mavsdk::MavlinkDirectServer Class Reference

#include: mavlink_direct_server.hpp

Enable direct MAVLink communication using libmav from a server component.

Unlike MavlinkDirect, this does not require a discovered system: it sends from the local server component, which makes it suitable for broadcasting messages (e.g. as an autopilot or custom component) without a connected counterpart.

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 MavlinkDirectServer calls.
std::function< void(MavlinkMessage)> MessageCallback	Callback type for subscribe_message.
Handle< MavlinkMessage > MessageHandle	Handle type for subscribe_message.
std::function< void(MavlinkMessage)> CommandCallback	Callback type for subscribe_command.
Handle< MavlinkMessage > CommandHandle	Handle type for subscribe_command.

Public Member Functions

Type	Name	Description
	MavlinkDirectServer (std::shared_ptr< ServerComponent > server_component)	Constructor. Creates the plugin for a ServerComponent instance.
	~MavlinkDirectServer () override	Destructor (internal use only).
	MavlinkDirectServer (const MavlinkDirectServer & other)	Copy constructor.
Result	send_message (MavlinkMessage message)const	Send a MAVLink message directly.
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.
CommandHandle	subscribe_command (uint32_t command, const CommandCallback & callback)	Subscribe to incoming commands with a given command ID.
void	unsubscribe_command (CommandHandle handle)	Unsubscribe from subscribe_command.
const MavlinkDirectServer &	operator= (const MavlinkDirectServer &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

MavlinkDirectServer()

cpp

mavsdk::MavlinkDirectServer::MavlinkDirectServer(std::shared_ptr< ServerComponent > server_component)

Constructor. Creates the plugin for a ServerComponent instance.

The plugin is typically created as shown below:

cpp

auto mavlink_direct_server = MavlinkDirectServer(server_component);

Parameters

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

~MavlinkDirectServer()

cpp

mavsdk::MavlinkDirectServer::~MavlinkDirectServer() override

Destructor (internal use only).

MavlinkDirectServer()

cpp

mavsdk::MavlinkDirectServer::MavlinkDirectServer(const MavlinkDirectServer &other)

Copy constructor.

Parameters

const MavlinkDirectServer& other -

Member Typdef Documentation

typedef ResultCallback

cpp

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

Callback type for asynchronous MavlinkDirectServer calls.

typedef MessageCallback

cpp

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

Callback type for subscribe_message.

typedef MessageHandle

cpp

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

Handle type for subscribe_message.

typedef CommandCallback

cpp

using mavsdk::MavlinkDirectServer::CommandCallback =  std::function<void(MavlinkMessage)>

Callback type for subscribe_command.

typedef CommandHandle

cpp

using mavsdk::MavlinkDirectServer::CommandHandle =  Handle<MavlinkMessage>

Handle type for subscribe_command.

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()

cpp

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

Send a MAVLink message directly.

This allows sending any MAVLink message with full control over the message content. Leave target_system_id and target_component_id at 0 to broadcast.

This function is blocking.

Parameters

MavlinkMessage message -

Returns

Result - Result of request.

subscribe_message()

cpp

MessageHandle mavsdk::MavlinkDirectServer::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. Unlike the MavlinkDirect (client) plugin, this is not scoped to a single system: it receives matching messages from all systems.

Parameters

std::string message_name -
const MessageCallback& callback -

Returns

MessageHandle -

unsubscribe_message()

cpp

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

Unsubscribe from subscribe_message.

Parameters

MessageHandle handle -

load_custom_xml()

cpp

Result mavsdk::MavlinkDirectServer::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.

subscribe_command()

cpp

CommandHandle mavsdk::MavlinkDirectServer::subscribe_command(uint32_t command, const CommandCallback &callback)

Subscribe to incoming commands with a given command ID.

Delivers COMMAND_LONG and COMMAND_INT messages with this command ID that are addressed to this server component; check message_name to see which one it is.

While subscribed, MAVSDK does not ack the command itself, so every command received must be answered by sending a COMMAND_ACK with SendMessage, addressed to the sender (system_id/component_id of the received command) and with "command" set to the command ID. For a command that takes a while, send acks with MAV_RESULT_IN_PROGRESS and "progress" in percent (255 if unknown) about once per second while it runs, so the sender knows it is still going, then the final result.

The sender may retransmit the command if the ack is lost, so the same command can arrive more than once.

Parameters

uint32_t command -
const CommandCallback& callback -

Returns

CommandHandle -

unsubscribe_command()

cpp

void mavsdk::MavlinkDirectServer::unsubscribe_command(CommandHandle handle)

Unsubscribe from subscribe_command.

Parameters

CommandHandle handle -

operator=()

cpp

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

Equality operator (object is not copyable).

Parameters

const MavlinkDirectServer& -

Returns

const MavlinkDirectServer & -

class ActionServer

class Calibration

class Camera

class CameraServer

class ComponentMetadata

class ComponentMetadataServer

class Events

class FollowMe

class Ftp

class Geofence

class geometry::CoordinateTransformation

class Gimbal

class Info

class LogFiles

class LogStreaming

class MavlinkDirect

class MavlinkPassthrough

class Mavsdk

class Mission

class MissionRaw

class MissionRawServer

class Mocap

class Offboard

class Param

class ParamServer

class Rtk

class Shell

class Telemetry

class TelemetryServer

class Transponder

class Tune

class Winch

mavsdk::MavlinkDirectServer Class Reference ​

Data Structures ​

Public Types ​

Public Member Functions ​

Constructor & Destructor Documentation ​

MavlinkDirectServer() ​

~MavlinkDirectServer() ​

MavlinkDirectServer() ​

Member Typdef Documentation ​

typedef ResultCallback ​

typedef MessageCallback ​

typedef MessageHandle ​

typedef CommandCallback ​

typedef CommandHandle ​

Member Enumeration Documentation ​

enum Result ​

Member Function Documentation ​

send_message() ​

subscribe_message() ​

unsubscribe_message() ​

load_custom_xml() ​

subscribe_command() ​

unsubscribe_command() ​

operator=() ​

mavsdk::MavlinkDirectServer Class Reference

Data Structures

Public Types

Public Member Functions

Constructor & Destructor Documentation

MavlinkDirectServer()

~MavlinkDirectServer()

MavlinkDirectServer()

Member Typdef Documentation

typedef ResultCallback

typedef MessageCallback

typedef MessageHandle

typedef CommandCallback

typedef CommandHandle

Member Enumeration Documentation

enum Result

Member Function Documentation

send_message()

subscribe_message()

unsubscribe_message()

load_custom_xml()

subscribe_command()

unsubscribe_command()

operator=()