(const ServerUtility &other)\n\nCopy constructor.\nParameters\n\nconst ServerUtility& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::ServerUtility::ResultCallback = std::function\n\nCallback type for asynchronous ServerUtility calls.\nMember Enumeration Documentation\nenum StatusTextType \nStatus types.\n\n\n\nValue\nDescription\n\n\n\n\n Debug\nDebug. \n\n\n Info\nInformation. \n\n\n Notice\nNotice. \n\n\n Warning\nWarning. \n\n\n Error\nError. \n\n\n Critical\nCritical. \n\n\n Alert\nAlert. \n\n\n Emergency\nEmergency. \n\n\n\nenum Result \nPossible results returned for server utility requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n NoSystem\nNo system is connected. \n\n\n ConnectionError\nConnection error. \n\n\n InvalidArgument\nInvalid argument. \n\n\n\nMember Function Documentation\nsend_status_text() \nResult mavsdk::ServerUtility::send_status_text(StatusTextType type, std::string text) const\n\nSends a statustext.\nThis function is blocking.\nParameters\n\nStatusTextType type - \nstd::string text - \n\nReturns\n Result - Result of request.\noperator=() \nconst ServerUtility& mavsdk::ServerUtility::operator=(const ServerUtility &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst ServerUtility& - \n\nReturns\n const ServerUtility & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/classmavsdk_1_1_shell.html":{"url":"cpp/api_reference/classmavsdk_1_1_shell.html","title":"class Shell","keywords":"","body":"mavsdk::Shell Class Reference\n#include: shell.h\n\n\nAllow to communicate with the vehicle's system shell. \n\n\n\n\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum Result\nPossible results returned for shell requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Shell calls.\n\n\nstd::function ReceiveCallback\nCallback type for subscribe_receive.\n\n\nHandle ReceiveHandle\nHandle type for subscribe_receive.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nShell (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nShell (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Shell () override\nDestructor (internal use only).\n\n\n \nShell (const Shell & other)\nCopy constructor.\n\n\nResult\nsend (std::string command)const\nSend a command line.\n\n\nReceiveHandle\nsubscribe_receive (const ReceiveCallback & callback)\nReceive feedback from a sent command line.\n\n\nvoid\nunsubscribe_receive (ReceiveHandle handle)\nUnsubscribe from subscribe_receive.\n\n\nconst Shell &\noperator= (const Shell &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nShell() \nmavsdk::Shell::Shell(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto shell = Shell(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nShell() \nmavsdk::Shell::Shell(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto shell = Shell(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Shell() \nmavsdk::Shell::~Shell() override\n\nDestructor (internal use only).\nShell() \nmavsdk::Shell::Shell(const Shell &other)\n\nCopy constructor.\nParameters\n\nconst Shell& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Shell::ResultCallback = std::function\n\nCallback type for asynchronous Shell calls.\ntypedef ReceiveCallback \nusing mavsdk::Shell::ReceiveCallback = std::function\n\nCallback type for subscribe_receive.\ntypedef ReceiveHandle \nusing mavsdk::Shell::ReceiveHandle = Handle\n\nHandle type for subscribe_receive.\nMember Enumeration Documentation\nenum Result \nPossible results returned for shell requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n NoSystem\nNo system is connected. \n\n\n ConnectionError\nConnection error. \n\n\n NoResponse\nResponse was not received. \n\n\n Busy\nShell busy (transfer in progress). \n\n\n\nMember Function Documentation\nsend() \nResult mavsdk::Shell::send(std::string command) const\n\nSend a command line.\nThis function is blocking.\nParameters\n\nstd::string command - \n\nReturns\n Result - Result of request.\nsubscribe_receive() \nReceiveHandle mavsdk::Shell::subscribe_receive(const ReceiveCallback &callback)\n\nReceive feedback from a sent command line.\nThis subscription needs to be made before a command line is sent, otherwise, no response will be sent.\nParameters\n\nconst ReceiveCallback& callback - \n\nReturns\n ReceiveHandle - \nunsubscribe_receive() \nvoid mavsdk::Shell::unsubscribe_receive(ReceiveHandle handle)\n\nUnsubscribe from subscribe_receive.\nParameters\n\nReceiveHandle handle - \n\noperator=() \nconst Shell& mavsdk::Shell::operator=(const Shell &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Shell& - \n\nReturns\n const Shell & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/classmavsdk_1_1_system.html":{"url":"cpp/api_reference/classmavsdk_1_1_system.html","title":"class System","keywords":"","body":"mavsdk::System Class Reference\n#include: system.h\n\nThis class represents a system, made up of one or more components (e.g. autopilot, cameras, servos, gimbals, etc). \nSystem objects are used to interact with UAVs (including their components) and standalone cameras. They are not created directly by application code, but are returned by the Mavsdk class. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum ComponentType\nComponent Types.\n\n\nstd::function IsConnectedCallback\ntype for is connected callback.\n\n\nHandle IsConnectedHandle\nhandle type to unsubscribe from subscribe_is_connected.\n\n\nstd::functionComponentType)> ComponentDiscoveredCallback\ntype for component discovery callback\n\n\nHandleComponentType > ComponentDiscoveredHandle\ntype for component discovery callback handle\n\n\nstd::functionComponentType, uint8_t)> ComponentDiscoveredIdCallback\ntype for component discovery callback with component ID\n\n\nHandleComponentType, uint8_t > ComponentDiscoveredIdHandle\ntype for component discovery callback handle with component ID\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \n~System ()\nDestructor.\n\n\n \nSystem (const System &)=delete\nCopy constructor (object is not copyable).\n\n\nvoid\ninit (uint8_t system_id, uint8_t component_id)const\nInitialize the system.\n\n\nbool\nhas_autopilot () const\nChecks whether the system has an autopilot.\n\n\nbool\nis_standalone () const\nChecks whether the system is a standalone (non-autopilot).\n\n\nbool\nhas_camera (int camera_id=-1)const\nChecks whether the system has a camera with the given camera ID.\n\n\nbool\nhas_gimbal () const\nChecks whether the system has a gimbal.\n\n\nbool\nis_connected () const\nChecks if the system is connected.\n\n\nuint8_t\nget_system_id () const\nMAVLink System ID of connected system.\n\n\nstd::vector\ncomponent_ids () const\nMAVLink component IDs of connected system.\n\n\nIsConnectedHandle\nsubscribe_is_connected (const IsConnectedCallback & callback)\nSubscribe to callback to be called when system connection state changes.\n\n\nvoid\nunsubscribe_is_connected (IsConnectedHandle handle)\nUnsubscribe from subscribe_is_connected.\n\n\nComponentDiscoveredHandle\nsubscribe_component_discovered (const ComponentDiscoveredCallback & callback)\nSubscribe to be called when a component is discovered.\n\n\nvoid\nunsubscribe_component_discovered (ComponentDiscoveredHandle handle)\nUnsubscribe from subscribe_component_discovered.\n\n\nComponentDiscoveredIdHandle\nsubscribe_component_discovered_id (const ComponentDiscoveredIdCallback & callback)\nSubscribe to be called when a component is discovered.\n\n\nvoid\nunsubscribe_component_discovered_id (ComponentDiscoveredIdHandle handle)\nUnsubscribe from subscribe_component_discovered_id.\n\n\nvoid\nenable_timesync ()\nEnable time synchronization using the TIMESYNC messages.\n\n\nconst System &\noperator= (const System &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\n~System() \nmavsdk::System::~System()\n\nDestructor.\nSystem() \nmavsdk::System::System(const System &)=delete\n\nCopy constructor (object is not copyable).\nParameters\n\nconst System& - \n\nMember Typdef Documentation\ntypedef IsConnectedCallback \nusing mavsdk::System::IsConnectedCallback = std::function\n\ntype for is connected callback.\ntypedef IsConnectedHandle \nusing mavsdk::System::IsConnectedHandle = Handle\n\nhandle type to unsubscribe from subscribe_is_connected.\ntypedef ComponentDiscoveredCallback \nusing mavsdk::System::ComponentDiscoveredCallback = std::function\n\ntype for component discovery callback\ntypedef ComponentDiscoveredHandle \nusing mavsdk::System::ComponentDiscoveredHandle = Handle\n\ntype for component discovery callback handle\ntypedef ComponentDiscoveredIdCallback \nusing mavsdk::System::ComponentDiscoveredIdCallback = std::function\n\ntype for component discovery callback with component ID\ntypedef ComponentDiscoveredIdHandle \nusing mavsdk::System::ComponentDiscoveredIdHandle = Handle\n\ntype for component discovery callback handle with component ID\nMember Enumeration Documentation\nenum ComponentType \nComponent Types.\n\n\n\nValue\nDescription\n\n\n\n\n UNKNOWN\n\n\n\n AUTOPILOT\n\n\n\n CAMERA\n\n\n\n GIMBAL\n\n\n\n\nMember Function Documentation\ninit() \nvoid mavsdk::System::init(uint8_t system_id, uint8_t component_id) const\n\nInitialize the system.\nThis is not (and should not be) directly called by application code.\nParameters\n\nuint8_t system_id - System id.\nuint8_t component_id - Component id.\n\nhas_autopilot() \nbool mavsdk::System::has_autopilot() const\n\nChecks whether the system has an autopilot.\nReturns\n bool - true if it has an autopilot, false otherwise.\nis_standalone() \nbool mavsdk::System::is_standalone() const\n\nChecks whether the system is a standalone (non-autopilot).\nReturns\n bool - true if stand alone, false otherwise.\nhas_camera() \nbool mavsdk::System::has_camera(int camera_id=-1) const\n\nChecks whether the system has a camera with the given camera ID.\nA System may have several cameras, with IDs starting from 0. When called without passing a camera ID, it checks whether the system has any camera.\nParameters\n\nint camera_id - ID of the camera starting from 0 onwards.\n\nReturns\n bool - true if camera with the given camera ID is found, false otherwise.\nhas_gimbal() \nbool mavsdk::System::has_gimbal() const\n\nChecks whether the system has a gimbal.\nReturns\n bool - true if the system has a gimbal, false otherwise.\nis_connected() \nbool mavsdk::System::is_connected() const\n\nChecks if the system is connected.\nA system is connected when heartbeats are arriving (discovered and not timed out).\nReturns\n bool - true if the system is connected.\nget_system_id() \nuint8_t mavsdk::System::get_system_id() const\n\nMAVLink System ID of connected system.\n\n : this is 0 if nothing is connected yet.\n\nReturns\n uint8_t - the system ID.\ncomponent_ids() \nstd::vector mavsdk::System::component_ids() const\n\nMAVLink component IDs of connected system.\n\n : all components that have been seen at least once will be listed.\n\nReturns\n std::vector - a list of all component ids\nsubscribe_is_connected() \nIsConnectedHandle mavsdk::System::subscribe_is_connected(const IsConnectedCallback &callback)\n\nSubscribe to callback to be called when system connection state changes.\nParameters\n\nconst IsConnectedCallback& callback - Callback which will be called.\n\nReturns\n IsConnectedHandle - \nunsubscribe_is_connected() \nvoid mavsdk::System::unsubscribe_is_connected(IsConnectedHandle handle)\n\nUnsubscribe from subscribe_is_connected.\nParameters\n\nIsConnectedHandle handle - \n\nsubscribe_component_discovered() \nComponentDiscoveredHandle mavsdk::System::subscribe_component_discovered(const ComponentDiscoveredCallback &callback)\n\nSubscribe to be called when a component is discovered.\nParameters\n\nconst ComponentDiscoveredCallback& callback - a function of type void(ComponentType) which will be called with the component type of the new component.\n\nReturns\n ComponentDiscoveredHandle - \nunsubscribe_component_discovered() \nvoid mavsdk::System::unsubscribe_component_discovered(ComponentDiscoveredHandle handle)\n\nUnsubscribe from subscribe_component_discovered.\nParameters\n\nComponentDiscoveredHandle handle - \n\nsubscribe_component_discovered_id() \nComponentDiscoveredIdHandle mavsdk::System::subscribe_component_discovered_id(const ComponentDiscoveredIdCallback &callback)\n\nSubscribe to be called when a component is discovered.\nParameters\n\nconst ComponentDiscoveredIdCallback& callback - a function of type void(ComponentType) which will be called with the component type and the component id of the new component.\n\nReturns\n ComponentDiscoveredIdHandle - \nunsubscribe_component_discovered_id() \nvoid mavsdk::System::unsubscribe_component_discovered_id(ComponentDiscoveredIdHandle handle)\n\nUnsubscribe from subscribe_component_discovered_id.\nParameters\n\nComponentDiscoveredIdHandle handle - \n\nenable_timesync() \nvoid mavsdk::System::enable_timesync()\n\nEnable time synchronization using the TIMESYNC messages.\noperator=() \nconst System& mavsdk::System::operator=(const System &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst System& - \n\nReturns\n const System & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_system_1_1_autopilot_version.html":{"url":"cpp/api_reference/structmavsdk_1_1_system_1_1_autopilot_version.html","title":"struct AutopilotVersion","keywords":"","body":"mavsdk::System::AutopilotVersion Struct Reference\n#include: system.h\n\nThis struct represents Autopilot version information. This is only used when MAVSDK is configured as an autopilot. \nOther MAVLink systems can use this to identify and match software and capabilities. \nData Fields\nuint64_t capabilities {} - MAVLink autopilot_version capabilities.\nuint32_t flight_sw_version {0} - MAVLink autopilot_version flight_sw_version.\nuint32_t middleware_sw_version {0} - MAVLink autopilot_version middleware_sw_version.\nuint32_t os_sw_version {0} - MAVLink autopilot_version os_sw_version.\nuint32_t board_version {0} - MAVLink autopilot_version board_version.\nuint16_t vendor_id {0} - MAVLink autopilot_version vendor_id.\nuint16_t product_id {0} - MAVLink autopilot_version product_id.\nstd::array uid2 {0} - MAVLink autopilot_version uid2.\nField Documentation\ncapabilities \nuint64_t mavsdk::System::AutopilotVersion::capabilities {}\n\nMAVLink autopilot_version capabilities.\nflight_sw_version \nuint32_t mavsdk::System::AutopilotVersion::flight_sw_version {0}\n\nMAVLink autopilot_version flight_sw_version.\nmiddleware_sw_version \nuint32_t mavsdk::System::AutopilotVersion::middleware_sw_version {0}\n\nMAVLink autopilot_version middleware_sw_version.\nos_sw_version \nuint32_t mavsdk::System::AutopilotVersion::os_sw_version {0}\n\nMAVLink autopilot_version os_sw_version.\nboard_version \nuint32_t mavsdk::System::AutopilotVersion::board_version {0}\n\nMAVLink autopilot_version board_version.\nvendor_id \nuint16_t mavsdk::System::AutopilotVersion::vendor_id {0}\n\nMAVLink autopilot_version vendor_id.\nproduct_id \nuint16_t mavsdk::System::AutopilotVersion::product_id {0}\n\nMAVLink autopilot_version product_id.\nuid2 \nstd::array mavsdk::System::AutopilotVersion::uid2 {0}\n\nMAVLink autopilot_version uid2.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_telemetry.html":{"url":"cpp/api_reference/classmavsdk_1_1_telemetry.html","title":"class Telemetry","keywords":"","body":"mavsdk::Telemetry Class Reference\n#include: telemetry.h\n\nAllow users to get vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates. \nData Structures\nstruct AccelerationFrd\nstruct ActuatorControlTarget\nstruct ActuatorOutputStatus\nstruct Altitude\nstruct AngularVelocityBody\nstruct AngularVelocityFrd\nstruct Battery\nstruct Covariance\nstruct DistanceSensor\nstruct EulerAngle\nstruct FixedwingMetrics\nstruct GpsGlobalOrigin\nstruct GpsInfo\nstruct GroundTruth\nstruct Heading\nstruct Health\nstruct Imu\nstruct MagneticFieldFrd\nstruct Odometry\nstruct Position\nstruct PositionBody\nstruct PositionNed\nstruct PositionVelocityNed\nstruct Quaternion\nstruct RawGps\nstruct RcStatus\nstruct ScaledPressure\nstruct StatusText\nstruct VelocityBody\nstruct VelocityNed\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum FixType\nGPS fix type.\n\n\nenum FlightMode\nFlight modes.\n\n\nenum StatusTextType\nStatus types.\n\n\nenum LandedState\nLanded State enumeration.\n\n\nenum VtolState\nVTOL State enumeration.\n\n\nenum Result\nPossible results returned for telemetry requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Telemetry calls.\n\n\nstd::functionPosition)> PositionCallback\nCallback type for subscribe_position.\n\n\nHandlePosition > PositionHandle\nHandle type for subscribe_position.\n\n\nstd::functionPosition)> HomeCallback\nCallback type for subscribe_home.\n\n\nHandlePosition > HomeHandle\nHandle type for subscribe_home.\n\n\nstd::function InAirCallback\nCallback type for subscribe_in_air.\n\n\nHandle InAirHandle\nHandle type for subscribe_in_air.\n\n\nstd::functionLandedState)> LandedStateCallback\nCallback type for subscribe_landed_state.\n\n\nHandleLandedState > LandedStateHandle\nHandle type for subscribe_landed_state.\n\n\nstd::function ArmedCallback\nCallback type for subscribe_armed.\n\n\nHandle ArmedHandle\nHandle type for subscribe_armed.\n\n\nstd::functionVtolState)> VtolStateCallback\nCallback type for subscribe_vtol_state.\n\n\nHandleVtolState > VtolStateHandle\nHandle type for subscribe_vtol_state.\n\n\nstd::functionQuaternion)> AttitudeQuaternionCallback\nCallback type for subscribe_attitude_quaternion.\n\n\nHandleQuaternion > AttitudeQuaternionHandle\nHandle type for subscribe_attitude_quaternion.\n\n\nstd::functionEulerAngle)> AttitudeEulerCallback\nCallback type for subscribe_attitude_euler.\n\n\nHandleEulerAngle > AttitudeEulerHandle\nHandle type for subscribe_attitude_euler.\n\n\nstd::functionAngularVelocityBody)> AttitudeAngularVelocityBodyCallback\nCallback type for subscribe_attitude_angular_velocity_body.\n\n\nHandleAngularVelocityBody > AttitudeAngularVelocityBodyHandle\nHandle type for subscribe_attitude_angular_velocity_body.\n\n\nstd::functionQuaternion)> CameraAttitudeQuaternionCallback\nCallback type for subscribe_camera_attitude_quaternion.\n\n\nHandleQuaternion > CameraAttitudeQuaternionHandle\nHandle type for subscribe_camera_attitude_quaternion.\n\n\nstd::functionEulerAngle)> CameraAttitudeEulerCallback\nCallback type for subscribe_camera_attitude_euler.\n\n\nHandleEulerAngle > CameraAttitudeEulerHandle\nHandle type for subscribe_camera_attitude_euler.\n\n\nstd::functionVelocityNed)> VelocityNedCallback\nCallback type for subscribe_velocity_ned.\n\n\nHandleVelocityNed > VelocityNedHandle\nHandle type for subscribe_velocity_ned.\n\n\nstd::functionGpsInfo)> GpsInfoCallback\nCallback type for subscribe_gps_info.\n\n\nHandleGpsInfo > GpsInfoHandle\nHandle type for subscribe_gps_info.\n\n\nstd::functionRawGps)> RawGpsCallback\nCallback type for subscribe_raw_gps.\n\n\nHandleRawGps > RawGpsHandle\nHandle type for subscribe_raw_gps.\n\n\nstd::functionBattery)> BatteryCallback\nCallback type for subscribe_battery.\n\n\nHandleBattery > BatteryHandle\nHandle type for subscribe_battery.\n\n\nstd::functionFlightMode)> FlightModeCallback\nCallback type for subscribe_flight_mode.\n\n\nHandleFlightMode > FlightModeHandle\nHandle type for subscribe_flight_mode.\n\n\nstd::functionHealth)> HealthCallback\nCallback type for subscribe_health.\n\n\nHandleHealth > HealthHandle\nHandle type for subscribe_health.\n\n\nstd::functionRcStatus)> RcStatusCallback\nCallback type for subscribe_rc_status.\n\n\nHandleRcStatus > RcStatusHandle\nHandle type for subscribe_rc_status.\n\n\nstd::functionStatusText)> StatusTextCallback\nCallback type for subscribe_status_text.\n\n\nHandleStatusText > StatusTextHandle\nHandle type for subscribe_status_text.\n\n\nstd::functionActuatorControlTarget)> ActuatorControlTargetCallback\nCallback type for subscribe_actuator_control_target.\n\n\nHandleActuatorControlTarget > ActuatorControlTargetHandle\nHandle type for subscribe_actuator_control_target.\n\n\nstd::functionActuatorOutputStatus)> ActuatorOutputStatusCallback\nCallback type for subscribe_actuator_output_status.\n\n\nHandleActuatorOutputStatus > ActuatorOutputStatusHandle\nHandle type for subscribe_actuator_output_status.\n\n\nstd::functionOdometry)> OdometryCallback\nCallback type for subscribe_odometry.\n\n\nHandleOdometry > OdometryHandle\nHandle type for subscribe_odometry.\n\n\nstd::functionPositionVelocityNed)> PositionVelocityNedCallback\nCallback type for subscribe_position_velocity_ned.\n\n\nHandlePositionVelocityNed > PositionVelocityNedHandle\nHandle type for subscribe_position_velocity_ned.\n\n\nstd::functionGroundTruth)> GroundTruthCallback\nCallback type for subscribe_ground_truth.\n\n\nHandleGroundTruth > GroundTruthHandle\nHandle type for subscribe_ground_truth.\n\n\nstd::functionFixedwingMetrics)> FixedwingMetricsCallback\nCallback type for subscribe_fixedwing_metrics.\n\n\nHandleFixedwingMetrics > FixedwingMetricsHandle\nHandle type for subscribe_fixedwing_metrics.\n\n\nstd::functionImu)> ImuCallback\nCallback type for subscribe_imu.\n\n\nHandleImu > ImuHandle\nHandle type for subscribe_imu.\n\n\nstd::functionImu)> ScaledImuCallback\nCallback type for subscribe_scaled_imu.\n\n\nHandleImu > ScaledImuHandle\nHandle type for subscribe_scaled_imu.\n\n\nstd::functionImu)> RawImuCallback\nCallback type for subscribe_raw_imu.\n\n\nHandleImu > RawImuHandle\nHandle type for subscribe_raw_imu.\n\n\nstd::function HealthAllOkCallback\nCallback type for subscribe_health_all_ok.\n\n\nHandle HealthAllOkHandle\nHandle type for subscribe_health_all_ok.\n\n\nstd::function UnixEpochTimeCallback\nCallback type for subscribe_unix_epoch_time.\n\n\nHandle UnixEpochTimeHandle\nHandle type for subscribe_unix_epoch_time.\n\n\nstd::functionDistanceSensor)> DistanceSensorCallback\nCallback type for subscribe_distance_sensor.\n\n\nHandleDistanceSensor > DistanceSensorHandle\nHandle type for subscribe_distance_sensor.\n\n\nstd::functionScaledPressure)> ScaledPressureCallback\nCallback type for subscribe_scaled_pressure.\n\n\nHandleScaledPressure > ScaledPressureHandle\nHandle type for subscribe_scaled_pressure.\n\n\nstd::functionHeading)> HeadingCallback\nCallback type for subscribe_heading.\n\n\nHandleHeading > HeadingHandle\nHandle type for subscribe_heading.\n\n\nstd::functionAltitude)> AltitudeCallback\nCallback type for subscribe_altitude.\n\n\nHandleAltitude > AltitudeHandle\nHandle type for subscribe_altitude.\n\n\nstd::functionResult, GpsGlobalOrigin)> GetGpsGlobalOriginCallback\nCallback type for get_gps_global_origin_async.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nTelemetry (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nTelemetry (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Telemetry () override\nDestructor (internal use only).\n\n\n \nTelemetry (const Telemetry & other)\nCopy constructor.\n\n\nPositionHandle\nsubscribe_position (const PositionCallback & callback)\nSubscribe to 'position' updates.\n\n\nvoid\nunsubscribe_position (PositionHandle handle)\nUnsubscribe from subscribe_position.\n\n\nPosition\nposition () const\nPoll for 'Position' (blocking).\n\n\nHomeHandle\nsubscribe_home (const HomeCallback & callback)\nSubscribe to 'home position' updates.\n\n\nvoid\nunsubscribe_home (HomeHandle handle)\nUnsubscribe from subscribe_home.\n\n\nPosition\nhome () const\nPoll for 'Position' (blocking).\n\n\nInAirHandle\nsubscribe_in_air (const InAirCallback & callback)\nSubscribe to in-air updates.\n\n\nvoid\nunsubscribe_in_air (InAirHandle handle)\nUnsubscribe from subscribe_in_air.\n\n\nbool\nin_air () const\nPoll for 'bool' (blocking).\n\n\nLandedStateHandle\nsubscribe_landed_state (const LandedStateCallback & callback)\nSubscribe to landed state updates.\n\n\nvoid\nunsubscribe_landed_state (LandedStateHandle handle)\nUnsubscribe from subscribe_landed_state.\n\n\nLandedState\nlanded_state () const\nPoll for 'LandedState' (blocking).\n\n\nArmedHandle\nsubscribe_armed (const ArmedCallback & callback)\nSubscribe to armed updates.\n\n\nvoid\nunsubscribe_armed (ArmedHandle handle)\nUnsubscribe from subscribe_armed.\n\n\nbool\narmed () const\nPoll for 'bool' (blocking).\n\n\nVtolStateHandle\nsubscribe_vtol_state (const VtolStateCallback & callback)\nsubscribe to vtol state Updates\n\n\nvoid\nunsubscribe_vtol_state (VtolStateHandle handle)\nUnsubscribe from subscribe_vtol_state.\n\n\nVtolState\nvtol_state () const\nPoll for 'VtolState' (blocking).\n\n\nAttitudeQuaternionHandle\nsubscribe_attitude_quaternion (const AttitudeQuaternionCallback & callback)\nSubscribe to 'attitude' updates (quaternion).\n\n\nvoid\nunsubscribe_attitude_quaternion (AttitudeQuaternionHandle handle)\nUnsubscribe from subscribe_attitude_quaternion.\n\n\nQuaternion\nattitude_quaternion () const\nPoll for 'Quaternion' (blocking).\n\n\nAttitudeEulerHandle\nsubscribe_attitude_euler (const AttitudeEulerCallback & callback)\nSubscribe to 'attitude' updates (Euler).\n\n\nvoid\nunsubscribe_attitude_euler (AttitudeEulerHandle handle)\nUnsubscribe from subscribe_attitude_euler.\n\n\nEulerAngle\nattitude_euler () const\nPoll for 'EulerAngle' (blocking).\n\n\nAttitudeAngularVelocityBodyHandle\nsubscribe_attitude_angular_velocity_body (const AttitudeAngularVelocityBodyCallback & callback)\nSubscribe to 'attitude' updates (angular velocity)\n\n\nvoid\nunsubscribe_attitude_angular_velocity_body (AttitudeAngularVelocityBodyHandle handle)\nUnsubscribe from subscribe_attitude_angular_velocity_body.\n\n\nAngularVelocityBody\nattitude_angular_velocity_body () const\nPoll for 'AngularVelocityBody' (blocking).\n\n\nCameraAttitudeQuaternionHandle\nsubscribe_camera_attitude_quaternion (const CameraAttitudeQuaternionCallback & callback)\nSubscribe to 'camera attitude' updates (quaternion).\n\n\nvoid\nunsubscribe_camera_attitude_quaternion (CameraAttitudeQuaternionHandle handle)\nUnsubscribe from subscribe_camera_attitude_quaternion.\n\n\nQuaternion\ncamera_attitude_quaternion () const\nPoll for 'Quaternion' (blocking).\n\n\nCameraAttitudeEulerHandle\nsubscribe_camera_attitude_euler (const CameraAttitudeEulerCallback & callback)\nSubscribe to 'camera attitude' updates (Euler).\n\n\nvoid\nunsubscribe_camera_attitude_euler (CameraAttitudeEulerHandle handle)\nUnsubscribe from subscribe_camera_attitude_euler.\n\n\nEulerAngle\ncamera_attitude_euler () const\nPoll for 'EulerAngle' (blocking).\n\n\nVelocityNedHandle\nsubscribe_velocity_ned (const VelocityNedCallback & callback)\nSubscribe to 'ground speed' updates (NED).\n\n\nvoid\nunsubscribe_velocity_ned (VelocityNedHandle handle)\nUnsubscribe from subscribe_velocity_ned.\n\n\nVelocityNed\nvelocity_ned () const\nPoll for 'VelocityNed' (blocking).\n\n\nGpsInfoHandle\nsubscribe_gps_info (const GpsInfoCallback & callback)\nSubscribe to 'GPS info' updates.\n\n\nvoid\nunsubscribe_gps_info (GpsInfoHandle handle)\nUnsubscribe from subscribe_gps_info.\n\n\nGpsInfo\ngps_info () const\nPoll for 'GpsInfo' (blocking).\n\n\nRawGpsHandle\nsubscribe_raw_gps (const RawGpsCallback & callback)\nSubscribe to 'Raw GPS' updates.\n\n\nvoid\nunsubscribe_raw_gps (RawGpsHandle handle)\nUnsubscribe from subscribe_raw_gps.\n\n\nRawGps\nraw_gps () const\nPoll for 'RawGps' (blocking).\n\n\nBatteryHandle\nsubscribe_battery (const BatteryCallback & callback)\nSubscribe to 'battery' updates.\n\n\nvoid\nunsubscribe_battery (BatteryHandle handle)\nUnsubscribe from subscribe_battery.\n\n\nBattery\nbattery () const\nPoll for 'Battery' (blocking).\n\n\nFlightModeHandle\nsubscribe_flight_mode (const FlightModeCallback & callback)\nSubscribe to 'flight mode' updates.\n\n\nvoid\nunsubscribe_flight_mode (FlightModeHandle handle)\nUnsubscribe from subscribe_flight_mode.\n\n\nFlightMode\nflight_mode () const\nPoll for 'FlightMode' (blocking).\n\n\nHealthHandle\nsubscribe_health (const HealthCallback & callback)\nSubscribe to 'health' updates.\n\n\nvoid\nunsubscribe_health (HealthHandle handle)\nUnsubscribe from subscribe_health.\n\n\nHealth\nhealth () const\nPoll for 'Health' (blocking).\n\n\nRcStatusHandle\nsubscribe_rc_status (const RcStatusCallback & callback)\nSubscribe to 'RC status' updates.\n\n\nvoid\nunsubscribe_rc_status (RcStatusHandle handle)\nUnsubscribe from subscribe_rc_status.\n\n\nRcStatus\nrc_status () const\nPoll for 'RcStatus' (blocking).\n\n\nStatusTextHandle\nsubscribe_status_text (const StatusTextCallback & callback)\nSubscribe to 'status text' updates.\n\n\nvoid\nunsubscribe_status_text (StatusTextHandle handle)\nUnsubscribe from subscribe_status_text.\n\n\nStatusText\nstatus_text () const\nPoll for 'StatusText' (blocking).\n\n\nActuatorControlTargetHandle\nsubscribe_actuator_control_target (const ActuatorControlTargetCallback & callback)\nSubscribe to 'actuator control target' updates.\n\n\nvoid\nunsubscribe_actuator_control_target (ActuatorControlTargetHandle handle)\nUnsubscribe from subscribe_actuator_control_target.\n\n\nActuatorControlTarget\nactuator_control_target () const\nPoll for 'ActuatorControlTarget' (blocking).\n\n\nActuatorOutputStatusHandle\nsubscribe_actuator_output_status (const ActuatorOutputStatusCallback & callback)\nSubscribe to 'actuator output status' updates.\n\n\nvoid\nunsubscribe_actuator_output_status (ActuatorOutputStatusHandle handle)\nUnsubscribe from subscribe_actuator_output_status.\n\n\nActuatorOutputStatus\nactuator_output_status () const\nPoll for 'ActuatorOutputStatus' (blocking).\n\n\nOdometryHandle\nsubscribe_odometry (const OdometryCallback & callback)\nSubscribe to 'odometry' updates.\n\n\nvoid\nunsubscribe_odometry (OdometryHandle handle)\nUnsubscribe from subscribe_odometry.\n\n\nOdometry\nodometry () const\nPoll for 'Odometry' (blocking).\n\n\nPositionVelocityNedHandle\nsubscribe_position_velocity_ned (const PositionVelocityNedCallback & callback)\nSubscribe to 'position velocity' updates.\n\n\nvoid\nunsubscribe_position_velocity_ned (PositionVelocityNedHandle handle)\nUnsubscribe from subscribe_position_velocity_ned.\n\n\nPositionVelocityNed\nposition_velocity_ned () const\nPoll for 'PositionVelocityNed' (blocking).\n\n\nGroundTruthHandle\nsubscribe_ground_truth (const GroundTruthCallback & callback)\nSubscribe to 'ground truth' updates.\n\n\nvoid\nunsubscribe_ground_truth (GroundTruthHandle handle)\nUnsubscribe from subscribe_ground_truth.\n\n\nGroundTruth\nground_truth () const\nPoll for 'GroundTruth' (blocking).\n\n\nFixedwingMetricsHandle\nsubscribe_fixedwing_metrics (const FixedwingMetricsCallback & callback)\nSubscribe to 'fixedwing metrics' updates.\n\n\nvoid\nunsubscribe_fixedwing_metrics (FixedwingMetricsHandle handle)\nUnsubscribe from subscribe_fixedwing_metrics.\n\n\nFixedwingMetrics\nfixedwing_metrics () const\nPoll for 'FixedwingMetrics' (blocking).\n\n\nImuHandle\nsubscribe_imu (const ImuCallback & callback)\nSubscribe to 'IMU' updates (in SI units in NED body frame).\n\n\nvoid\nunsubscribe_imu (ImuHandle handle)\nUnsubscribe from subscribe_imu.\n\n\nImu\nimu () const\nPoll for 'Imu' (blocking).\n\n\nScaledImuHandle\nsubscribe_scaled_imu (const ScaledImuCallback & callback)\nSubscribe to 'Scaled IMU' updates.\n\n\nvoid\nunsubscribe_scaled_imu (ScaledImuHandle handle)\nUnsubscribe from subscribe_scaled_imu.\n\n\nImu\nscaled_imu () const\nPoll for 'Imu' (blocking).\n\n\nRawImuHandle\nsubscribe_raw_imu (const RawImuCallback & callback)\nSubscribe to 'Raw IMU' updates.\n\n\nvoid\nunsubscribe_raw_imu (RawImuHandle handle)\nUnsubscribe from subscribe_raw_imu.\n\n\nImu\nraw_imu () const\nPoll for 'Imu' (blocking).\n\n\nHealthAllOkHandle\nsubscribe_health_all_ok (const HealthAllOkCallback & callback)\nSubscribe to 'HealthAllOk' updates.\n\n\nvoid\nunsubscribe_health_all_ok (HealthAllOkHandle handle)\nUnsubscribe from subscribe_health_all_ok.\n\n\nbool\nhealth_all_ok () const\nPoll for 'bool' (blocking).\n\n\nUnixEpochTimeHandle\nsubscribe_unix_epoch_time (const UnixEpochTimeCallback & callback)\nSubscribe to 'unix epoch time' updates.\n\n\nvoid\nunsubscribe_unix_epoch_time (UnixEpochTimeHandle handle)\nUnsubscribe from subscribe_unix_epoch_time.\n\n\nuint64_t\nunix_epoch_time () const\nPoll for 'uint64_t' (blocking).\n\n\nDistanceSensorHandle\nsubscribe_distance_sensor (const DistanceSensorCallback & callback)\nSubscribe to 'Distance Sensor' updates.\n\n\nvoid\nunsubscribe_distance_sensor (DistanceSensorHandle handle)\nUnsubscribe from subscribe_distance_sensor.\n\n\nDistanceSensor\ndistance_sensor () const\nPoll for 'DistanceSensor' (blocking).\n\n\nScaledPressureHandle\nsubscribe_scaled_pressure (const ScaledPressureCallback & callback)\nSubscribe to 'Scaled Pressure' updates.\n\n\nvoid\nunsubscribe_scaled_pressure (ScaledPressureHandle handle)\nUnsubscribe from subscribe_scaled_pressure.\n\n\nScaledPressure\nscaled_pressure () const\nPoll for 'ScaledPressure' (blocking).\n\n\nHeadingHandle\nsubscribe_heading (const HeadingCallback & callback)\nSubscribe to 'Heading' updates.\n\n\nvoid\nunsubscribe_heading (HeadingHandle handle)\nUnsubscribe from subscribe_heading.\n\n\nHeading\nheading () const\nPoll for 'Heading' (blocking).\n\n\nAltitudeHandle\nsubscribe_altitude (const AltitudeCallback & callback)\nSubscribe to 'Altitude' updates.\n\n\nvoid\nunsubscribe_altitude (AltitudeHandle handle)\nUnsubscribe from subscribe_altitude.\n\n\nAltitude\naltitude () const\nPoll for 'Altitude' (blocking).\n\n\nvoid\nset_rate_position_async (double rate_hz, const ResultCallback callback)\nSet rate to 'position' updates.\n\n\nResult\nset_rate_position (double rate_hz)const\nSet rate to 'position' updates.\n\n\nvoid\nset_rate_home_async (double rate_hz, const ResultCallback callback)\nSet rate to 'home position' updates.\n\n\nResult\nset_rate_home (double rate_hz)const\nSet rate to 'home position' updates.\n\n\nvoid\nset_rate_in_air_async (double rate_hz, const ResultCallback callback)\nSet rate to in-air updates.\n\n\nResult\nset_rate_in_air (double rate_hz)const\nSet rate to in-air updates.\n\n\nvoid\nset_rate_landed_state_async (double rate_hz, const ResultCallback callback)\nSet rate to landed state updates.\n\n\nResult\nset_rate_landed_state (double rate_hz)const\nSet rate to landed state updates.\n\n\nvoid\nset_rate_vtol_state_async (double rate_hz, const ResultCallback callback)\nSet rate to VTOL state updates.\n\n\nResult\nset_rate_vtol_state (double rate_hz)const\nSet rate to VTOL state updates.\n\n\nvoid\nset_rate_attitude_quaternion_async (double rate_hz, const ResultCallback callback)\nSet rate to 'attitude euler angle' updates.\n\n\nResult\nset_rate_attitude_quaternion (double rate_hz)const\nSet rate to 'attitude euler angle' updates.\n\n\nvoid\nset_rate_attitude_euler_async (double rate_hz, const ResultCallback callback)\nSet rate to 'attitude quaternion' updates.\n\n\nResult\nset_rate_attitude_euler (double rate_hz)const\nSet rate to 'attitude quaternion' updates.\n\n\nvoid\nset_rate_camera_attitude_async (double rate_hz, const ResultCallback callback)\nSet rate of camera attitude updates.\n\n\nResult\nset_rate_camera_attitude (double rate_hz)const\nSet rate of camera attitude updates.\n\n\nvoid\nset_rate_velocity_ned_async (double rate_hz, const ResultCallback callback)\nSet rate to 'ground speed' updates (NED).\n\n\nResult\nset_rate_velocity_ned (double rate_hz)const\nSet rate to 'ground speed' updates (NED).\n\n\nvoid\nset_rate_gps_info_async (double rate_hz, const ResultCallback callback)\nSet rate to 'GPS info' updates.\n\n\nResult\nset_rate_gps_info (double rate_hz)const\nSet rate to 'GPS info' updates.\n\n\nvoid\nset_rate_battery_async (double rate_hz, const ResultCallback callback)\nSet rate to 'battery' updates.\n\n\nResult\nset_rate_battery (double rate_hz)const\nSet rate to 'battery' updates.\n\n\nvoid\nset_rate_rc_status_async (double rate_hz, const ResultCallback callback)\nSet rate to 'RC status' updates.\n\n\nResult\nset_rate_rc_status (double rate_hz)const\nSet rate to 'RC status' updates.\n\n\nvoid\nset_rate_actuator_control_target_async (double rate_hz, const ResultCallback callback)\nSet rate to 'actuator control target' updates.\n\n\nResult\nset_rate_actuator_control_target (double rate_hz)const\nSet rate to 'actuator control target' updates.\n\n\nvoid\nset_rate_actuator_output_status_async (double rate_hz, const ResultCallback callback)\nSet rate to 'actuator output status' updates.\n\n\nResult\nset_rate_actuator_output_status (double rate_hz)const\nSet rate to 'actuator output status' updates.\n\n\nvoid\nset_rate_odometry_async (double rate_hz, const ResultCallback callback)\nSet rate to 'odometry' updates.\n\n\nResult\nset_rate_odometry (double rate_hz)const\nSet rate to 'odometry' updates.\n\n\nvoid\nset_rate_position_velocity_ned_async (double rate_hz, const ResultCallback callback)\nSet rate to 'position velocity' updates.\n\n\nResult\nset_rate_position_velocity_ned (double rate_hz)const\nSet rate to 'position velocity' updates.\n\n\nvoid\nset_rate_ground_truth_async (double rate_hz, const ResultCallback callback)\nSet rate to 'ground truth' updates.\n\n\nResult\nset_rate_ground_truth (double rate_hz)const\nSet rate to 'ground truth' updates.\n\n\nvoid\nset_rate_fixedwing_metrics_async (double rate_hz, const ResultCallback callback)\nSet rate to 'fixedwing metrics' updates.\n\n\nResult\nset_rate_fixedwing_metrics (double rate_hz)const\nSet rate to 'fixedwing metrics' updates.\n\n\nvoid\nset_rate_imu_async (double rate_hz, const ResultCallback callback)\nSet rate to 'IMU' updates.\n\n\nResult\nset_rate_imu (double rate_hz)const\nSet rate to 'IMU' updates.\n\n\nvoid\nset_rate_scaled_imu_async (double rate_hz, const ResultCallback callback)\nSet rate to 'Scaled IMU' updates.\n\n\nResult\nset_rate_scaled_imu (double rate_hz)const\nSet rate to 'Scaled IMU' updates.\n\n\nvoid\nset_rate_raw_imu_async (double rate_hz, const ResultCallback callback)\nSet rate to 'Raw IMU' updates.