mavsdk::MissionRaw Class Reference

#include: mission_raw.h


The MissionRaw class enables direct access to MAVLink mission items.

This plugin gives direct access to the MAVLink mission protocol which means full control over waypoints and waypoint actions/commands. However, this means that not all functionality provided is actually implemented or correctly supported by a flight controller.

For a tested, simpler subset in mission functionality, it is recommended to use the Mission plugin.

Currently, only downloading the mission items is implemented, uploading could be added in the future if required.

Data Structures

struct MavlinkMissionItemInt

Public Types

Type Description
enum Result Possible results returned for mission requests.
std::function< void(Result, std::vector< std::shared_ptr< MavlinkMissionItemInt > >)> mission_items_and_result_callback_t Type for vector of mission items.
std::function< void()> mission_changed_callback_t Callback type to signal if the mission has changed.

Public Member Functions

Type Name Description
  MissionRaw (System & system) Constructor. Creates the plugin for a specific System.
  ~MissionRaw () Destructor (internal use only).
  MissionRaw (const MissionRaw &)=delete Copy constructor (object is not copyable).
void download_mission_async (mission_items_and_result_callback_t callback) Downloads a vector of mission items from the system (asynchronous).
void download_mission_cancel () Cancel a mission download (asynchronous).
void subscribe_mission_changed (mission_changed_callback_t callback) Subscribes to mission progress (asynchronous).
const MissionRaw & operator= (const MissionRaw &)=delete Equality operator (object is not copyable).

Static Public Member Functions

Type Name Description
const char * result_str (Result result) Gets a human-readable English string for an MissionRaw::Result.

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 = std::make_shared<MissionRaw>(system);

Parameters

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

~MissionRaw()

mavsdk::MissionRaw::~MissionRaw()

Destructor (internal use only).

MissionRaw()

mavsdk::MissionRaw::MissionRaw(const MissionRaw &)=delete

Copy constructor (object is not copyable).

Parameters

Member Typdef Documentation

typedef mission_items_and_result_callback_t

typedef std::function<void(Result, std::vector<std::shared_ptr<MavlinkMissionItemInt> >)> mavsdk::MissionRaw::mission_items_and_result_callback_t

Type for vector of mission items.

typedef mission_changed_callback_t

typedef std::function<void()> mavsdk::MissionRaw::mission_changed_callback_t

Callback type to signal if the mission has changed.

Member Enumeration Documentation

enum Result

Possible results returned for mission requests.

Value Description
UNKNOWN Unknown error.
SUCCESS Request succeeded.
ERROR Error.
BUSY Vehicle busy.
TIMEOUT Request timed out.
INVALID_ARGUMENT Invalid argument.
NO_MISSION_AVAILABLE No mission available on system.
CANCELLED Mission upload or download has been cancelled.

Member Function Documentation

download_mission_async()

void mavsdk::MissionRaw::download_mission_async(mission_items_and_result_callback_t callback)

Downloads a vector of mission items from the system (asynchronous).

The method will fail if any of the downloaded mission items are not supported by the MAVSDK API.

Parameters

download_mission_cancel()

void mavsdk::MissionRaw::download_mission_cancel()

Cancel a mission download (asynchronous).

This cancels an ongoing mission download. The mission download will fail with the result Result::CANCELLED.

subscribe_mission_changed()

void mavsdk::MissionRaw::subscribe_mission_changed(mission_changed_callback_t callback)

Subscribes to mission progress (asynchronous).

Parameters

operator=()

const MissionRaw& mavsdk::MissionRaw::operator=(const MissionRaw &)=delete

Equality operator (object is not copyable).

Parameters

Returns

 const MissionRaw & -

result_str()

static const char* mavsdk::MissionRaw::result_str(Result result)

Gets a human-readable English string for an MissionRaw::Result.

Parameters

  • Result result - Enum for which string is required.

Returns

 const char * - Human readable string for the MissionRaw::Result.

© Dronecode 2017-2019. License: CC BY 4.0            Updated: 2019-08-26 04:36:58

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