mavsdk::ActionServer Class Reference

#include: action_server.hpp

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

The flight mode API is deprecated, use the ModesServer plugin instead. Once ModesServer has modes set, mode change requests are left to it.

Data Structures

struct AllowableFlightModes

struct ArmDisarm

Public Types

Type	Description
enum FlightMode	Flight modes.
enum Result	Possible results returned for action requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous ActionServer calls.
std::function< void(Result, ArmDisarm)> ArmDisarmCallback	Callback type for subscribe_arm_disarm.
Handle< Result, ArmDisarm > ArmDisarmHandle	Handle type for subscribe_arm_disarm.
std::function< void(Result, FlightMode)> FlightModeChangeCallback	Callback type for subscribe_flight_mode_change.
Handle< Result, FlightMode > FlightModeChangeHandle	Handle type for subscribe_flight_mode_change.
std::function< void(Result, bool)> TakeoffCallback	Callback type for subscribe_takeoff.
Handle< Result, bool > TakeoffHandle	Handle type for subscribe_takeoff.
std::function< void(Result, bool)> LandCallback	Callback type for subscribe_land.
Handle< Result, bool > LandHandle	Handle type for subscribe_land.
std::function< void(Result, bool)> RebootCallback	Callback type for subscribe_reboot.
Handle< Result, bool > RebootHandle	Handle type for subscribe_reboot.
std::function< void(Result, bool)> ShutdownCallback	Callback type for subscribe_shutdown.
Handle< Result, bool > ShutdownHandle	Handle type for subscribe_shutdown.
std::function< void(Result, bool)> TerminateCallback	Callback type for subscribe_terminate.
Handle< Result, bool > TerminateHandle	Handle type for subscribe_terminate.

Public Member Functions

Type	Name	Description
	ActionServer (std::shared_ptr< ServerComponent > server_component)	Constructor. Creates the plugin for a ServerComponent instance.
	~ActionServer () override	Destructor (internal use only).
	ActionServer (const ActionServer & other)	Copy constructor.
ArmDisarmHandle	subscribe_arm_disarm (const ArmDisarmCallback & callback)	Subscribe to ARM/DISARM commands.
void	unsubscribe_arm_disarm (ArmDisarmHandle handle)	Unsubscribe from subscribe_arm_disarm.
DEPRECATED FlightModeChangeHandle	subscribe_flight_mode_change (const FlightModeChangeCallback & callback)	Subscribe to DO_SET_MODE (deprecated, use the ModesServer plugin instead).
DEPRECATED void	unsubscribe_flight_mode_change (FlightModeChangeHandle handle)	Unsubscribe from subscribe_flight_mode_change.
TakeoffHandle	subscribe_takeoff (const TakeoffCallback & callback)	Subscribe to takeoff command.
void	unsubscribe_takeoff (TakeoffHandle handle)	Unsubscribe from subscribe_takeoff.
LandHandle	subscribe_land (const LandCallback & callback)	Subscribe to land command.
void	unsubscribe_land (LandHandle handle)	Unsubscribe from subscribe_land.
RebootHandle	subscribe_reboot (const RebootCallback & callback)	Subscribe to reboot command.
void	unsubscribe_reboot (RebootHandle handle)	Unsubscribe from subscribe_reboot.
ShutdownHandle	subscribe_shutdown (const ShutdownCallback & callback)	Subscribe to shutdown command.
void	unsubscribe_shutdown (ShutdownHandle handle)	Unsubscribe from subscribe_shutdown.
TerminateHandle	subscribe_terminate (const TerminateCallback & callback)	Subscribe to terminate command.
void	unsubscribe_terminate (TerminateHandle handle)	Unsubscribe from subscribe_terminate.
Result	set_allow_takeoff (bool allow_takeoff)const	Can the vehicle takeoff.
Result	set_armable (bool armable, bool force_armable)const	Can the vehicle arm when requested.
Result	set_disarmable (bool disarmable, bool force_disarmable)const	Can the vehicle disarm when requested.
DEPRECATED Result	set_allowable_flight_modes (AllowableFlightModes flight_modes)const	Set which modes the vehicle can transition to (Manual always allowed) (deprecated, use the ModesServer plugin instead).
DEPRECATED ActionServer::AllowableFlightModes	get_allowable_flight_modes () const	Get which modes the vehicle can transition to (Manual always allowed) (deprecated, use the ModesServer plugin instead).
Result	set_armed_state (bool is_armed)const	Set/override the armed/disarmed state of the vehicle directly, and notify subscribers.
DEPRECATED Result	set_flight_mode (FlightMode flight_mode)const	Set/override the flight mode of the vehicle directly, and notify subscribers (deprecated, use the ModesServer plugin instead).
DEPRECATED Result	set_flight_mode_internal (FlightMode flight_mode)const	Set/override the flight mode of the vehicle directly, and do not notify subscribers (deprecated, use the ModesServer plugin instead).
const ActionServer &	operator= (const ActionServer &)=delete	Equality 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

• std::shared_ptr< ServerComponent > server_component - The ServerComponent instance associated with this server plugin.