\n\n\nResult\nset_rate_raw_imu (double rate_hz)const\nSet rate to 'Raw IMU' updates.\n\n\nvoid\nset_rate_unix_epoch_time_async (double rate_hz, const ResultCallback callback)\nSet rate to 'unix epoch time' updates.\n\n\nResult\nset_rate_unix_epoch_time (double rate_hz)const\nSet rate to 'unix epoch time' updates.\n\n\nvoid\nset_rate_distance_sensor_async (double rate_hz, const ResultCallback callback)\nSet rate to 'Distance Sensor' updates.\n\n\nResult\nset_rate_distance_sensor (double rate_hz)const\nSet rate to 'Distance Sensor' updates.\n\n\nvoid\nset_rate_altitude_async (double rate_hz, const ResultCallback callback)\nSet rate to 'Altitude' updates.\n\n\nResult\nset_rate_altitude (double rate_hz)const\nSet rate to 'Altitude' updates.\n\n\nvoid\nget_gps_global_origin_async (const GetGpsGlobalOriginCallback callback)\nGet the GPS location of where the estimator has been initialized.\n\n\nstd::pairResult, Telemetry::GpsGlobalOrigin >\nget_gps_global_origin () const\nGet the GPS location of where the estimator has been initialized.\n\n\nconst Telemetry &\noperator= (const Telemetry &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nTelemetry() \nmavsdk::Telemetry::Telemetry(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto telemetry = Telemetry(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nTelemetry() \nmavsdk::Telemetry::Telemetry(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto telemetry = Telemetry(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Telemetry() \nmavsdk::Telemetry::~Telemetry() override\n\nDestructor (internal use only).\nTelemetry() \nmavsdk::Telemetry::Telemetry(const Telemetry &other)\n\nCopy constructor.\nParameters\n\nconst Telemetry& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Telemetry::ResultCallback = std::function\n\nCallback type for asynchronous Telemetry calls.\ntypedef PositionCallback \nusing mavsdk::Telemetry::PositionCallback = std::function\n\nCallback type for subscribe_position.\ntypedef PositionHandle \nusing mavsdk::Telemetry::PositionHandle = Handle\n\nHandle type for subscribe_position.\ntypedef HomeCallback \nusing mavsdk::Telemetry::HomeCallback = std::function\n\nCallback type for subscribe_home.\ntypedef HomeHandle \nusing mavsdk::Telemetry::HomeHandle = Handle\n\nHandle type for subscribe_home.\ntypedef InAirCallback \nusing mavsdk::Telemetry::InAirCallback = std::function\n\nCallback type for subscribe_in_air.\ntypedef InAirHandle \nusing mavsdk::Telemetry::InAirHandle = Handle\n\nHandle type for subscribe_in_air.\ntypedef LandedStateCallback \nusing mavsdk::Telemetry::LandedStateCallback = std::function\n\nCallback type for subscribe_landed_state.\ntypedef LandedStateHandle \nusing mavsdk::Telemetry::LandedStateHandle = Handle\n\nHandle type for subscribe_landed_state.\ntypedef ArmedCallback \nusing mavsdk::Telemetry::ArmedCallback = std::function\n\nCallback type for subscribe_armed.\ntypedef ArmedHandle \nusing mavsdk::Telemetry::ArmedHandle = Handle\n\nHandle type for subscribe_armed.\ntypedef VtolStateCallback \nusing mavsdk::Telemetry::VtolStateCallback = std::function\n\nCallback type for subscribe_vtol_state.\ntypedef VtolStateHandle \nusing mavsdk::Telemetry::VtolStateHandle = Handle\n\nHandle type for subscribe_vtol_state.\ntypedef AttitudeQuaternionCallback \nusing mavsdk::Telemetry::AttitudeQuaternionCallback = std::function\n\nCallback type for subscribe_attitude_quaternion.\ntypedef AttitudeQuaternionHandle \nusing mavsdk::Telemetry::AttitudeQuaternionHandle = Handle\n\nHandle type for subscribe_attitude_quaternion.\ntypedef AttitudeEulerCallback \nusing mavsdk::Telemetry::AttitudeEulerCallback = std::function\n\nCallback type for subscribe_attitude_euler.\ntypedef AttitudeEulerHandle \nusing mavsdk::Telemetry::AttitudeEulerHandle = Handle\n\nHandle type for subscribe_attitude_euler.\ntypedef AttitudeAngularVelocityBodyCallback \nusing mavsdk::Telemetry::AttitudeAngularVelocityBodyCallback = std::function\n\nCallback type for subscribe_attitude_angular_velocity_body.\ntypedef AttitudeAngularVelocityBodyHandle \nusing mavsdk::Telemetry::AttitudeAngularVelocityBodyHandle = Handle\n\nHandle type for subscribe_attitude_angular_velocity_body.\ntypedef CameraAttitudeQuaternionCallback \nusing mavsdk::Telemetry::CameraAttitudeQuaternionCallback = std::function\n\nCallback type for subscribe_camera_attitude_quaternion.\ntypedef CameraAttitudeQuaternionHandle \nusing mavsdk::Telemetry::CameraAttitudeQuaternionHandle = Handle\n\nHandle type for subscribe_camera_attitude_quaternion.\ntypedef CameraAttitudeEulerCallback \nusing mavsdk::Telemetry::CameraAttitudeEulerCallback = std::function\n\nCallback type for subscribe_camera_attitude_euler.\ntypedef CameraAttitudeEulerHandle \nusing mavsdk::Telemetry::CameraAttitudeEulerHandle = Handle\n\nHandle type for subscribe_camera_attitude_euler.\ntypedef VelocityNedCallback \nusing mavsdk::Telemetry::VelocityNedCallback = std::function\n\nCallback type for subscribe_velocity_ned.\ntypedef VelocityNedHandle \nusing mavsdk::Telemetry::VelocityNedHandle = Handle\n\nHandle type for subscribe_velocity_ned.\ntypedef GpsInfoCallback \nusing mavsdk::Telemetry::GpsInfoCallback = std::function\n\nCallback type for subscribe_gps_info.\ntypedef GpsInfoHandle \nusing mavsdk::Telemetry::GpsInfoHandle = Handle\n\nHandle type for subscribe_gps_info.\ntypedef RawGpsCallback \nusing mavsdk::Telemetry::RawGpsCallback = std::function\n\nCallback type for subscribe_raw_gps.\ntypedef RawGpsHandle \nusing mavsdk::Telemetry::RawGpsHandle = Handle\n\nHandle type for subscribe_raw_gps.\ntypedef BatteryCallback \nusing mavsdk::Telemetry::BatteryCallback = std::function\n\nCallback type for subscribe_battery.\ntypedef BatteryHandle \nusing mavsdk::Telemetry::BatteryHandle = Handle\n\nHandle type for subscribe_battery.\ntypedef FlightModeCallback \nusing mavsdk::Telemetry::FlightModeCallback = std::function\n\nCallback type for subscribe_flight_mode.\ntypedef FlightModeHandle \nusing mavsdk::Telemetry::FlightModeHandle = Handle\n\nHandle type for subscribe_flight_mode.\ntypedef HealthCallback \nusing mavsdk::Telemetry::HealthCallback = std::function\n\nCallback type for subscribe_health.\ntypedef HealthHandle \nusing mavsdk::Telemetry::HealthHandle = Handle\n\nHandle type for subscribe_health.\ntypedef RcStatusCallback \nusing mavsdk::Telemetry::RcStatusCallback = std::function\n\nCallback type for subscribe_rc_status.\ntypedef RcStatusHandle \nusing mavsdk::Telemetry::RcStatusHandle = Handle\n\nHandle type for subscribe_rc_status.\ntypedef StatusTextCallback \nusing mavsdk::Telemetry::StatusTextCallback = std::function\n\nCallback type for subscribe_status_text.\ntypedef StatusTextHandle \nusing mavsdk::Telemetry::StatusTextHandle = Handle\n\nHandle type for subscribe_status_text.\ntypedef ActuatorControlTargetCallback \nusing mavsdk::Telemetry::ActuatorControlTargetCallback = std::function\n\nCallback type for subscribe_actuator_control_target.\ntypedef ActuatorControlTargetHandle \nusing mavsdk::Telemetry::ActuatorControlTargetHandle = Handle\n\nHandle type for subscribe_actuator_control_target.\ntypedef ActuatorOutputStatusCallback \nusing mavsdk::Telemetry::ActuatorOutputStatusCallback = std::function\n\nCallback type for subscribe_actuator_output_status.\ntypedef ActuatorOutputStatusHandle \nusing mavsdk::Telemetry::ActuatorOutputStatusHandle = Handle\n\nHandle type for subscribe_actuator_output_status.\ntypedef OdometryCallback \nusing mavsdk::Telemetry::OdometryCallback = std::function\n\nCallback type for subscribe_odometry.\ntypedef OdometryHandle \nusing mavsdk::Telemetry::OdometryHandle = Handle\n\nHandle type for subscribe_odometry.\ntypedef PositionVelocityNedCallback \nusing mavsdk::Telemetry::PositionVelocityNedCallback = std::function\n\nCallback type for subscribe_position_velocity_ned.\ntypedef PositionVelocityNedHandle \nusing mavsdk::Telemetry::PositionVelocityNedHandle = Handle\n\nHandle type for subscribe_position_velocity_ned.\ntypedef GroundTruthCallback \nusing mavsdk::Telemetry::GroundTruthCallback = std::function\n\nCallback type for subscribe_ground_truth.\ntypedef GroundTruthHandle \nusing mavsdk::Telemetry::GroundTruthHandle = Handle\n\nHandle type for subscribe_ground_truth.\ntypedef FixedwingMetricsCallback \nusing mavsdk::Telemetry::FixedwingMetricsCallback = std::function\n\nCallback type for subscribe_fixedwing_metrics.\ntypedef FixedwingMetricsHandle \nusing mavsdk::Telemetry::FixedwingMetricsHandle = Handle\n\nHandle type for subscribe_fixedwing_metrics.\ntypedef ImuCallback \nusing mavsdk::Telemetry::ImuCallback = std::function\n\nCallback type for subscribe_imu.\ntypedef ImuHandle \nusing mavsdk::Telemetry::ImuHandle = Handle\n\nHandle type for subscribe_imu.\ntypedef ScaledImuCallback \nusing mavsdk::Telemetry::ScaledImuCallback = std::function\n\nCallback type for subscribe_scaled_imu.\ntypedef ScaledImuHandle \nusing mavsdk::Telemetry::ScaledImuHandle = Handle\n\nHandle type for subscribe_scaled_imu.\ntypedef RawImuCallback \nusing mavsdk::Telemetry::RawImuCallback = std::function\n\nCallback type for subscribe_raw_imu.\ntypedef RawImuHandle \nusing mavsdk::Telemetry::RawImuHandle = Handle\n\nHandle type for subscribe_raw_imu.\ntypedef HealthAllOkCallback \nusing mavsdk::Telemetry::HealthAllOkCallback = std::function\n\nCallback type for subscribe_health_all_ok.\ntypedef HealthAllOkHandle \nusing mavsdk::Telemetry::HealthAllOkHandle = Handle\n\nHandle type for subscribe_health_all_ok.\ntypedef UnixEpochTimeCallback \nusing mavsdk::Telemetry::UnixEpochTimeCallback = std::function\n\nCallback type for subscribe_unix_epoch_time.\ntypedef UnixEpochTimeHandle \nusing mavsdk::Telemetry::UnixEpochTimeHandle = Handle\n\nHandle type for subscribe_unix_epoch_time.\ntypedef DistanceSensorCallback \nusing mavsdk::Telemetry::DistanceSensorCallback = std::function\n\nCallback type for subscribe_distance_sensor.\ntypedef DistanceSensorHandle \nusing mavsdk::Telemetry::DistanceSensorHandle = Handle\n\nHandle type for subscribe_distance_sensor.\ntypedef ScaledPressureCallback \nusing mavsdk::Telemetry::ScaledPressureCallback = std::function\n\nCallback type for subscribe_scaled_pressure.\ntypedef ScaledPressureHandle \nusing mavsdk::Telemetry::ScaledPressureHandle = Handle\n\nHandle type for subscribe_scaled_pressure.\ntypedef HeadingCallback \nusing mavsdk::Telemetry::HeadingCallback = std::function\n\nCallback type for subscribe_heading.\ntypedef HeadingHandle \nusing mavsdk::Telemetry::HeadingHandle = Handle\n\nHandle type for subscribe_heading.\ntypedef AltitudeCallback \nusing mavsdk::Telemetry::AltitudeCallback = std::function\n\nCallback type for subscribe_altitude.\ntypedef AltitudeHandle \nusing mavsdk::Telemetry::AltitudeHandle = Handle\n\nHandle type for subscribe_altitude.\ntypedef GetGpsGlobalOriginCallback \nusing mavsdk::Telemetry::GetGpsGlobalOriginCallback = std::function\n\nCallback type for get_gps_global_origin_async.\nMember Enumeration Documentation\nenum FixType \nGPS fix type.\n\n\n\nValue\nDescription\n\n\n\n\n NoGps\nNo GPS connected. \n\n\n NoFix\nNo position information, GPS is connected. \n\n\n Fix2D\n2D position. \n\n\n Fix3D\n3D position. \n\n\n FixDgps\nDGPS/SBAS aided 3D position. \n\n\n RtkFloat\nRTK float, 3D position. \n\n\n RtkFixed\nRTK Fixed, 3D position. \n\n\n\nenum FlightMode \nFlight modes.\nFor more information about flight modes, check out https://docs.px4.io/master/en/config/flight_mode.html.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nMode not known. \n\n\n Ready\nArmed and ready to take off. \n\n\n Takeoff\nTaking off. \n\n\n Hold\nHolding (hovering in place (or circling for fixed-wing vehicles). \n\n\n Mission\nIn mission. \n\n\n ReturnToLaunch\nReturning to launch position (then landing). \n\n\n Land\nLanding. \n\n\n Offboard\nIn 'offboard' mode. \n\n\n FollowMe\nIn 'follow-me' mode. \n\n\n Manual\nIn 'Manual' mode. \n\n\n Altctl\nIn 'Altitude Control' mode. \n\n\n Posctl\nIn 'Position Control' mode. \n\n\n Acro\nIn 'Acro' mode. \n\n\n Stabilized\nIn 'Stabilize' mode. \n\n\n Rattitude\nIn 'Rattitude' mode. \n\n\n\nenum StatusTextType \nStatus types.\n\n\n\nValue\nDescription\n\n\n\n\n Debug\nDebug. \n\n\n Info\nInformation. \n\n\n Notice\nNotice. \n\n\n Warning\nWarning. \n\n\n Error\nError. \n\n\n Critical\nCritical. \n\n\n Alert\nAlert. \n\n\n Emergency\nEmergency. \n\n\n\nenum LandedState \nLanded State enumeration.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nLanded state is unknown. \n\n\n OnGround\nThe vehicle is on the ground. \n\n\n InAir\nThe vehicle is in the air. \n\n\n TakingOff\nThe vehicle is taking off. \n\n\n Landing\nThe vehicle is landing. \n\n\n\nenum VtolState \nVTOL State enumeration.\n\n\n\nValue\nDescription\n\n\n\n\n Undefined\nMAV is not configured as VTOL. \n\n\n TransitionToFw\nVTOL is in transition from multicopter to fixed-wing. \n\n\n TransitionToMc\nVTOL is in transition from fixed-wing to multicopter. \n\n\n Mc\nVTOL is in multicopter state. \n\n\n Fw\nVTOL is in fixed-wing state. \n\n\n\nenum Result \nPossible results returned for telemetry requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nSuccess: the telemetry command was accepted by the vehicle. \n\n\n NoSystem\nNo system connected. \n\n\n ConnectionError\nConnection error. \n\n\n Busy\nVehicle is busy. \n\n\n CommandDenied\nCommand refused by vehicle. \n\n\n Timeout\nRequest timed out. \n\n\n Unsupported\nRequest not supported. \n\n\n\nMember Function Documentation\nsubscribe_position() \nPositionHandle mavsdk::Telemetry::subscribe_position(const PositionCallback &callback)\n\nSubscribe to 'position' updates.\nParameters\n\nconst PositionCallback& callback - \n\nReturns\n PositionHandle - \nunsubscribe_position() \nvoid mavsdk::Telemetry::unsubscribe_position(PositionHandle handle)\n\nUnsubscribe from subscribe_position.\nParameters\n\nPositionHandle handle - \n\nposition() \nPosition mavsdk::Telemetry::position() const\n\nPoll for 'Position' (blocking).\nReturns\n Position - One Position update.\nsubscribe_home() \nHomeHandle mavsdk::Telemetry::subscribe_home(const HomeCallback &callback)\n\nSubscribe to 'home position' updates.\nParameters\n\nconst HomeCallback& callback - \n\nReturns\n HomeHandle - \nunsubscribe_home() \nvoid mavsdk::Telemetry::unsubscribe_home(HomeHandle handle)\n\nUnsubscribe from subscribe_home.\nParameters\n\nHomeHandle handle - \n\nhome() \nPosition mavsdk::Telemetry::home() const\n\nPoll for 'Position' (blocking).\nReturns\n Position - One Position update.\nsubscribe_in_air() \nInAirHandle mavsdk::Telemetry::subscribe_in_air(const InAirCallback &callback)\n\nSubscribe to in-air updates.\nParameters\n\nconst InAirCallback& callback - \n\nReturns\n InAirHandle - \nunsubscribe_in_air() \nvoid mavsdk::Telemetry::unsubscribe_in_air(InAirHandle handle)\n\nUnsubscribe from subscribe_in_air.\nParameters\n\nInAirHandle handle - \n\nin_air() \nbool mavsdk::Telemetry::in_air() const\n\nPoll for 'bool' (blocking).\nReturns\n bool - One bool update.\nsubscribe_landed_state() \nLandedStateHandle mavsdk::Telemetry::subscribe_landed_state(const LandedStateCallback &callback)\n\nSubscribe to landed state updates.\nParameters\n\nconst LandedStateCallback& callback - \n\nReturns\n LandedStateHandle - \nunsubscribe_landed_state() \nvoid mavsdk::Telemetry::unsubscribe_landed_state(LandedStateHandle handle)\n\nUnsubscribe from subscribe_landed_state.\nParameters\n\nLandedStateHandle handle - \n\nlanded_state() \nLandedState mavsdk::Telemetry::landed_state() const\n\nPoll for 'LandedState' (blocking).\nReturns\n LandedState - One LandedState update.\nsubscribe_armed() \nArmedHandle mavsdk::Telemetry::subscribe_armed(const ArmedCallback &callback)\n\nSubscribe to armed updates.\nParameters\n\nconst ArmedCallback& callback - \n\nReturns\n ArmedHandle - \nunsubscribe_armed() \nvoid mavsdk::Telemetry::unsubscribe_armed(ArmedHandle handle)\n\nUnsubscribe from subscribe_armed.\nParameters\n\nArmedHandle handle - \n\narmed() \nbool mavsdk::Telemetry::armed() const\n\nPoll for 'bool' (blocking).\nReturns\n bool - One bool update.\nsubscribe_vtol_state() \nVtolStateHandle mavsdk::Telemetry::subscribe_vtol_state(const VtolStateCallback &callback)\n\nsubscribe to vtol state Updates\nParameters\n\nconst VtolStateCallback& callback - \n\nReturns\n VtolStateHandle - \nunsubscribe_vtol_state() \nvoid mavsdk::Telemetry::unsubscribe_vtol_state(VtolStateHandle handle)\n\nUnsubscribe from subscribe_vtol_state.\nParameters\n\nVtolStateHandle handle - \n\nvtol_state() \nVtolState mavsdk::Telemetry::vtol_state() const\n\nPoll for 'VtolState' (blocking).\nReturns\n VtolState - One VtolState update.\nsubscribe_attitude_quaternion() \nAttitudeQuaternionHandle mavsdk::Telemetry::subscribe_attitude_quaternion(const AttitudeQuaternionCallback &callback)\n\nSubscribe to 'attitude' updates (quaternion).\nParameters\n\nconst AttitudeQuaternionCallback& callback - \n\nReturns\n AttitudeQuaternionHandle - \nunsubscribe_attitude_quaternion() \nvoid mavsdk::Telemetry::unsubscribe_attitude_quaternion(AttitudeQuaternionHandle handle)\n\nUnsubscribe from subscribe_attitude_quaternion.\nParameters\n\nAttitudeQuaternionHandle handle - \n\nattitude_quaternion() \nQuaternion mavsdk::Telemetry::attitude_quaternion() const\n\nPoll for 'Quaternion' (blocking).\nReturns\n Quaternion - One Quaternion update.\nsubscribe_attitude_euler() \nAttitudeEulerHandle mavsdk::Telemetry::subscribe_attitude_euler(const AttitudeEulerCallback &callback)\n\nSubscribe to 'attitude' updates (Euler).\nParameters\n\nconst AttitudeEulerCallback& callback - \n\nReturns\n AttitudeEulerHandle - \nunsubscribe_attitude_euler() \nvoid mavsdk::Telemetry::unsubscribe_attitude_euler(AttitudeEulerHandle handle)\n\nUnsubscribe from subscribe_attitude_euler.\nParameters\n\nAttitudeEulerHandle handle - \n\nattitude_euler() \nEulerAngle mavsdk::Telemetry::attitude_euler() const\n\nPoll for 'EulerAngle' (blocking).\nReturns\n EulerAngle - One EulerAngle update.\nsubscribe_attitude_angular_velocity_body() \nAttitudeAngularVelocityBodyHandle mavsdk::Telemetry::subscribe_attitude_angular_velocity_body(const AttitudeAngularVelocityBodyCallback &callback)\n\nSubscribe to 'attitude' updates (angular velocity)\nParameters\n\nconst AttitudeAngularVelocityBodyCallback& callback - \n\nReturns\n AttitudeAngularVelocityBodyHandle - \nunsubscribe_attitude_angular_velocity_body() \nvoid mavsdk::Telemetry::unsubscribe_attitude_angular_velocity_body(AttitudeAngularVelocityBodyHandle handle)\n\nUnsubscribe from subscribe_attitude_angular_velocity_body.\nParameters\n\nAttitudeAngularVelocityBodyHandle handle - \n\nattitude_angular_velocity_body() \nAngularVelocityBody mavsdk::Telemetry::attitude_angular_velocity_body() const\n\nPoll for 'AngularVelocityBody' (blocking).\nReturns\n AngularVelocityBody - One AngularVelocityBody update.\nsubscribe_camera_attitude_quaternion() \nCameraAttitudeQuaternionHandle mavsdk::Telemetry::subscribe_camera_attitude_quaternion(const CameraAttitudeQuaternionCallback &callback)\n\nSubscribe to 'camera attitude' updates (quaternion).\nParameters\n\nconst CameraAttitudeQuaternionCallback& callback - \n\nReturns\n CameraAttitudeQuaternionHandle - \nunsubscribe_camera_attitude_quaternion() \nvoid mavsdk::Telemetry::unsubscribe_camera_attitude_quaternion(CameraAttitudeQuaternionHandle handle)\n\nUnsubscribe from subscribe_camera_attitude_quaternion.\nParameters\n\nCameraAttitudeQuaternionHandle handle - \n\ncamera_attitude_quaternion() \nQuaternion mavsdk::Telemetry::camera_attitude_quaternion() const\n\nPoll for 'Quaternion' (blocking).\nReturns\n Quaternion - One Quaternion update.\nsubscribe_camera_attitude_euler() \nCameraAttitudeEulerHandle mavsdk::Telemetry::subscribe_camera_attitude_euler(const CameraAttitudeEulerCallback &callback)\n\nSubscribe to 'camera attitude' updates (Euler).\nParameters\n\nconst CameraAttitudeEulerCallback& callback - \n\nReturns\n CameraAttitudeEulerHandle - \nunsubscribe_camera_attitude_euler() \nvoid mavsdk::Telemetry::unsubscribe_camera_attitude_euler(CameraAttitudeEulerHandle handle)\n\nUnsubscribe from subscribe_camera_attitude_euler.\nParameters\n\nCameraAttitudeEulerHandle handle - \n\ncamera_attitude_euler() \nEulerAngle mavsdk::Telemetry::camera_attitude_euler() const\n\nPoll for 'EulerAngle' (blocking).\nReturns\n EulerAngle - One EulerAngle update.\nsubscribe_velocity_ned() \nVelocityNedHandle mavsdk::Telemetry::subscribe_velocity_ned(const VelocityNedCallback &callback)\n\nSubscribe to 'ground speed' updates (NED).\nParameters\n\nconst VelocityNedCallback& callback - \n\nReturns\n VelocityNedHandle - \nunsubscribe_velocity_ned() \nvoid mavsdk::Telemetry::unsubscribe_velocity_ned(VelocityNedHandle handle)\n\nUnsubscribe from subscribe_velocity_ned.\nParameters\n\nVelocityNedHandle handle - \n\nvelocity_ned() \nVelocityNed mavsdk::Telemetry::velocity_ned() const\n\nPoll for 'VelocityNed' (blocking).\nReturns\n VelocityNed - One VelocityNed update.\nsubscribe_gps_info() \nGpsInfoHandle mavsdk::Telemetry::subscribe_gps_info(const GpsInfoCallback &callback)\n\nSubscribe to 'GPS info' updates.\nParameters\n\nconst GpsInfoCallback& callback - \n\nReturns\n GpsInfoHandle - \nunsubscribe_gps_info() \nvoid mavsdk::Telemetry::unsubscribe_gps_info(GpsInfoHandle handle)\n\nUnsubscribe from subscribe_gps_info.\nParameters\n\nGpsInfoHandle handle - \n\ngps_info() \nGpsInfo mavsdk::Telemetry::gps_info() const\n\nPoll for 'GpsInfo' (blocking).\nReturns\n GpsInfo - One GpsInfo update.\nsubscribe_raw_gps() \nRawGpsHandle mavsdk::Telemetry::subscribe_raw_gps(const RawGpsCallback &callback)\n\nSubscribe to 'Raw GPS' updates.\nParameters\n\nconst RawGpsCallback& callback - \n\nReturns\n RawGpsHandle - \nunsubscribe_raw_gps() \nvoid mavsdk::Telemetry::unsubscribe_raw_gps(RawGpsHandle handle)\n\nUnsubscribe from subscribe_raw_gps.\nParameters\n\nRawGpsHandle handle - \n\nraw_gps() \nRawGps mavsdk::Telemetry::raw_gps() const\n\nPoll for 'RawGps' (blocking).\nReturns\n RawGps - One RawGps update.\nsubscribe_battery() \nBatteryHandle mavsdk::Telemetry::subscribe_battery(const BatteryCallback &callback)\n\nSubscribe to 'battery' updates.\nParameters\n\nconst BatteryCallback& callback - \n\nReturns\n BatteryHandle - \nunsubscribe_battery() \nvoid mavsdk::Telemetry::unsubscribe_battery(BatteryHandle handle)\n\nUnsubscribe from subscribe_battery.\nParameters\n\nBatteryHandle handle - \n\nbattery() \nBattery mavsdk::Telemetry::battery() const\n\nPoll for 'Battery' (blocking).\nReturns\n Battery - One Battery update.\nsubscribe_flight_mode() \nFlightModeHandle mavsdk::Telemetry::subscribe_flight_mode(const FlightModeCallback &callback)\n\nSubscribe to 'flight mode' updates.\nParameters\n\nconst FlightModeCallback& callback - \n\nReturns\n FlightModeHandle - \nunsubscribe_flight_mode() \nvoid mavsdk::Telemetry::unsubscribe_flight_mode(FlightModeHandle handle)\n\nUnsubscribe from subscribe_flight_mode.\nParameters\n\nFlightModeHandle handle - \n\nflight_mode() \nFlightMode mavsdk::Telemetry::flight_mode() const\n\nPoll for 'FlightMode' (blocking).\nReturns\n FlightMode - One FlightMode update.\nsubscribe_health() \nHealthHandle mavsdk::Telemetry::subscribe_health(const HealthCallback &callback)\n\nSubscribe to 'health' updates.\nParameters\n\nconst HealthCallback& callback - \n\nReturns\n HealthHandle - \nunsubscribe_health() \nvoid mavsdk::Telemetry::unsubscribe_health(HealthHandle handle)\n\nUnsubscribe from subscribe_health.\nParameters\n\nHealthHandle handle - \n\nhealth() \nHealth mavsdk::Telemetry::health() const\n\nPoll for 'Health' (blocking).\nReturns\n Health - One Health update.\nsubscribe_rc_status() \nRcStatusHandle mavsdk::Telemetry::subscribe_rc_status(const RcStatusCallback &callback)\n\nSubscribe to 'RC status' updates.\nParameters\n\nconst RcStatusCallback& callback - \n\nReturns\n RcStatusHandle - \nunsubscribe_rc_status() \nvoid mavsdk::Telemetry::unsubscribe_rc_status(RcStatusHandle handle)\n\nUnsubscribe from subscribe_rc_status.\nParameters\n\nRcStatusHandle handle - \n\nrc_status() \nRcStatus mavsdk::Telemetry::rc_status() const\n\nPoll for 'RcStatus' (blocking).\nReturns\n RcStatus - One RcStatus update.\nsubscribe_status_text() \nStatusTextHandle mavsdk::Telemetry::subscribe_status_text(const StatusTextCallback &callback)\n\nSubscribe to 'status text' updates.\nParameters\n\nconst StatusTextCallback& callback - \n\nReturns\n StatusTextHandle - \nunsubscribe_status_text() \nvoid mavsdk::Telemetry::unsubscribe_status_text(StatusTextHandle handle)\n\nUnsubscribe from subscribe_status_text.\nParameters\n\nStatusTextHandle handle - \n\nstatus_text() \nStatusText mavsdk::Telemetry::status_text() const\n\nPoll for 'StatusText' (blocking).\nReturns\n StatusText - One StatusText update.\nsubscribe_actuator_control_target() \nActuatorControlTargetHandle mavsdk::Telemetry::subscribe_actuator_control_target(const ActuatorControlTargetCallback &callback)\n\nSubscribe to 'actuator control target' updates.\nParameters\n\nconst ActuatorControlTargetCallback& callback - \n\nReturns\n ActuatorControlTargetHandle - \nunsubscribe_actuator_control_target() \nvoid mavsdk::Telemetry::unsubscribe_actuator_control_target(ActuatorControlTargetHandle handle)\n\nUnsubscribe from subscribe_actuator_control_target.\nParameters\n\nActuatorControlTargetHandle handle - \n\nactuator_control_target() \nActuatorControlTarget mavsdk::Telemetry::actuator_control_target() const\n\nPoll for 'ActuatorControlTarget' (blocking).\nReturns\n ActuatorControlTarget - One ActuatorControlTarget update.\nsubscribe_actuator_output_status() \nActuatorOutputStatusHandle mavsdk::Telemetry::subscribe_actuator_output_status(const ActuatorOutputStatusCallback &callback)\n\nSubscribe to 'actuator output status' updates.\nParameters\n\nconst ActuatorOutputStatusCallback& callback - \n\nReturns\n ActuatorOutputStatusHandle - \nunsubscribe_actuator_output_status() \nvoid mavsdk::Telemetry::unsubscribe_actuator_output_status(ActuatorOutputStatusHandle handle)\n\nUnsubscribe from subscribe_actuator_output_status.\nParameters\n\nActuatorOutputStatusHandle handle - \n\nactuator_output_status() \nActuatorOutputStatus mavsdk::Telemetry::actuator_output_status() const\n\nPoll for 'ActuatorOutputStatus' (blocking).\nReturns\n ActuatorOutputStatus - One ActuatorOutputStatus update.\nsubscribe_odometry() \nOdometryHandle mavsdk::Telemetry::subscribe_odometry(const OdometryCallback &callback)\n\nSubscribe to 'odometry' updates.\nParameters\n\nconst OdometryCallback& callback - \n\nReturns\n OdometryHandle - \nunsubscribe_odometry() \nvoid mavsdk::Telemetry::unsubscribe_odometry(OdometryHandle handle)\n\nUnsubscribe from subscribe_odometry.\nParameters\n\nOdometryHandle handle - \n\nodometry() \nOdometry mavsdk::Telemetry::odometry() const\n\nPoll for 'Odometry' (blocking).\nReturns\n Odometry - One Odometry update.\nsubscribe_position_velocity_ned() \nPositionVelocityNedHandle mavsdk::Telemetry::subscribe_position_velocity_ned(const PositionVelocityNedCallback &callback)\n\nSubscribe to 'position velocity' updates.\nParameters\n\nconst PositionVelocityNedCallback& callback - \n\nReturns\n PositionVelocityNedHandle - \nunsubscribe_position_velocity_ned() \nvoid mavsdk::Telemetry::unsubscribe_position_velocity_ned(PositionVelocityNedHandle handle)\n\nUnsubscribe from subscribe_position_velocity_ned.\nParameters\n\nPositionVelocityNedHandle handle - \n\nposition_velocity_ned() \nPositionVelocityNed mavsdk::Telemetry::position_velocity_ned() const\n\nPoll for 'PositionVelocityNed' (blocking).\nReturns\n PositionVelocityNed - One PositionVelocityNed update.\nsubscribe_ground_truth() \nGroundTruthHandle mavsdk::Telemetry::subscribe_ground_truth(const GroundTruthCallback &callback)\n\nSubscribe to 'ground truth' updates.\nParameters\n\nconst GroundTruthCallback& callback - \n\nReturns\n GroundTruthHandle - \nunsubscribe_ground_truth() \nvoid mavsdk::Telemetry::unsubscribe_ground_truth(GroundTruthHandle handle)\n\nUnsubscribe from subscribe_ground_truth.\nParameters\n\nGroundTruthHandle handle - \n\nground_truth() \nGroundTruth mavsdk::Telemetry::ground_truth() const\n\nPoll for 'GroundTruth' (blocking).\nReturns\n GroundTruth - One GroundTruth update.\nsubscribe_fixedwing_metrics() \nFixedwingMetricsHandle mavsdk::Telemetry::subscribe_fixedwing_metrics(const FixedwingMetricsCallback &callback)\n\nSubscribe to 'fixedwing metrics' updates.\nParameters\n\nconst FixedwingMetricsCallback& callback - \n\nReturns\n FixedwingMetricsHandle - \nunsubscribe_fixedwing_metrics() \nvoid mavsdk::Telemetry::unsubscribe_fixedwing_metrics(FixedwingMetricsHandle handle)\n\nUnsubscribe from subscribe_fixedwing_metrics.\nParameters\n\nFixedwingMetricsHandle handle - \n\nfixedwing_metrics() \nFixedwingMetrics mavsdk::Telemetry::fixedwing_metrics() const\n\nPoll for 'FixedwingMetrics' (blocking).\nReturns\n FixedwingMetrics - One FixedwingMetrics update.\nsubscribe_imu() \nImuHandle mavsdk::Telemetry::subscribe_imu(const ImuCallback &callback)\n\nSubscribe to 'IMU' updates (in SI units in NED body frame).\nParameters\n\nconst ImuCallback& callback - \n\nReturns\n ImuHandle - \nunsubscribe_imu() \nvoid mavsdk::Telemetry::unsubscribe_imu(ImuHandle handle)\n\nUnsubscribe from subscribe_imu.\nParameters\n\nImuHandle handle - \n\nimu() \nImu mavsdk::Telemetry::imu() const\n\nPoll for 'Imu' (blocking).\nReturns\n Imu - One Imu update.\nsubscribe_scaled_imu() \nScaledImuHandle mavsdk::Telemetry::subscribe_scaled_imu(const ScaledImuCallback &callback)\n\nSubscribe to 'Scaled IMU' updates.\nParameters\n\nconst ScaledImuCallback& callback - \n\nReturns\n ScaledImuHandle - \nunsubscribe_scaled_imu() \nvoid mavsdk::Telemetry::unsubscribe_scaled_imu(ScaledImuHandle handle)\n\nUnsubscribe from subscribe_scaled_imu.\nParameters\n\nScaledImuHandle handle - \n\nscaled_imu() \nImu mavsdk::Telemetry::scaled_imu() const\n\nPoll for 'Imu' (blocking).\nReturns\n Imu - One Imu update.\nsubscribe_raw_imu() \nRawImuHandle mavsdk::Telemetry::subscribe_raw_imu(const RawImuCallback &callback)\n\nSubscribe to 'Raw IMU' updates.\nParameters\n\nconst RawImuCallback& callback - \n\nReturns\n RawImuHandle - \nunsubscribe_raw_imu() \nvoid mavsdk::Telemetry::unsubscribe_raw_imu(RawImuHandle handle)\n\nUnsubscribe from subscribe_raw_imu.\nParameters\n\nRawImuHandle handle - \n\nraw_imu() \nImu mavsdk::Telemetry::raw_imu() const\n\nPoll for 'Imu' (blocking).\nReturns\n Imu - One Imu update.\nsubscribe_health_all_ok() \nHealthAllOkHandle mavsdk::Telemetry::subscribe_health_all_ok(const HealthAllOkCallback &callback)\n\nSubscribe to 'HealthAllOk' updates.\nParameters\n\nconst HealthAllOkCallback& callback - \n\nReturns\n HealthAllOkHandle - \nunsubscribe_health_all_ok() \nvoid mavsdk::Telemetry::unsubscribe_health_all_ok(HealthAllOkHandle handle)\n\nUnsubscribe from subscribe_health_all_ok.\nParameters\n\nHealthAllOkHandle handle - \n\nhealth_all_ok() \nbool mavsdk::Telemetry::health_all_ok() const\n\nPoll for 'bool' (blocking).\nReturns\n bool - One bool update.\nsubscribe_unix_epoch_time() \nUnixEpochTimeHandle mavsdk::Telemetry::subscribe_unix_epoch_time(const UnixEpochTimeCallback &callback)\n\nSubscribe to 'unix epoch time' updates.\nParameters\n\nconst UnixEpochTimeCallback& callback - \n\nReturns\n UnixEpochTimeHandle - \nunsubscribe_unix_epoch_time() \nvoid mavsdk::Telemetry::unsubscribe_unix_epoch_time(UnixEpochTimeHandle handle)\n\nUnsubscribe from subscribe_unix_epoch_time.\nParameters\n\nUnixEpochTimeHandle handle - \n\nunix_epoch_time() \nuint64_t mavsdk::Telemetry::unix_epoch_time() const\n\nPoll for 'uint64_t' (blocking).\nReturns\n uint64_t - One uint64_t update.\nsubscribe_distance_sensor() \nDistanceSensorHandle mavsdk::Telemetry::subscribe_distance_sensor(const DistanceSensorCallback &callback)\n\nSubscribe to 'Distance Sensor' updates.\nParameters\n\nconst DistanceSensorCallback& callback - \n\nReturns\n DistanceSensorHandle - \nunsubscribe_distance_sensor() \nvoid mavsdk::Telemetry::unsubscribe_distance_sensor(DistanceSensorHandle handle)\n\nUnsubscribe from subscribe_distance_sensor.\nParameters\n\nDistanceSensorHandle handle - \n\ndistance_sensor() \nDistanceSensor mavsdk::Telemetry::distance_sensor() const\n\nPoll for 'DistanceSensor' (blocking).\nReturns\n DistanceSensor - One DistanceSensor update.\nsubscribe_scaled_pressure() \nScaledPressureHandle mavsdk::Telemetry::subscribe_scaled_pressure(const ScaledPressureCallback &callback)\n\nSubscribe to 'Scaled Pressure' updates.\nParameters\n\nconst ScaledPressureCallback& callback - \n\nReturns\n ScaledPressureHandle - \nunsubscribe_scaled_pressure() \nvoid mavsdk::Telemetry::unsubscribe_scaled_pressure(ScaledPressureHandle handle)\n\nUnsubscribe from subscribe_scaled_pressure.\nParameters\n\nScaledPressureHandle handle - \n\nscaled_pressure() \nScaledPressure mavsdk::Telemetry::scaled_pressure() const\n\nPoll for 'ScaledPressure' (blocking).\nReturns\n ScaledPressure - One ScaledPressure update.\nsubscribe_heading() \nHeadingHandle mavsdk::Telemetry::subscribe_heading(const HeadingCallback &callback)\n\nSubscribe to 'Heading' updates.\nParameters\n\nconst HeadingCallback& callback - \n\nReturns\n HeadingHandle - \nunsubscribe_heading() \nvoid mavsdk::Telemetry::unsubscribe_heading(HeadingHandle handle)\n\nUnsubscribe from subscribe_heading.\nParameters\n\nHeadingHandle handle - \n\nheading() \nHeading mavsdk::Telemetry::heading() const\n\nPoll for 'Heading' (blocking).\nReturns\n Heading - One Heading update.\nsubscribe_altitude() \nAltitudeHandle mavsdk::Telemetry::subscribe_altitude(const AltitudeCallback &callback)\n\nSubscribe to 'Altitude' updates.\nParameters\n\nconst AltitudeCallback& callback - \n\nReturns\n AltitudeHandle - \nunsubscribe_altitude() \nvoid mavsdk::Telemetry::unsubscribe_altitude(AltitudeHandle handle)\n\nUnsubscribe from subscribe_altitude.\nParameters\n\nAltitudeHandle handle - \n\naltitude() \nAltitude mavsdk::Telemetry::altitude() const\n\nPoll for 'Altitude' (blocking).\nReturns\n Altitude - One Altitude update.\nset_rate_position_async() \nvoid mavsdk::Telemetry::set_rate_position_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'position' updates.\nThis function is non-blocking. See 'set_rate_position' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_position() \nResult mavsdk::Telemetry::set_rate_position(double rate_hz) const\n\nSet rate to 'position' updates.\nThis function is blocking. See 'set_rate_position_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_home_async() \nvoid mavsdk::Telemetry::set_rate_home_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'home position' updates.\nThis function is non-blocking. See 'set_rate_home' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_home() \nResult mavsdk::Telemetry::set_rate_home(double rate_hz) const\n\nSet rate to 'home position' updates.\nThis function is blocking. See 'set_rate_home_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_in_air_async() \nvoid mavsdk::Telemetry::set_rate_in_air_async(double rate_hz, const ResultCallback callback)\n\nSet rate to in-air updates.\nThis function is non-blocking. See 'set_rate_in_air' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_in_air() \nResult mavsdk::Telemetry::set_rate_in_air(double rate_hz) const\n\nSet rate to in-air updates.\nThis function is blocking. See 'set_rate_in_air_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_landed_state_async() \nvoid mavsdk::Telemetry::set_rate_landed_state_async(double rate_hz, const ResultCallback callback)\n\nSet rate to landed state updates.\nThis function is non-blocking. See 'set_rate_landed_state' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_landed_state() \nResult mavsdk::Telemetry::set_rate_landed_state(double rate_hz) const\n\nSet rate to landed state updates.\nThis function is blocking. See 'set_rate_landed_state_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_vtol_state_async() \nvoid mavsdk::Telemetry::set_rate_vtol_state_async(double rate_hz, const ResultCallback callback)\n\nSet rate to VTOL state updates.\nThis function is non-blocking. See 'set_rate_vtol_state' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_vtol_state() \nResult mavsdk::Telemetry::set_rate_vtol_state(double rate_hz) const\n\nSet rate to VTOL state updates.\nThis function is blocking. See 'set_rate_vtol_state_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_attitude_quaternion_async() \nvoid mavsdk::Telemetry::set_rate_attitude_quaternion_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'attitude euler angle' updates.\nThis function is non-blocking. See 'set_rate_attitude_quaternion' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_attitude_quaternion() \nResult mavsdk::Telemetry::set_rate_attitude_quaternion(double rate_hz) const\n\nSet rate to 'attitude euler angle' updates.\nThis function is blocking. See 'set_rate_attitude_quaternion_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_attitude_euler_async() \nvoid mavsdk::Telemetry::set_rate_attitude_euler_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'attitude quaternion' updates.\nThis function is non-blocking. See 'set_rate_attitude_euler' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_attitude_euler() \nResult mavsdk::Telemetry::set_rate_attitude_euler(double rate_hz) const\n\nSet rate to 'attitude quaternion' updates.\nThis function is blocking. See 'set_rate_attitude_euler_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_camera_attitude_async() \nvoid mavsdk::Telemetry::set_rate_camera_attitude_async(double rate_hz, const ResultCallback callback)\n\nSet rate of camera attitude updates.\nThis function is non-blocking. See 'set_rate_camera_attitude' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_camera_attitude() \nResult mavsdk::Telemetry::set_rate_camera_attitude(double rate_hz) const\n\nSet rate of camera attitude updates.