mavsdk::MavlinkDirect Class Reference

#include: mavlink_direct.h

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Enable direct MAVLink communication using libmav.

Data Structures

struct MavlinkMessage

Public Types

Type	Description
enum Result	Possible results returned for action requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous MavlinkDirect calls.
std::function< void(MavlinkMessage)> MessageCallback	Callback type for subscribe_message.
Handle< MavlinkMessage > MessageHandle	Handle type for subscribe_message.

Public Member Functions

Type	Name	Description
	MavlinkDirect (System & system)	Constructor. Creates the plugin for a specific System.
	MavlinkDirect (std::shared_ptr< System > system)	Constructor. Creates the plugin for a specific System.
	~MavlinkDirect () override	Destructor (internal use only).
	MavlinkDirect (const MavlinkDirect & other)	Copy constructor.
Result	send_message (MavlinkMessage message)const	Send a MAVLink message directly to the system.
MessageHandle	subscribe_message (std::string message_name, const MessageCallback & callback)	Subscribe to incoming MAVLink messages.
void	unsubscribe_message (MessageHandle handle)	Unsubscribe from subscribe_message.
Result	load_custom_xml (std::string xml_content)const	Load custom MAVLink message definitions from XML.
const MavlinkDirect &	operator= (const MavlinkDirect &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

MavlinkDirect()

mavsdk::MavlinkDirect::MavlinkDirect(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto mavlink_direct = MavlinkDirect(system);

Parameters

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

MavlinkDirect()

mavsdk::MavlinkDirect::MavlinkDirect(std::shared_ptr< System > system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto mavlink_direct = MavlinkDirect(system);

Parameters

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

~MavlinkDirect()

mavsdk::MavlinkDirect::~MavlinkDirect() override

Destructor (internal use only).

MavlinkDirect()

mavsdk::MavlinkDirect::MavlinkDirect(const MavlinkDirect &other)

Copy constructor.

Parameters

• const MavlinkDirect& other -

Member Typdef Documentation

typedef ResultCallback

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

Callback type for asynchronous MavlinkDirect calls.

typedef MessageCallback

using mavsdk::MavlinkDirect::MessageCallback =  std::function<void(MavlinkMessage)>

Callback type for subscribe_message.

typedef MessageHandle

using mavsdk::MavlinkDirect::MessageHandle =  Handle<MavlinkMessage>

Handle type for subscribe_message.

Member Enumeration Documentation

enum Result

Possible results returned for action requests.

Value	Description
Unknown	Unknown result.
Success	Request succeeded.
Error	Error.
InvalidMessage	Invalid MAVLink message.
InvalidField	Invalid field name or value.
ConnectionError	Connection error.
NoSystem	No system connected.
Timeout	Request timed out.

Member Function Documentation

send_message()

Result mavsdk::MavlinkDirect::send_message(MavlinkMessage message) const

Send a MAVLink message directly to the system.

This allows sending any MAVLink message with full control over the message content.

This function is blocking.

Parameters

• MavlinkMessage message -

Returns

 Result - Result of request.

subscribe_message()

MessageHandle mavsdk::MavlinkDirect::subscribe_message(std::string message_name, const MessageCallback &callback)

Subscribe to incoming MAVLink messages.

This provides direct access to incoming MAVLink messages. Use an empty string in message_name to subscribe to all messages, or specify a message name (e.g., "HEARTBEAT") to filter for specific message types.

Parameters

• std::string message_name -
• const MessageCallback& callback -

Returns

 MessageHandle -

unsubscribe_message()

void mavsdk::MavlinkDirect::unsubscribe_message(MessageHandle handle)

Unsubscribe from subscribe_message.

Parameters

• MessageHandle handle -

load_custom_xml()

Result mavsdk::MavlinkDirect::load_custom_xml(std::string xml_content) const

Load custom MAVLink message definitions from XML.

This allows loading custom MAVLink message definitions at runtime, extending the available message types beyond the built-in definitions.

This function is blocking.

Parameters

• std::string xml_content -

Returns

 Result - Result of request.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const MavlinkDirect& -

Returns

 const MavlinkDirect & -