~ActionServer()

mavsdk::ActionServer::~ActionServer() override

Destructor (internal use only).

ActionServer()

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

Copy constructor.

Parameters

• const ActionServer& other -

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/main/en/config/flight_mode.html.

Value	Description
Unknown	Mode not known.
Ready	Armed and ready to take off.
Takeoff	Taking off.
Hold	Holding (hovering in place (or circling for fixed-wing vehicles).
Mission	In mission.
ReturnToLaunch	Returning to launch position (then landing).
Land	Landing.
Offboard	In 'offboard' mode.
FollowMe	In 'follow-me' mode.
Manual	In 'Manual' mode.
Altctl	In 'Altitude Control' mode.
Posctl	In 'Position Control' mode.
Acro	In 'Acro' mode.
Stabilized	In 'Stabilize' mode.

enum Result

Possible results returned for action requests.

Value	Description
Unknown	Unknown result.
Success	Request was successful.
NoSystem	No system is connected.
ConnectionError	Connection error.
Busy	Vehicle is busy.
CommandDenied	Command refused by vehicle.
CommandDeniedLandedStateUnknown	Command refused because landed state is unknown.
CommandDeniedNotLanded	Command refused because vehicle not landed.
Timeout	Request timed out.
VtolTransitionSupportUnknown	Hybrid/VTOL transition support is unknown.
NoVtolTransitionSupport	Vehicle does not support hybrid/VTOL transitions.
ParameterError	Error getting or setting parameter.
Next	Intermediate 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

• const ArmDisarmCallback& callback -

Returns

 ArmDisarmHandle -

unsubscribe_arm_disarm()

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

Unsubscribe from subscribe_arm_disarm.

Parameters

• ArmDisarmHandle handle -

subscribe_flight_mode_change()

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

Subscribe to DO_SET_MODE (deprecated, use the ModesServer plugin instead).

Parameters

• const FlightModeChangeCallback& callback -

Returns

 DEPRECATED FlightModeChangeHandle -

unsubscribe_flight_mode_change()

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

Unsubscribe from subscribe_flight_mode_change.

Parameters

• FlightModeChangeHandle handle -

Returns

 DEPRECATED void -

subscribe_takeoff()

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

Subscribe to takeoff command.

Parameters

• const TakeoffCallback& callback -

Returns

 TakeoffHandle -

unsubscribe_takeoff()

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

Unsubscribe from subscribe_takeoff.

Parameters

• TakeoffHandle handle -

subscribe_land()

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

Subscribe to land command.

Parameters

• const LandCallback& callback -

Returns

 LandHandle -

unsubscribe_land()

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

Unsubscribe from subscribe_land.

Parameters

• LandHandle handle -

subscribe_reboot()

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

Subscribe to reboot command.

Parameters

• const RebootCallback& callback -

Returns

 RebootHandle -

unsubscribe_reboot()

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

Unsubscribe from subscribe_reboot.

Parameters

• RebootHandle handle -

subscribe_shutdown()

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

Subscribe to shutdown command.

Parameters

• const ShutdownCallback& callback -

Returns

 ShutdownHandle -

unsubscribe_shutdown()

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

Unsubscribe from subscribe_shutdown.

Parameters

• ShutdownHandle handle -

subscribe_terminate()

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

Subscribe to terminate command.

Parameters

• const TerminateCallback& callback -

Returns

 TerminateHandle -

unsubscribe_terminate()

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

Unsubscribe from subscribe_terminate.

Parameters

• TerminateHandle handle -

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()

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

Set which modes the vehicle can transition to (Manual always allowed) (deprecated, use the ModesServer plugin instead).

This function is blocking.

Parameters

• AllowableFlightModes flight_modes -

Returns

 DEPRECATED Result - Result of request.

get_allowable_flight_modes()

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

Get which modes the vehicle can transition to (Manual always allowed) (deprecated, use the ModesServer plugin instead).

This function is blocking.

Returns

 DEPRECATED ActionServer::AllowableFlightModes - Result of request.

set_armed_state()

Result mavsdk::ActionServer::set_armed_state(bool is_armed) const

Set/override the armed/disarmed state of the vehicle directly, and notify subscribers.

This function is blocking.

Parameters

• bool is_armed -

Returns

 Result - Result of request.

set_flight_mode()

DEPRECATED Result mavsdk::ActionServer::set_flight_mode(FlightMode flight_mode) const

Set/override the flight mode of the vehicle directly, and notify subscribers (deprecated, use the ModesServer plugin instead).

This function is blocking.

Parameters

• FlightMode flight_mode -

Returns

 DEPRECATED Result - Result of request.

set_flight_mode_internal()

DEPRECATED Result mavsdk::ActionServer::set_flight_mode_internal(FlightMode flight_mode) const

Set/override the flight mode of the vehicle directly, and do not notify subscribers (deprecated, use the ModesServer plugin instead).

This function is blocking.

Parameters

• FlightMode flight_mode -

Returns

 DEPRECATED Result - Result of request.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const ActionServer& -

Returns

 const ActionServer & -