\nThis function is blocking. See 'set_rate_camera_attitude_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_velocity_ned_async() \nvoid mavsdk::Telemetry::set_rate_velocity_ned_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'ground speed' updates (NED).\nThis function is non-blocking. See 'set_rate_velocity_ned' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_velocity_ned() \nResult mavsdk::Telemetry::set_rate_velocity_ned(double rate_hz) const\n\nSet rate to 'ground speed' updates (NED).\nThis function is blocking. See 'set_rate_velocity_ned_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_gps_info_async() \nvoid mavsdk::Telemetry::set_rate_gps_info_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'GPS info' updates.\nThis function is non-blocking. See 'set_rate_gps_info' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_gps_info() \nResult mavsdk::Telemetry::set_rate_gps_info(double rate_hz) const\n\nSet rate to 'GPS info' updates.\nThis function is blocking. See 'set_rate_gps_info_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_battery_async() \nvoid mavsdk::Telemetry::set_rate_battery_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'battery' updates.\nThis function is non-blocking. See 'set_rate_battery' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_battery() \nResult mavsdk::Telemetry::set_rate_battery(double rate_hz) const\n\nSet rate to 'battery' updates.\nThis function is blocking. See 'set_rate_battery_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_rc_status_async() \nvoid mavsdk::Telemetry::set_rate_rc_status_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'RC status' updates.\nThis function is non-blocking. See 'set_rate_rc_status' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_rc_status() \nResult mavsdk::Telemetry::set_rate_rc_status(double rate_hz) const\n\nSet rate to 'RC status' updates.\nThis function is blocking. See 'set_rate_rc_status_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_actuator_control_target_async() \nvoid mavsdk::Telemetry::set_rate_actuator_control_target_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'actuator control target' updates.\nThis function is non-blocking. See 'set_rate_actuator_control_target' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_actuator_control_target() \nResult mavsdk::Telemetry::set_rate_actuator_control_target(double rate_hz) const\n\nSet rate to 'actuator control target' updates.\nThis function is blocking. See 'set_rate_actuator_control_target_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_actuator_output_status_async() \nvoid mavsdk::Telemetry::set_rate_actuator_output_status_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'actuator output status' updates.\nThis function is non-blocking. See 'set_rate_actuator_output_status' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_actuator_output_status() \nResult mavsdk::Telemetry::set_rate_actuator_output_status(double rate_hz) const\n\nSet rate to 'actuator output status' updates.\nThis function is blocking. See 'set_rate_actuator_output_status_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_odometry_async() \nvoid mavsdk::Telemetry::set_rate_odometry_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'odometry' updates.\nThis function is non-blocking. See 'set_rate_odometry' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_odometry() \nResult mavsdk::Telemetry::set_rate_odometry(double rate_hz) const\n\nSet rate to 'odometry' updates.\nThis function is blocking. See 'set_rate_odometry_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_position_velocity_ned_async() \nvoid mavsdk::Telemetry::set_rate_position_velocity_ned_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'position velocity' updates.\nThis function is non-blocking. See 'set_rate_position_velocity_ned' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_position_velocity_ned() \nResult mavsdk::Telemetry::set_rate_position_velocity_ned(double rate_hz) const\n\nSet rate to 'position velocity' updates.\nThis function is blocking. See 'set_rate_position_velocity_ned_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_ground_truth_async() \nvoid mavsdk::Telemetry::set_rate_ground_truth_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'ground truth' updates.\nThis function is non-blocking. See 'set_rate_ground_truth' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_ground_truth() \nResult mavsdk::Telemetry::set_rate_ground_truth(double rate_hz) const\n\nSet rate to 'ground truth' updates.\nThis function is blocking. See 'set_rate_ground_truth_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_fixedwing_metrics_async() \nvoid mavsdk::Telemetry::set_rate_fixedwing_metrics_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'fixedwing metrics' updates.\nThis function is non-blocking. See 'set_rate_fixedwing_metrics' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_fixedwing_metrics() \nResult mavsdk::Telemetry::set_rate_fixedwing_metrics(double rate_hz) const\n\nSet rate to 'fixedwing metrics' updates.\nThis function is blocking. See 'set_rate_fixedwing_metrics_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_imu_async() \nvoid mavsdk::Telemetry::set_rate_imu_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'IMU' updates.\nThis function is non-blocking. See 'set_rate_imu' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_imu() \nResult mavsdk::Telemetry::set_rate_imu(double rate_hz) const\n\nSet rate to 'IMU' updates.\nThis function is blocking. See 'set_rate_imu_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_scaled_imu_async() \nvoid mavsdk::Telemetry::set_rate_scaled_imu_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'Scaled IMU' updates.\nThis function is non-blocking. See 'set_rate_scaled_imu' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_scaled_imu() \nResult mavsdk::Telemetry::set_rate_scaled_imu(double rate_hz) const\n\nSet rate to 'Scaled IMU' updates.\nThis function is blocking. See 'set_rate_scaled_imu_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_raw_imu_async() \nvoid mavsdk::Telemetry::set_rate_raw_imu_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'Raw IMU' updates.\nThis function is non-blocking. See 'set_rate_raw_imu' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_raw_imu() \nResult mavsdk::Telemetry::set_rate_raw_imu(double rate_hz) const\n\nSet rate to 'Raw IMU' updates.\nThis function is blocking. See 'set_rate_raw_imu_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_unix_epoch_time_async() \nvoid mavsdk::Telemetry::set_rate_unix_epoch_time_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'unix epoch time' updates.\nThis function is non-blocking. See 'set_rate_unix_epoch_time' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_unix_epoch_time() \nResult mavsdk::Telemetry::set_rate_unix_epoch_time(double rate_hz) const\n\nSet rate to 'unix epoch time' updates.\nThis function is blocking. See 'set_rate_unix_epoch_time_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_distance_sensor_async() \nvoid mavsdk::Telemetry::set_rate_distance_sensor_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'Distance Sensor' updates.\nThis function is non-blocking. See 'set_rate_distance_sensor' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_distance_sensor() \nResult mavsdk::Telemetry::set_rate_distance_sensor(double rate_hz) const\n\nSet rate to 'Distance Sensor' updates.\nThis function is blocking. See 'set_rate_distance_sensor_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nset_rate_altitude_async() \nvoid mavsdk::Telemetry::set_rate_altitude_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'Altitude' updates.\nThis function is non-blocking. See 'set_rate_altitude' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_altitude() \nResult mavsdk::Telemetry::set_rate_altitude(double rate_hz) const\n\nSet rate to 'Altitude' updates.\nThis function is blocking. See 'set_rate_altitude_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\nget_gps_global_origin_async() \nvoid mavsdk::Telemetry::get_gps_global_origin_async(const GetGpsGlobalOriginCallback callback)\n\nGet the GPS location of where the estimator has been initialized.\nThis function is non-blocking. See 'get_gps_global_origin' for the blocking counterpart.\nParameters\n\nconst GetGpsGlobalOriginCallback callback - \n\nget_gps_global_origin() \nstd::pair mavsdk::Telemetry::get_gps_global_origin() const\n\nGet the GPS location of where the estimator has been initialized.\nThis function is blocking. See 'get_gps_global_origin_async' for the non-blocking counterpart.\nReturns\n std::pairResult, Telemetry::GpsGlobalOrigin > - Result of request.\noperator=() \nconst Telemetry& mavsdk::Telemetry::operator=(const Telemetry &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Telemetry& - \n\nReturns\n const Telemetry & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_acceleration_frd.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_acceleration_frd.html","title":"struct AccelerationFrd","keywords":"","body":"mavsdk::Telemetry::AccelerationFrd Struct Reference\n#include: telemetry.h\n\nAccelerationFrd message type. \nData Fields\nfloat forward_m_s2 { float(NAN)} - Acceleration in forward direction in metres per second^2.\nfloat right_m_s2 { float(NAN)} - Acceleration in right direction in metres per second^2.\nfloat down_m_s2 { float(NAN)} - Acceleration in down direction in metres per second^2.\nField Documentation\nforward_m_s2 \nfloat mavsdk::Telemetry::AccelerationFrd::forward_m_s2 { float(NAN)}\n\nAcceleration in forward direction in metres per second^2.\nright_m_s2 \nfloat mavsdk::Telemetry::AccelerationFrd::right_m_s2 { float(NAN)}\n\nAcceleration in right direction in metres per second^2.\ndown_m_s2 \nfloat mavsdk::Telemetry::AccelerationFrd::down_m_s2 { float(NAN)}\n\nAcceleration in down direction in metres per second^2.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_control_target.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_control_target.html","title":"struct ActuatorControlTarget","keywords":"","body":"mavsdk::Telemetry::ActuatorControlTarget Struct Reference\n#include: telemetry.h\n\nActuator control target type. \nData Fields\nint32_t group {0} - An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.\nstd::vector controls {} - Controls normed from -1 to 1, where 0 is neutral position.\nField Documentation\ngroup \nint32_t mavsdk::Telemetry::ActuatorControlTarget::group {0}\n\nAn actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.\ncontrols \nstd::vector mavsdk::Telemetry::ActuatorControlTarget::controls {}\n\nControls normed from -1 to 1, where 0 is neutral position.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_output_status.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_output_status.html","title":"struct ActuatorOutputStatus","keywords":"","body":"mavsdk::Telemetry::ActuatorOutputStatus Struct Reference\n#include: telemetry.h\n\nActuator output status type. \nData Fields\nuint32_t active {0} - Active outputs.\nstd::vector actuator {} - Servo/motor output values.\nField Documentation\nactive \nuint32_t mavsdk::Telemetry::ActuatorOutputStatus::active {0}\n\nActive outputs.\nactuator \nstd::vector mavsdk::Telemetry::ActuatorOutputStatus::actuator {}\n\nServo/motor output values.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_body.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_body.html","title":"struct AngularVelocityBody","keywords":"","body":"mavsdk::Telemetry::AngularVelocityBody Struct Reference\n#include: telemetry.h\n\nAngular velocity type. \nData Fields\nfloat roll_rad_s {float(NAN)} - Roll angular velocity.\nfloat pitch_rad_s {float(NAN)} - Pitch angular velocity.\nfloat yaw_rad_s {float(NAN)} - Yaw angular velocity.\nField Documentation\nroll_rad_s \nfloat mavsdk::Telemetry::AngularVelocityBody::roll_rad_s {float(NAN)}\n\nRoll angular velocity.\npitch_rad_s \nfloat mavsdk::Telemetry::AngularVelocityBody::pitch_rad_s {float(NAN)}\n\nPitch angular velocity.\nyaw_rad_s \nfloat mavsdk::Telemetry::AngularVelocityBody::yaw_rad_s {float(NAN)}\n\nYaw angular velocity.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_frd.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_frd.html","title":"struct AngularVelocityNed","keywords":"","body":"mavsdk::Telemetry::AngularVelocityFrd Struct Reference\n#include: telemetry.h\n\nAngularVelocityFrd message type. \nData Fields\nfloat forward_rad_s { float(NAN)} - Angular velocity in forward direction in radians per second.\nfloat right_rad_s { float(NAN)} - Angular velocity in right direction in radians per second.\nfloat down_rad_s { float(NAN)} - Angular velocity in Down direction in radians per second.\nField Documentation\nforward_rad_s \nfloat mavsdk::Telemetry::AngularVelocityFrd::forward_rad_s { float(NAN)}\n\nAngular velocity in forward direction in radians per second.\nright_rad_s \nfloat mavsdk::Telemetry::AngularVelocityFrd::right_rad_s { float(NAN)}\n\nAngular velocity in right direction in radians per second.\ndown_rad_s \nfloat mavsdk::Telemetry::AngularVelocityFrd::down_rad_s { float(NAN)}\n\nAngular velocity in Down direction in radians per second.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_battery.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_battery.html","title":"struct Battery","keywords":"","body":"mavsdk::Telemetry::Battery Struct Reference\n#include: telemetry.h\n\nBattery type. \nData Fields\nuint32_t id {0} - Battery ID, for systems with multiple batteries.\nfloat temperature_degc {float(NAN)} - Temperature of the battery in degrees Celsius. NAN for unknown temperature.\nfloat voltage_v {float(NAN)} - Voltage in volts.\nfloat current_battery_a {float(NAN)} - Battery current in Amps, NAN if autopilot does not measure the current.\nfloat capacity_consumed_ah { float(NAN)} - Consumed charge in Amp hours, NAN if autopilot does not provide consumption estimate.\nfloat remaining_percent { float(NAN)} - Estimated battery remaining (range: 0 to 100)\nField Documentation\nid \nuint32_t mavsdk::Telemetry::Battery::id {0}\n\nBattery ID, for systems with multiple batteries.\ntemperature_degc \nfloat mavsdk::Telemetry::Battery::temperature_degc {float(NAN)}\n\nTemperature of the battery in degrees Celsius. NAN for unknown temperature.\nvoltage_v \nfloat mavsdk::Telemetry::Battery::voltage_v {float(NAN)}\n\nVoltage in volts.\ncurrent_battery_a \nfloat mavsdk::Telemetry::Battery::current_battery_a {float(NAN)}\n\nBattery current in Amps, NAN if autopilot does not measure the current.\ncapacity_consumed_ah \nfloat mavsdk::Telemetry::Battery::capacity_consumed_ah { float(NAN)}\n\nConsumed charge in Amp hours, NAN if autopilot does not provide consumption estimate.\nremaining_percent \nfloat mavsdk::Telemetry::Battery::remaining_percent { float(NAN)}\n\nEstimated battery remaining (range: 0 to 100)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_covariance.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_covariance.html","title":"struct Covariance","keywords":"","body":"mavsdk::Telemetry::Covariance Struct Reference\n#include: telemetry.h\n\nCovariance type. \nRow-major representation of a 6x6 cross-covariance matrix upper right triangle. Set first to NaN if unknown. \nData Fields\nstd::vector covariance_matrix {} - Representation of a covariance matrix.\nField Documentation\ncovariance_matrix \nstd::vector mavsdk::Telemetry::Covariance::covariance_matrix {}\n\nRepresentation of a covariance matrix.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_distance_sensor.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_distance_sensor.html","title":"struct DistanceSensor","keywords":"","body":"mavsdk::Telemetry::DistanceSensor Struct Reference\n#include: telemetry.h\n\nDistanceSensor message type. \nData Fields\nfloat minimum_distance_m { float(NAN)} - Minimum distance the sensor can measure, NaN if unknown.\nfloat maximum_distance_m { float(NAN)} - Maximum distance the sensor can measure, NaN if unknown.\nfloat current_distance_m { float(NAN)} - Current distance reading, NaN if unknown.\nEulerAngle orientation {} - Sensor Orientation reading.\nField Documentation\nminimum_distance_m \nfloat mavsdk::Telemetry::DistanceSensor::minimum_distance_m { float(NAN)}\n\nMinimum distance the sensor can measure, NaN if unknown.\nmaximum_distance_m \nfloat mavsdk::Telemetry::DistanceSensor::maximum_distance_m { float(NAN)}\n\nMaximum distance the sensor can measure, NaN if unknown.\ncurrent_distance_m \nfloat mavsdk::Telemetry::DistanceSensor::current_distance_m { float(NAN)}\n\nCurrent distance reading, NaN if unknown.\norientation \nEulerAngle mavsdk::Telemetry::DistanceSensor::orientation {}\n\nSensor Orientation reading.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_euler_angle.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_euler_angle.html","title":"struct EulerAngle","keywords":"","body":"mavsdk::Telemetry::EulerAngle Struct Reference\n#include: telemetry.h\n\nEuler angle type. \nAll rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.\nFor more info see https://en.wikipedia.org/wiki/Euler_angles \nData Fields\nfloat roll_deg { float(NAN)} - Roll angle in degrees, positive is banking to the right.\nfloat pitch_deg { float(NAN)} - Pitch angle in degrees, positive is pitching nose up.\nfloat yaw_deg { float(NAN)} - Yaw angle in degrees, positive is clock-wise seen from above.\nuint64_t timestamp_us {} - Timestamp in microseconds.\nField Documentation\nroll_deg \nfloat mavsdk::Telemetry::EulerAngle::roll_deg { float(NAN)}\n\nRoll angle in degrees, positive is banking to the right.\npitch_deg \nfloat mavsdk::Telemetry::EulerAngle::pitch_deg { float(NAN)}\n\nPitch angle in degrees, positive is pitching nose up.\nyaw_deg \nfloat mavsdk::Telemetry::EulerAngle::yaw_deg { float(NAN)}\n\nYaw angle in degrees, positive is clock-wise seen from above.\ntimestamp_us \nuint64_t mavsdk::Telemetry::EulerAngle::timestamp_us {}\n\nTimestamp in microseconds.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.html","title":"struct FixedwingMetrics","keywords":"","body":"mavsdk::Telemetry::FixedwingMetrics Struct Reference\n#include: telemetry.h\n\nFixedwingMetrics message type. \nData Fields\nfloat airspeed_m_s { float(NAN)} - Current indicated airspeed (IAS) in metres per second.\nfloat throttle_percentage {float(NAN)} - Current throttle setting (0 to 100)\nfloat climb_rate_m_s {float(NAN)} - Current climb rate in metres per second.\nField Documentation\nairspeed_m_s \nfloat mavsdk::Telemetry::FixedwingMetrics::airspeed_m_s { float(NAN)}\n\nCurrent indicated airspeed (IAS) in metres per second.\nthrottle_percentage \nfloat mavsdk::Telemetry::FixedwingMetrics::throttle_percentage {float(NAN)}\n\nCurrent throttle setting (0 to 100)\nclimb_rate_m_s \nfloat mavsdk::Telemetry::FixedwingMetrics::climb_rate_m_s {float(NAN)}\n\nCurrent climb rate in metres per second.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_info.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_info.html","title":"struct GpsInfo","keywords":"","body":"mavsdk::Telemetry::GpsInfo Struct Reference\n#include: telemetry.h\n\nGPS information type. \nData Fields\nint32_t num_satellites {0} - Number of visible satellites in use.\nFixType fix_type {} - Fix type.\nField Documentation\nnum_satellites \nint32_t mavsdk::Telemetry::GpsInfo::num_satellites {0}\n\nNumber of visible satellites in use.\nfix_type \nFixType mavsdk::Telemetry::GpsInfo::fix_type {}\n\nFix type.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_global_origin.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_global_origin.html","title":"struct GpsGlobalOrigin","keywords":"","body":"mavsdk::Telemetry::GpsGlobalOrigin Struct Reference\n#include: telemetry.h\n\nGps global origin type. \nData Fields\ndouble latitude_deg {double(NAN)} - Latitude of the origin.\ndouble longitude_deg {double(NAN)} - Longitude of the origin.\nfloat altitude_m {float(NAN)} - Altitude AMSL (above mean sea level) in metres.\nField Documentation\nlatitude_deg \ndouble mavsdk::Telemetry::GpsGlobalOrigin::latitude_deg {double(NAN)}\n\nLatitude of the origin.\nlongitude_deg \ndouble mavsdk::Telemetry::GpsGlobalOrigin::longitude_deg {double(NAN)}\n\nLongitude of the origin.\naltitude_m \nfloat mavsdk::Telemetry::GpsGlobalOrigin::altitude_m {float(NAN)}\n\nAltitude AMSL (above mean sea level) in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_ground_truth.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_ground_truth.html","title":"struct GroundTruth","keywords":"","body":"mavsdk::Telemetry::GroundTruth Struct Reference\n#include: telemetry.h\n\nGroundTruth message type. \nData Fields\ndouble latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)\ndouble longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to 180)\nfloat absolute_altitude_m { float(NAN)} - Altitude AMSL (above mean sea level) in metres.\nField Documentation\nlatitude_deg \ndouble mavsdk::Telemetry::GroundTruth::latitude_deg {double(NAN)}\n\nLatitude in degrees (range: -90 to +90)\nlongitude_deg \ndouble mavsdk::Telemetry::GroundTruth::longitude_deg {double(NAN)}\n\nLongitude in degrees (range: -180 to 180)\nabsolute_altitude_m \nfloat mavsdk::Telemetry::GroundTruth::absolute_altitude_m { float(NAN)}\n\nAltitude AMSL (above mean sea level) in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_heading.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_heading.html","title":"struct Heading","keywords":"","body":"mavsdk::Telemetry::Heading Struct Reference\n#include: telemetry.h\n\nHeading type used for global position. \nData Fields\ndouble heading_deg {double(NAN)} - Heading in degrees (range: 0 to +360)\nField Documentation\nheading_deg \ndouble mavsdk::Telemetry::Heading::heading_deg {double(NAN)}\n\nHeading in degrees (range: 0 to +360)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_health.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_health.html","title":"struct Health","keywords":"","body":"mavsdk::Telemetry::Health Struct Reference\n#include: telemetry.h\n\nHealth type. \nData Fields\nbool is_gyrometer_calibration_ok {false} - True if the gyrometer is calibrated.\nbool is_accelerometer_calibration_ok { false} - True if the accelerometer is calibrated.\nbool is_magnetometer_calibration_ok { false} - True if the magnetometer is calibrated.\nbool is_local_position_ok {false} - True if the local position estimate is good enough to fly in 'position control' mode.\nbool is_global_position_ok {false} - True if the global position estimate is good enough to fly in 'position control' mode.\nbool is_home_position_ok { false} - True if the home position has been initialized properly.\nbool is_armable {false} - True if system can be armed.\nField Documentation\nis_gyrometer_calibration_ok \nbool mavsdk::Telemetry::Health::is_gyrometer_calibration_ok {false}\n\nTrue if the gyrometer is calibrated.\nis_accelerometer_calibration_ok \nbool mavsdk::Telemetry::Health::is_accelerometer_calibration_ok { false}\n\nTrue if the accelerometer is calibrated.\nis_magnetometer_calibration_ok \nbool mavsdk::Telemetry::Health::is_magnetometer_calibration_ok { false}\n\nTrue if the magnetometer is calibrated.\nis_local_position_ok \nbool mavsdk::Telemetry::Health::is_local_position_ok {false}\n\nTrue if the local position estimate is good enough to fly in 'position control' mode.\nis_global_position_ok \nbool mavsdk::Telemetry::Health::is_global_position_ok {false}\n\nTrue if the global position estimate is good enough to fly in 'position control' mode.\nis_home_position_ok \nbool mavsdk::Telemetry::Health::is_home_position_ok { false}\n\nTrue if the home position has been initialized properly.\nis_armable \nbool mavsdk::Telemetry::Health::is_armable {false}\n\nTrue if system can be armed.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_imu.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_imu.html","title":"struct Imu","keywords":"","body":"mavsdk::Telemetry::Imu Struct Reference\n#include: telemetry.h\n\nImu message type. \nData Fields\nAccelerationFrd acceleration_frd {} - Acceleration.\nAngularVelocityFrd angular_velocity_frd {} - Angular velocity.\nMagneticFieldFrd magnetic_field_frd {} - Magnetic field.\nfloat temperature_degc {float(NAN)} - Temperature.\nuint64_t timestamp_us {} - Timestamp in microseconds.\nField Documentation\nacceleration_frd \nAccelerationFrd mavsdk::Telemetry::Imu::acceleration_frd {}\n\nAcceleration.\nangular_velocity_frd \nAngularVelocityFrd mavsdk::Telemetry::Imu::angular_velocity_frd {}\n\nAngular velocity.\nmagnetic_field_frd \nMagneticFieldFrd mavsdk::Telemetry::Imu::magnetic_field_frd {}\n\nMagnetic field.\ntemperature_degc \nfloat mavsdk::Telemetry::Imu::temperature_degc {float(NAN)}\n\nTemperature.\ntimestamp_us \nuint64_t mavsdk::Telemetry::Imu::timestamp_us {}\n\nTimestamp in microseconds.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_magnetic_field_frd.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_magnetic_field_frd.html","title":"struct MagneticFieldFrd","keywords":"","body":"mavsdk::Telemetry::MagneticFieldFrd Struct Reference\n#include: telemetry.h\n\nMagneticFieldFrd message type. \nData Fields\nfloat forward_gauss { float(NAN)} - Magnetic field in forward direction measured in Gauss.\nfloat right_gauss { float(NAN)} - Magnetic field in East direction measured in Gauss.\nfloat down_gauss { float(NAN)} - Magnetic field in Down direction measured in Gauss.\nField Documentation\nforward_gauss \nfloat mavsdk::Telemetry::MagneticFieldFrd::forward_gauss { float(NAN)}\n\nMagnetic field in forward direction measured in Gauss.\nright_gauss \nfloat mavsdk::Telemetry::MagneticFieldFrd::right_gauss { float(NAN)}\n\nMagnetic field in East direction measured in Gauss.\ndown_gauss \nfloat mavsdk::Telemetry::MagneticFieldFrd::down_gauss { float(NAN)}\n\nMagnetic field in Down direction measured in Gauss.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_odometry.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_odometry.html","title":"struct Odometry","keywords":"","body":"mavsdk::Telemetry::Odometry Struct Reference\n#include: telemetry.h\n\nOdometry message type. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum MavFrame\nMavlink frame id.\n\n\n\nData Fields\nuint64_t time_usec {} - Timestamp (0 to use Backend timestamp).\nMavFrame frame_id {} - Coordinate frame of reference for the pose data.\nMavFrame child_frame_id {} - Coordinate frame of reference for the velocity in free space (twist) data.\nPositionBody position_body {} - Position.\nQuaternion q {} - Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).\nVelocityBody velocity_body {} - Linear velocity (m/s).\nAngularVelocityBody angular_velocity_body {} - Angular velocity (rad/s).\nCovariance pose_covariance {} - Pose cross-covariance matrix.\nCovariance velocity_covariance {} - Velocity cross-covariance matrix.\nMember Enumeration Documentation\nenum MavFrame \nMavlink frame id.\n\n\n\nValue\nDescription\n\n\n\n\n Undef\nFrame is undefined.. \n\n\n BodyNed\nSetpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.. \n\n\n VisionNed\nOdometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down).. \n\n\n EstimNed\nOdometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).. \n\n\n\nField Documentation\ntime_usec \nuint64_t mavsdk::Telemetry::Odometry::time_usec {}\n\nTimestamp (0 to use Backend timestamp).\nframe_id \nMavFrame mavsdk::Telemetry::Odometry::frame_id {}\n\nCoordinate frame of reference for the pose data.\nchild_frame_id \nMavFrame mavsdk::Telemetry::Odometry::child_frame_id {}\n\nCoordinate frame of reference for the velocity in free space (twist) data.\nposition_body \nPositionBody mavsdk::Telemetry::Odometry::position_body {}\n\nPosition.\nq \nQuaternion mavsdk::Telemetry::Odometry::q {}\n\nQuaternion components, w, x, y, z (1 0 0 0 is the null-rotation).\nvelocity_body \nVelocityBody mavsdk::Telemetry::Odometry::velocity_body {}\n\nLinear velocity (m/s).\nangular_velocity_body \nAngularVelocityBody mavsdk::Telemetry::Odometry::angular_velocity_body {}\n\nAngular velocity (rad/s).\npose_covariance \nCovariance mavsdk::Telemetry::Odometry::pose_covariance {}\n\nPose cross-covariance matrix.\nvelocity_covariance \nCovariance mavsdk::Telemetry::Odometry::velocity_covariance {}\n\nVelocity cross-covariance matrix.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position.html","title":"struct Position","keywords":"","body":"mavsdk::Telemetry::Position Struct Reference\n#include: telemetry.h\n\nPosition type in global coordinates. \nData Fields\ndouble latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)\ndouble longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to +180)\nfloat absolute_altitude_m { float(NAN)} - Altitude AMSL (above mean sea level) in metres.\nfloat relative_altitude_m { float(NAN)} - Altitude relative to takeoff altitude in metres.\nField Documentation\nlatitude_deg \ndouble mavsdk::Telemetry::Position::latitude_deg {double(NAN)}\n\nLatitude in degrees (range: -90 to +90)\nlongitude_deg \ndouble mavsdk::Telemetry::Position::longitude_deg {double(NAN)}\n\nLongitude in degrees (range: -180 to +180)\nabsolute_altitude_m \nfloat mavsdk::Telemetry::Position::absolute_altitude_m { float(NAN)}\n\nAltitude AMSL (above mean sea level) in metres.\nrelative_altitude_m \nfloat mavsdk::Telemetry::Position::relative_altitude_m { float(NAN)}\n\nAltitude relative to takeoff altitude in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_body.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_body.html","title":"struct PositionBody","keywords":"","body":"mavsdk::Telemetry::PositionBody Struct Reference\n#include: telemetry.h\n\nPosition type, represented in the Body (X Y Z) frame. \nData Fields\nfloat x_m {} - X Position in metres.\nfloat y_m {} - Y Position in metres.\nfloat z_m {} - Z Position in metres.\nField Documentation\nx_m \nfloat mavsdk::Telemetry::PositionBody::x_m {}\n\nX Position in metres.\ny_m \nfloat mavsdk::Telemetry::PositionBody::y_m {}\n\nY Position in metres.\nz_m \nfloat mavsdk::Telemetry::PositionBody::z_m {}\n\nZ Position in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_ned.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_ned.html","title":"struct PositionNed","keywords":"","body":"mavsdk::Telemetry::PositionNed Struct Reference\n#include: telemetry.h\n\nPositionNed message type. \nData Fields\nfloat north_m {float(NAN)} - Position along north direction in metres.\nfloat east_m {float(NAN)} - Position along east direction in metres.\nfloat down_m {float(NAN)} - Position along down direction in metres.\nField Documentation\nnorth_m \nfloat mavsdk::Telemetry::PositionNed::north_m {float(NAN)}\n\nPosition along north direction in metres.\neast_m \nfloat mavsdk::Telemetry::PositionNed::east_m {float(NAN)}\n\nPosition along east direction in metres.\ndown_m \nfloat mavsdk::Telemetry::PositionNed::down_m {float(NAN)}\n\nPosition along down direction in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_ned.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_ned.html","title":"struct VelocityNed","keywords":"","body":"mavsdk::Telemetry::VelocityNed Struct Reference\n#include: telemetry.h\n\nVelocityNed message type. \nData Fields\nfloat north_m_s {} - Velocity along north direction in metres per second.\nfloat east_m_s {} - Velocity along east direction in metres per second.\nfloat down_m_s {} - Velocity along down direction in metres per second.\nField Documentation\nnorth_m_s \nfloat mavsdk::Telemetry::VelocityNed::north_m_s {}\n\nVelocity along north direction in metres per second.\neast_m_s \nfloat mavsdk::Telemetry::VelocityNed::east_m_s {}\n\nVelocity along east direction in metres per second.\ndown_m_s \nfloat mavsdk::Telemetry::VelocityNed::down_m_s {}\n\nVelocity along down direction in metres per second.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_body.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_body.html","title":"struct VelocityBody","keywords":"","body":"mavsdk::Telemetry::VelocityBody Struct Reference\n#include: telemetry.h\n\nVelocity type, represented in the Body (X Y Z) frame and in metres/second. \nData Fields\nfloat x_m_s {} - Velocity in X in metres/second.\nfloat y_m_s {} - Velocity in Y in metres/second.\nfloat z_m_s {} - Velocity in Z in metres/second.\nField Documentation\nx_m_s \nfloat mavsdk::Telemetry::VelocityBody::x_m_s {}\n\nVelocity in X in metres/second.\ny_m_s \nfloat mavsdk::Telemetry::VelocityBody::y_m_s {}\n\nVelocity in Y in metres/second.\nz_m_s \nfloat mavsdk::Telemetry::VelocityBody::z_m_s {}\n\nVelocity in Z in metres/second.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_velocity_ned.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_velocity_ned.html","title":"struct PositionVelocityNed","keywords":"","body":"mavsdk::Telemetry::PositionVelocityNed Struct Reference\n#include: telemetry.h\n\nPositionVelocityNed message type. \nData Fields\nPositionNed position {} - Position (NED)\nVelocityNed velocity {} - Velocity (NED)\nField Documentation\nposition \nPositionNed mavsdk::Telemetry::PositionVelocityNed::position {}\n\nPosition (NED)\nvelocity \nVelocityNed mavsdk::Telemetry::PositionVelocityNed::velocity {}\n\nVelocity (NED)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_quaternion.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_quaternion.html","title":"struct Quaternion","keywords":"","body":"mavsdk::Telemetry::Quaternion Struct Reference\n#include: telemetry.h\n\nQuaternion type. \nAll rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.\nFor more info see: https://en.wikipedia.org/wiki/Quaternion \nData Fields\nfloat w {float(NAN)} - Quaternion entry 0, also denoted as a.\nfloat x {float(NAN)} - Quaternion entry 1, also denoted as b.\nfloat y {float(NAN)} - Quaternion entry 2, also denoted as c.\nfloat z {float(NAN)} - Quaternion entry 3, also denoted as d.\nuint64_t timestamp_us {} - Timestamp in microseconds.\nField Documentation\nw \nfloat mavsdk::Telemetry::Quaternion::w {float(NAN)}\n\nQuaternion entry 0, also denoted as a.\nx \nfloat mavsdk::Telemetry::Quaternion::x {float(NAN)}\n\nQuaternion entry 1, also denoted as b.\ny \nfloat mavsdk::Telemetry::Quaternion::y {float(NAN)}\n\nQuaternion entry 2, also denoted as c.\nz \nfloat mavsdk::Telemetry::Quaternion::z {float(NAN)}\n\nQuaternion entry 3, also denoted as d.\ntimestamp_us \nuint64_t mavsdk::Telemetry::Quaternion::timestamp_us {}\n\nTimestamp in microseconds.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_raw_gps.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_raw_gps.html","title":"struct RawGps","keywords":"","body":"mavsdk::Telemetry::RawGps Struct Reference\n#include: telemetry.h\n\nRaw GPS information type. \nWarning: this is an advanced type! If you want the location of the drone, use the position instead. This message exposes the raw values of the GNSS sensor. \nData Fields\nuint64_t timestamp_us {} - Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)\ndouble latitude_deg {} - Latitude in degrees (WGS84, EGM96 ellipsoid)\ndouble longitude_deg {} - Longitude in degrees (WGS84, EGM96 ellipsoid)\nfloat absolute_altitude_m {} - Altitude AMSL (above mean sea level) in metres.\nfloat hdop {} - GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.\nfloat vdop {} - GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.\nfloat velocity_m_s {} - Ground velocity in metres per second.\nfloat cog_deg {} - Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.\nfloat altitude_ellipsoid_m {} - Altitude in metres (above WGS84, EGM96 ellipsoid)\nfloat horizontal_uncertainty_m {} - Position uncertainty in metres.\nfloat vertical_uncertainty_m {} - Altitude uncertainty in metres.\nfloat velocity_uncertainty_m_s {} - Velocity uncertainty in metres per second.\nfloat heading_uncertainty_deg {} - Heading uncertainty in degrees.\nfloat yaw_deg {} - Yaw in earth frame from north.\nField Documentation\ntimestamp_us \nuint64_t mavsdk::Telemetry::RawGps::timestamp_us {}\n\nTimestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)\nlatitude_deg \ndouble mavsdk::Telemetry::RawGps::latitude_deg {}\n\nLatitude in degrees (WGS84, EGM96 ellipsoid)\nlongitude_deg \ndouble mavsdk::Telemetry::RawGps::longitude_deg {}\n\nLongitude in degrees (WGS84, EGM96 ellipsoid)\nabsolute_altitude_m \nfloat mavsdk::Telemetry::RawGps::absolute_altitude_m {}\n\nAltitude AMSL (above mean sea level) in metres.\nhdop \nfloat mavsdk::Telemetry::RawGps::hdop {}\n\nGPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.\nvdop \nfloat mavsdk::Telemetry::RawGps::vdop {}\n\nGPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.\nvelocity_m_s \nfloat mavsdk::Telemetry::RawGps::velocity_m_s {}\n\nGround velocity in metres per second.\ncog_deg \nfloat mavsdk::Telemetry::RawGps::cog_deg {}\n\nCourse over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.\naltitude_ellipsoid_m \nfloat mavsdk::Telemetry::RawGps::altitude_ellipsoid_m {}\n\nAltitude in metres (above WGS84, EGM96 ellipsoid)\nhorizontal_uncertainty_m \nfloat mavsdk::Telemetry::RawGps::horizontal_uncertainty_m {}\n\nPosition uncertainty in metres.\nvertical_uncertainty_m \nfloat mavsdk::Telemetry::RawGps::vertical_uncertainty_m {}\n\nAltitude uncertainty in metres.\nvelocity_uncertainty_m_s \nfloat mavsdk::Telemetry::RawGps::velocity_uncertainty_m_s {}\n\nVelocity uncertainty in metres per second.\nheading_uncertainty_deg \nfloat mavsdk::Telemetry::RawGps::heading_uncertainty_deg {}\n\nHeading uncertainty in degrees.\nyaw_deg \nfloat mavsdk::Telemetry::RawGps::yaw_deg {}\n\nYaw in earth frame from north.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_rc_status.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_rc_status.html","title":"struct RcStatus","keywords":"","body":"mavsdk::Telemetry::RcStatus Struct Reference\n#include: telemetry.h\n\nRemote control status type. \nData Fields\nbool was_available_once {false} - True if an RC signal has been available once.\nbool is_available {false} - True if the RC signal is available now.\nfloat signal_strength_percent { float(NAN)} - Signal strength (range: 0 to 100, NaN if unknown)\nField Documentation\nwas_available_once \nbool mavsdk::Telemetry::RcStatus::was_available_once {false}\n\nTrue if an RC signal has been available once.\nis_available \nbool mavsdk::Telemetry::RcStatus::is_available {false}\n\nTrue if the RC signal is available now.\nsignal_strength_percent \nfloat mavsdk::Telemetry::RcStatus::signal_strength_percent { float(NAN)}\n\nSignal strength (range: 0 to 100, NaN if unknown)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_scaled_pressure.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_scaled_pressure.html","title":"struct ScaledPressure","keywords":"","body":"mavsdk::Telemetry::ScaledPressure Struct Reference\n#include: telemetry.h\n\nScaled Pressure message type. \nData Fields\nuint64_t timestamp_us {} - Timestamp (time since system boot)\nfloat absolute_pressure_hpa {} - Absolute pressure in hPa.\nfloat differential_pressure_hpa {} - Differential pressure 1 in hPa.\nfloat temperature_deg {} - Absolute pressure temperature (in celsius)\nfloat differential_pressure_temperature_deg {} - Differential pressure temperature (in celsius, 0 if not available)\nField Documentation\ntimestamp_us \nuint64_t mavsdk::Telemetry::ScaledPressure::timestamp_us {}\n\nTimestamp (time since system boot)\nabsolute_pressure_hpa \nfloat mavsdk::Telemetry::ScaledPressure::absolute_pressure_hpa {}\n\nAbsolute pressure in hPa.\ndifferential_pressure_hpa \nfloat mavsdk::Telemetry::ScaledPressure::differential_pressure_hpa {}\n\nDifferential pressure 1 in hPa.\ntemperature_deg \nfloat mavsdk::Telemetry::ScaledPressure::temperature_deg {}\n\nAbsolute pressure temperature (in celsius)\ndifferential_pressure_temperature_deg \nfloat mavsdk::Telemetry::ScaledPressure::differential_pressure_temperature_deg {}\n\nDifferential pressure temperature (in celsius, 0 if not available)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_status_text.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_1_1_status_text.html","title":"struct StatusText","keywords":"","body":"mavsdk::Telemetry::StatusText Struct Reference\n#include: telemetry.h\n\nStatusText information type. \nData Fields\nStatusTextType type {} - Message type.\nstd::string text {} - MAVLink status message.\nField Documentation\ntype \nStatusTextType mavsdk::Telemetry::StatusText::type {}\n\nMessage type.\ntext \nstd::string mavsdk::Telemetry::StatusText::text {}\n\nMAVLink status message.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_telemetry_server.html":{"url":"cpp/api_reference/classmavsdk_1_1_telemetry_server.html","title":"class TelemetryServer","keywords":"","body":"mavsdk::TelemetryServer Class Reference\n#include: telemetry_server.h\n\nAllow users to provide vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates. \nData Structures\nstruct AccelerationFrd\nstruct ActuatorControlTarget\nstruct ActuatorOutputStatus\nstruct AngularVelocityBody\nstruct AngularVelocityFrd\nstruct Battery\nstruct Covariance\nstruct DistanceSensor\nstruct EulerAngle\nstruct FixedwingMetrics\nstruct GpsInfo\nstruct GroundTruth\nstruct Heading\nstruct Imu\nstruct MagneticFieldFrd\nstruct Odometry\nstruct Position\nstruct PositionBody\nstruct PositionNed\nstruct PositionVelocityNed\nstruct Quaternion\nstruct RawGps\nstruct RcStatus\nstruct ScaledPressure\nstruct StatusText\nstruct VelocityBody\nstruct VelocityNed\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum FixType\nGPS fix type.\n\n\nenum VtolState\nMaps to MAV_VTOL_STATE.\n\n\nenum StatusTextType\nStatus types.\n\n\nenum LandedState\nLanded State enumeration.\n\n\nenum Result\nPossible results returned for telemetry requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous TelemetryServer calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nTelemetryServer (std::shared_ptrServerComponent > server_component)\nConstructor. Creates the plugin for a ServerComponent instance.\n\n\n \n~TelemetryServer () override\nDestructor (internal use only).\n\n\n \nTelemetryServer (const TelemetryServer & other)\nCopy constructor.\n\n\nResult\npublish_position (Position position, VelocityNed velocity_ned, Heading heading)const\nPublish to 'position' updates.\n\n\nResult\npublish_home (Position home)const\nPublish to 'home position' updates.\n\n\nResult\npublish_sys_status (Battery battery, bool rc_receiver_status, bool gyro_status, bool accel_status, bool mag_status, bool gps_status)const\nPublish 'sys status' updates.\n\n\nResult\npublish_extended_sys_state (VtolState vtol_state, LandedState landed_state)const\nPublish 'extended sys state' updates.\n\n\nResult\npublish_raw_gps (RawGps raw_gps, GpsInfo gps_info)const\nPublish to 'Raw GPS' updates.\n\n\nResult\npublish_battery (Battery battery)const\nPublish to 'battery' updates.\n\n\nResult\npublish_status_text (StatusText status_text)const\nPublish to 'status text' updates.\n\n\nResult\npublish_odometry (Odometry odometry)const\nPublish to 'odometry' updates.\n\n\nResult\npublish_position_velocity_ned (PositionVelocityNed position_velocity_ned)const\nPublish to 'position velocity' updates.\n\n\nResult\npublish_ground_truth (GroundTruth ground_truth)const\nPublish to 'ground truth' updates.\n\n\nResult\npublish_imu (Imu imu)const\nPublish to 'IMU' updates (in SI units in NED body frame).\n\n\nResult\npublish_scaled_imu (Imu imu)const\nPublish to 'Scaled IMU' updates.\n\n\nResult\npublish_raw_imu (Imu imu)const\nPublish to 'Raw IMU' updates.\n\n\nResult\npublish_unix_epoch_time (uint64_t time_us)const\nPublish to 'unix epoch time' updates.\n\n\nResult\npublish_distance_sensor (DistanceSensor distance_sensor)const\nPublish to \"distance sensor\" updates.\n\n\nconst TelemetryServer &\noperator= (const TelemetryServer &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nTelemetryServer() \nmavsdk::TelemetryServer::TelemetryServer(std::shared_ptr server_component)\n\nConstructor. Creates the plugin for a ServerComponent instance.\nThe plugin is typically created as shown below: \nauto telemetry_server = TelemetryServer(server_component);\n\nParameters\n\nstd::shared_ptrServerComponent > server_component - The ServerComponent instance associated with this server plugin.\n\n~TelemetryServer() \nmavsdk::TelemetryServer::~TelemetryServer() override\n\nDestructor (internal use only).\nTelemetryServer() \nmavsdk::TelemetryServer::TelemetryServer(const TelemetryServer &other)\n\nCopy constructor.\nParameters\n\nconst TelemetryServer& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::TelemetryServer::ResultCallback = std::function\n\nCallback type for asynchronous TelemetryServer calls.\nMember Enumeration Documentation\nenum FixType \nGPS fix type.\n\n\n\nValue\nDescription\n\n\n\n\n NoGps\nNo GPS connected. \n\n\n NoFix\nNo position information, GPS is connected. \n\n\n Fix2D\n2D position. \n\n\n Fix3D\n3D position. \n\n\n FixDgps\nDGPS/SBAS aided 3D position. \n\n\n RtkFloat\nRTK float, 3D position. \n\n\n RtkFixed\nRTK Fixed, 3D position. \n\n\n\nenum VtolState \nMaps to MAV_VTOL_STATE.\n\n\n\nValue\nDescription\n\n\n\n\n Undefined\nNot VTOL. \n\n\n TransitionToFw\nTransitioning to fixed-wing. \n\n\n TransitionToMc\nTransitioning to multi-copter. \n\n\n Mc\nMulti-copter. \n\n\n Fw\nFixed-wing. \n\n\n\nenum StatusTextType \nStatus types.\n\n\n\nValue\nDescription\n\n\n\n\n Debug\nDebug. \n\n\n Info\nInformation. \n\n\n Notice\nNotice. \n\n\n Warning\nWarning. \n\n\n Error\nError. \n\n\n Critical\nCritical. \n\n\n Alert\nAlert. \n\n\n Emergency\nEmergency. \n\n\n\nenum LandedState \nLanded State enumeration.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nLanded state is unknown. \n\n\n OnGround\nThe vehicle is on the ground. \n\n\n InAir\nThe vehicle is in the air. \n\n\n TakingOff\nThe vehicle is taking off. \n\n\n Landing\nThe vehicle is landing. \n\n\n\nenum Result \nPossible results returned for telemetry requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nSuccess: the telemetry command was accepted by the vehicle. \n\n\n NoSystem\nNo system connected. \n\n\n ConnectionError\nConnection error. \n\n\n Busy\nVehicle is busy. \n\n\n CommandDenied\nCommand refused by vehicle. \n\n\n Timeout\nRequest timed out. \n\n\n Unsupported\nRequest not supported. \n\n\n\nMember Function Documentation\npublish_position() \nResult mavsdk::TelemetryServer::publish_position(Position position, VelocityNed velocity_ned, Heading heading) const\n\nPublish to 'position' updates.\nThis function is blocking.\nParameters\n\nPosition position - \nVelocityNed velocity_ned - \nHeading heading - \n\nReturns\n Result - Result of request.\npublish_home() \nResult mavsdk::TelemetryServer::publish_home(Position home) const\n\nPublish to 'home position' updates.\nThis function is blocking.\nParameters\n\nPosition home - \n\nReturns\n Result - Result of request.\npublish_sys_status() \nResult mavsdk::TelemetryServer::publish_sys_status(Battery battery, bool rc_receiver_status, bool gyro_status, bool accel_status, bool mag_status, bool gps_status) const\n\nPublish 'sys status' updates.\nThis function is blocking.\nParameters\n\nBattery battery - \nbool rc_receiver_status - \nbool gyro_status - \nbool accel_status - \nbool mag_status - \nbool gps_status - \n\nReturns\n Result - Result of request.\npublish_extended_sys_state() \nResult mavsdk::TelemetryServer::publish_extended_sys_state(VtolState vtol_state, LandedState landed_state) const\n\nPublish 'extended sys state' updates.\nThis function is blocking.\nParameters\n\nVtolState vtol_state - \nLandedState landed_state - \n\nReturns\n Result - Result of request.\npublish_raw_gps() \nResult mavsdk::TelemetryServer::publish_raw_gps(RawGps raw_gps, GpsInfo gps_info) const\n\nPublish to 'Raw GPS' updates.\nThis function is blocking.\nParameters\n\nRawGps raw_gps - \nGpsInfo gps_info - \n\nReturns\n Result - Result of request.\npublish_battery() \nResult mavsdk::TelemetryServer::publish_battery(Battery battery) const\n\nPublish to 'battery' updates.\nThis function is blocking.\nParameters\n\nBattery battery - \n\nReturns\n Result - Result of request.\npublish_status_text() \nResult mavsdk::TelemetryServer::publish_status_text(StatusText status_text) const\n\nPublish to 'status text' updates.\nThis function is blocking.\nParameters\n\nStatusText status_text - \n\nReturns\n Result - Result of request.\npublish_odometry() \nResult mavsdk::TelemetryServer::publish_odometry(Odometry odometry) const\n\nPublish to 'odometry' updates.\nThis function is blocking.\nParameters\n\nOdometry odometry - \n\nReturns\n Result - Result of request.\npublish_position_velocity_ned() \nResult mavsdk::TelemetryServer::publish_position_velocity_ned(PositionVelocityNed position_velocity_ned) const\n\nPublish to 'position velocity' updates.\nThis function is blocking.\nParameters\n\nPositionVelocityNed position_velocity_ned - \n\nReturns\n Result - Result of request.\npublish_ground_truth() \nResult mavsdk::TelemetryServer::publish_ground_truth(GroundTruth ground_truth) const\n\nPublish to 'ground truth' updates.\nThis function is blocking.\nParameters\n\nGroundTruth ground_truth - \n\nReturns\n Result - Result of request.\npublish_imu() \nResult mavsdk::TelemetryServer::publish_imu(Imu imu) const\n\nPublish to 'IMU' updates (in SI units in NED body frame).\nThis function is blocking.\nParameters\n\nImu imu - \n\nReturns\n Result - Result of request.\npublish_scaled_imu() \nResult mavsdk::TelemetryServer::publish_scaled_imu(Imu imu) const\n\nPublish to 'Scaled IMU' updates.\nThis function is blocking.\nParameters\n\nImu imu - \n\nReturns\n Result - Result of request.\npublish_raw_imu() \nResult mavsdk::TelemetryServer::publish_raw_imu(Imu imu) const\n\nPublish to 'Raw IMU' updates.\nThis function is blocking.\nParameters\n\nImu imu - \n\nReturns\n Result - Result of request.\npublish_unix_epoch_time() \nResult mavsdk::TelemetryServer::publish_unix_epoch_time(uint64_t time_us) const\n\nPublish to 'unix epoch time' updates.\nThis function is blocking.\nParameters\n\nuint64_t time_us - \n\nReturns\n Result - Result of request.\npublish_distance_sensor() \nResult mavsdk::TelemetryServer::publish_distance_sensor(DistanceSensor distance_sensor) const\n\nPublish to \"distance sensor\" updates.\nThis function is blocking.\nParameters\n\nDistanceSensor distance_sensor - \n\nReturns\n Result - Result of request.\noperator=() \nconst TelemetryServer& mavsdk::TelemetryServer::operator=(const TelemetryServer &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst TelemetryServer& - \n\nReturns\n const TelemetryServer & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_acceleration_frd.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_acceleration_frd.html","title":"struct AccelerationFrd","keywords":"","body":"mavsdk::TelemetryServer::AccelerationFrd Struct Reference\n#include: telemetry_server.h\n\nAccelerationFrd message type. \nData Fields\nfloat forward_m_s2 { float(NAN)} - Acceleration in forward direction in metres per second^2.\nfloat right_m_s2 { float(NAN)} - Acceleration in right direction in metres per second^2.\nfloat down_m_s2 { float(NAN)} - Acceleration in down direction in metres per second^2.\nField Documentation\nforward_m_s2 \nfloat mavsdk::TelemetryServer::AccelerationFrd::forward_m_s2 { float(NAN)}\n\nAcceleration in forward direction in metres per second^2.\nright_m_s2 \nfloat mavsdk::TelemetryServer::AccelerationFrd::right_m_s2 { float(NAN)}\n\nAcceleration in right direction in metres per second^2.\ndown_m_s2 \nfloat mavsdk::TelemetryServer::AccelerationFrd::down_m_s2 { float(NAN)}\n\nAcceleration in down direction in metres per second^2.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_control_target.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_control_target.html","title":"struct ActuatorControlTarget","keywords":"","body":"mavsdk::TelemetryServer::ActuatorControlTarget Struct Reference\n#include: telemetry_server.h\n\nActuator control target type. \nData Fields\nint32_t group {0} - An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.\nstd::vector controls {} - Controls normed from -1 to 1, where 0 is neutral position.\nField Documentation\ngroup \nint32_t mavsdk::TelemetryServer::ActuatorControlTarget::group {0}\n\nAn actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.\ncontrols \nstd::vector mavsdk::TelemetryServer::ActuatorControlTarget::controls {}\n\nControls normed from -1 to 1, where 0 is neutral position.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_output_status.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_output_status.html","title":"struct ActuatorOutputStatus","keywords":"","body":"mavsdk::TelemetryServer::ActuatorOutputStatus Struct Reference\n#include: telemetry_server.h\n\nActuator output status type. \nData Fields\nuint32_t active {0} - Active outputs.\nstd::vector actuator {} - Servo/motor output values.\nField Documentation\nactive \nuint32_t mavsdk::TelemetryServer::ActuatorOutputStatus::active {0}\n\nActive outputs.\nactuator \nstd::vector mavsdk::TelemetryServer::ActuatorOutputStatus::actuator {}\n\nServo/motor output values.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body.html","title":"struct AngularVelocityBody","keywords":"","body":"mavsdk::TelemetryServer::AngularVelocityBody Struct Reference\n#include: telemetry_server.h\n\nAngular velocity type. \nData Fields\nfloat roll_rad_s {float(NAN)} - Roll angular velocity.\nfloat pitch_rad_s {float(NAN)} - Pitch angular velocity.\nfloat yaw_rad_s {float(NAN)} - Yaw angular velocity.\nField Documentation\nroll_rad_s \nfloat mavsdk::TelemetryServer::AngularVelocityBody::roll_rad_s {float(NAN)}\n\nRoll angular velocity.\npitch_rad_s \nfloat mavsdk::TelemetryServer::AngularVelocityBody::pitch_rad_s {float(NAN)}\n\nPitch angular velocity.\nyaw_rad_s \nfloat mavsdk::TelemetryServer::AngularVelocityBody::yaw_rad_s {float(NAN)}\n\nYaw angular velocity.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd.html","title":"struct AngularVelocityFrd","keywords":"","body":"mavsdk::TelemetryServer::AngularVelocityFrd Struct Reference\n#include: telemetry_server.h\n\nAngularVelocityFrd message type. \nData Fields\nfloat forward_rad_s { float(NAN)} - Angular velocity in forward direction in radians per second.\nfloat right_rad_s { float(NAN)} - Angular velocity in right direction in radians per second.\nfloat down_rad_s { float(NAN)} - Angular velocity in Down direction in radians per second.\nField Documentation\nforward_rad_s \nfloat mavsdk::TelemetryServer::AngularVelocityFrd::forward_rad_s { float(NAN)}\n\nAngular velocity in forward direction in radians per second.\nright_rad_s \nfloat mavsdk::TelemetryServer::AngularVelocityFrd::right_rad_s { float(NAN)}\n\nAngular velocity in right direction in radians per second.\ndown_rad_s \nfloat mavsdk::TelemetryServer::AngularVelocityFrd::down_rad_s { float(NAN)}\n\nAngular velocity in Down direction in radians per second.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_battery.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_battery.html","title":"struct Battery","keywords":"","body":"mavsdk::TelemetryServer::Battery Struct Reference\n#include: telemetry_server.h\n\nBattery type. \nData Fields\nfloat voltage_v {float(NAN)} - Voltage in volts.\nfloat remaining_percent { float(NAN)} - Estimated battery remaining (range: 0.0 to 1.0)\nField Documentation\nvoltage_v \nfloat mavsdk::TelemetryServer::Battery::voltage_v {float(NAN)}\n\nVoltage in volts.\nremaining_percent \nfloat mavsdk::TelemetryServer::Battery::remaining_percent { float(NAN)}\n\nEstimated battery remaining (range: 0.0 to 1.0)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_covariance.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_covariance.html","title":"struct Covariance","keywords":"","body":"mavsdk::TelemetryServer::Covariance Struct Reference\n#include: telemetry_server.h\n\nCovariance type. \nRow-major representation of a 6x6 cross-covariance matrix upper right triangle. Set first to NaN if unknown. \nData Fields\nstd::vector covariance_matrix {} - Representation of a covariance matrix.\nField Documentation\ncovariance_matrix \nstd::vector mavsdk::TelemetryServer::Covariance::covariance_matrix {}\n\nRepresentation of a covariance matrix.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_distance_sensor.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_distance_sensor.html","title":"struct DistanceSensor","keywords":"","body":"mavsdk::TelemetryServer::DistanceSensor Struct Reference\n#include: telemetry_server.h\n\nDistanceSensor message type. \nData Fields\nfloat minimum_distance_m { float(NAN)} - Minimum distance the sensor can measure, NaN if unknown.\nfloat maximum_distance_m { float(NAN)} - Maximum distance the sensor can measure, NaN if unknown.\nfloat current_distance_m { float(NAN)} - Current distance reading, NaN if unknown.\nField Documentation\nminimum_distance_m \nfloat mavsdk::TelemetryServer::DistanceSensor::minimum_distance_m { float(NAN)}\n\nMinimum distance the sensor can measure, NaN if unknown.\nmaximum_distance_m \nfloat mavsdk::TelemetryServer::DistanceSensor::maximum_distance_m { float(NAN)}\n\nMaximum distance the sensor can measure, NaN if unknown.\ncurrent_distance_m \nfloat mavsdk::TelemetryServer::DistanceSensor::current_distance_m { float(NAN)}\n\nCurrent distance reading, NaN if unknown.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_euler_angle.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_euler_angle.html","title":"struct EulerAngle","keywords":"","body":"mavsdk::TelemetryServer::EulerAngle Struct Reference\n#include: telemetry_server.h\n\nEuler angle type. \nAll rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.\nFor more info see https://en.wikipedia.org/wiki/Euler_angles \nData Fields\nfloat roll_deg { float(NAN)} - Roll angle in degrees, positive is banking to the right.\nfloat pitch_deg { float(NAN)} - Pitch angle in degrees, positive is pitching nose up.\nfloat yaw_deg { float(NAN)} - Yaw angle in degrees, positive is clock-wise seen from above.\nuint64_t timestamp_us {} - Timestamp in microseconds.\nField Documentation\nroll_deg \nfloat mavsdk::TelemetryServer::EulerAngle::roll_deg { float(NAN)}\n\nRoll angle in degrees, positive is banking to the right.\npitch_deg \nfloat mavsdk::TelemetryServer::EulerAngle::pitch_deg { float(NAN)}\n\nPitch angle in degrees, positive is pitching nose up.\nyaw_deg \nfloat mavsdk::TelemetryServer::EulerAngle::yaw_deg { float(NAN)}\n\nYaw angle in degrees, positive is clock-wise seen from above.\ntimestamp_us \nuint64_t mavsdk::TelemetryServer::EulerAngle::timestamp_us {}\n\nTimestamp in microseconds.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics.html","title":"struct FixedwingMetrics","keywords":"","body":"mavsdk::TelemetryServer::FixedwingMetrics Struct Reference\n#include: telemetry_server.h\n\nFixedwingMetrics message type. \nData Fields\nfloat airspeed_m_s { float(NAN)} - Current indicated airspeed (IAS) in metres per second.\nfloat throttle_percentage {float(NAN)} - Current throttle setting (0 to 100)\nfloat climb_rate_m_s {float(NAN)} - Current climb rate in metres per second.\nField Documentation\nairspeed_m_s \nfloat mavsdk::TelemetryServer::FixedwingMetrics::airspeed_m_s { float(NAN)}\n\nCurrent indicated airspeed (IAS) in metres per second.\nthrottle_percentage \nfloat mavsdk::TelemetryServer::FixedwingMetrics::throttle_percentage {float(NAN)}\n\nCurrent throttle setting (0 to 100)\nclimb_rate_m_s \nfloat mavsdk::TelemetryServer::FixedwingMetrics::climb_rate_m_s {float(NAN)}\n\nCurrent climb rate in metres per second.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_gps_info.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_gps_info.html","title":"struct GpsInfo","keywords":"","body":"mavsdk::TelemetryServer::GpsInfo Struct Reference\n#include: telemetry_server.h\n\nGPS information type. \nData Fields\nint32_t num_satellites {0} - Number of visible satellites in use.\nFixType fix_type {} - Fix type.\nField Documentation\nnum_satellites \nint32_t mavsdk::TelemetryServer::GpsInfo::num_satellites {0}\n\nNumber of visible satellites in use.\nfix_type \nFixType mavsdk::TelemetryServer::GpsInfo::fix_type {}\n\nFix type.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_ground_truth.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_ground_truth.html","title":"struct GroundTruth","keywords":"","body":"mavsdk::TelemetryServer::GroundTruth Struct Reference\n#include: telemetry_server.h\n\nGroundTruth message type. \nData Fields\ndouble latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)\ndouble longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to 180)\nfloat absolute_altitude_m { float(NAN)} - Altitude AMSL (above mean sea level) in metres.\nField Documentation\nlatitude_deg \ndouble mavsdk::TelemetryServer::GroundTruth::latitude_deg {double(NAN)}\n\nLatitude in degrees (range: -90 to +90)\nlongitude_deg \ndouble mavsdk::TelemetryServer::GroundTruth::longitude_deg {double(NAN)}\n\nLongitude in degrees (range: -180 to 180)\nabsolute_altitude_m \nfloat mavsdk::TelemetryServer::GroundTruth::absolute_altitude_m { float(NAN)}\n\nAltitude AMSL (above mean sea level) in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_heading.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_heading.html","title":"struct Heading","keywords":"","body":"mavsdk::TelemetryServer::Heading Struct Reference\n#include: telemetry_server.h\n\nHeading type used for global position. \nData Fields\ndouble heading_deg {double(NAN)} - Heading in degrees (range: 0 to +360)\nField Documentation\nheading_deg \ndouble mavsdk::TelemetryServer::Heading::heading_deg {double(NAN)}\n\nHeading in degrees (range: 0 to +360)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_imu.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_imu.html","title":"struct Imu","keywords":"","body":"mavsdk::TelemetryServer::Imu Struct Reference\n#include: telemetry_server.h\n\nImu message type. \nData Fields\nAccelerationFrd acceleration_frd {} - Acceleration.\nAngularVelocityFrd angular_velocity_frd {} - Angular velocity.\nMagneticFieldFrd magnetic_field_frd {} - Magnetic field.\nfloat temperature_degc {float(NAN)} - Temperature.\nuint64_t timestamp_us {} - Timestamp in microseconds.\nField Documentation\nacceleration_frd \nAccelerationFrd mavsdk::TelemetryServer::Imu::acceleration_frd {}\n\nAcceleration.\nangular_velocity_frd \nAngularVelocityFrd mavsdk::TelemetryServer::Imu::angular_velocity_frd {}\n\nAngular velocity.\nmagnetic_field_frd \nMagneticFieldFrd mavsdk::TelemetryServer::Imu::magnetic_field_frd {}\n\nMagnetic field.\ntemperature_degc \nfloat mavsdk::TelemetryServer::Imu::temperature_degc {float(NAN)}\n\nTemperature.\ntimestamp_us \nuint64_t mavsdk::TelemetryServer::Imu::timestamp_us {}\n\nTimestamp in microseconds.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd.html","title":"struct MagneticFieldFrd","keywords":"","body":"mavsdk::TelemetryServer::MagneticFieldFrd Struct Reference\n#include: telemetry_server.h\n\nMagneticFieldFrd message type. \nData Fields\nfloat forward_gauss { float(NAN)} - Magnetic field in forward direction measured in Gauss.\nfloat right_gauss { float(NAN)} - Magnetic field in East direction measured in Gauss.\nfloat down_gauss { float(NAN)} - Magnetic field in Down direction measured in Gauss.\nField Documentation\nforward_gauss \nfloat mavsdk::TelemetryServer::MagneticFieldFrd::forward_gauss { float(NAN)}\n\nMagnetic field in forward direction measured in Gauss.\nright_gauss \nfloat mavsdk::TelemetryServer::MagneticFieldFrd::right_gauss { float(NAN)}\n\nMagnetic field in East direction measured in Gauss.\ndown_gauss \nfloat mavsdk::TelemetryServer::MagneticFieldFrd::down_gauss { float(NAN)}\n\nMagnetic field in Down direction measured in Gauss.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_odometry.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_odometry.html","title":"struct Odometry","keywords":"","body":"mavsdk::TelemetryServer::Odometry Struct Reference\n#include: telemetry_server.h\n\nOdometry message type. \nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum MavFrame\nMavlink frame id.\n\n\n\nData Fields\nuint64_t time_usec {} - Timestamp (0 to use Backend timestamp).\nMavFrame frame_id {} - Coordinate frame of reference for the pose data.\nMavFrame child_frame_id {} - Coordinate frame of reference for the velocity in free space (twist) data.\nPositionBody position_body {} - Position.\nQuaternion q {} - Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).\nVelocityBody velocity_body {} - Linear velocity (m/s).\nAngularVelocityBody angular_velocity_body {} - Angular velocity (rad/s).\nCovariance pose_covariance {} - Pose cross-covariance matrix.\nCovariance velocity_covariance {} - Velocity cross-covariance matrix.\nMember Enumeration Documentation\nenum MavFrame \nMavlink frame id.\n\n\n\nValue\nDescription\n\n\n\n\n Undef\nFrame is undefined.. \n\n\n BodyNed\nSetpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.. \n\n\n VisionNed\nOdometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down).. \n\n\n EstimNed\nOdometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).. \n\n\n\nField Documentation\ntime_usec \nuint64_t mavsdk::TelemetryServer::Odometry::time_usec {}\n\nTimestamp (0 to use Backend timestamp).\nframe_id \nMavFrame mavsdk::TelemetryServer::Odometry::frame_id {}\n\nCoordinate frame of reference for the pose data.\nchild_frame_id \nMavFrame mavsdk::TelemetryServer::Odometry::child_frame_id {}\n\nCoordinate frame of reference for the velocity in free space (twist) data.\nposition_body \nPositionBody mavsdk::TelemetryServer::Odometry::position_body {}\n\nPosition.\nq \nQuaternion mavsdk::TelemetryServer::Odometry::q {}\n\nQuaternion components, w, x, y, z (1 0 0 0 is the null-rotation).\nvelocity_body \nVelocityBody mavsdk::TelemetryServer::Odometry::velocity_body {}\n\nLinear velocity (m/s).\nangular_velocity_body \nAngularVelocityBody mavsdk::TelemetryServer::Odometry::angular_velocity_body {}\n\nAngular velocity (rad/s).\npose_covariance \nCovariance mavsdk::TelemetryServer::Odometry::pose_covariance {}\n\nPose cross-covariance matrix.\nvelocity_covariance \nCovariance mavsdk::TelemetryServer::Odometry::velocity_covariance {}\n\nVelocity cross-covariance matrix.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position.html","title":"struct Position","keywords":"","body":"mavsdk::TelemetryServer::Position Struct Reference\n#include: telemetry_server.h\n\nPosition type in global coordinates. \nData Fields\ndouble latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)\ndouble longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to +180)\nfloat absolute_altitude_m { float(NAN)} - Altitude AMSL (above mean sea level) in metres.\nfloat relative_altitude_m { float(NAN)} - Altitude relative to takeoff altitude in metres.\nField Documentation\nlatitude_deg \ndouble mavsdk::TelemetryServer::Position::latitude_deg {double(NAN)}\n\nLatitude in degrees (range: -90 to +90)\nlongitude_deg \ndouble mavsdk::TelemetryServer::Position::longitude_deg {double(NAN)}\n\nLongitude in degrees (range: -180 to +180)\nabsolute_altitude_m \nfloat mavsdk::TelemetryServer::Position::absolute_altitude_m { float(NAN)}\n\nAltitude AMSL (above mean sea level) in metres.\nrelative_altitude_m \nfloat mavsdk::TelemetryServer::Position::relative_altitude_m { float(NAN)}\n\nAltitude relative to takeoff altitude in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_body.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_body.html","title":"struct PositionBody","keywords":"","body":"mavsdk::TelemetryServer::PositionBody Struct Reference\n#include: telemetry_server.h\n\nPosition type, represented in the Body (X Y Z) frame. \nData Fields\nfloat x_m {} - X Position in metres.\nfloat y_m {} - Y Position in metres.\nfloat z_m {} - Z Position in metres.\nField Documentation\nx_m \nfloat mavsdk::TelemetryServer::PositionBody::x_m {}\n\nX Position in metres.\ny_m \nfloat mavsdk::TelemetryServer::PositionBody::y_m {}\n\nY Position in metres.\nz_m \nfloat mavsdk::TelemetryServer::PositionBody::z_m {}\n\nZ Position in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_ned.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_ned.html","title":"struct PositionNed","keywords":"","body":"mavsdk::TelemetryServer::PositionNed Struct Reference\n#include: telemetry_server.h\n\nPositionNed message type. \nData Fields\nfloat north_m {float(NAN)} - Position along north direction in metres.\nfloat east_m {float(NAN)} - Position along east direction in metres.\nfloat down_m {float(NAN)} - Position along down direction in metres.\nField Documentation\nnorth_m \nfloat mavsdk::TelemetryServer::PositionNed::north_m {float(NAN)}\n\nPosition along north direction in metres.\neast_m \nfloat mavsdk::TelemetryServer::PositionNed::east_m {float(NAN)}\n\nPosition along east direction in metres.\ndown_m \nfloat mavsdk::TelemetryServer::PositionNed::down_m {float(NAN)}\n\nPosition along down direction in metres.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned.html","title":"struct PositionVelocityNed","keywords":"","body":"mavsdk::TelemetryServer::PositionVelocityNed Struct Reference\n#include: telemetry_server.h\n\nPositionVelocityNed message type. \nData Fields\nPositionNed position {} - Position (NED)\nVelocityNed velocity {} - Velocity (NED)\nField Documentation\nposition \nPositionNed mavsdk::TelemetryServer::PositionVelocityNed::position {}\n\nPosition (NED)\nvelocity \nVelocityNed mavsdk::TelemetryServer::PositionVelocityNed::velocity {}\n\nVelocity (NED)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_quaternion.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_quaternion.html","title":"struct Quaternion","keywords":"","body":"mavsdk::TelemetryServer::Quaternion Struct Reference\n#include: telemetry_server.h\n\nQuaternion type. \nAll rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.\nFor more info see: https://en.wikipedia.org/wiki/Quaternion \nData Fields\nfloat w {float(NAN)} - Quaternion entry 0, also denoted as a.\nfloat x {float(NAN)} - Quaternion entry 1, also denoted as b.\nfloat y {float(NAN)} - Quaternion entry 2, also denoted as c.\nfloat z {float(NAN)} - Quaternion entry 3, also denoted as d.\nuint64_t timestamp_us {} - Timestamp in microseconds.\nField Documentation\nw \nfloat mavsdk::TelemetryServer::Quaternion::w {float(NAN)}\n\nQuaternion entry 0, also denoted as a.\nx \nfloat mavsdk::TelemetryServer::Quaternion::x {float(NAN)}\n\nQuaternion entry 1, also denoted as b.\ny \nfloat mavsdk::TelemetryServer::Quaternion::y {float(NAN)}\n\nQuaternion entry 2, also denoted as c.\nz \nfloat mavsdk::TelemetryServer::Quaternion::z {float(NAN)}\n\nQuaternion entry 3, also denoted as d.\ntimestamp_us \nuint64_t mavsdk::TelemetryServer::Quaternion::timestamp_us {}\n\nTimestamp in microseconds.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_raw_gps.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_raw_gps.html","title":"struct RawGps","keywords":"","body":"mavsdk::TelemetryServer::RawGps Struct Reference\n#include: telemetry_server.h\n\nRaw GPS information type. \nWarning: this is an advanced type! If you want the location of the drone, use the position instead. This message exposes the raw values of the GNSS sensor. \nData Fields\nuint64_t timestamp_us {} - Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)\ndouble latitude_deg {} - Latitude in degrees (WGS84, EGM96 ellipsoid)\ndouble longitude_deg {} - Longitude in degrees (WGS84, EGM96 ellipsoid)\nfloat absolute_altitude_m {} - Altitude AMSL (above mean sea level) in metres.\nfloat hdop {} - GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.\nfloat vdop {} - GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.\nfloat velocity_m_s {} - Ground velocity in metres per second.\nfloat cog_deg {} - Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.\nfloat altitude_ellipsoid_m {} - Altitude in metres (above WGS84, EGM96 ellipsoid)\nfloat horizontal_uncertainty_m {} - Position uncertainty in metres.\nfloat vertical_uncertainty_m {} - Altitude uncertainty in metres.\nfloat velocity_uncertainty_m_s {} - Velocity uncertainty in metres per second.\nfloat heading_uncertainty_deg {} - Heading uncertainty in degrees.\nfloat yaw_deg {} - Yaw in earth frame from north.\nField Documentation\ntimestamp_us \nuint64_t mavsdk::TelemetryServer::RawGps::timestamp_us {}\n\nTimestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)\nlatitude_deg \ndouble mavsdk::TelemetryServer::RawGps::latitude_deg {}\n\nLatitude in degrees (WGS84, EGM96 ellipsoid)\nlongitude_deg \ndouble mavsdk::TelemetryServer::RawGps::longitude_deg {}\n\nLongitude in degrees (WGS84, EGM96 ellipsoid)\nabsolute_altitude_m \nfloat mavsdk::TelemetryServer::RawGps::absolute_altitude_m {}\n\nAltitude AMSL (above mean sea level) in metres.\nhdop \nfloat mavsdk::TelemetryServer::RawGps::hdop {}\n\nGPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.\nvdop \nfloat mavsdk::TelemetryServer::RawGps::vdop {}\n\nGPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.\nvelocity_m_s \nfloat mavsdk::TelemetryServer::RawGps::velocity_m_s {}\n\nGround velocity in metres per second.\ncog_deg \nfloat mavsdk::TelemetryServer::RawGps::cog_deg {}\n\nCourse over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.\naltitude_ellipsoid_m \nfloat mavsdk::TelemetryServer::RawGps::altitude_ellipsoid_m {}\n\nAltitude in metres (above WGS84, EGM96 ellipsoid)\nhorizontal_uncertainty_m \nfloat mavsdk::TelemetryServer::RawGps::horizontal_uncertainty_m {}\n\nPosition uncertainty in metres.\nvertical_uncertainty_m \nfloat mavsdk::TelemetryServer::RawGps::vertical_uncertainty_m {}\n\nAltitude uncertainty in metres.\nvelocity_uncertainty_m_s \nfloat mavsdk::TelemetryServer::RawGps::velocity_uncertainty_m_s {}\n\nVelocity uncertainty in metres per second.\nheading_uncertainty_deg \nfloat mavsdk::TelemetryServer::RawGps::heading_uncertainty_deg {}\n\nHeading uncertainty in degrees.\nyaw_deg \nfloat mavsdk::TelemetryServer::RawGps::yaw_deg {}\n\nYaw in earth frame from north.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_rc_status.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_rc_status.html","title":"struct RcStatus","keywords":"","body":"mavsdk::TelemetryServer::RcStatus Struct Reference\n#include: telemetry_server.h\n\nRemote control status type. \nData Fields\nbool was_available_once {false} - True if an RC signal has been available once.\nbool is_available {false} - True if the RC signal is available now.\nfloat signal_strength_percent { float(NAN)} - Signal strength (range: 0 to 100, NaN if unknown)\nField Documentation\nwas_available_once \nbool mavsdk::TelemetryServer::RcStatus::was_available_once {false}\n\nTrue if an RC signal has been available once.\nis_available \nbool mavsdk::TelemetryServer::RcStatus::is_available {false}\n\nTrue if the RC signal is available now.\nsignal_strength_percent \nfloat mavsdk::TelemetryServer::RcStatus::signal_strength_percent { float(NAN)}\n\nSignal strength (range: 0 to 100, NaN if unknown)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_scaled_pressure.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_scaled_pressure.html","title":"struct ScaledPressure","keywords":"","body":"mavsdk::TelemetryServer::ScaledPressure Struct Reference\n#include: telemetry_server.h\n\nScaled Pressure message type. \nData Fields\nuint64_t timestamp_us {} - Timestamp (time since system boot)\nfloat absolute_pressure_hpa {} - Absolute pressure in hPa.\nfloat differential_pressure_hpa {} - Differential pressure 1 in hPa.\nfloat temperature_deg {} - Absolute pressure temperature (in celsius)\nfloat differential_pressure_temperature_deg {} - Differential pressure temperature (in celsius, 0 if not available)\nField Documentation\ntimestamp_us \nuint64_t mavsdk::TelemetryServer::ScaledPressure::timestamp_us {}\n\nTimestamp (time since system boot)\nabsolute_pressure_hpa \nfloat mavsdk::TelemetryServer::ScaledPressure::absolute_pressure_hpa {}\n\nAbsolute pressure in hPa.\ndifferential_pressure_hpa \nfloat mavsdk::TelemetryServer::ScaledPressure::differential_pressure_hpa {}\n\nDifferential pressure 1 in hPa.\ntemperature_deg \nfloat mavsdk::TelemetryServer::ScaledPressure::temperature_deg {}\n\nAbsolute pressure temperature (in celsius)\ndifferential_pressure_temperature_deg \nfloat mavsdk::TelemetryServer::ScaledPressure::differential_pressure_temperature_deg {}\n\nDifferential pressure temperature (in celsius, 0 if not available)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_status_text.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_status_text.html","title":"struct StatusText","keywords":"","body":"mavsdk::TelemetryServer::StatusText Struct Reference\n#include: telemetry_server.h\n\nStatusText information type. \nData Fields\nStatusTextType type {} - Message type.\nstd::string text {} - MAVLink status message.\nField Documentation\ntype \nStatusTextType mavsdk::TelemetryServer::StatusText::type {}\n\nMessage type.\ntext \nstd::string mavsdk::TelemetryServer::StatusText::text {}\n\nMAVLink status message.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_body.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_body.html","title":"struct VelocityBody","keywords":"","body":"mavsdk::TelemetryServer::VelocityBody Struct Reference\n#include: telemetry_server.h\n\nVelocity type, represented in the Body (X Y Z) frame and in metres/second. \nData Fields\nfloat x_m_s {} - Velocity in X in metres/second.\nfloat y_m_s {} - Velocity in Y in metres/second.\nfloat z_m_s {} - Velocity in Z in metres/second.\nField Documentation\nx_m_s \nfloat mavsdk::TelemetryServer::VelocityBody::x_m_s {}\n\nVelocity in X in metres/second.\ny_m_s \nfloat mavsdk::TelemetryServer::VelocityBody::y_m_s {}\n\nVelocity in Y in metres/second.\nz_m_s \nfloat mavsdk::TelemetryServer::VelocityBody::z_m_s {}\n\nVelocity in Z in metres/second.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_ned.html":{"url":"cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_ned.html","title":"struct VelocityNed","keywords":"","body":"mavsdk::TelemetryServer::VelocityNed Struct Reference\n#include: telemetry_server.h\n\nVelocityNed message type. \nData Fields\nfloat north_m_s {} - Velocity along north direction in metres per second.\nfloat east_m_s {} - Velocity along east direction in metres per second.\nfloat down_m_s {} - Velocity along down direction in metres per second.\nField Documentation\nnorth_m_s \nfloat mavsdk::TelemetryServer::VelocityNed::north_m_s {}\n\nVelocity along north direction in metres per second.\neast_m_s \nfloat mavsdk::TelemetryServer::VelocityNed::east_m_s {}\n\nVelocity along east direction in metres per second.\ndown_m_s \nfloat mavsdk::TelemetryServer::VelocityNed::down_m_s {}\n\nVelocity along down direction in metres per second.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_tracking_server.html":{"url":"cpp/api_reference/classmavsdk_1_1_tracking_server.html","title":"class TrackingServer","keywords":"","body":"mavsdk::TrackingServer Class Reference\n#include: tracking_server.h\n\nAPI for an onboard image tracking software. \nData Structures\nstruct TrackPoint\nstruct TrackRectangle\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum CommandAnswer\nAnswer to respond to an incoming command.\n\n\nenum Result\nPossible results returned for tracking_server requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous TrackingServer calls.\n\n\nstd::functionTrackPoint)> TrackingPointCommandCallback\nCallback type for subscribe_tracking_point_command.\n\n\nHandleTrackPoint > TrackingPointCommandHandle\nHandle type for subscribe_tracking_point_command.\n\n\nstd::functionTrackRectangle)> TrackingRectangleCommandCallback\nCallback type for subscribe_tracking_rectangle_command.\n\n\nHandleTrackRectangle > TrackingRectangleCommandHandle\nHandle type for subscribe_tracking_rectangle_command.\n\n\nstd::function TrackingOffCommandCallback\nCallback type for subscribe_tracking_off_command.\n\n\nHandle TrackingOffCommandHandle\nHandle type for subscribe_tracking_off_command.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nTrackingServer (std::shared_ptrServerComponent > server_component)\nConstructor. Creates the plugin for a ServerComponent instance.\n\n\n \n~TrackingServer () override\nDestructor (internal use only).\n\n\n \nTrackingServer (const TrackingServer & other)\nCopy constructor.\n\n\nvoid\nset_tracking_point_status (TrackPoint tracked_point)const\nSet/update the current point tracking status.\n\n\nvoid\nset_tracking_rectangle_status (TrackRectangle tracked_rectangle)const\nSet/update the current rectangle tracking status.\n\n\nvoid\nset_tracking_off_status () const\nSet the current tracking status to off.\n\n\nTrackingPointCommandHandle\nsubscribe_tracking_point_command (const TrackingPointCommandCallback & callback)\nSubscribe to incoming tracking point command.\n\n\nvoid\nunsubscribe_tracking_point_command (TrackingPointCommandHandle handle)\nUnsubscribe from subscribe_tracking_point_command.\n\n\nTrackingRectangleCommandHandle\nsubscribe_tracking_rectangle_command (const TrackingRectangleCommandCallback & callback)\nSubscribe to incoming tracking rectangle command.\n\n\nvoid\nunsubscribe_tracking_rectangle_command (TrackingRectangleCommandHandle handle)\nUnsubscribe from subscribe_tracking_rectangle_command.\n\n\nTrackingOffCommandHandle\nsubscribe_tracking_off_command (const TrackingOffCommandCallback & callback)\nSubscribe to incoming tracking off command.\n\n\nvoid\nunsubscribe_tracking_off_command (TrackingOffCommandHandle handle)\nUnsubscribe from subscribe_tracking_off_command.\n\n\nResult\nrespond_tracking_point_command (CommandAnswer command_answer)const\nRespond to an incoming tracking point command.\n\n\nResult\nrespond_tracking_rectangle_command (CommandAnswer command_answer)const\nRespond to an incoming tracking rectangle command.\n\n\nResult\nrespond_tracking_off_command (CommandAnswer command_answer)const\nRespond to an incoming tracking off command.\n\n\nconst TrackingServer &\noperator= (const TrackingServer &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nTrackingServer() \nmavsdk::TrackingServer::TrackingServer(std::shared_ptr server_component)\n\nConstructor. Creates the plugin for a ServerComponent instance.\nThe plugin is typically created as shown below: \nauto tracking_server = TrackingServer(server_component);\n\nParameters\n\nstd::shared_ptrServerComponent > server_component - The ServerComponent instance associated with this server plugin.\n\n~TrackingServer() \nmavsdk::TrackingServer::~TrackingServer() override\n\nDestructor (internal use only).\nTrackingServer() \nmavsdk::TrackingServer::TrackingServer(const TrackingServer &other)\n\nCopy constructor.\nParameters\n\nconst TrackingServer& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::TrackingServer::ResultCallback = std::function\n\nCallback type for asynchronous TrackingServer calls.\ntypedef TrackingPointCommandCallback \nusing mavsdk::TrackingServer::TrackingPointCommandCallback = std::function\n\nCallback type for subscribe_tracking_point_command.\ntypedef TrackingPointCommandHandle \nusing mavsdk::TrackingServer::TrackingPointCommandHandle = Handle\n\nHandle type for subscribe_tracking_point_command.\ntypedef TrackingRectangleCommandCallback \nusing mavsdk::TrackingServer::TrackingRectangleCommandCallback = std::function\n\nCallback type for subscribe_tracking_rectangle_command.\ntypedef TrackingRectangleCommandHandle \nusing mavsdk::TrackingServer::TrackingRectangleCommandHandle = Handle\n\nHandle type for subscribe_tracking_rectangle_command.\ntypedef TrackingOffCommandCallback \nusing mavsdk::TrackingServer::TrackingOffCommandCallback = std::function\n\nCallback type for subscribe_tracking_off_command.\ntypedef TrackingOffCommandHandle \nusing mavsdk::TrackingServer::TrackingOffCommandHandle = Handle\n\nHandle type for subscribe_tracking_off_command.\nMember Enumeration Documentation\nenum CommandAnswer \nAnswer to respond to an incoming command.\n\n\n\nValue\nDescription\n\n\n\n\n Accepted\nCommand accepted. \n\n\n TemporarilyRejected\nCommand temporarily rejected. \n\n\n Denied\nCommand denied. \n\n\n Unsupported\nCommand unsupported. \n\n\n Failed\nCommand failed. \n\n\n\nenum Result \nPossible results returned for tracking_server requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n NoSystem\nNo system is connected. \n\n\n ConnectionError\nConnection error. \n\n\n\nMember Function Documentation\nset_tracking_point_status() \nvoid mavsdk::TrackingServer::set_tracking_point_status(TrackPoint tracked_point) const\n\nSet/update the current point tracking status.\nThis function is blocking.\nParameters\n\nTrackPoint tracked_point - \n\nset_tracking_rectangle_status() \nvoid mavsdk::TrackingServer::set_tracking_rectangle_status(TrackRectangle tracked_rectangle) const\n\nSet/update the current rectangle tracking status.\nThis function is blocking.\nParameters\n\nTrackRectangle tracked_rectangle - \n\nset_tracking_off_status() \nvoid mavsdk::TrackingServer::set_tracking_off_status() const\n\nSet the current tracking status to off.\nThis function is blocking.\nsubscribe_tracking_point_command() \nTrackingPointCommandHandle mavsdk::TrackingServer::subscribe_tracking_point_command(const TrackingPointCommandCallback &callback)\n\nSubscribe to incoming tracking point command.\nParameters\n\nconst TrackingPointCommandCallback& callback - \n\nReturns\n TrackingPointCommandHandle - \nunsubscribe_tracking_point_command() \nvoid mavsdk::TrackingServer::unsubscribe_tracking_point_command(TrackingPointCommandHandle handle)\n\nUnsubscribe from subscribe_tracking_point_command.\nParameters\n\nTrackingPointCommandHandle handle - \n\nsubscribe_tracking_rectangle_command() \nTrackingRectangleCommandHandle mavsdk::TrackingServer::subscribe_tracking_rectangle_command(const TrackingRectangleCommandCallback &callback)\n\nSubscribe to incoming tracking rectangle command.\nParameters\n\nconst TrackingRectangleCommandCallback& callback - \n\nReturns\n TrackingRectangleCommandHandle - \nunsubscribe_tracking_rectangle_command() \nvoid mavsdk::TrackingServer::unsubscribe_tracking_rectangle_command(TrackingRectangleCommandHandle handle)\n\nUnsubscribe from subscribe_tracking_rectangle_command.\nParameters\n\nTrackingRectangleCommandHandle handle - \n\nsubscribe_tracking_off_command() \nTrackingOffCommandHandle mavsdk::TrackingServer::subscribe_tracking_off_command(const TrackingOffCommandCallback &callback)\n\nSubscribe to incoming tracking off command.\nParameters\n\nconst TrackingOffCommandCallback& callback - \n\nReturns\n TrackingOffCommandHandle - \nunsubscribe_tracking_off_command() \nvoid mavsdk::TrackingServer::unsubscribe_tracking_off_command(TrackingOffCommandHandle handle)\n\nUnsubscribe from subscribe_tracking_off_command.\nParameters\n\nTrackingOffCommandHandle handle - \n\nrespond_tracking_point_command() \nResult mavsdk::TrackingServer::respond_tracking_point_command(CommandAnswer command_answer) const\n\nRespond to an incoming tracking point command.\nThis function is blocking.\nParameters\n\nCommandAnswer command_answer - \n\nReturns\n Result - Result of request.\nrespond_tracking_rectangle_command() \nResult mavsdk::TrackingServer::respond_tracking_rectangle_command(CommandAnswer command_answer) const\n\nRespond to an incoming tracking rectangle command.\nThis function is blocking.\nParameters\n\nCommandAnswer command_answer - \n\nReturns\n Result - Result of request.\nrespond_tracking_off_command() \nResult mavsdk::TrackingServer::respond_tracking_off_command(CommandAnswer command_answer) const\n\nRespond to an incoming tracking off command.\nThis function is blocking.\nParameters\n\nCommandAnswer command_answer - \n\nReturns\n Result - Result of request.\noperator=() \nconst TrackingServer& mavsdk::TrackingServer::operator=(const TrackingServer &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst TrackingServer& - \n\nReturns\n const TrackingServer & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_point.html":{"url":"cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_point.html","title":"struct Point","keywords":"","body":"mavsdk::TrackingServer::TrackPoint Struct Reference\n#include: tracking_server.h\n\nPoint description type. \nData Fields\nfloat point_x {} - Point to track x value (normalized 0..1, 0 is left, 1 is right).\nfloat point_y {} - Point to track y value (normalized 0..1, 0 is top, 1 is bottom).\nfloat radius {} - Point to track y value (normalized 0..1, 0 is top, 1 is bottom).\nField Documentation\npoint_x \nfloat mavsdk::TrackingServer::TrackPoint::point_x {}\n\nPoint to track x value (normalized 0..1, 0 is left, 1 is right).\npoint_y \nfloat mavsdk::TrackingServer::TrackPoint::point_y {}\n\nPoint to track y value (normalized 0..1, 0 is top, 1 is bottom).\nradius \nfloat mavsdk::TrackingServer::TrackPoint::radius {}\n\nPoint to track y value (normalized 0..1, 0 is top, 1 is bottom).\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_rectangle.html":{"url":"cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_rectangle.html","title":"struct Rectangle","keywords":"","body":"mavsdk::TrackingServer::TrackRectangle Struct Reference\n#include: tracking_server.h\n\nRectangle description type. \nData Fields\nfloat top_left_corner_x {} - Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).\nfloat top_left_corner_y {} - Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).\nfloat bottom_right_corner_x {} - Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).\nfloat bottom_right_corner_y {} - Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).\nField Documentation\ntop_left_corner_x \nfloat mavsdk::TrackingServer::TrackRectangle::top_left_corner_x {}\n\nTop left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).\ntop_left_corner_y \nfloat mavsdk::TrackingServer::TrackRectangle::top_left_corner_y {}\n\nTop left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).\nbottom_right_corner_x \nfloat mavsdk::TrackingServer::TrackRectangle::bottom_right_corner_x {}\n\nBottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).\nbottom_right_corner_y \nfloat mavsdk::TrackingServer::TrackRectangle::bottom_right_corner_y {}\n\nBottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_transponder.html":{"url":"cpp/api_reference/classmavsdk_1_1_transponder.html","title":"class Transponder","keywords":"","body":"mavsdk::Transponder Class Reference\n#include: transponder.h\n\nAllow users to get ADS-B information and set ADS-B update rates. \nData Structures\nstruct AdsbVehicle\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum AdsbEmitterType\nADSB classification for the type of vehicle emitting the transponder signal.\n\n\nenum AdsbAltitudeType\nAltitude type used in AdsbVehicle message.\n\n\nenum Result\nPossible results returned for transponder requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Transponder calls.\n\n\nstd::functionAdsbVehicle)> TransponderCallback\nCallback type for subscribe_transponder.\n\n\nHandleAdsbVehicle > TransponderHandle\nHandle type for subscribe_transponder.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nTransponder (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nTransponder (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Transponder () override\nDestructor (internal use only).\n\n\n \nTransponder (const Transponder & other)\nCopy constructor.\n\n\nTransponderHandle\nsubscribe_transponder (const TransponderCallback & callback)\nSubscribe to 'transponder' updates.\n\n\nvoid\nunsubscribe_transponder (TransponderHandle handle)\nUnsubscribe from subscribe_transponder.\n\n\nAdsbVehicle\ntransponder () const\nPoll for 'AdsbVehicle' (blocking).\n\n\nvoid\nset_rate_transponder_async (double rate_hz, const ResultCallback callback)\nSet rate to 'transponder' updates.\n\n\nResult\nset_rate_transponder (double rate_hz)const\nSet rate to 'transponder' updates.\n\n\nconst Transponder &\noperator= (const Transponder &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nTransponder() \nmavsdk::Transponder::Transponder(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto transponder = Transponder(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nTransponder() \nmavsdk::Transponder::Transponder(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto transponder = Transponder(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Transponder() \nmavsdk::Transponder::~Transponder() override\n\nDestructor (internal use only).\nTransponder() \nmavsdk::Transponder::Transponder(const Transponder &other)\n\nCopy constructor.\nParameters\n\nconst Transponder& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Transponder::ResultCallback = std::function\n\nCallback type for asynchronous Transponder calls.\ntypedef TransponderCallback \nusing mavsdk::Transponder::TransponderCallback = std::function\n\nCallback type for subscribe_transponder.\ntypedef TransponderHandle \nusing mavsdk::Transponder::TransponderHandle = Handle\n\nHandle type for subscribe_transponder.\nMember Enumeration Documentation\nenum AdsbEmitterType \nADSB classification for the type of vehicle emitting the transponder signal.\n\n\n\nValue\nDescription\n\n\n\n\n NoInfo\nNo emitter info.. \n\n\n Light\nLight emitter.. \n\n\n Small\nSmall emitter.. \n\n\n Large\nLarge emitter.. \n\n\n HighVortexLarge\nHigh vortex emitter.. \n\n\n Heavy\nHeavy emitter.. \n\n\n HighlyManuv\nHighly maneuverable emitter.. \n\n\n Rotocraft\nRotorcraft emitter.. \n\n\n Unassigned\nUnassigned emitter.. \n\n\n Glider\nGlider emitter.. \n\n\n LighterAir\nLighter air emitter.. \n\n\n Parachute\nParachute emitter.. \n\n\n UltraLight\nUltra light emitter.. \n\n\n Unassigned2\nUnassigned2 emitter.. \n\n\n Uav\nUAV emitter.. \n\n\n Space\nSpace emitter.. \n\n\n Unassgined3\nUnassigned3 emitter.. \n\n\n EmergencySurface\nEmergency emitter.. \n\n\n ServiceSurface\nService surface emitter.. \n\n\n PointObstacle\nPoint obstacle emitter.. \n\n\n\nenum AdsbAltitudeType \nAltitude type used in AdsbVehicle message.\n\n\n\nValue\nDescription\n\n\n\n\n PressureQnh\nAltitude reported from a Baro source using QNH reference. \n\n\n Geometric\nAltitude reported from a GNSS source. \n\n\n\nenum Result \nPossible results returned for transponder requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nSuccess: the transponder command was accepted by the vehicle. \n\n\n NoSystem\nNo system connected. \n\n\n ConnectionError\nConnection error. \n\n\n Busy\nVehicle is busy. \n\n\n CommandDenied\nCommand refused by vehicle. \n\n\n Timeout\nRequest timed out. \n\n\n\nMember Function Documentation\nsubscribe_transponder() \nTransponderHandle mavsdk::Transponder::subscribe_transponder(const TransponderCallback &callback)\n\nSubscribe to 'transponder' updates.\nParameters\n\nconst TransponderCallback& callback - \n\nReturns\n TransponderHandle - \nunsubscribe_transponder() \nvoid mavsdk::Transponder::unsubscribe_transponder(TransponderHandle handle)\n\nUnsubscribe from subscribe_transponder.\nParameters\n\nTransponderHandle handle - \n\ntransponder() \nAdsbVehicle mavsdk::Transponder::transponder() const\n\nPoll for 'AdsbVehicle' (blocking).\nReturns\n AdsbVehicle - One AdsbVehicle update.\nset_rate_transponder_async() \nvoid mavsdk::Transponder::set_rate_transponder_async(double rate_hz, const ResultCallback callback)\n\nSet rate to 'transponder' updates.\nThis function is non-blocking. See 'set_rate_transponder' for the blocking counterpart.\nParameters\n\ndouble rate_hz - \nconst ResultCallback callback - \n\nset_rate_transponder() \nResult mavsdk::Transponder::set_rate_transponder(double rate_hz) const\n\nSet rate to 'transponder' updates.\nThis function is blocking. See 'set_rate_transponder_async' for the non-blocking counterpart.\nParameters\n\ndouble rate_hz - \n\nReturns\n Result - Result of request.\noperator=() \nconst Transponder& mavsdk::Transponder::operator=(const Transponder &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Transponder& - \n\nReturns\n const Transponder & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_transponder_1_1_adsb_vehicle.html":{"url":"cpp/api_reference/structmavsdk_1_1_transponder_1_1_adsb_vehicle.html","title":"struct AdsbVehicle","keywords":"","body":"mavsdk::Transponder::AdsbVehicle Struct Reference\n#include: transponder.h\n\nADSB Vehicle type. \nData Fields\nuint32_t icao_address {} - ICAO (International Civil Aviation Organization) unique worldwide identifier.\ndouble latitude_deg {} - Latitude in degrees (range: -90 to +90)\ndouble longitude_deg {} - Longitude in degrees (range: -180 to +180).\nAdsbAltitudeType altitude_type {} - ADSB altitude type.\nfloat absolute_altitude_m {} - Altitude in metres according to altitude_type.\nfloat heading_deg {} - Course over ground, in degrees.\nfloat horizontal_velocity_m_s {} - The horizontal velocity in metres/second.\nfloat vertical_velocity_m_s {} - The vertical velocity in metres/second. Positive is up.\nstd::string callsign {} - The callsign.\nAdsbEmitterType emitter_type {} - ADSB emitter type.\nuint32_t squawk {} - Squawk code.\nuint32_t tslc_s {} - Time Since Last Communication in seconds.\nField Documentation\nicao_address \nuint32_t mavsdk::Transponder::AdsbVehicle::icao_address {}\n\nICAO (International Civil Aviation Organization) unique worldwide identifier.\nlatitude_deg \ndouble mavsdk::Transponder::AdsbVehicle::latitude_deg {}\n\nLatitude in degrees (range: -90 to +90)\nlongitude_deg \ndouble mavsdk::Transponder::AdsbVehicle::longitude_deg {}\n\nLongitude in degrees (range: -180 to +180).\naltitude_type \nAdsbAltitudeType mavsdk::Transponder::AdsbVehicle::altitude_type {}\n\nADSB altitude type.\nabsolute_altitude_m \nfloat mavsdk::Transponder::AdsbVehicle::absolute_altitude_m {}\n\nAltitude in metres according to altitude_type.\nheading_deg \nfloat mavsdk::Transponder::AdsbVehicle::heading_deg {}\n\nCourse over ground, in degrees.\nhorizontal_velocity_m_s \nfloat mavsdk::Transponder::AdsbVehicle::horizontal_velocity_m_s {}\n\nThe horizontal velocity in metres/second.\nvertical_velocity_m_s \nfloat mavsdk::Transponder::AdsbVehicle::vertical_velocity_m_s {}\n\nThe vertical velocity in metres/second. Positive is up.\ncallsign \nstd::string mavsdk::Transponder::AdsbVehicle::callsign {}\n\nThe callsign.\nemitter_type \nAdsbEmitterType mavsdk::Transponder::AdsbVehicle::emitter_type {}\n\nADSB emitter type.\nsquawk \nuint32_t mavsdk::Transponder::AdsbVehicle::squawk {}\n\nSquawk code.\ntslc_s \nuint32_t mavsdk::Transponder::AdsbVehicle::tslc_s {}\n\nTime Since Last Communication in seconds.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/classmavsdk_1_1_tune.html":{"url":"cpp/api_reference/classmavsdk_1_1_tune.html","title":"class Tune","keywords":"","body":"mavsdk::Tune Class Reference\n#include: tune.h\n\nEnable creating and sending a tune to be played on the system. \nData Structures\nstruct TuneDescription\nPublic Types\n\n\n\nType\nDescription\n\n\n\n\nenum SongElement\nAn element of the tune.\n\n\nenum Result\nPossible results returned for tune requests.\n\n\nstd::functionResult)> ResultCallback\nCallback type for asynchronous Tune calls.\n\n\n\nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nTune (System & system)\nConstructor. Creates the plugin for a specific System.\n\n\n \nTune (std::shared_ptrSystem > system)\nConstructor. Creates the plugin for a specific System.\n\n\n \n~Tune () override\nDestructor (internal use only).\n\n\n \nTune (const Tune & other)\nCopy constructor.\n\n\nvoid\nplay_tune_async (TuneDescription tune_description, const ResultCallback callback)\nSend a tune to be played by the system.\n\n\nResult\nplay_tune (TuneDescription tune_description)const\nSend a tune to be played by the system.\n\n\nconst Tune &\noperator= (const Tune &)=delete\nEquality operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nTune() \nmavsdk::Tune::Tune(System &system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto tune = Tune(system);\n\nParameters\n\nSystem& system - The specific system associated with this plugin.\n\nTune() \nmavsdk::Tune::Tune(std::shared_ptr system)\n\nConstructor. Creates the plugin for a specific System.\nThe plugin is typically created as shown below: \nauto tune = Tune(system);\n\nParameters\n\nstd::shared_ptrSystem > system - The specific system associated with this plugin.\n\n~Tune() \nmavsdk::Tune::~Tune() override\n\nDestructor (internal use only).\nTune() \nmavsdk::Tune::Tune(const Tune &other)\n\nCopy constructor.\nParameters\n\nconst Tune& other - \n\nMember Typdef Documentation\ntypedef ResultCallback \nusing mavsdk::Tune::ResultCallback = std::function\n\nCallback type for asynchronous Tune calls.\nMember Enumeration Documentation\nenum SongElement \nAn element of the tune.\n\n\n\nValue\nDescription\n\n\n\n\n StyleLegato\nAfter this element, start playing legato. \n\n\n StyleNormal\nAfter this element, start playing normal. \n\n\n StyleStaccato\nAfter this element, start playing staccato. \n\n\n Duration1\nAfter this element, set the note duration to 1. \n\n\n Duration2\nAfter this element, set the note duration to 2. \n\n\n Duration4\nAfter this element, set the note duration to 4. \n\n\n Duration8\nAfter this element, set the note duration to 8. \n\n\n Duration16\nAfter this element, set the note duration to 16. \n\n\n Duration32\nAfter this element, set the note duration to 32. \n\n\n NoteA\nPlay note A. \n\n\n NoteB\nPlay note B. \n\n\n NoteC\nPlay note C. \n\n\n NoteD\nPlay note D. \n\n\n NoteE\nPlay note E. \n\n\n NoteF\nPlay note F. \n\n\n NoteG\nPlay note G. \n\n\n NotePause\nPlay a rest. \n\n\n Sharp\nAfter this element, sharp the note (half a step up). \n\n\n Flat\nAfter this element, flat the note (half a step down). \n\n\n OctaveUp\nAfter this element, shift the note 1 octave up. \n\n\n OctaveDown\nAfter this element, shift the note 1 octave down. \n\n\n\nenum Result \nPossible results returned for tune requests.\n\n\n\nValue\nDescription\n\n\n\n\n Unknown\nUnknown result. \n\n\n Success\nRequest succeeded. \n\n\n InvalidTempo\nInvalid tempo (range: 32 - 255). \n\n\n TuneTooLong\nInvalid tune: encoded string must be at most 247 chars. \n\n\n Error\nFailed to send the request. \n\n\n NoSystem\nNo system connected. \n\n\n\nMember Function Documentation\nplay_tune_async() \nvoid mavsdk::Tune::play_tune_async(TuneDescription tune_description, const ResultCallback callback)\n\nSend a tune to be played by the system.\nThis function is non-blocking. See 'play_tune' for the blocking counterpart.\nParameters\n\nTuneDescription tune_description - \nconst ResultCallback callback - \n\nplay_tune() \nResult mavsdk::Tune::play_tune(TuneDescription tune_description) const\n\nSend a tune to be played by the system.\nThis function is blocking. See 'play_tune_async' for the non-blocking counterpart.\nParameters\n\nTuneDescription tune_description - \n\nReturns\n Result - Result of request.\noperator=() \nconst Tune& mavsdk::Tune::operator=(const Tune &)=delete\n\nEquality operator (object is not copyable).\nParameters\n\nconst Tune& - \n\nReturns\n const Tune & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/api_reference/structmavsdk_1_1_tune_1_1_tune_description.html":{"url":"cpp/api_reference/structmavsdk_1_1_tune_1_1_tune_description.html","title":"struct TuneDescription","keywords":"","body":"mavsdk::Tune::TuneDescription Struct Reference\n#include: tune.h\n\nTune description, containing song elements and tempo. \nData Fields\nstd::vectorSongElement > song_elements {} - The list of song elements (notes, pauses, ...) to be played.\nint32_t tempo {} - The tempo of the song (range: 32 - 255)\nField Documentation\nsong_elements \nstd::vector mavsdk::Tune::TuneDescription::song_elements {}\n\nThe list of song elements (notes, pauses, ...) to be played.\ntempo \nint32_t mavsdk::Tune::TuneDescription::tempo {}\n\nThe tempo of the song (range: 32 - 255)\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/classmavsdk_1_1_plugin_base.html":{"url":"cpp/api_reference/classmavsdk_1_1_plugin_base.html","title":"class PluginBase","keywords":"","body":"mavsdk::PluginBase Class Reference\n#include: plugin_base.h\n\nBase class for every plugin. \nPublic Member Functions\n\n\n\nType\nName\nDescription\n\n\n\n\n \nPluginBase ()=default\nDefault Constructor.\n\n\n \n~PluginBase ()=default\nDefault Destructor.\n\n\n \nPluginBase (const PluginBase &)=delete\nCopy constructor (object is not copyable).\n\n\nconst PluginBase &\noperator= (const PluginBase &)=delete\nAssign operator (object is not copyable).\n\n\n\nConstructor & Destructor Documentation\nPluginBase() \nmavsdk::PluginBase::PluginBase()=default\n\nDefault Constructor.\n~PluginBase() \nvirtual mavsdk::PluginBase::~PluginBase()=default\n\nDefault Destructor.\nPluginBase() \nmavsdk::PluginBase::PluginBase(const PluginBase &)=delete\n\nCopy constructor (object is not copyable).\nParameters\n\nconst PluginBase& - \n\nMember Function Documentation\noperator=() \nconst PluginBase& mavsdk::PluginBase::operator=(const PluginBase &)=delete\n\nAssign operator (object is not copyable).\nParameters\n\nconst PluginBase& - \n\nReturns\n const PluginBase & - \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/structmavsdk_1_1overloaded.html":{"url":"cpp/api_reference/structmavsdk_1_1overloaded.html","title":"class Overloaded","keywords":"","body":"mavsdk::overloaded Struct Reference\n#include: plugin_base.h\n\nCreates an overloaded callable object from multiple other callables. \nThis template class allows to combine multiple callable objects into one overloaded callable object, that can handle different types of parameters. For example:\noverloaded { { LogErr() { LogDebug() \nThis is especially useful for creating callback functions to handle different parameter types \n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/api_reference/namespacemavsdk.html":{"url":"cpp/api_reference/namespacemavsdk.html","title":"namespace mavsdk (globals)","keywords":"","body":"mavsdk Namespace Reference\n\nNamespace for all mavsdk types.\nData Structures\n\nmavsdk::CallbackListImpl\nmavsdk::CallbackList\nmavsdk::FakeHandle\nmavsdk::Handle\nmavsdk::Mavsdk\nmavsdk::overloaded\nmavsdk::PluginBase\nmavsdk::Action\nmavsdk::ActionServer\nmavsdk::Calibration\nmavsdk::Camera\nmavsdk::CameraServer\nmavsdk::ComponentInformation\nmavsdk::ComponentInformationServer\nmavsdk::Failure\nmavsdk::FollowMe\nmavsdk::Ftp\nmavsdk::FtpServer\nmavsdk::Geofence\nmavsdk::Gimbal\nmavsdk::Gripper\nmavsdk::Info\nmavsdk::LogFiles\nmavsdk::ManualControl\nmavsdk::MavlinkPassthrough\nmavsdk::Mission\nmavsdk::MissionRaw\nmavsdk::MissionRawServer\nmavsdk::Mocap\nmavsdk::Offboard\nmavsdk::Param\nmavsdk::ParamServer\nmavsdk::Rtk\nmavsdk::ServerUtility\nmavsdk::Shell\nmavsdk::Telemetry\nmavsdk::TelemetryServer\nmavsdk::TrackingServer\nmavsdk::Transponder\nmavsdk::Tune\nmavsdk::Winch\nmavsdk::ServerComponent\nmavsdk::ServerPluginBase\nmavsdk::System\n\nEnumerations\n\n\n\nType\nDescription\n\n\n\n\nenum ConnectionResult\nResult type returned when adding a connection.\n\n\nenum ForwardingOption\nForwardingOption for Connection, used to set message forwarding option.\n\n\n\nFunctions\n\n\n\nType\nName\nDescription\n\n\n\n\nstd::ostream &\noperator (std::ostream & str, const ConnectionResult & result)\nStream operator to print information about a ConnectionResult.\n\n\n \noverloaded (Ts...)-> overloaded\nTemplate deduction helper for overloaded\n\n\n\nEnumeration Type Documentation\nenum ConnectionResult \n#include: connection_result.h\nResult type returned when adding a connection.\nNote: Mavsdk does not throw exceptions. Instead a result of this type will be returned when you add a connection: add_udp_connection().\n\n\n\nValue\nDescription\n\n\n\n\n Success\nConnection succeeded. \n\n\n Timeout\nConnection timed out. \n\n\n SocketError\nSocket error. \n\n\n BindError\nBind error. \n\n\n SocketConnectionError\nSocket connection error. \n\n\n ConnectionError\nConnection error. \n\n\n NotImplemented\nConnection type not implemented. \n\n\n SystemNotConnected\nNo system is connected. \n\n\n SystemBusy\nSystem is busy. \n\n\n CommandDenied\nCommand is denied. \n\n\n DestinationIpUnknown\nConnection IP is unknown. \n\n\n ConnectionsExhausted\nConnections exhausted. \n\n\n ConnectionUrlInvalid\nURL invalid. \n\n\n BaudrateUnknown\nBaudrate unknown. \n\n\n\nenum ForwardingOption \n#include: mavsdk.h\nForwardingOption for Connection, used to set message forwarding option.\n\n\n\nValue\nDescription\n\n\n\n\n ForwardingOff\n\n\n\n ForwardingOn\n\n\n\n\nFunction Documentation\noperator\n#include: connection_result.h\nstd::ostream& mavsdk::operator\nStream operator to print information about a ConnectionResult.\nParameters\n\nstd::ostream& str - \nconst ConnectionResult& result - \n\nReturns\n std::ostream & - A reference to the stream.\noverloaded() \n#include: plugin_base.h\nmavsdk::overloaded(Ts...) -> overloaded\n\nTemplate deduction helper for overloaded\nParameters\n\nTs... - \n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:36:31 "},"cpp/troubleshooting.html":{"url":"cpp/troubleshooting.html","title":"Troubleshooting","keywords":"","body":"Troubleshooting\nUser callbacks \nAll callbacks back to the user of the library are called from one thread. The callbacks are stored in a queue. If the user does not return quickly enough from the callback, it can happen that the user callback queue fills up.\nIf a callback takes more than one second, the user sees the warning:\n[02:56:26|Warn ] Callback took more than 1 second to run.\nSee: https://mavsdk.mavlink.io/main/en/cpp/troubleshooting.html#user_callbacks (system_impl.cpp:327)\nAt 10 queued callbacks, the user sees the warning:\n[02:56:26|Warn ] User callback queue too slow.\nSee: https://mavsdk.mavlink.io/main/en/cpp/troubleshooting.html#user_callbacks (system_impl.cpp:1213)\nAt 100 queued callbacks, the user sees the error message:\n[02:56:35|Error] User callback queue overflown\nSee: https://mavsdk.mavlink.io/main/en/cpp/troubleshooting.html#user_callbacks (system_impl.cpp:1218)\nHow to debug this?\nTo determine which callback is blocking the queue, you can set the environment variable MAVSDK_CALLBACK_DEBUGGING to 1, which will print more debug information and abort the program as soon as the problem occurs.\nMAVSDK_CALLBACK_DEBUGGING=1 ./my_executable_using_mavsdk\nor:\nexport MAVSDK_CALLBACK_DEBUGGING=1\n./my_executable_using_mavsdk\nYou should then see something like this hinting at which callback might be responsible:\n[03:00:02|Warn ] Callback called from telemetry_impl.cpp:533 took more than 1 second to run. (system_impl.cpp:320)\n[2] 1261673 abort (core dumped) MAVSDK_CALLBACK_DEBUGGING=1 ...\"\nNote that this does not point to the blocking code, but only to the place where your blocking callback was called.\nHow to avoid this?\nThe rule is to spend as little time and CPU in the callbacks as possible.\nFor instance, inside the callbacks you should not wait on other events or sleep.\nIf you really want to do something that takes longer inside a callback, the workaround is to just spawn that activity on another thread, e.g. using std::thread:\nvoid my_callback(Telemetry::Position position)\n{\n std::thread([position]() {\n std::this_thread_sleep_for(std::chrono::seconds(3));\n my_delayed_action(position);\n }).detach();\n}\nWhy did this use to work?\nBefore introducing the callback queue, we used a thread pool of 3 threads to call user callbacks.\nThe thread pool was written to avoid everything from stalling if a user blocked in one of the callbacks.\nIt generally worked provided the user did not block in more than 3 callbacks at any given time.\nHowever, it had also some disadvantages:\n\nDue to the thread pool multiple threads could call a function at any given time.\nThis means that one callback can be called from at least two threads at the same time which is quite likely if the callback is called at a high rate.\nThis can create race conditions on the user side unless a mutex is used to prevent this.\nHowever, it's not very intuitive that a mutex is needed for that, and mutexes in general should be avoided, if possible, for performance reasons.\nSuch race conditions also showed up as CI test failures, see: MAVSDK#1010, MAVSDK#1045.\nFor developers the old thread pool behaviour was unclear and unpredictable.\nBasically, without code inspection, it was difficult to know if blocking in a callback is safe or not.\nWhen trying with one blocking callback, it would work, however, this can create a false sense of security as with 3 blocking callbacks it would suddenly lock up.\nPreviously, when this happened, it was difficult to debug because it would either lead to a crash on destruction, or lock up at which point the backtrace of all threads need to be looked at using gdb.\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/contributing/":{"url":"cpp/contributing/","title":"Contributing","keywords":"","body":"Contributing\nMAVSDK welcomes contributions!\nIf you want to help or have suggestions/bug reports please get in touch with the development team.\nThis section contains pointers how to add functionality and write your own plugins, as well as how the auto-generation works.\nAlso see the FAQ for answers to common questions about the library.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/contributing/autogen.html":{"url":"cpp/contributing/autogen.html","title":"Autogeneration","keywords":"","body":"Autogeneration\nMAVSDK is available in a number of different languages.\nThese all share the same \"core\" MAVLink implementation (written in C++), but almost all of the API-specific code for other languages is autogenerated from API definition files (and language-specific templates).\nThis approach means that we don't have to maintain a separate MAVLink implementation or API for each language.\nNew features are implemented (just once) in C++, and are then automatically available in Python, Java, etc.\nThis page provides an overview of the architecture and explains how to add a feature using the autogeneration.\nOverview\nThe common MAVLink implementation is written in C++ (it is part of MAVSDK-C++).\nThe mavsdk_server exposes the MAVSDK-C++ API over gRPC to the language bindings.\nThe API for all languages is autogenerated from a single common definition.\n\nThe following parts are autogenerated:\n\nMAVSDK-C++ API (i.e. header files)\nMost of mavsdk_server\nMost of the language bindings\n\nThose parts are maintained manually:\n\nMAVSDK-C++ implementation (i.e. the MAVLink business logic)\nNew plugins need to be added to mavsdk_server (this may be automated in future)\nThe System wrapper in language bindings usually needs to be updated whenever a new plugin is added (this may be automated in future)\n\nThe heart of the autogeneration system is the MAVSDK-Proto repository which is described below.\nAutogeneration Mechanisms \nThe autogeneration pipeline is shown below:\n\nThe main parts are:\n\nprotoc-gen-mavsdk, which is a protoc custom plugin generating MAVSDK's code.\nThe API definition, in the form of proto files.\nTemplate files (per language, see e.g. the Python templates or the C++ templates).\n\nprotoc takes the custom plugin (protoc-gen-mavsdk) and the template files as inputs, and generate source code out of it.\nThe way it currently works is that it generates one source file out of each *.proto file. For instance, action.proto becomes Action.java in MAVSDK-Java.\nIn some languages (typically C++), we need to generate multiple source files out of one proto definition file, and this is the reason why the C++ generation script runs protoc in multiple passes, once for each template (e.g. \"templates/plugin_h\" defines the templates to generate action.h, telemetry.h, ..., and \"templates/plugin_cpp\" is responsible for action.cpp, telemetry.cpp, ...).\nAll the MAVSDK repositories contain some kind of generate_from_proto.sh file, and a templates/ directory:\n\nMAVSDK-C++: script, templates\nMAVSDK-Python: script, templates\nMAVSDK-Swift: script, templates\nMAVSDK-Java: script, templates\nMAVSDK-C#: script, templates\nMAVSDK-Go: script, templates\n\nAdding a New Feature\nWhen adding a new feature to MAVSDK it is important to think first about the API that is required, and later about the implementation needed to enable the feature. This is not only because MAVSDK strives to have a simple and safe API but also comes from the fact that a new feature needs to be defined in the API first and can then be implemented (using the autogenerated files) in a later step.\nTo add a new feature, follow the steps on how to write plugins.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/contributing/plugins.html":{"url":"cpp/contributing/plugins.html","title":"Writing Plugins","keywords":"","body":"Writing Plugins\nMAVSDK-C++ is split into a core and multiple independent plugins.\nPlugins that are located in the correct location (a subfolder of /plugins) and have the correct structure are built at compile time.\nThe CMakeLists.txt takes care of including the plugin folders and integration tests.\nPlugin Architecture\nPlugins should be written so that they are independent of each other (they will still need to be dependent on the core source).\nThis allows plugins to be removed/replaced as needed at the cost of some duplicated functionality across the plugin modules.\nThe code for each plugin (and its unit test if one has been defined) is stored in a sub-folder of the plugins directory.\nIntegration tests for all plugins in the library are stored in integration_tests.\nA simplified view of the folder structure is shown below:\n├── MAVSDK\n│ └── src\n│ ├── integration_tests\n│ ├── mavsdk_server\n│ └── mavsdk\n│ ├── core\n│ └── plugins\n│ ├── action\n│ ├── ...\n│ └── tune\nEach plugin must have the same files/structure, as shown for the \"example\" plugin below.\n└── plugins\n └── example\n ├── CMakeLists.txt\n ├── example.cpp\n ├── example.h\n ├── example_impl.cpp\n ├── example_impl.h\n └── example_foo_test.cpp ##optional\nAuto-generation\nIn order to support various language wrappers around MAVSDK without having to write the same things multiple times, once for every language, we opted to use auto-generation as much as possible.\nThe APIs are defined as proto definitions.\nFrom that, several parts are auto-generated, such as:\n\nLanguage wrappers based on gRPC client (formerly called frontend)\ngRPC mavsdk_server in C++ (formerly called backend)\nPlugin C++ headers defining the API.\n\nLooking at the plugin structure again, this means that some of the files are auto-generated:\n└── plugins\n └── example\n ├── CMakeLists.txt # auto-generated\n ├── example.cpp # auto-generated\n ├── example.h # auto-generated\n ├── example_impl.cpp # hand-written (can initially be generated)\n ├── example_impl.h # hand-written (can initially be generated)\n └── example_foo_test.cpp # optional\nCreate a Plugin\nTo create a new plugin do not copy an existing one, instead follow the steps below:\nThink about public API\nBefore writing the API, take a step back and think what a user of it needs and expect, rather than what MAVLink already provides.\nGenerally, MAVSDK APIs ought to be:\n\nSimple and easy to use.\nReduced to the essentials; no functionality that is not actually implemented/supported should be exposed.\nClearly named and if possible without too much drone jargon and acronyms.\nAbstracted from the MAVLink implementation and therefore to provide specific functionality instead of just forwarding direct MAVLink.\n\nThis advice is important if you are planning to contribute the new plugin back and would like it to get accepted and merged.\nWe are convinced it is also applicable for internal development but - of course - that's up to you.\nAbout proto structure\nThere are a couple of different API types supported for MAVSDK plugins.\nRequests:\nA request is a simple one time call with a response. An example would be the takeoff command of the action plugin:\nservice ActionService {\n rpc Takeoff(TakeoffRequest) returns(TakeoffResponse) {}\n // all other services\n}\n\nmessage TakeoffRequest {}\nmessage TakeoffResponse {\n ActionResult action_result = 1;\n}\nIn this case the request has no argument and no return value except the result but this can vary, e.g. for getters and setters:\nservice ActionService {\n rpc GetReturnToLaunchAltitude(GetReturnToLaunchAltitudeRequest) returns(GetReturnToLaunchAltitudeResponse) {}\n rpc SetReturnToLaunchAltitude(SetReturnToLaunchAltitudeRequest) returns(SetReturnToLaunchAltitudeResponse) {}\n // all other services\n}\n\nmessage GetReturnToLaunchAltitudeRequest {}\nmessage GetReturnToLaunchAltitudeResponse {\n ActionResult action_result = 1;\n float relative_altitude_m = 2;\n}\n\nmessage SetReturnToLaunchAltitudeRequest {\n float relative_altitude_m = 1;\n}\nmessage SetReturnToLaunchAltitudeResponse {\n ActionResult action_result = 1;\n}\n\n Requests can defined SYNC, ASYNC, or BOTH using option (mavsdk.options.async_type) = ...;.\n The choice depends on the functionality that is being implemented and how it would generally be used.\n There are no hard rules, it's something that makes sense to be discussed one by one in a pull request.\n The default implementation is BOTH.\n\nSubscriptions:\nA subscription is triggered once and will then continuously send responses as a stream. An example would be a the position information of the telemetry plugin:\nservice TelemetryService {\n rpc SubscribePosition(SubscribePositionRequest) returns(stream PositionResponse) {}\n // all other services\n}\n\n\nmessage SubscribePositionRequest {}\nmessage PositionResponse {\n Position position = 1;\n}\n\n Subscriptions also can defined SYNC, ASYNC, or BOTH using option (mavsdk.options.async_type) = ...;.\n The sync implementation of a subscription is just a getter for the last received value.\nNote Subscriptions can be defined finite using option (mavsdk.options.is_finite) = true;.\n This means that the stream of messages will end at some point instead of continuing indefinitely. An example would be progress updates about a calibration which eventually finishes.\n\nAdd API to proto\nThe first step should be to define the user API in the proto repository.\nThis repository is part of the MAVSDK as a submodule in the proto/ directory.\nYou usually want to work from master in the proto/ directory, and then create a feature branch with your additions:\ncd proto\ngit switch main\ngit pull\ngit switch -c my-new-plugin\ncd ../\nNow you can add a folder with your proto file (or copy an existing one and rename it) and draft the API.\nOnce the API is defined, it makes sense to commit the changes, push them and make a pull request to MAVSDK-Proto to get feedback from the MAVSDK maintainers.\nGenerate .h and .cpp files\nOnce the proto file has been created, you can generate all files required for the new plugin.\n\nRun the configure step to prepare the tools required:cmake -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.\n\nInstall protoc_gen_mavsdk which is required for the auto-generation:pip3 install --user protoc_gen_mavsdk # Or however you install pip packages\n\nRun the auto-generation:tools/generate_from_protos.sh\n\nFix style after auto-generation:tools/fix_style.sh .\n\n\n\n the files my_new_plugin.h and my_new_plugin.cpp are generated and overwritten every time the script is run.\n However, the files my_new_plugin_impl.h and my_new_plugin_impl.cpp are only generated once.\n To re-generate them, delete them and run the script again.\n This approach is used to prevent the script from overwriting your local changes.\n\nActually implement MAVLink messages\nYou can now add the actual \"business logic\" which is usually sending and receiving MAVLink messages, waiting for timeouts, etc.\nAll implementation goes into the files my_new_plugin_impl.h and my_new_plugin_impl.cpp or additional files for separate classes required.\nYou can also add unit tests with unittest_source_files, as discussed below.\nThe standard plugins can be reviewed for guidance on\nhow to write plugin code, including how to send and process MAVLink messages.\nPlugin Code\nPlugin Base Class\nAll plugins should derive their implementation from PluginImplBase (core/plugin_impl_base.h) and override virtual methods as needed.\nPlugin Enable/Disable\nThe SDK provides virtual methods that a plugin should implement to allow the core to better manage resources.\nFor example, to prevent callback being created before the System is instantiated, or messages being sent when a vehicle is not connected.\nPlugin authors should provide an implementation of the following PluginImplBase pure virtual methods:\n\ninit()/deinit(): These are called when a system is created and just before it is destroyed. These should be used for setting up and cleaning everything that depends on having the System instantiated. This includes calls that set up callbacks.\nenable()/disable(): These are called when a vehicle is discovered or has timed out. They should be used for managing resources needed to access a connected system/vehicle (e.g. getting a parameter or changing a setting).\n\nAdditional detail is provided for methods below.\ninit() \nvirtual void init() = 0\n\nThe init() method is called when a plugin is instantiated.\nThis happens when a System is constructed (this does not mean that the system actually exists and is connected - it might just be an empty dummy system).\nPlugins should do initialization steps with other parts of the SDK at this state, e.g. set up callbacks with _parent (DeviceImpl).\ndeinit() \nvirtual void deinit() = 0\n\nThe deinit() method is called before a plugin is destroyed. This usually happens only at the very end, when a MAVSDK instance is destroyed.\nPlugins should cleanup anything that was set up during init().\nenable() \nvirtual void enable() = 0\n\nThe enable() method is called when a system is discovered (connected).\nPlugins should do all initialization/configuration steps that require a system to be connected.\nFor example, setting/getting parameters.\nIf any threads, call_every or timeouts are needed, they can be started in this method.\ndisable() \nvirtual void disable() = 0\n\nThe disable() method is called when a system has timed out.\nThe method is also called before deinit() is called to stop any systems with active plugins from communicating (in order to prevent warnings and errors because communication to the system no longer works).\nIf any threads, call_every, or timeouts are running, they should be stopped in this method.\nTest Code \nTests must be created for all new and updated plugin code.\nThe tests should be exhaustive, and cover all aspects of using the plugin API.\nThe Google Test Primer\nprovides an excellent overview of how tests are written and used.\nWriting Unit Tests\nMost of the existing plugins do not have unit tests,\nbecause we do not yet have the ability to mock MAVLink communications (needed to test most plugins).\nUnit tests are therefore considered optional!\n\n Comprehensive integration tests should be written instead, with the simulator providing appropriate MAVLink messages.\n\nAdding Unit Tests \nUnit test files are stored in the same directory as their associated source code.\nIn order to include a test in the SDK unit test program (unit_tests_runner),\nit must be added to the UNIT_TEST_SOURCES variable in the plugin CMakeLists.txt file.\nFor example, to add the example_foo_test.cpp unit test you would\nappend the following lines to its CMakeLists.txt:\nlist(APPEND UNIT_TEST_SOURCES\n ${CMAKE_SOURCE_DIR}/src/plugins/mission/example_foo_test.cpp\n)\nset(UNIT_TEST_SOURCES ${UNIT_TEST_SOURCES} PARENT_SCOPE)\n\nUnit Test Code\nUnit tests typically include the file to be tested, mavsdk.h, and gtest.h.\nThere are no standard shared test unit resources so test functions are declared using TEST.\nAll tests in a file should share the same test-case name (the first argument to TEST).\nWriting Integration Tests \nMAVSDK provides the integration_tests_runner application for running the integration tests and some helper code to make it easier to log tests and run them against the simulator.\n\n Check out the Google Test Primer\nand the integration_tests\nfor our existing plugins to better understand how to write your own!\n\nAdding Integration Tests\nIn order to run an integration test it needs to be added to the integration_tests_runner program.\nIntegration tests for core functionality and plugins delivered by the project\nare stored in MAVSDK/src/integration_tests.\nThe files are added to the test program in that folder's\nCMakeLists.txt file:\n# This includes all GTests that run integration tests\nadd_executable(integration_tests_runner\n ../core/unittests_main.cpp\n simple_connect.cpp\n async_connect.cpp\n telemetry_simple.cpp\n ...\n gimbal.cpp\n transition_multicopter_fixedwing.cpp\n follow_me.cpp\n)\n\nIntegration Test Files/Code\nThe main MAVSDK-specific functionality is provided by integration_test_helper.h.\nThis provides access to the Plugin/Test Logger and a shared test class SitlTest for setting up and tearing down the PX4 simulator.\n\n All tests running against SITL can be declared using TEST_F and have a first argument SitlTest as shown.\n This is required in order to use the shared class to set up and tear down the simulator between tests.\n\nFor reference inspect the existing integration tests.\nExample Code\n\n It is quicker and easier to write and modify integration tests than examples.\nDo not write example code until the plugin has been accepted!\n\nA simple example should be written that demonstrates basic usage of its API by 3rd parties.\nThe example need not cover all functionality, but should demonstrate enough that developers can see how it is used and how the example might be extended.\nWhere possible examples should demonstrate realistic use cases such that the code can usefully be copied and reused by external developers.\nDocumentation\nIn-Source Comments\nThe public API must be fully documented using the proto files.\n\n The in-source comments will be compiled to markdown and included in the API Reference.\nThe process is outlined in Documentation > API Reference.\n\nInternal/implementation classes need not be documented, but should be written using expressive naming of variables and functions to help the reader.\nAnything unexpected or special however warrants an explanation as a comment.\nExample Code Documentation\nThe plugin example should be documented in markdown following the same pattern as the existing examples.\nGenerally this involves explaining what the example does and displaying the source.\nThe explanation of how the code works is usually deferred to guide documentation.\nGuide Documentation \nIdeally, guide documentation should be created. This should be based on example code.\nThe purpose of the guide is to:\n\nShow how different parts of the API can be used together\nHighlight usage patterns and limitations that may not be obvious from API reference\nProvide code fragments that can easily be reused\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/contributing/documentation.html":{"url":"cpp/contributing/documentation.html","title":"Documentation","keywords":"","body":"Contributing to Documentation\nMaking quick fixes to existing text or raising issues is very easy.\nMore complicated changes will require you to set up the Gitbook toolchain.\nIf you want to help, get in touch.\n\n You will need a Github login to make and submit changes to this guide.\n\nOverview\nThis guide is written in markdown wiki syntax and stored in the Github mavlink/MAVSDK-docs repo.\nThe book is hosted on Gitbook.com and is automatically rebuilt whenever the master branch of the repo is updated.\nYou can also rebuild it locally using the Gitbook toolchain.\nThe API Reference section is compiled from source code into markdown using a separate toolchain and then copied into Github.\nUpdates to the reference should be made in the source code repository (see API Reference below for more information).\nThe guide is licensed under CC BY 4.0 - if you make any changes then they will be made available under the same license.\nMaking a Quick Fix\nSimple fixes to an existing page can be made directly on Github:\n\nClick the Edit button in the top toolbar to open the page\n\n\nMake required changes in the editor section near the top of the page.\n\nAt the bottom of the page, add a comment and select the second radio button to create a new branch.\n\n\nFollow the on-screen instructions to create a pull request with your change.\n\n\nRaising an Issue\nTo raise an issue against the documentation:\n\nOpen the page with problem content.\nClick the Bug button in the top toolbar.\n\nThis will open a bug in Github, seeded with the URL/name for the current page.\n\nEnter enough information for someone to understand the problem, and ideally to fix it.\n\nMaking a Big Change\nIf you want to make more significant changes or additions to the documentation you will need to set up Git and the Gitbook toolchain (this allows you to render the documentation and check that links work).\nFor setup information see: Gitbook toolchain.\nAPI Reference\nThe C++ source code is annotated using comments using Doxygen syntax.\nYou can extract the documentation to markdown files (one per class) on macOS or Linux using the instructions in Build API Reference Documentation.\nIn order to include new API reference in the SDK Documentation it must be manually added to the Github repository:\n\nCopy the files into the /en/cpp/api_reference folder\nNew APIs should be added to appropriate sections in the MAVSDK-docs/en/SUMMARY.md and /en/cpp/api_reference/README.md.\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"cpp/contributing/release.html":{"url":"cpp/contributing/release.html","title":"Release process","keywords":"","body":"Make MAVSDK Release\nThese are the instructions on how to get a release out the door.\n\n The idea is of course to automate this as much as possible!\n\nMAVSDK part\n\nCheck if all open pull requests are merged that need to go in.\nCheck that CI on main passed.\nCreate tag in main:git switch main\ngit pull\ngit tag vX.Y.Z\ngit push origin vX.Y.Z\n\n\nGenerate changelog using tools/generate_changelog.py --token TOKEN_FROM_GITHUB --verbose --tag vX.Y.Z.\nIf it finds old/wrong PRs, wait a bit or create the release from the tag in the GitHub UI.\nOnce it finds the correct PRs it will check all of them for labels. Make sure all merged PRs have sensible labels (e.g. enhancement, bug, or feature).\nCopy the changelog text to the release.\n\n\nCheck later if all artifacts have been uploaded correctly to the release.\nUpdate the Arch AUR repository. This depends on the AUR maintainter's credentials (currently julianoes).\nUse the repo: ssh://aur@aur.archlinux.org/mavsdk.git.\nBump the version in pkgver=X.Y.Z.\nCheck PKGBUILD: namcap PKGBUILD.\nTry to make pkg: makepkg.\nUpdate .SRCINFO: makepkg --printsrcinfo > .SRCINFO.\nCommit and push.\n\n\nUpdate the brew repo. Steps for macOS:\nexport HOMEBREW_GITHUB_API_TOKEN=\nbrew bump-formula-pr mavsdk --tag=vX.Y.Z --revision=\nThis should then open the browser with the pull request already created.\n\n\n\nMAVSDK-docs part\n\nGenerate the docs and update the reference docs.\nCheck or update the examples in the docs.\nCreate a branch off main for the release\nCreate the branchgit switch main\ngit pull\ngit switch -c vX.Y\n\nModify book.json in the vX.Y branch to change the value of github_branch to match the new branch: \"github_branch\": \"vX.Y\"\nPush the branch to the upstream repogit push origin vX.Y\n\n\n\nAdd the branch to the version checker in main branch book.json (see pattern below versions).\n\nOther\n\nPost a note on Slack #mavsdk.\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"swift/":{"url":"swift/","title":"iOS/Swift","keywords":"","body":"MAVSDK-Swift\n\nAPI documentation\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"python/":{"url":"python/","title":"Python","keywords":"","body":"MAVSDK-Python\n\nPython QuickStart\nAPI documentation\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"python/quickstart.html":{"url":"python/quickstart.html","title":"QuickStart","keywords":"","body":"Python QuickStart\nPrerequisites\n\nPython 3.6+: run python --version or python3 --version in a terminal to check the installed version.\nA running SITL instance (jMAVSim, gazebo, …).\nA quick way to run a headless gazebo SITL instance using docker is documented here.\n\nInstall\nMAVSDK-Python is distributed through PyPi, and can therefore be installed with pip3:\npip3 install mavsdk\n\nMake sure that the output of this command confirms that the installation succeeded!\n\n On some systems, you may have to run pip3 install --user mavsdk, or you may want to run in a Python venv.\n\nFor the quick start below we will also install the lightweight package called “aioconsole”.\nThis provides a REPL (interactive shell) called apython that we can use for running asyncio code:\npip3 install aioconsole\n\nRun SITL\nIt is always good to make sure that SITL works before trying to connect MAVSDK to it.\nOne way is to run the following commands in the pxh> prompt when SITL is running:\ncommander takeoff\ncommander land\nThe simulated drone should takeoff and land.\nIf it doesn't, it may mean that SITL is not ready, or that there is a problem.\nTake off from MAVSDK\nWhen we know that the simulator is ready, we can open an apython REPL:\napython\n\nImport MAVSDK into the environment by entering:\nfrom mavsdk import System\n\nWe then create a System object, in this case named drone, and make it connect to the drone (this object is our \"handle\" to access the rest of the MAVSDK functions):\ndrone = System()\nawait drone.connect()\n\nOnce connected, we can arm and takeoff using the appropriate MAVSDK commands:\nawait drone.action.arm()\nawait drone.action.takeoff()\n\nIf everything went well, your drone should takeoff.\nIn the pxh console, you should see a log line like:\nINFO [commander] Takeoff detected\n\nIf running a graphical interface, you should see the drone taking off.\nHere is what it looks like in jMAVSim:\n\n\n Make sure to send the takeoff() command within (at most) a few seconds of arm(); the drone will automatically disarm after a few seconds if it does not receive a command to takeoff.\n\nYou get an exception, as shown below:\nraise ActionError(result, “arm()”)\nmavsdk.generated.action.ActionError: COMMAND_DENIED: ‘Command denied’; origin: arm(); params: ()\n\nThis is not a bug! It means that the arm() call was rejected by PX4, with the error code COMMAND_DENIED.\nIt happens for instance when you try to arm before the drone gets a GPS fix.\nMost functions in MAVSDK-Python can raise exceptions that your code should handle with try... except.\nNow that the drone is flying, we can land:\nawait drone.action.land()\n\n\n We have been using the apython REPL to run all that interactively, but the same can be achieved by running the takeoff_and_land.py example (in which case the aioconsole package is not needed).\n\nUsing an IDE\nRunning from the REPL is convenient for testing a few commands interactively, but aioconsole does not provide auto-completion.\nHowever, IDEs like PyCharm do.\nThis is very helpful, as typing drone. is enough to get a list of suggestions.\nThe following screenshot shows PyCharm auto-completion for drone.action.:\n\nExamples\nWe do have a number of examples available in the repository, which are certainly a good starting point for learning about MAVSDK-Python.\nNext Steps\nOnce MAVSDK is installed we recommend you:\n\nTry the other examples\nBrowse the API reference to get an overview of the functionality.\n\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "},"faq.html":{"url":"faq.html","title":"FAQ","keywords":"","body":"FAQ\nWhy was the core of MAVSDK written in C++?\nThe aim was to have an API in a language which is cross-platform and has many language bindings.\nThe library also needs to be lightweight and fast, so it does not slow down for onboard usage at higher rate messaging.\nAdditionally, MAVSDK should be able to run efficiently in embedded setups, e.g. as part of an app or onboard a drone on a companion computer, as well as provide a simple and safe API. This favoured C++ over C as it allows for more expressive but type-safe APIs using standard library containers (e.g. std::vector) for usage in embedded setups.\nAre multiple vehicles supported?\nYes.\n\nThe MAVSDK C++ library allows C++ applications to connect to multiple vehicles at a time.\nPython, Swift, and other language wrappers can only connect to a single vehicle at a time.\nHowever you can instantiate multiple copies of wrappers in order to connect to multiple systems.\n\nA maximum of 255 vehicles can be connected.\n\n The maximum number of vehicles is defined by the MAVLink protocol.\n MAVLink refers to vehicles as \"systems\", which are comprised of components (for example, a drone with a gimbal and a camera).\n Each system has a network-unique MAVLink system ID, with a value between 1 and 255 (0 is a \"broadcast address\").\n Each component in a system shares its system id, and has a system-unique component ID, again with a value 1 and 255.\n\nIs MAVLink 1 supported?\nNo. MAVSDK only supports MAVLink 2.0.\nWhat sorts of vehicles are supported?\nThe MAVSDK API is designed for interacting with aircraft.\nIt has primarily been tested for use with multicopters, but also has basic support for fixed wing and VTOL.\nThe API may \"work\" with ground-based or other types of vehicles, but some methods will not make sense.\nThis use-case is mostly unsupported and untested.\nDoes MAVSDK support indoor use?\nIndoor use is supported, however, some modes such as mission or position control are not available indoor, unless some additional positioning method is available (e.g. optical flow, visual-inertial odometry, a motion capture system, etc.).\nNote that PX4 currently does not support missions using \"local coordinates\" (i.e. meters) but only supports using \"global coordinates\" (i. e. latitude/longitude).\nWhat UAV flight stacks are supported?\nMAVSDK, so far, is optimised for use with the PX4 flight stack and all testing is done against PX4.\nWhile many features should work on other flight stacks there may be implementation differences at the MAVLink microservices level which means that not every API will work.\nFor example, PX4 and ArduPilot implement the parameter protocol differently, and vary slightly in the mission upload/download protocol (e.g. ArduPilot uses the 0 entry as the home position).\n\n The SDK welcomes contributions to better support flight stacks other than PX4.\nWe do however expect contributors to also help with testing and maintenance support for using the SDK with their autopilot.\n\nAre serial connections supported?\nYes. Serial, TCP, and UDP connections are supported, see notes on connection.\nWhy is libCURL a dependency?\nlibCURL will be required to download the camera definition file which is referenced in CAMERA_INFORMATION.\nIt might also come in handy whenever any other REST resources are required.\nHow are plugins added?\nCheck out C++/Contributing/Plugins.\nCan a plugin depend on another one?\nYes - but it should not!\nThe idea is that plugins don't have any coupling between each other which allows for any plugin to be changed or removed without breaking the rest.\nThis will lead to some duplication at places, and that's an acceptable trade-off.\nIf the same code is used in many places, it can always be moved to core and get re-used from there.\nWe have sometimes moved functionality from plugins to the core if it was exposed in multiple plugins. As an example mission upload/download has been moved to the core so it can be used in the Mission plugin as well as the MissionRaw and Geofence plugins.\nCan MAVSDK run on an embedded platform / microcontroller?\nMAVSDK is generally written at a bit higher level, geared towards ARM devices such as a Raspberry Pi, a smartphone, or a similar device with equal/better performance.\nAs MAVSDK does not actually require too much CPU power, it could in theory be run on a microcontroller such as an ARM Cortex M4, however, it would require the POSIX APIs for serial and networking communication, as well as the C++ standard library for classes/functions such as std::thread or std::vector.\nThe recommendation for usage with a microcontroller would be to use the pure C MAVLink headers.\nWhy is MAVLink Passthrough only available in C++?\nThe C++ MAVLink passthrough plugin basically exposes the direct C MAVLink API. While it would be nice to have access to all MAVLink messages in the language wrappers, there are some technical challenges:\n\nEssentially, it would mean that all MAVLink APIs would have to be duplicated by the proto APIs.\nThis would increase the API and code size considerably.\nAlternatively, the API could be exposed without types, using some sort of runtime access like get_message(\"ATTITUDE\").get_field(\"pitch\").as_float().\nThis would come with the cost of no type safety and runtime overhead for parsing the strings.\n\nFrom a MAVSDK project point of view, there is also an advantage of not having a passthrough available in language wrappers; it encourages that required features are contributed back to the open-source project, rather than implemented in private using passthrough, and thus benefitting everyone.\nWhy is gRPC used for the language wrappers?\nThere are multiple ways to support multiple programming languages all with their pros and cons:\n\nSeparate implementation per language:\n+ Nice native API.\n+ No non-native dependencies (often) in language wrappers.\n- Lots of implementation effort required, does not scale well with a small team.\n- Languages will not have consistency of feature parity.\nDirect language bindings based on Swig.\n+ Many languages \"almost for free\".\n- Not always optimal/super clean API, unless another layer is written manually.\n- Requires linking to non-native dependencies.\nDirect language bindings manually written, or based on various tools like pybind11.\n+ Some languages \"almost for free\".\n- Varies on the language. If done manually likely to have bugs.\n- Requires linking to nan-native dependencies.\nLanguage bindings based on proto definitions (protobuf) and gRPC.\n+ Nice native APIs can be auto-generated from proto files.\n+ No non-native dependencies in language wrappers.\n+ mavsdk_server (gRPC server) can be run on other machine, or over network, in cloud, etc.\n- gRPC requires quite a few dependencies.\n\nWhen writing the language wrappers for MAVSDK we decided to try gRPC, however, we underestimated just how much work was required to write all the auto-generation for the various function signatures (sync, async, result handling, streams, etc.), and also were not aware about the pain that comes with every dependency.\nYou can read more about the auto-generation, and learn how to add functionality.\nWe are not ruling out direct-bindings for the future, there is e.g. a prototype for Python using pybind11, so this is an ongoing topic.\n © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17 "}}} \ No newline at end of file diff --git a/v2.0/en/swift/index.html b/v2.0/en/swift/index.html new file mode 100644 index 00000000..a7cb4150 --- /dev/null +++ b/v2.0/en/swift/index.html @@ -0,0 +1,3340 @@ + + + + + + + iOS/Swift · MAVSDK Guide + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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                                                                                                                                                                                                                                                                                                                                                                                                                                                      © MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 02:32:17
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+ display: none; + margin-left: -30px; + padding-left: 40px; + cursor: pointer; + position: absolute; + top: 0; + left: 0; + bottom: 0; +} + +a.plugin-anchor i { + margin-left: -30px; + font-size: 15px !important; +} + +h1, h2, h3, h4, h5, h6 { + position: relative; +} + +h1:hover a.plugin-anchor, h2:hover a.plugin-anchor, h3:hover a.plugin-anchor, +h4:hover a.plugin-anchor, h5:hover a.plugin-anchor, h6:hover a.plugin-anchor { + display: inline-block; +} + +.book .book-body .page-wrapper .page-inner section.normal { + overflow: visible; +} diff --git a/v2.0/gitbook/gitbook-plugin-collapsible-menu/plugin.js b/v2.0/gitbook/gitbook-plugin-collapsible-menu/plugin.js new file mode 100644 index 00000000..11fd9c5f --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-collapsible-menu/plugin.js @@ -0,0 +1,8 @@ +require(["gitbook"], function(gitbook) { + gitbook.events.bind("page.change", function() { + $('ul.summary li li').hide(); + // $('ul.summary li').find('li.active').parent().children().show(); + $('ul.summary li li.active').parents().children(':not(script)').show(); + $('ul.summary li.active > ul > li').show(); + }); +}); diff --git a/v2.0/gitbook/gitbook-plugin-fontsettings/fontsettings.js b/v2.0/gitbook/gitbook-plugin-fontsettings/fontsettings.js new file mode 100644 index 00000000..ff7be714 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-fontsettings/fontsettings.js @@ -0,0 +1,240 @@ +require(['gitbook', 'jquery'], function(gitbook, $) { + // Configuration + var MAX_SIZE = 4, + MIN_SIZE = 0, + BUTTON_ID; + + // Current fontsettings state + var fontState; + + // Default themes + var THEMES = [ + { + config: 'white', + text: 'White', + id: 0 + }, + { + config: 'sepia', + text: 'Sepia', + id: 1 + }, + { + config: 'night', + text: 'Night', + id: 2 + } + ]; + + // Default font families + var FAMILIES = [ + { + config: 'serif', + text: 'Serif', + id: 0 + }, + { + config: 'sans', + text: 'Sans', + id: 1 + } + ]; + + // Return configured themes + function getThemes() { + return THEMES; + } + + // Modify configured themes + function setThemes(themes) { + THEMES = themes; + updateButtons(); + } + + // Return configured font families + function getFamilies() { + return FAMILIES; + } + + // Modify configured font families + function setFamilies(families) { + FAMILIES = families; + updateButtons(); + } + + // Save current font settings + function saveFontSettings() { + gitbook.storage.set('fontState', fontState); + update(); + } + + // Increase font size + function enlargeFontSize(e) { + e.preventDefault(); + if (fontState.size >= MAX_SIZE) return; + + fontState.size++; + saveFontSettings(); + } + + // Decrease font size + function reduceFontSize(e) { + e.preventDefault(); + if (fontState.size <= MIN_SIZE) return; + + fontState.size--; + saveFontSettings(); + } + + // Change font family + function changeFontFamily(configName, e) { + if (e && e instanceof Event) { + e.preventDefault(); + } + + var familyId = getFontFamilyId(configName); + fontState.family = familyId; + saveFontSettings(); + } + + // Change type of color theme + function changeColorTheme(configName, e) { + if (e && e instanceof Event) { + e.preventDefault(); + } + + var $book = gitbook.state.$book; + + // Remove currently applied color theme + if (fontState.theme !== 0) + $book.removeClass('color-theme-'+fontState.theme); + + // Set new color theme + var themeId = getThemeId(configName); + fontState.theme = themeId; + if (fontState.theme !== 0) + $book.addClass('color-theme-'+fontState.theme); + + saveFontSettings(); + } + + // Return the correct id for a font-family config key + // Default to first font-family + function getFontFamilyId(configName) { + // Search for plugin configured font family + var configFamily = $.grep(FAMILIES, function(family) { + return family.config == configName; + })[0]; + // Fallback to default font family + return (!!configFamily)? configFamily.id : 0; + } + + // Return the correct id for a theme config key + // Default to first theme + function getThemeId(configName) { + // Search for plugin configured theme + var configTheme = $.grep(THEMES, function(theme) { + return theme.config == configName; + })[0]; + // Fallback to default theme + return (!!configTheme)? configTheme.id : 0; + } + + function update() { + var $book = gitbook.state.$book; + + $('.font-settings .font-family-list li').removeClass('active'); + $('.font-settings .font-family-list li:nth-child('+(fontState.family+1)+')').addClass('active'); + + $book[0].className = $book[0].className.replace(/\bfont-\S+/g, ''); + $book.addClass('font-size-'+fontState.size); + $book.addClass('font-family-'+fontState.family); + + if(fontState.theme !== 0) { + $book[0].className = $book[0].className.replace(/\bcolor-theme-\S+/g, ''); + $book.addClass('color-theme-'+fontState.theme); + } + } + + function init(config) { + // Search for plugin configured font family + var configFamily = getFontFamilyId(config.family), + configTheme = getThemeId(config.theme); + + // Instantiate font state object + fontState = gitbook.storage.get('fontState', { + size: config.size || 2, + family: configFamily, + theme: configTheme + }); + + update(); + } + + function updateButtons() { + // Remove existing fontsettings buttons + if (!!BUTTON_ID) { + gitbook.toolbar.removeButton(BUTTON_ID); + } + + // Create buttons in toolbar + BUTTON_ID = gitbook.toolbar.createButton({ + icon: 'fa fa-font', + label: 'Font Settings', + className: 'font-settings', + dropdown: [ + [ + { + text: 'A', + className: 'font-reduce', + onClick: reduceFontSize + }, + { + text: 'A', + className: 'font-enlarge', + onClick: enlargeFontSize + } + ], + $.map(FAMILIES, function(family) { + family.onClick = function(e) { + return changeFontFamily(family.config, e); + }; + + return family; + }), + $.map(THEMES, function(theme) { + theme.onClick = function(e) { + return changeColorTheme(theme.config, e); + }; + + return theme; + }) + ] + }); + } + + // Init configuration at start + gitbook.events.bind('start', function(e, config) { + var opts = config.fontsettings; + + // Generate buttons at start + updateButtons(); + + // Init current settings + init(opts); + }); + + // Expose API + gitbook.fontsettings = { + enlargeFontSize: enlargeFontSize, + reduceFontSize: reduceFontSize, + setTheme: changeColorTheme, + setFamily: changeFontFamily, + getThemes: getThemes, + setThemes: setThemes, + getFamilies: getFamilies, + setFamilies: setFamilies + }; +}); + + diff --git a/v2.0/gitbook/gitbook-plugin-fontsettings/website.css b/v2.0/gitbook/gitbook-plugin-fontsettings/website.css new file mode 100644 index 00000000..26591fe8 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-fontsettings/website.css @@ -0,0 +1,291 @@ +/* + * Theme 1 + */ +.color-theme-1 .dropdown-menu { + background-color: #111111; + border-color: #7e888b; +} +.color-theme-1 .dropdown-menu .dropdown-caret .caret-inner { + border-bottom: 9px solid #111111; +} +.color-theme-1 .dropdown-menu .buttons { + border-color: #7e888b; +} +.color-theme-1 .dropdown-menu .button { + color: #afa790; +} +.color-theme-1 .dropdown-menu .button:hover { + color: #73553c; +} +/* + * Theme 2 + */ +.color-theme-2 .dropdown-menu { + background-color: #2d3143; + border-color: #272a3a; +} +.color-theme-2 .dropdown-menu .dropdown-caret .caret-inner { + border-bottom: 9px solid #2d3143; +} +.color-theme-2 .dropdown-menu .buttons { + border-color: #272a3a; +} +.color-theme-2 .dropdown-menu .button { + color: #62677f; +} +.color-theme-2 .dropdown-menu .button:hover { + color: #f4f4f5; +} +.book .book-header .font-settings .font-enlarge { + line-height: 30px; + font-size: 1.4em; +} +.book .book-header .font-settings .font-reduce { + line-height: 30px; + font-size: 1em; +} +.book.color-theme-1 .book-body { + color: #704214; + background: #f3eacb; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section { + background: #f3eacb; +} +.book.color-theme-2 .book-body { + color: #bdcadb; + background: #1c1f2b; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section { + background: #1c1f2b; +} +.book.font-size-0 .book-body .page-inner section { + font-size: 1.2rem; +} +.book.font-size-1 .book-body .page-inner section { + font-size: 1.4rem; +} +.book.font-size-2 .book-body .page-inner section { + font-size: 1.6rem; +} +.book.font-size-3 .book-body .page-inner section { + font-size: 2.2rem; +} +.book.font-size-4 .book-body .page-inner section { + font-size: 4rem; +} +.book.font-family-0 { + font-family: Georgia, serif; +} +.book.font-family-1 { + font-family: "Helvetica Neue", Helvetica, Arial, sans-serif; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal { + color: #704214; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal a { + color: inherit; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal h1, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal h2, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal h3, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal h4, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal h5, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal h6 { + color: inherit; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal h1, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal h2 { + border-color: inherit; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal h6 { + color: inherit; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal hr { + background-color: inherit; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal blockquote { + border-color: inherit; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal pre, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal code { + background: #fdf6e3; + color: #657b83; + border-color: #f8df9c; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal .highlight { + background-color: inherit; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal table th, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal table td { + border-color: #f5d06c; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal table tr { + color: inherit; + background-color: #fdf6e3; + border-color: #444444; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal table tr:nth-child(2n) { + background-color: #fbeecb; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal { + color: #bdcadb; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal a { + color: #3eb1d0; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal h1, +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal h2, +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal h3, +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal h4, +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal h5, +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal h6 { + color: #fffffa; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal h1, +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal h2 { + border-color: #373b4e; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal h6 { + color: #373b4e; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal hr { + background-color: #373b4e; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal blockquote { + border-color: #373b4e; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal pre, +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal code { + color: #9dbed8; + background: #2d3143; + border-color: #2d3143; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal .highlight { + background-color: #282a39; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal table th, +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal table td { + border-color: #3b3f54; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal table tr { + color: #b6c2d2; + background-color: #2d3143; + border-color: #3b3f54; +} +.book.color-theme-2 .book-body .page-wrapper .page-inner section.normal table tr:nth-child(2n) { + background-color: #35394b; +} +.book.color-theme-1 .book-header { + color: #afa790; + background: transparent; +} +.book.color-theme-1 .book-header .btn { + color: #afa790; +} +.book.color-theme-1 .book-header .btn:hover { + color: #73553c; + background: none; +} +.book.color-theme-1 .book-header h1 { + color: #704214; +} +.book.color-theme-2 .book-header { + color: #7e888b; + background: transparent; +} +.book.color-theme-2 .book-header .btn { + color: #3b3f54; +} +.book.color-theme-2 .book-header .btn:hover { + color: #fffff5; + background: none; +} +.book.color-theme-2 .book-header h1 { + color: #bdcadb; +} +.book.color-theme-1 .book-body .navigation { + color: #afa790; +} +.book.color-theme-1 .book-body .navigation:hover { + color: #73553c; +} +.book.color-theme-2 .book-body .navigation { + color: #383f52; +} +.book.color-theme-2 .book-body .navigation:hover { + color: #fffff5; +} +/* + * Theme 1 + */ +.book.color-theme-1 .book-summary { + color: #afa790; + background: #111111; + border-right: 1px solid rgba(0, 0, 0, 0.07); +} +.book.color-theme-1 .book-summary .book-search { + background: transparent; +} +.book.color-theme-1 .book-summary .book-search input, +.book.color-theme-1 .book-summary .book-search input:focus { + border: 1px solid transparent; +} +.book.color-theme-1 .book-summary ul.summary li.divider { + background: #7e888b; + box-shadow: none; +} +.book.color-theme-1 .book-summary ul.summary li i.fa-check { + color: #33cc33; +} +.book.color-theme-1 .book-summary ul.summary li.done > a { + color: #877f6a; +} +.book.color-theme-1 .book-summary ul.summary li a, +.book.color-theme-1 .book-summary ul.summary li span { + color: #877f6a; + background: transparent; + font-weight: normal; +} +.book.color-theme-1 .book-summary ul.summary li.active > a, +.book.color-theme-1 .book-summary ul.summary li a:hover { + color: #704214; + background: transparent; + font-weight: normal; +} +/* + * Theme 2 + */ +.book.color-theme-2 .book-summary { + color: #bcc1d2; + background: #2d3143; + border-right: none; +} +.book.color-theme-2 .book-summary .book-search { + background: transparent; +} +.book.color-theme-2 .book-summary .book-search input, +.book.color-theme-2 .book-summary .book-search input:focus { + border: 1px solid transparent; +} +.book.color-theme-2 .book-summary ul.summary li.divider { + background: #272a3a; + box-shadow: none; +} +.book.color-theme-2 .book-summary ul.summary li i.fa-check { + color: #33cc33; +} +.book.color-theme-2 .book-summary ul.summary li.done > a { + color: #62687f; +} +.book.color-theme-2 .book-summary ul.summary li a, +.book.color-theme-2 .book-summary ul.summary li span { + color: #c1c6d7; + background: transparent; + font-weight: 600; +} +.book.color-theme-2 .book-summary ul.summary li.active > a, +.book.color-theme-2 .book-summary ul.summary li a:hover { + color: #f4f4f5; + background: #252737; + font-weight: 600; +} diff --git a/v2.0/gitbook/gitbook-plugin-highlight/ebook.css b/v2.0/gitbook/gitbook-plugin-highlight/ebook.css new file mode 100644 index 00000000..cecaaab5 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-highlight/ebook.css @@ -0,0 +1,135 @@ +pre, +code { + /* http://jmblog.github.io/color-themes-for-highlightjs */ + /* Tomorrow Comment */ + /* Tomorrow Red */ + /* Tomorrow Orange */ + /* Tomorrow Yellow */ + /* Tomorrow Green */ + /* Tomorrow Aqua */ + /* Tomorrow Blue */ + /* Tomorrow Purple */ +} +pre .hljs-comment, +code .hljs-comment, +pre .hljs-title, +code .hljs-title { + color: #8e908c; +} +pre .hljs-variable, +code .hljs-variable, +pre .hljs-attribute, +code .hljs-attribute, +pre .hljs-tag, +code .hljs-tag, +pre .hljs-regexp, +code .hljs-regexp, +pre .hljs-deletion, +code .hljs-deletion, +pre .ruby .hljs-constant, +code .ruby .hljs-constant, +pre .xml .hljs-tag .hljs-title, +code .xml .hljs-tag .hljs-title, +pre .xml .hljs-pi, +code .xml .hljs-pi, +pre .xml .hljs-doctype, +code .xml .hljs-doctype, +pre .html .hljs-doctype, +code .html .hljs-doctype, +pre .css .hljs-id, +code .css .hljs-id, +pre .css .hljs-class, +code .css .hljs-class, +pre .css .hljs-pseudo, +code .css .hljs-pseudo { + color: #c82829; +} +pre .hljs-number, +code .hljs-number, +pre .hljs-preprocessor, +code .hljs-preprocessor, +pre .hljs-pragma, +code .hljs-pragma, +pre .hljs-built_in, +code .hljs-built_in, +pre .hljs-literal, +code .hljs-literal, +pre .hljs-params, +code .hljs-params, +pre .hljs-constant, +code .hljs-constant { + color: #f5871f; +} +pre .ruby .hljs-class .hljs-title, +code .ruby .hljs-class .hljs-title, +pre .css .hljs-rules .hljs-attribute, +code .css .hljs-rules .hljs-attribute { + color: #eab700; +} +pre .hljs-string, +code .hljs-string, +pre .hljs-value, +code .hljs-value, +pre .hljs-inheritance, +code .hljs-inheritance, +pre .hljs-header, +code .hljs-header, +pre .hljs-addition, +code .hljs-addition, +pre .ruby .hljs-symbol, +code .ruby .hljs-symbol, +pre .xml .hljs-cdata, +code .xml .hljs-cdata { + color: #718c00; +} +pre .css .hljs-hexcolor, +code .css .hljs-hexcolor { + color: #3e999f; +} +pre .hljs-function, +code .hljs-function, +pre .python .hljs-decorator, +code .python .hljs-decorator, +pre .python .hljs-title, +code .python .hljs-title, +pre .ruby .hljs-function .hljs-title, +code .ruby .hljs-function .hljs-title, +pre .ruby .hljs-title .hljs-keyword, +code .ruby .hljs-title .hljs-keyword, +pre .perl .hljs-sub, +code .perl .hljs-sub, +pre .javascript .hljs-title, +code .javascript .hljs-title, +pre .coffeescript .hljs-title, +code .coffeescript .hljs-title { + color: #4271ae; +} +pre .hljs-keyword, +code .hljs-keyword, +pre .javascript .hljs-function, +code .javascript .hljs-function { + color: #8959a8; +} +pre .hljs, +code .hljs { + display: block; + background: white; + color: #4d4d4c; + padding: 0.5em; +} +pre .coffeescript .javascript, +code .coffeescript .javascript, +pre .javascript .xml, +code .javascript .xml, +pre .tex .hljs-formula, +code .tex .hljs-formula, +pre .xml .javascript, +code .xml .javascript, +pre .xml .vbscript, +code .xml .vbscript, +pre .xml .css, +code .xml .css, +pre .xml .hljs-cdata, +code .xml .hljs-cdata { + opacity: 0.5; +} diff --git a/v2.0/gitbook/gitbook-plugin-highlight/website.css b/v2.0/gitbook/gitbook-plugin-highlight/website.css new file mode 100644 index 00000000..6674448f --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-highlight/website.css @@ -0,0 +1,434 @@ +.book .book-body .page-wrapper .page-inner section.normal pre, +.book .book-body .page-wrapper .page-inner section.normal code { + /* http://jmblog.github.com/color-themes-for-google-code-highlightjs */ + /* Tomorrow Comment */ + /* Tomorrow Red */ + /* Tomorrow Orange */ + /* Tomorrow Yellow */ + /* Tomorrow Green */ + /* Tomorrow Aqua */ + /* Tomorrow Blue */ + /* Tomorrow Purple */ +} +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-comment, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-comment, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-title { + color: #8e908c; +} +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-variable, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-variable, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-attribute, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-attribute, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-tag, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-tag, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-regexp, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-regexp, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-deletion, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-deletion, +.book .book-body .page-wrapper .page-inner section.normal pre .ruby .hljs-constant, +.book .book-body .page-wrapper .page-inner section.normal code .ruby .hljs-constant, +.book .book-body .page-wrapper .page-inner section.normal pre .xml .hljs-tag .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal code .xml .hljs-tag .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal pre .xml .hljs-pi, +.book .book-body .page-wrapper .page-inner section.normal code .xml .hljs-pi, +.book .book-body .page-wrapper .page-inner section.normal pre .xml .hljs-doctype, +.book .book-body .page-wrapper .page-inner section.normal code .xml .hljs-doctype, +.book .book-body .page-wrapper .page-inner section.normal pre .html .hljs-doctype, +.book .book-body .page-wrapper .page-inner section.normal code .html .hljs-doctype, +.book .book-body .page-wrapper .page-inner section.normal pre .css .hljs-id, +.book .book-body .page-wrapper .page-inner section.normal code .css .hljs-id, +.book .book-body .page-wrapper .page-inner section.normal pre .css .hljs-class, +.book .book-body .page-wrapper .page-inner section.normal code .css .hljs-class, +.book .book-body .page-wrapper .page-inner section.normal pre .css .hljs-pseudo, +.book .book-body .page-wrapper .page-inner section.normal code .css .hljs-pseudo { + color: #c82829; +} +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-number, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-number, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-preprocessor, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-preprocessor, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-pragma, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-pragma, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-built_in, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-built_in, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-literal, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-literal, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-params, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-params, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-constant, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-constant { + color: #f5871f; +} +.book .book-body .page-wrapper .page-inner section.normal pre .ruby .hljs-class .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal code .ruby .hljs-class .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal pre .css .hljs-rules .hljs-attribute, +.book .book-body .page-wrapper .page-inner section.normal code .css .hljs-rules .hljs-attribute { + color: #eab700; +} +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-string, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-string, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-value, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-value, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-inheritance, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-inheritance, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-header, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-header, +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-addition, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-addition, +.book .book-body .page-wrapper .page-inner section.normal pre .ruby .hljs-symbol, +.book .book-body .page-wrapper .page-inner section.normal code .ruby .hljs-symbol, +.book .book-body .page-wrapper .page-inner section.normal pre .xml .hljs-cdata, +.book .book-body .page-wrapper .page-inner section.normal code .xml .hljs-cdata { + color: #718c00; +} +.book .book-body .page-wrapper .page-inner section.normal pre .css .hljs-hexcolor, +.book .book-body .page-wrapper .page-inner section.normal code .css .hljs-hexcolor { + color: #3e999f; +} +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-function, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-function, +.book .book-body .page-wrapper .page-inner section.normal pre .python .hljs-decorator, +.book .book-body .page-wrapper .page-inner section.normal code .python .hljs-decorator, +.book .book-body .page-wrapper .page-inner section.normal pre .python .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal code .python .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal pre .ruby .hljs-function .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal code .ruby .hljs-function .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal pre .ruby .hljs-title .hljs-keyword, +.book .book-body .page-wrapper .page-inner section.normal code .ruby .hljs-title .hljs-keyword, +.book .book-body .page-wrapper .page-inner section.normal pre .perl .hljs-sub, +.book .book-body .page-wrapper .page-inner section.normal code .perl .hljs-sub, +.book .book-body .page-wrapper .page-inner section.normal pre .javascript .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal code .javascript .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal pre .coffeescript .hljs-title, +.book .book-body .page-wrapper .page-inner section.normal code .coffeescript .hljs-title { + color: #4271ae; +} +.book .book-body .page-wrapper .page-inner section.normal pre .hljs-keyword, +.book .book-body .page-wrapper .page-inner section.normal code .hljs-keyword, +.book .book-body .page-wrapper .page-inner section.normal pre .javascript .hljs-function, +.book .book-body .page-wrapper .page-inner section.normal code .javascript .hljs-function { + color: #8959a8; +} +.book .book-body .page-wrapper .page-inner section.normal pre .hljs, +.book .book-body .page-wrapper .page-inner section.normal code .hljs { + display: block; + background: white; + color: #4d4d4c; + padding: 0.5em; +} +.book .book-body .page-wrapper .page-inner section.normal pre .coffeescript .javascript, +.book .book-body .page-wrapper .page-inner section.normal code .coffeescript .javascript, +.book .book-body .page-wrapper .page-inner section.normal pre .javascript .xml, +.book .book-body .page-wrapper .page-inner section.normal code .javascript .xml, +.book .book-body .page-wrapper .page-inner section.normal pre .tex .hljs-formula, +.book .book-body .page-wrapper .page-inner section.normal code .tex .hljs-formula, +.book .book-body .page-wrapper .page-inner section.normal pre .xml .javascript, +.book .book-body .page-wrapper .page-inner section.normal code .xml .javascript, +.book .book-body .page-wrapper .page-inner section.normal pre .xml .vbscript, +.book .book-body .page-wrapper .page-inner section.normal code .xml .vbscript, +.book .book-body .page-wrapper .page-inner section.normal pre .xml .css, +.book .book-body .page-wrapper .page-inner section.normal code .xml .css, +.book .book-body .page-wrapper .page-inner section.normal pre .xml .hljs-cdata, +.book .book-body .page-wrapper .page-inner section.normal code .xml .hljs-cdata { + opacity: 0.5; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal pre, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal code { + /* + +Orginal Style from ethanschoonover.com/solarized (c) Jeremy Hull + +*/ + /* Solarized Green */ + /* Solarized Cyan */ + /* Solarized Blue */ + /* Solarized Yellow */ + /* Solarized Orange */ + /* Solarized Red */ + /* Solarized Violet */ +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal pre .hljs, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal code .hljs { + display: block; + padding: 0.5em; + background: #fdf6e3; + color: #657b83; +} +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal pre .hljs-comment, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal code .hljs-comment, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal pre .hljs-template_comment, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal code .hljs-template_comment, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal pre .diff .hljs-header, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal code .diff .hljs-header, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal pre .hljs-doctype, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal code .hljs-doctype, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal pre .hljs-pi, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal code .hljs-pi, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal pre .lisp .hljs-string, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal code .lisp .hljs-string, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal pre .hljs-javadoc, +.book.color-theme-1 .book-body .page-wrapper .page-inner section.normal code .hljs-javadoc { + color: #93a1a1; 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+} diff --git a/v2.0/gitbook/gitbook-plugin-language-picker/plugin.css b/v2.0/gitbook/gitbook-plugin-language-picker/plugin.css new file mode 100644 index 00000000..e8d5fd27 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-language-picker/plugin.css @@ -0,0 +1,19 @@ +.language-picker table td { + padding: 8px; + height: 30px; + text-align: center; +} +.language-picker table a { + display: inline-block; + padding: 5px; + width: 100%; + text-align: center; + background-color: #eee; + color: #000; + border: 1px solid #ccc; + border-radius: 5px; +} +.language-picker table a.current { + background-color: #fafafa; + color: #008cff; +} \ No newline at end of file diff --git a/v2.0/gitbook/gitbook-plugin-language-picker/plugin.js b/v2.0/gitbook/gitbook-plugin-language-picker/plugin.js new file mode 100644 index 00000000..671cb7a9 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-language-picker/plugin.js @@ -0,0 +1,72 @@ +function languagePickerGrid(gitbook, elem, maxColumns, langData) { + var CurAddr = location.href.substr(gitbook.state.root.length); + var sharp = CurAddr.indexOf("#"); + var CurAddrNoAnchor = (sharp == -1)? CurAddr : CurAddr.substr(0, sharp); + + var table = $(""); + var ins = 0; + var maxRows = Math.ceil(langData.length / maxColumns); + for (var i = 0; i < maxRows; i++) { + var r = $(""); + for (var ii = 0; (i * maxColumns + ii < langData.length) && (ii < maxColumns); ii++) { + var c = $("
                                                                                                                                                                                                                                                                                                                                                                                                                                                        "); + var l = $(""); + l.attr("href", gitbook.state.bookRoot.replace(/([^\/])$/, "$1/") + langData[ins][0] +"/"+ CurAddrNoAnchor); + l.attr("data-lang", langData[ins][0]); + if (langData[ins][0] == gitbook.state.innerLanguage) l.addClass("current"); + l.html(langData[ins][1]); + c.append(l); + r.append(c); + ins++; + } + table.append(r); + } + elem.append(table); +} +function parseLanguages(gitbook, elem, maxColumns, cb) { + if (location.protocol == "file:") { + var langData = []; + langData.push(["en", "English"]); + languagePickerGrid(gitbook, elem, maxColumns, langData); + cb(elem); + } + else { + $.get(gitbook.state.bookRoot +"index.html", function(data) { + var list = data.match(/
                                                                                                                                                                                                                                                                                                                                                                                                                                                          ([\s\S]+?)<\/ul>/); + if (list) { + var langData = []; + list[1].replace(/]+>(.+?)<\/a>/g, function(a, b, c) { + langData.push([b, c]); + }); + languagePickerGrid(gitbook, elem, maxColumns, langData); + cb(elem); + } + }, "html"); + } +} + +require(["gitbook", "jQuery"], function(gitbook, $) { + gitbook.events.bind("start", function(e, config) { + var opts = config["language-picker"]; + + gitbook.toolbar.createButton({ + icon: "fa fa-globe", + label: "Change language", + className: "language-picker", + dropdown: [] + }); + + $(function() { + var DDMenu_selector = ".language-picker .dropdown-menu"; + $(document).one("click", ".language-picker .btn", function(e) { + parseLanguages(gitbook, $(DDMenu_selector), opts["grid-columns"], function(elem) { + elem.addClass("language-picker-grid"); + elem.trigger("parsedContent"); + }); + }); + /*$(document).on("parsedContent", DDMenu_selector, function() { + alert("ready"); + });*/ + }); + }); +}); \ No newline at end of file diff --git a/v2.0/gitbook/gitbook-plugin-lunr/lunr.min.js b/v2.0/gitbook/gitbook-plugin-lunr/lunr.min.js new file mode 100644 index 00000000..6aa6bc7d --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-lunr/lunr.min.js @@ -0,0 +1,7 @@ +/** + * lunr - http://lunrjs.com - A bit like Solr, but much smaller and not as bright - 0.5.12 + * Copyright (C) 2015 Oliver Nightingale + * MIT Licensed + * @license + */ +!function(){var t=function(e){var n=new t.Index;return n.pipeline.add(t.trimmer,t.stopWordFilter,t.stemmer),e&&e.call(n,n),n};t.version="0.5.12",t.utils={},t.utils.warn=function(t){return function(e){t.console&&console.warn&&console.warn(e)}}(this),t.EventEmitter=function(){this.events={}},t.EventEmitter.prototype.addListener=function(){var t=Array.prototype.slice.call(arguments),e=t.pop(),n=t;if("function"!=typeof e)throw new TypeError("last argument must be a function");n.forEach(function(t){this.hasHandler(t)||(this.events[t]=[]),this.events[t].push(e)},this)},t.EventEmitter.prototype.removeListener=function(t,e){if(this.hasHandler(t)){var n=this.events[t].indexOf(e);this.events[t].splice(n,1),this.events[t].length||delete this.events[t]}},t.EventEmitter.prototype.emit=function(t){if(this.hasHandler(t)){var e=Array.prototype.slice.call(arguments,1);this.events[t].forEach(function(t){t.apply(void 0,e)})}},t.EventEmitter.prototype.hasHandler=function(t){return t in this.events},t.tokenizer=function(t){return arguments.length&&null!=t&&void 0!=t?Array.isArray(t)?t.map(function(t){return t.toLowerCase()}):t.toString().trim().toLowerCase().split(/[\s\-]+/):[]},t.Pipeline=function(){this._stack=[]},t.Pipeline.registeredFunctions={},t.Pipeline.registerFunction=function(e,n){n in this.registeredFunctions&&t.utils.warn("Overwriting existing registered function: "+n),e.label=n,t.Pipeline.registeredFunctions[e.label]=e},t.Pipeline.warnIfFunctionNotRegistered=function(e){var n=e.label&&e.label in this.registeredFunctions;n||t.utils.warn("Function is not registered with pipeline. This may cause problems when serialising the index.\n",e)},t.Pipeline.load=function(e){var n=new t.Pipeline;return e.forEach(function(e){var i=t.Pipeline.registeredFunctions[e];if(!i)throw new Error("Cannot load un-registered function: "+e);n.add(i)}),n},t.Pipeline.prototype.add=function(){var e=Array.prototype.slice.call(arguments);e.forEach(function(e){t.Pipeline.warnIfFunctionNotRegistered(e),this._stack.push(e)},this)},t.Pipeline.prototype.after=function(e,n){t.Pipeline.warnIfFunctionNotRegistered(n);var i=this._stack.indexOf(e);if(-1==i)throw new Error("Cannot find existingFn");i+=1,this._stack.splice(i,0,n)},t.Pipeline.prototype.before=function(e,n){t.Pipeline.warnIfFunctionNotRegistered(n);var i=this._stack.indexOf(e);if(-1==i)throw new Error("Cannot find existingFn");this._stack.splice(i,0,n)},t.Pipeline.prototype.remove=function(t){var e=this._stack.indexOf(t);-1!=e&&this._stack.splice(e,1)},t.Pipeline.prototype.run=function(t){for(var e=[],n=t.length,i=this._stack.length,o=0;n>o;o++){for(var r=t[o],s=0;i>s&&(r=this._stack[s](r,o,t),void 0!==r);s++);void 0!==r&&e.push(r)}return e},t.Pipeline.prototype.reset=function(){this._stack=[]},t.Pipeline.prototype.toJSON=function(){return this._stack.map(function(e){return t.Pipeline.warnIfFunctionNotRegistered(e),e.label})},t.Vector=function(){this._magnitude=null,this.list=void 0,this.length=0},t.Vector.Node=function(t,e,n){this.idx=t,this.val=e,this.next=n},t.Vector.prototype.insert=function(e,n){this._magnitude=void 0;var i=this.list;if(!i)return this.list=new t.Vector.Node(e,n,i),this.length++;if(en.idx?n=n.next:(i+=e.val*n.val,e=e.next,n=n.next);return i},t.Vector.prototype.similarity=function(t){return this.dot(t)/(this.magnitude()*t.magnitude())},t.SortedSet=function(){this.length=0,this.elements=[]},t.SortedSet.load=function(t){var e=new this;return e.elements=t,e.length=t.length,e},t.SortedSet.prototype.add=function(){var t,e;for(t=0;t1;){if(r===t)return o;t>r&&(e=o),r>t&&(n=o),i=n-e,o=e+Math.floor(i/2),r=this.elements[o]}return r===t?o:-1},t.SortedSet.prototype.locationFor=function(t){for(var e=0,n=this.elements.length,i=n-e,o=e+Math.floor(i/2),r=this.elements[o];i>1;)t>r&&(e=o),r>t&&(n=o),i=n-e,o=e+Math.floor(i/2),r=this.elements[o];return r>t?o:t>r?o+1:void 0},t.SortedSet.prototype.intersect=function(e){for(var n=new t.SortedSet,i=0,o=0,r=this.length,s=e.length,a=this.elements,h=e.elements;;){if(i>r-1||o>s-1)break;a[i]!==h[o]?a[i]h[o]&&o++:(n.add(a[i]),i++,o++)}return n},t.SortedSet.prototype.clone=function(){var e=new t.SortedSet;return e.elements=this.toArray(),e.length=e.elements.length,e},t.SortedSet.prototype.union=function(t){var e,n,i;return this.length>=t.length?(e=this,n=t):(e=t,n=this),i=e.clone(),i.add.apply(i,n.toArray()),i},t.SortedSet.prototype.toJSON=function(){return this.toArray()},t.Index=function(){this._fields=[],this._ref="id",this.pipeline=new t.Pipeline,this.documentStore=new t.Store,this.tokenStore=new t.TokenStore,this.corpusTokens=new t.SortedSet,this.eventEmitter=new t.EventEmitter,this._idfCache={},this.on("add","remove","update",function(){this._idfCache={}}.bind(this))},t.Index.prototype.on=function(){var t=Array.prototype.slice.call(arguments);return this.eventEmitter.addListener.apply(this.eventEmitter,t)},t.Index.prototype.off=function(t,e){return this.eventEmitter.removeListener(t,e)},t.Index.load=function(e){e.version!==t.version&&t.utils.warn("version mismatch: current "+t.version+" importing "+e.version);var n=new this;return n._fields=e.fields,n._ref=e.ref,n.documentStore=t.Store.load(e.documentStore),n.tokenStore=t.TokenStore.load(e.tokenStore),n.corpusTokens=t.SortedSet.load(e.corpusTokens),n.pipeline=t.Pipeline.load(e.pipeline),n},t.Index.prototype.field=function(t,e){var e=e||{},n={name:t,boost:e.boost||1};return this._fields.push(n),this},t.Index.prototype.ref=function(t){return this._ref=t,this},t.Index.prototype.add=function(e,n){var i={},o=new t.SortedSet,r=e[this._ref],n=void 0===n?!0:n;this._fields.forEach(function(n){var r=this.pipeline.run(t.tokenizer(e[n.name]));i[n.name]=r,t.SortedSet.prototype.add.apply(o,r)},this),this.documentStore.set(r,o),t.SortedSet.prototype.add.apply(this.corpusTokens,o.toArray());for(var s=0;s0&&(i=1+Math.log(this.documentStore.length/n)),this._idfCache[e]=i},t.Index.prototype.search=function(e){var n=this.pipeline.run(t.tokenizer(e)),i=new t.Vector,o=[],r=this._fields.reduce(function(t,e){return t+e.boost},0),s=n.some(function(t){return this.tokenStore.has(t)},this);if(!s)return[];n.forEach(function(e,n,s){var a=1/s.length*this._fields.length*r,h=this,l=this.tokenStore.expand(e).reduce(function(n,o){var r=h.corpusTokens.indexOf(o),s=h.idf(o),l=1,u=new t.SortedSet;if(o!==e){var c=Math.max(3,o.length-e.length);l=1/Math.log(c)}return r>-1&&i.insert(r,a*s*l),Object.keys(h.tokenStore.get(o)).forEach(function(t){u.add(t)}),n.union(u)},new t.SortedSet);o.push(l)},this);var a=o.reduce(function(t,e){return t.intersect(e)});return a.map(function(t){return{ref:t,score:i.similarity(this.documentVector(t))}},this).sort(function(t,e){return e.score-t.score})},t.Index.prototype.documentVector=function(e){for(var n=this.documentStore.get(e),i=n.length,o=new t.Vector,r=0;i>r;r++){var s=n.elements[r],a=this.tokenStore.get(s)[e].tf,h=this.idf(s);o.insert(this.corpusTokens.indexOf(s),a*h)}return o},t.Index.prototype.toJSON=function(){return{version:t.version,fields:this._fields,ref:this._ref,documentStore:this.documentStore.toJSON(),tokenStore:this.tokenStore.toJSON(),corpusTokens:this.corpusTokens.toJSON(),pipeline:this.pipeline.toJSON()}},t.Index.prototype.use=function(t){var e=Array.prototype.slice.call(arguments,1);e.unshift(this),t.apply(this,e)},t.Store=function(){this.store={},this.length=0},t.Store.load=function(e){var n=new this;return n.length=e.length,n.store=Object.keys(e.store).reduce(function(n,i){return n[i]=t.SortedSet.load(e.store[i]),n},{}),n},t.Store.prototype.set=function(t,e){this.has(t)||this.length++,this.store[t]=e},t.Store.prototype.get=function(t){return this.store[t]},t.Store.prototype.has=function(t){return t in this.store},t.Store.prototype.remove=function(t){this.has(t)&&(delete this.store[t],this.length--)},t.Store.prototype.toJSON=function(){return{store:this.store,length:this.length}},t.stemmer=function(){var t={ational:"ate",tional:"tion",enci:"ence",anci:"ance",izer:"ize",bli:"ble",alli:"al",entli:"ent",eli:"e",ousli:"ous",ization:"ize",ation:"ate",ator:"ate",alism:"al",iveness:"ive",fulness:"ful",ousness:"ous",aliti:"al",iviti:"ive",biliti:"ble",logi:"log"},e={icate:"ic",ative:"",alize:"al",iciti:"ic",ical:"ic",ful:"",ness:""},n="[^aeiou]",i="[aeiouy]",o=n+"[^aeiouy]*",r=i+"[aeiou]*",s="^("+o+")?"+r+o,a="^("+o+")?"+r+o+"("+r+")?$",h="^("+o+")?"+r+o+r+o,l="^("+o+")?"+i,u=new RegExp(s),c=new RegExp(h),f=new RegExp(a),d=new RegExp(l),p=/^(.+?)(ss|i)es$/,m=/^(.+?)([^s])s$/,v=/^(.+?)eed$/,y=/^(.+?)(ed|ing)$/,g=/.$/,S=/(at|bl|iz)$/,w=new RegExp("([^aeiouylsz])\\1$"),x=new RegExp("^"+o+i+"[^aeiouwxy]$"),k=/^(.+?[^aeiou])y$/,b=/^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/,E=/^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/,_=/^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/,F=/^(.+?)(s|t)(ion)$/,O=/^(.+?)e$/,P=/ll$/,N=new RegExp("^"+o+i+"[^aeiouwxy]$"),T=function(n){var i,o,r,s,a,h,l;if(n.length<3)return n;if(r=n.substr(0,1),"y"==r&&(n=r.toUpperCase()+n.substr(1)),s=p,a=m,s.test(n)?n=n.replace(s,"$1$2"):a.test(n)&&(n=n.replace(a,"$1$2")),s=v,a=y,s.test(n)){var T=s.exec(n);s=u,s.test(T[1])&&(s=g,n=n.replace(s,""))}else if(a.test(n)){var T=a.exec(n);i=T[1],a=d,a.test(i)&&(n=i,a=S,h=w,l=x,a.test(n)?n+="e":h.test(n)?(s=g,n=n.replace(s,"")):l.test(n)&&(n+="e"))}if(s=k,s.test(n)){var T=s.exec(n);i=T[1],n=i+"i"}if(s=b,s.test(n)){var T=s.exec(n);i=T[1],o=T[2],s=u,s.test(i)&&(n=i+t[o])}if(s=E,s.test(n)){var T=s.exec(n);i=T[1],o=T[2],s=u,s.test(i)&&(n=i+e[o])}if(s=_,a=F,s.test(n)){var T=s.exec(n);i=T[1],s=c,s.test(i)&&(n=i)}else if(a.test(n)){var T=a.exec(n);i=T[1]+T[2],a=c,a.test(i)&&(n=i)}if(s=O,s.test(n)){var T=s.exec(n);i=T[1],s=c,a=f,h=N,(s.test(i)||a.test(i)&&!h.test(i))&&(n=i)}return s=P,a=c,s.test(n)&&a.test(n)&&(s=g,n=n.replace(s,"")),"y"==r&&(n=r.toLowerCase()+n.substr(1)),n};return T}(),t.Pipeline.registerFunction(t.stemmer,"stemmer"),t.stopWordFilter=function(e){return e&&t.stopWordFilter.stopWords[e]!==e?e:void 0},t.stopWordFilter.stopWords={a:"a",able:"able",about:"about",across:"across",after:"after",all:"all",almost:"almost",also:"also",am:"am",among:"among",an:"an",and:"and",any:"any",are:"are",as:"as",at:"at",be:"be",because:"because",been:"been",but:"but",by:"by",can:"can",cannot:"cannot",could:"could",dear:"dear",did:"did","do":"do",does:"does",either:"either","else":"else",ever:"ever",every:"every","for":"for",from:"from",get:"get",got:"got",had:"had",has:"has",have:"have",he:"he",her:"her",hers:"hers",him:"him",his:"his",how:"how",however:"however",i:"i","if":"if","in":"in",into:"into",is:"is",it:"it",its:"its",just:"just",least:"least",let:"let",like:"like",likely:"likely",may:"may",me:"me",might:"might",most:"most",must:"must",my:"my",neither:"neither",no:"no",nor:"nor",not:"not",of:"of",off:"off",often:"often",on:"on",only:"only",or:"or",other:"other",our:"our",own:"own",rather:"rather",said:"said",say:"say",says:"says",she:"she",should:"should",since:"since",so:"so",some:"some",than:"than",that:"that",the:"the",their:"their",them:"them",then:"then",there:"there",these:"these",they:"they","this":"this",tis:"tis",to:"to",too:"too",twas:"twas",us:"us",wants:"wants",was:"was",we:"we",were:"were",what:"what",when:"when",where:"where",which:"which","while":"while",who:"who",whom:"whom",why:"why",will:"will","with":"with",would:"would",yet:"yet",you:"you",your:"your"},t.Pipeline.registerFunction(t.stopWordFilter,"stopWordFilter"),t.trimmer=function(t){var e=t.replace(/^\W+/,"").replace(/\W+$/,"");return""===e?void 0:e},t.Pipeline.registerFunction(t.trimmer,"trimmer"),t.TokenStore=function(){this.root={docs:{}},this.length=0},t.TokenStore.load=function(t){var e=new this;return e.root=t.root,e.length=t.length,e},t.TokenStore.prototype.add=function(t,e,n){var n=n||this.root,i=t[0],o=t.slice(1);return i in n||(n[i]={docs:{}}),0===o.length?(n[i].docs[e.ref]=e,void(this.length+=1)):this.add(o,e,n[i])},t.TokenStore.prototype.has=function(t){if(!t)return!1;for(var e=this.root,n=0;n', + '', + copyright, + '', + '          ', + '', + updateLabel, + '{{ file.mtime | dateFormat("' + config.update_format + '") }}', + '', + '' + ].join(' '); + return page; + }); +} diff --git a/v2.0/gitbook/gitbook-plugin-page-footer-ex/style/plugin.css b/v2.0/gitbook/gitbook-plugin-page-footer-ex/style/plugin.css new file mode 100644 index 00000000..c045f175 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-page-footer-ex/style/plugin.css @@ -0,0 +1,19 @@ +.page-footer-ex { + margin-top: 50px; + border-top: 1px solid #ccc; + overflow: hidden; + padding: 10px 0; + font-size: 12px; + color: #808080; +} +.page-footer-ex-copyright { + display: inline-block; +} +.page-footer-ex a { + color: #808080 !important; + text-decoration: underline !important; +} +.page-footer-ex-footer-update { + float: right; + display: inline-block; +} \ No newline at end of file diff --git a/v2.0/gitbook/gitbook-plugin-page-toc-button/plugin.css b/v2.0/gitbook/gitbook-plugin-page-toc-button/plugin.css new file mode 100644 index 00000000..c76363d6 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-page-toc-button/plugin.css @@ -0,0 +1,106 @@ +.page-toc-button { + background: rgba(0, 0, 0, 0.5); + border-radius: 35px; + display: block; + position: fixed; + top: 68px; + right: 25px; + width: 50px; + height: 50px; + text-decoration: none; + -webkit-border-radius: 35px; + -moz-border-radius: 35px; +} +.page-toc-button i { + color: #fff; + margin: 0; + position: relative; + left: 15px; + top: 14px; + font-size: 22px; +} +.page-toc-button .page-toc-menu { + display: none; + text-align: left; +} +.page-toc-button:hover { + background: rgba(0, 0, 0, 0.9); + border-radius: 0; + cursor: pointer; + top: 68px; + right: 25px; + width: auto; + height: auto; + max-height: 70%; + font-size: 14px; + text-align: right; + white-space: nowrap; + -webkit-border-radius: 0; + -moz-border-radius: 0; + overflow-y: auto; + overflow-x: hidden; +} +.page-toc-button:hover i { + display: none; +} +.page-toc-button:hover .page-toc-menu { + display: block; +} +.page-toc-menu li { + color: #fff; + padding-left: 5px; + padding-right: 25px; + padding-top: 5px; + padding-bottom: 5px; +} +.page-toc-menu a { + color: #fff; +} +.page-toc-menu a:hover { + text-decoration: underline; +} +.book.color-theme-1 .page-toc-button { + background: rgba(112, 66, 20, 0.5); +} +.book.color-theme-1 .page-toc-button i { + color: #f3eacb; +} +.book.color-theme-1 .page-toc-button:hover { + background: rgba(112, 66, 20, 0.9); +} +.book.color-theme-1 .page-toc-menu li { + color: #f3eacb; +} +.book.color-theme-1 .page-toc-menu a { + color: #f3eacb; +} +.book.color-theme-2 .page-toc-button { + background: rgba(189, 202, 219, 0.5); +} +.book.color-theme-2 .page-toc-button i { + color: #1C1F2B +} +.book.color-theme-2 .page-toc-button:hover { + background: rgba(189, 202, 219, 0.9); +} +.book.color-theme-2 .page-toc-menu li { + color: #fff; +} +.book.color-theme-2 .page-toc-menu a { + color: #fff; +} + +@media only screen + and (max-height: 240px) { + .page-toc-button { + display: none; + } +} +@media only screen + and (min-device-width: 320px) + and (max-device-width: 480px) + and (-webkit-min-device-pixel-ratio: 2) { + .page-toc-button { + display: none; + } +} \ No newline at end of file diff --git a/v2.0/gitbook/gitbook-plugin-page-toc-button/plugin.js b/v2.0/gitbook/gitbook-plugin-page-toc-button/plugin.js new file mode 100644 index 00000000..66fbe236 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-page-toc-button/plugin.js @@ -0,0 +1,106 @@ +var gitbook = window.gitbook; +var options = {}; + +gitbook.events.bind('start', function(e, config) { + + // Save config data + options = config['page-toc-button'] || {}; + +}); + +gitbook.events.on('page.change', function() { + + // Default config values + var _maxTocDepth = 2; + var _minTocSize = 2; + + // Read out config data + if (options) + { + _maxTocDepth = options.maxTocDepth ? options.maxTocDepth : _maxTocDepth; + _minTocSize = options.minTocSize ? options.minTocSize : _minTocSize; + }; + + // Search for headers + var headerArray = $(".book .body-inner .markdown-section :header"); + + // Init variables + var tocArray = []; + var tocSize = 0; + + // For each header... + for (i = 0; i < headerArray.length; i++) { + + var headerElement = headerArray[i]; + var header = $(headerElement); + var headerId = header.attr("id"); + + if ((typeof headerId !== typeof undefined) && (headerId !== false)) { + + switch(headerElement.tagName){ + case "H1": + tocArray.push({ + name: header.text(), + url: headerId, + children: [] + }); + tocSize++; + break; + case "H2": + if ((tocArray.length > 0) && (_maxTocDepth >= 1)) { + tocArray[tocArray.length-1].children.push({ + name: header.text(), + url: headerId, + children: [] + }); + tocSize++; + }; + break; + case "H3": + if ((tocArray.length > 0) && (_maxTocDepth >= 2)) { + if (tocArray[tocArray.length-1].children.length > 0) { + tocArray[tocArray.length-1].children[tocArray[tocArray.length-1].children.length-1].children.push({ + name: header.text(), + url: headerId, + children: [] + }); + tocSize++; + }; + }; + break; + default: + break; + } + } + }; + + // Cancel if not enough headers to show + if ((tocSize == 0) || (tocSize < _minTocSize)) { + return; + } + + // Generate html for button and menu + var html = "
                                                                                                                                                                                                                                                                                                                                                                                                                                                          "; + + // Append generated html to page + $(".book").append(html) + +}); diff --git a/v2.0/gitbook/gitbook-plugin-richquotes/plugin.css b/v2.0/gitbook/gitbook-plugin-richquotes/plugin.css new file mode 100644 index 00000000..45be8271 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-richquotes/plugin.css @@ -0,0 +1,73 @@ +/* Override gitbook picto size */ +.fa-2x +{ + font-size: 2em; +} + +.fa-3x +{ + font-size: 3em; +} + +.fa-4x +{ + font-size: 4em; +} + +.fa-5x +{ + font-size: 5em; +} + +blockquote.alert > strong +{ + display : inline-block; + text-align : center; + float : left; + width : 60px; + height : 80px; + margin-right : 10px; + padding-top : 14px; +} + +blockquote.alert +{ + border-radius : 5px; +} + +.book .book-body .page-wrapper .page-inner section.normal blockquote > :last-child { + margin-bottom: inherit; + margin-top: 15px; +} + +.alert-quote +{ + background-color : white; +} + +/** + * For modern browsers + * 1. The space content is one way to avoid an Opera bug when the + * contenteditable attribute is included anywhere else in the document. + * Otherwise it causes space to appear at the top and bottom of elements + * that are clearfixed. + * 2. The use of `table` rather than `block` is only necessary if using + * `:before` to contain the top-margins of child elements. + */ +.clearfix:before, +.clearfix:after { + content: " "; /* 1 */ + display: table; /* 2 */ +} + +.clearfix:after { + clear: both; +} + +/** + * For IE 6/7 only + * Include this rule to trigger hasLayout and contain floats. + */ +.clearfix { + *zoom: 1; +} diff --git a/v2.0/gitbook/gitbook-plugin-search/lunr.min.js b/v2.0/gitbook/gitbook-plugin-search/lunr.min.js new file mode 100644 index 00000000..6aa6bc7d --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-search/lunr.min.js @@ -0,0 +1,7 @@ +/** + * lunr - http://lunrjs.com - A bit like Solr, but much smaller and not as bright - 0.5.12 + * Copyright (C) 2015 Oliver Nightingale + * MIT Licensed + * @license + */ +!function(){var t=function(e){var n=new t.Index;return n.pipeline.add(t.trimmer,t.stopWordFilter,t.stemmer),e&&e.call(n,n),n};t.version="0.5.12",t.utils={},t.utils.warn=function(t){return function(e){t.console&&console.warn&&console.warn(e)}}(this),t.EventEmitter=function(){this.events={}},t.EventEmitter.prototype.addListener=function(){var t=Array.prototype.slice.call(arguments),e=t.pop(),n=t;if("function"!=typeof e)throw new TypeError("last argument must be a function");n.forEach(function(t){this.hasHandler(t)||(this.events[t]=[]),this.events[t].push(e)},this)},t.EventEmitter.prototype.removeListener=function(t,e){if(this.hasHandler(t)){var n=this.events[t].indexOf(e);this.events[t].splice(n,1),this.events[t].length||delete this.events[t]}},t.EventEmitter.prototype.emit=function(t){if(this.hasHandler(t)){var e=Array.prototype.slice.call(arguments,1);this.events[t].forEach(function(t){t.apply(void 0,e)})}},t.EventEmitter.prototype.hasHandler=function(t){return t in this.events},t.tokenizer=function(t){return arguments.length&&null!=t&&void 0!=t?Array.isArray(t)?t.map(function(t){return t.toLowerCase()}):t.toString().trim().toLowerCase().split(/[\s\-]+/):[]},t.Pipeline=function(){this._stack=[]},t.Pipeline.registeredFunctions={},t.Pipeline.registerFunction=function(e,n){n in this.registeredFunctions&&t.utils.warn("Overwriting existing registered function: "+n),e.label=n,t.Pipeline.registeredFunctions[e.label]=e},t.Pipeline.warnIfFunctionNotRegistered=function(e){var n=e.label&&e.label in this.registeredFunctions;n||t.utils.warn("Function is not registered with pipeline. This may cause problems when serialising the index.\n",e)},t.Pipeline.load=function(e){var n=new t.Pipeline;return e.forEach(function(e){var i=t.Pipeline.registeredFunctions[e];if(!i)throw new Error("Cannot load un-registered function: "+e);n.add(i)}),n},t.Pipeline.prototype.add=function(){var e=Array.prototype.slice.call(arguments);e.forEach(function(e){t.Pipeline.warnIfFunctionNotRegistered(e),this._stack.push(e)},this)},t.Pipeline.prototype.after=function(e,n){t.Pipeline.warnIfFunctionNotRegistered(n);var i=this._stack.indexOf(e);if(-1==i)throw new Error("Cannot find existingFn");i+=1,this._stack.splice(i,0,n)},t.Pipeline.prototype.before=function(e,n){t.Pipeline.warnIfFunctionNotRegistered(n);var i=this._stack.indexOf(e);if(-1==i)throw new Error("Cannot find existingFn");this._stack.splice(i,0,n)},t.Pipeline.prototype.remove=function(t){var e=this._stack.indexOf(t);-1!=e&&this._stack.splice(e,1)},t.Pipeline.prototype.run=function(t){for(var e=[],n=t.length,i=this._stack.length,o=0;n>o;o++){for(var r=t[o],s=0;i>s&&(r=this._stack[s](r,o,t),void 0!==r);s++);void 0!==r&&e.push(r)}return e},t.Pipeline.prototype.reset=function(){this._stack=[]},t.Pipeline.prototype.toJSON=function(){return this._stack.map(function(e){return t.Pipeline.warnIfFunctionNotRegistered(e),e.label})},t.Vector=function(){this._magnitude=null,this.list=void 0,this.length=0},t.Vector.Node=function(t,e,n){this.idx=t,this.val=e,this.next=n},t.Vector.prototype.insert=function(e,n){this._magnitude=void 0;var i=this.list;if(!i)return this.list=new t.Vector.Node(e,n,i),this.length++;if(en.idx?n=n.next:(i+=e.val*n.val,e=e.next,n=n.next);return i},t.Vector.prototype.similarity=function(t){return this.dot(t)/(this.magnitude()*t.magnitude())},t.SortedSet=function(){this.length=0,this.elements=[]},t.SortedSet.load=function(t){var e=new this;return e.elements=t,e.length=t.length,e},t.SortedSet.prototype.add=function(){var t,e;for(t=0;t1;){if(r===t)return o;t>r&&(e=o),r>t&&(n=o),i=n-e,o=e+Math.floor(i/2),r=this.elements[o]}return r===t?o:-1},t.SortedSet.prototype.locationFor=function(t){for(var e=0,n=this.elements.length,i=n-e,o=e+Math.floor(i/2),r=this.elements[o];i>1;)t>r&&(e=o),r>t&&(n=o),i=n-e,o=e+Math.floor(i/2),r=this.elements[o];return r>t?o:t>r?o+1:void 0},t.SortedSet.prototype.intersect=function(e){for(var n=new t.SortedSet,i=0,o=0,r=this.length,s=e.length,a=this.elements,h=e.elements;;){if(i>r-1||o>s-1)break;a[i]!==h[o]?a[i]h[o]&&o++:(n.add(a[i]),i++,o++)}return n},t.SortedSet.prototype.clone=function(){var e=new t.SortedSet;return e.elements=this.toArray(),e.length=e.elements.length,e},t.SortedSet.prototype.union=function(t){var e,n,i;return this.length>=t.length?(e=this,n=t):(e=t,n=this),i=e.clone(),i.add.apply(i,n.toArray()),i},t.SortedSet.prototype.toJSON=function(){return this.toArray()},t.Index=function(){this._fields=[],this._ref="id",this.pipeline=new t.Pipeline,this.documentStore=new t.Store,this.tokenStore=new t.TokenStore,this.corpusTokens=new t.SortedSet,this.eventEmitter=new t.EventEmitter,this._idfCache={},this.on("add","remove","update",function(){this._idfCache={}}.bind(this))},t.Index.prototype.on=function(){var t=Array.prototype.slice.call(arguments);return this.eventEmitter.addListener.apply(this.eventEmitter,t)},t.Index.prototype.off=function(t,e){return this.eventEmitter.removeListener(t,e)},t.Index.load=function(e){e.version!==t.version&&t.utils.warn("version mismatch: current "+t.version+" importing "+e.version);var n=new this;return n._fields=e.fields,n._ref=e.ref,n.documentStore=t.Store.load(e.documentStore),n.tokenStore=t.TokenStore.load(e.tokenStore),n.corpusTokens=t.SortedSet.load(e.corpusTokens),n.pipeline=t.Pipeline.load(e.pipeline),n},t.Index.prototype.field=function(t,e){var e=e||{},n={name:t,boost:e.boost||1};return this._fields.push(n),this},t.Index.prototype.ref=function(t){return this._ref=t,this},t.Index.prototype.add=function(e,n){var i={},o=new t.SortedSet,r=e[this._ref],n=void 0===n?!0:n;this._fields.forEach(function(n){var r=this.pipeline.run(t.tokenizer(e[n.name]));i[n.name]=r,t.SortedSet.prototype.add.apply(o,r)},this),this.documentStore.set(r,o),t.SortedSet.prototype.add.apply(this.corpusTokens,o.toArray());for(var s=0;s0&&(i=1+Math.log(this.documentStore.length/n)),this._idfCache[e]=i},t.Index.prototype.search=function(e){var n=this.pipeline.run(t.tokenizer(e)),i=new t.Vector,o=[],r=this._fields.reduce(function(t,e){return t+e.boost},0),s=n.some(function(t){return this.tokenStore.has(t)},this);if(!s)return[];n.forEach(function(e,n,s){var a=1/s.length*this._fields.length*r,h=this,l=this.tokenStore.expand(e).reduce(function(n,o){var r=h.corpusTokens.indexOf(o),s=h.idf(o),l=1,u=new t.SortedSet;if(o!==e){var c=Math.max(3,o.length-e.length);l=1/Math.log(c)}return r>-1&&i.insert(r,a*s*l),Object.keys(h.tokenStore.get(o)).forEach(function(t){u.add(t)}),n.union(u)},new t.SortedSet);o.push(l)},this);var a=o.reduce(function(t,e){return t.intersect(e)});return a.map(function(t){return{ref:t,score:i.similarity(this.documentVector(t))}},this).sort(function(t,e){return e.score-t.score})},t.Index.prototype.documentVector=function(e){for(var n=this.documentStore.get(e),i=n.length,o=new t.Vector,r=0;i>r;r++){var s=n.elements[r],a=this.tokenStore.get(s)[e].tf,h=this.idf(s);o.insert(this.corpusTokens.indexOf(s),a*h)}return o},t.Index.prototype.toJSON=function(){return{version:t.version,fields:this._fields,ref:this._ref,documentStore:this.documentStore.toJSON(),tokenStore:this.tokenStore.toJSON(),corpusTokens:this.corpusTokens.toJSON(),pipeline:this.pipeline.toJSON()}},t.Index.prototype.use=function(t){var e=Array.prototype.slice.call(arguments,1);e.unshift(this),t.apply(this,e)},t.Store=function(){this.store={},this.length=0},t.Store.load=function(e){var n=new this;return n.length=e.length,n.store=Object.keys(e.store).reduce(function(n,i){return n[i]=t.SortedSet.load(e.store[i]),n},{}),n},t.Store.prototype.set=function(t,e){this.has(t)||this.length++,this.store[t]=e},t.Store.prototype.get=function(t){return this.store[t]},t.Store.prototype.has=function(t){return t in this.store},t.Store.prototype.remove=function(t){this.has(t)&&(delete this.store[t],this.length--)},t.Store.prototype.toJSON=function(){return{store:this.store,length:this.length}},t.stemmer=function(){var t={ational:"ate",tional:"tion",enci:"ence",anci:"ance",izer:"ize",bli:"ble",alli:"al",entli:"ent",eli:"e",ousli:"ous",ization:"ize",ation:"ate",ator:"ate",alism:"al",iveness:"ive",fulness:"ful",ousness:"ous",aliti:"al",iviti:"ive",biliti:"ble",logi:"log"},e={icate:"ic",ative:"",alize:"al",iciti:"ic",ical:"ic",ful:"",ness:""},n="[^aeiou]",i="[aeiouy]",o=n+"[^aeiouy]*",r=i+"[aeiou]*",s="^("+o+")?"+r+o,a="^("+o+")?"+r+o+"("+r+")?$",h="^("+o+")?"+r+o+r+o,l="^("+o+")?"+i,u=new RegExp(s),c=new RegExp(h),f=new RegExp(a),d=new RegExp(l),p=/^(.+?)(ss|i)es$/,m=/^(.+?)([^s])s$/,v=/^(.+?)eed$/,y=/^(.+?)(ed|ing)$/,g=/.$/,S=/(at|bl|iz)$/,w=new RegExp("([^aeiouylsz])\\1$"),x=new RegExp("^"+o+i+"[^aeiouwxy]$"),k=/^(.+?[^aeiou])y$/,b=/^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/,E=/^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/,_=/^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/,F=/^(.+?)(s|t)(ion)$/,O=/^(.+?)e$/,P=/ll$/,N=new RegExp("^"+o+i+"[^aeiouwxy]$"),T=function(n){var i,o,r,s,a,h,l;if(n.length<3)return n;if(r=n.substr(0,1),"y"==r&&(n=r.toUpperCase()+n.substr(1)),s=p,a=m,s.test(n)?n=n.replace(s,"$1$2"):a.test(n)&&(n=n.replace(a,"$1$2")),s=v,a=y,s.test(n)){var T=s.exec(n);s=u,s.test(T[1])&&(s=g,n=n.replace(s,""))}else if(a.test(n)){var T=a.exec(n);i=T[1],a=d,a.test(i)&&(n=i,a=S,h=w,l=x,a.test(n)?n+="e":h.test(n)?(s=g,n=n.replace(s,"")):l.test(n)&&(n+="e"))}if(s=k,s.test(n)){var T=s.exec(n);i=T[1],n=i+"i"}if(s=b,s.test(n)){var T=s.exec(n);i=T[1],o=T[2],s=u,s.test(i)&&(n=i+t[o])}if(s=E,s.test(n)){var T=s.exec(n);i=T[1],o=T[2],s=u,s.test(i)&&(n=i+e[o])}if(s=_,a=F,s.test(n)){var T=s.exec(n);i=T[1],s=c,s.test(i)&&(n=i)}else if(a.test(n)){var T=a.exec(n);i=T[1]+T[2],a=c,a.test(i)&&(n=i)}if(s=O,s.test(n)){var T=s.exec(n);i=T[1],s=c,a=f,h=N,(s.test(i)||a.test(i)&&!h.test(i))&&(n=i)}return s=P,a=c,s.test(n)&&a.test(n)&&(s=g,n=n.replace(s,"")),"y"==r&&(n=r.toLowerCase()+n.substr(1)),n};return T}(),t.Pipeline.registerFunction(t.stemmer,"stemmer"),t.stopWordFilter=function(e){return e&&t.stopWordFilter.stopWords[e]!==e?e:void 0},t.stopWordFilter.stopWords={a:"a",able:"able",about:"about",across:"across",after:"after",all:"all",almost:"almost",also:"also",am:"am",among:"among",an:"an",and:"and",any:"any",are:"are",as:"as",at:"at",be:"be",because:"because",been:"been",but:"but",by:"by",can:"can",cannot:"cannot",could:"could",dear:"dear",did:"did","do":"do",does:"does",either:"either","else":"else",ever:"ever",every:"every","for":"for",from:"from",get:"get",got:"got",had:"had",has:"has",have:"have",he:"he",her:"her",hers:"hers",him:"him",his:"his",how:"how",however:"however",i:"i","if":"if","in":"in",into:"into",is:"is",it:"it",its:"its",just:"just",least:"least",let:"let",like:"like",likely:"likely",may:"may",me:"me",might:"might",most:"most",must:"must",my:"my",neither:"neither",no:"no",nor:"nor",not:"not",of:"of",off:"off",often:"often",on:"on",only:"only",or:"or",other:"other",our:"our",own:"own",rather:"rather",said:"said",say:"say",says:"says",she:"she",should:"should",since:"since",so:"so",some:"some",than:"than",that:"that",the:"the",their:"their",them:"them",then:"then",there:"there",these:"these",they:"they","this":"this",tis:"tis",to:"to",too:"too",twas:"twas",us:"us",wants:"wants",was:"was",we:"we",were:"were",what:"what",when:"when",where:"where",which:"which","while":"while",who:"who",whom:"whom",why:"why",will:"will","with":"with",would:"would",yet:"yet",you:"you",your:"your"},t.Pipeline.registerFunction(t.stopWordFilter,"stopWordFilter"),t.trimmer=function(t){var e=t.replace(/^\W+/,"").replace(/\W+$/,"");return""===e?void 0:e},t.Pipeline.registerFunction(t.trimmer,"trimmer"),t.TokenStore=function(){this.root={docs:{}},this.length=0},t.TokenStore.load=function(t){var e=new this;return e.root=t.root,e.length=t.length,e},t.TokenStore.prototype.add=function(t,e,n){var n=n||this.root,i=t[0],o=t.slice(1);return i in n||(n[i]={docs:{}}),0===o.length?(n[i].docs[e.ref]=e,void(this.length+=1)):this.add(o,e,n[i])},t.TokenStore.prototype.has=function(t){if(!t)return!1;for(var e=this.root,n=0;n element for each result + res.results.forEach(function(res) { + var $li = $('
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • ', { + 'class': 'search-results-item' + }); + + var $title = $('

                                                                                                                                                                                                                                                                                                                                                                                                                                                          '); + + var $link = $('', { + 'href': gitbook.state.basePath + '/' + res.url, + 'text': res.title + }); + + var content = res.body.trim(); + if (content.length > MAX_DESCRIPTION_SIZE) { + content = content.slice(0, MAX_DESCRIPTION_SIZE).trim()+'...'; + } + var $content = $('

                                                                                                                                                                                                                                                                                                                                                                                                                                                          ').html(content); + + $link.appendTo($title); + $title.appendTo($li); + $content.appendTo($li); + $li.appendTo($searchList); + }); + } + + function launchSearch(q) { + // Add class for loading + $body.addClass('with-search'); + $body.addClass('search-loading'); + + // Launch search query + throttle(gitbook.search.query(q, 0, MAX_RESULTS) + .then(function(results) { + displayResults(results); + }) + .always(function() { + $body.removeClass('search-loading'); + }), 1000); + } + + function closeSearch() { + $body.removeClass('with-search'); + $bookSearchResults.removeClass('open'); + } + + function launchSearchFromQueryString() { + var q = getParameterByName('q'); + if (q && q.length > 0) { + // Update search input + $searchInput.val(q); + + // Launch search + launchSearch(q); + } + } + + function bindSearch() { + // Bind DOM + $searchInput = $('#book-search-input input'); + $bookSearchResults = $('#book-search-results'); + $searchList = $bookSearchResults.find('.search-results-list'); + $searchTitle = $bookSearchResults.find('.search-results-title'); + $searchResultsCount = $searchTitle.find('.search-results-count'); + $searchQuery = $searchTitle.find('.search-query'); + + // Launch query based on input content + function handleUpdate() { + var q = $searchInput.val(); + + if (q.length == 0) { + closeSearch(); + } + else { + launchSearch(q); + } + } + + // Detect true content change in search input + // Workaround for IE < 9 + var propertyChangeUnbound = false; + $searchInput.on('propertychange', function(e) { + if (e.originalEvent.propertyName == 'value') { + handleUpdate(); + } + }); + + // HTML5 (IE9 & others) + $searchInput.on('input', function(e) { + // Unbind propertychange event for IE9+ + if (!propertyChangeUnbound) { + $(this).unbind('propertychange'); + propertyChangeUnbound = true; + } + + handleUpdate(); + }); + + // Push to history on blur + $searchInput.on('blur', function(e) { + // Update history state + if (usePushState) { + var uri = updateQueryString('q', $(this).val()); + history.pushState({ path: uri }, null, uri); + } + }); + } + + gitbook.events.on('page.change', function() { + bindSearch(); + closeSearch(); + + // Launch search based on query parameter + if (gitbook.search.isInitialized()) { + launchSearchFromQueryString(); + } + }); + + gitbook.events.on('search.ready', function() { + bindSearch(); + + // Launch search from query param at start + launchSearchFromQueryString(); + }); + + function getParameterByName(name) { + var url = window.location.href; + name = name.replace(/[\[\]]/g, '\\$&'); + var regex = new RegExp('[?&]' + name + '(=([^&#]*)|&|#|$)', 'i'), + results = regex.exec(url); + if (!results) return null; + if (!results[2]) return ''; + return decodeURIComponent(results[2].replace(/\+/g, ' ')); + } + + function updateQueryString(key, value) { + value = encodeURIComponent(value); + + var url = window.location.href; + var re = new RegExp('([?&])' + key + '=.*?(&|#|$)(.*)', 'gi'), + hash; + + if (re.test(url)) { + if (typeof value !== 'undefined' && value !== null) + return url.replace(re, '$1' + key + '=' + value + '$2$3'); + else { + hash = url.split('#'); + url = hash[0].replace(re, '$1$3').replace(/(&|\?)$/, ''); + if (typeof hash[1] !== 'undefined' && hash[1] !== null) + url += '#' + hash[1]; + return url; + } + } + else { + if (typeof value !== 'undefined' && value !== null) { + var separator = url.indexOf('?') !== -1 ? '&' : '?'; + hash = url.split('#'); + url = hash[0] + separator + key + '=' + value; + if (typeof hash[1] !== 'undefined' && hash[1] !== null) + url += '#' + hash[1]; + return url; + } + else + return url; + } + } +}); diff --git a/v2.0/gitbook/gitbook-plugin-sharing/buttons.js b/v2.0/gitbook/gitbook-plugin-sharing/buttons.js new file mode 100644 index 00000000..709a4e4c --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-sharing/buttons.js @@ -0,0 +1,90 @@ +require(['gitbook', 'jquery'], function(gitbook, $) { + var SITES = { + 'facebook': { + 'label': 'Facebook', + 'icon': 'fa fa-facebook', + 'onClick': function(e) { + e.preventDefault(); + window.open('http://www.facebook.com/sharer/sharer.php?s=100&p[url]='+encodeURIComponent(location.href)); + } + }, + 'twitter': { + 'label': 'Twitter', + 'icon': 'fa fa-twitter', + 'onClick': function(e) { + e.preventDefault(); + window.open('http://twitter.com/home?status='+encodeURIComponent(document.title+' '+location.href)); + } + }, + 'google': { + 'label': 'Google+', + 'icon': 'fa fa-google-plus', + 'onClick': function(e) { + e.preventDefault(); + window.open('https://plus.google.com/share?url='+encodeURIComponent(location.href)); + } + }, + 'weibo': { + 'label': 'Weibo', + 'icon': 'fa fa-weibo', + 'onClick': function(e) { + e.preventDefault(); + window.open('http://service.weibo.com/share/share.php?content=utf-8&url='+encodeURIComponent(location.href)+'&title='+encodeURIComponent(document.title)); + } + }, + 'instapaper': { + 'label': 'Instapaper', + 'icon': 'fa fa-instapaper', + 'onClick': function(e) { + e.preventDefault(); + window.open('http://www.instapaper.com/text?u='+encodeURIComponent(location.href)); + } + }, + 'vk': { + 'label': 'VK', + 'icon': 'fa fa-vk', + 'onClick': function(e) { + e.preventDefault(); + window.open('http://vkontakte.ru/share.php?url='+encodeURIComponent(location.href)); + } + } + }; + + + + gitbook.events.bind('start', function(e, config) { + var opts = config.sharing; + + // Create dropdown menu + var menu = $.map(opts.all, function(id) { + var site = SITES[id]; + + return { + text: site.label, + onClick: site.onClick + }; + }); + + // Create main button with dropdown + if (menu.length > 0) { + gitbook.toolbar.createButton({ + icon: 'fa fa-share-alt', + label: 'Share', + position: 'right', + dropdown: [menu] + }); + } + + // Direct actions to share + $.each(SITES, function(sideId, site) { + if (!opts[sideId]) return; + + gitbook.toolbar.createButton({ + icon: site.icon, + label: site.text, + position: 'right', + onClick: site.onClick + }); + }); + }); +}); diff --git a/v2.0/gitbook/gitbook-plugin-theme-dronecode/images/dronecode_top_bar_logo_full.png b/v2.0/gitbook/gitbook-plugin-theme-dronecode/images/dronecode_top_bar_logo_full.png new file mode 100644 index 00000000..4e6fe320 Binary files /dev/null and b/v2.0/gitbook/gitbook-plugin-theme-dronecode/images/dronecode_top_bar_logo_full.png differ diff --git a/v2.0/gitbook/gitbook-plugin-theme-dronecode/images/dronecode_top_bar_logo_small.png b/v2.0/gitbook/gitbook-plugin-theme-dronecode/images/dronecode_top_bar_logo_small.png new file mode 100644 index 00000000..ae311ef4 Binary files /dev/null and b/v2.0/gitbook/gitbook-plugin-theme-dronecode/images/dronecode_top_bar_logo_small.png differ diff --git a/v2.0/gitbook/gitbook-plugin-theme-dronecode/theme_styles.css b/v2.0/gitbook/gitbook-plugin-theme-dronecode/theme_styles.css new file mode 100644 index 00000000..f871a335 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-theme-dronecode/theme_styles.css @@ -0,0 +1,40 @@ +/* Menu bar at top of page.*/ +#common_dronecode_menu{position: absolute; z-index:1; top: 0px; height:22px; padding:1px; width:100%; background-color:black; margin: 0 auto; font-size:14px;} + +.common_menu_logo{float:left; padding-left:5px;} +.common_menu_logo img {max-height:18px;} /*Would like to control max height, but seems to be controlled by javascript */ + +.common_menu_options{float:right; padding-top:2px;} +.common_dronecode_menu_item{float:left; padding-right:20px;} +body .common_menu_options a{color:WhiteSmoke;} + + +/* Unfix header (makes this theme work with theme-api) */ +.book-header { + position: unset; +} + +/* Push existing docs down to menu height */ +.book-summary, .book-body { + top: 22px; +} + + +/* Make text small as screen compresses */ +@media only screen and (min-width:800px){ + .common_dronecode_menu_item.large_version {display:inline;} + .common_dronecode_menu_item.small_version {display:none;} + .common_menu_logo.large_version {display:inline;} + .common_menu_logo.small_version {display:none;} +} + +@media only screen and (max-width:800px){ + .common_dronecode_menu_item.large_version {display:none;} + .common_dronecode_menu_item.small-text {display:inline;} + .common_menu_logo.large_version {display:none;} + .common_menu_logo.small_version {display:inline;} +} + +@media only screen and (max-width:600px){ + .common_dronecode_menu_item{padding-right:6px;} /* Shrink menu padding */ +} diff --git a/v2.0/gitbook/gitbook-plugin-toolbar/buttons.js b/v2.0/gitbook/gitbook-plugin-toolbar/buttons.js new file mode 100644 index 00000000..2ae68a89 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-toolbar/buttons.js @@ -0,0 +1,36 @@ +require(['gitbook'], function(gitbook) { + + gitbook.events.bind('start', function(e, config) { + var opts = config.toolbar; + + if (!opts || !opts.buttons) return; + + var buttons = opts.buttons.slice(0); + buttons.reverse(); + + buttons.forEach(function(button) { + gitbook.toolbar.createButton({ + icon: button.icon || "fa fa-external-link", + label: button.label || "Link", + position: button.position || "right", + onClick: function(e) { + e.preventDefault(); + var mapping = { + "{{title}}": encodeURIComponent(document.title), + "{{url}}": encodeURIComponent(location.href), + "{{filepath_lang}}": encodeURIComponent((gitbook.state.innerLanguage ? gitbook.state.innerLanguage+'/' : '')+gitbook.state.filepath) + }; + var re = RegExp(Object.keys(mapping).join("|"), "g"); + var url = button.url.replace(re, function(matched) { + return mapping[matched]; + }); + if (button.target == "_self") { + window.location = url; + } else { + window.open(url, button.target || "_blank"); + } + } + }); + }); + }); +}); diff --git a/v2.0/gitbook/gitbook-plugin-versions-select/plugin.css b/v2.0/gitbook/gitbook-plugin-versions-select/plugin.css new file mode 100644 index 00000000..a70aa5df --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-versions-select/plugin.css @@ -0,0 +1,16 @@ +.versions-select { + display: table; + width: 100%; + height: 50px; + padding: 0px 12px; +} + +.versions-select > div { + display: table-cell; + text-align: center; + vertical-align: middle; +} + +.versions-select select { + width: 100%; +} diff --git a/v2.0/gitbook/gitbook-plugin-versions-select/plugin.js b/v2.0/gitbook/gitbook-plugin-versions-select/plugin.js new file mode 100644 index 00000000..83bc9a47 --- /dev/null +++ b/v2.0/gitbook/gitbook-plugin-versions-select/plugin.js @@ -0,0 +1,85 @@ +require(['gitbook', 'jQuery'], function (gitbook, $) { + var versions = []; + var current; + var pluginConfig = {}; + + // Update the select with a list of versions + function updateVersions(_versions) { + versions = _versions || versions; + current = $('.versions-select select').val() || current; + var CurAddr = location.href.substr(gitbook.state.root.length); + var sharp = CurAddr.indexOf("#"); + var CurAddrNoAnchor = (sharp == -1)? CurAddr : CurAddr.substr(0, sharp); + + // Cleanup existing selector + $('.versions-select').remove(); + + if (versions.length === 0) return; + + var $li = $('

                                                                                                                                                                                                                                                                                                                                                                                                                                                        • ', { + 'class': 'versions-select', + 'html': '
                                                                                                                                                                                                                                                                                                                                                                                                                                                          ' + }); + var $select = $li.find('select'); + + $.each(versions, function(i, version) { + var $option = $('                                                                                                                                                                                                                                                                                                                                                                                                                                                          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