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
| Type | Description |
|---|---|
| enum Result | Possible results returned for requests. |
| std::function< void(const mavlink_message_t &)> MessageCallback | Callback type for message subscriptions. |
| Handle< const mavlink_message_t & > MessageHandle | Handle type for subscribe_message_async. |
Public Member Functions
| Type | Name | Description |
|---|---|---|
| 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 &)=delete | Copy Constructor (object is not copyable). | |
| DEPRECATED Result | send_message (mavlink_message_t & message) | Send message (deprecated). |
| Result | queue_message (std::function< mavlink_message_t(MavlinkAddress mavlink_address, uint8_t channel)> fun) | Send message by queueing it. |
| Result | send_command_long (const CommandLong & command) | Send a MAVLink command_long. |
| Result | send_command_int (const CommandInt & command) | Send a MAVLink command_long. |
| mavlink_message_t | 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. |
| 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). |
| MessageHandle | subscribe_message (uint16_t message_id, const MessageCallback & callback) | Subscribe to messages using message ID. |
| void | unsubscribe_message (uint16_t message_id, MessageHandle handle) | Unsubscribe from subscribe_message. |
| uint8_t | get_our_sysid () const | Get our own system ID. |
| uint8_t | get_our_compid () const | Get our own component ID. |
| uint8_t | get_target_sysid () const | Get system ID of target. |
| uint8_t | get_target_compid () const | Get target component ID. |
| const MavlinkPassthrough & | operator= (const MavlinkPassthrough &)=delete | Equality operator (object is not copyable). |
Constructor & Destructor Documentation
MavlinkPassthrough()
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.
MavlinkPassthrough()
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.
~MavlinkPassthrough()
mavsdk::MavlinkPassthrough::~MavlinkPassthrough()
Destructor (internal use only).
MavlinkPassthrough()
mavsdk::MavlinkPassthrough::MavlinkPassthrough(const MavlinkPassthrough &)=delete
Copy Constructor (object is not copyable).
Parameters
- const MavlinkPassthrough& -
Member Typdef Documentation
typedef MessageCallback
using mavsdk::MavlinkPassthrough::MessageCallback = std::function<void(const mavlink_message_t&)>
Callback type for message subscriptions.
typedef MessageHandle
using mavsdk::MavlinkPassthrough::MessageHandle = Handle<const mavlink_message_t&>
Handle type for subscribe_message_async.
Member Enumeration Documentation
enum Result
Possible results returned for requests.
| Value | Description |
|---|---|
Unknown |
Unknown error. |
Success |
Success. |
ConnectionError |
Connection error. |
CommandNoSystem |
System not available. |
CommandBusy |
System is busy. |
CommandDenied |
Command has been denied. |
CommandUnsupported |
Command is not supported. |
CommandTimeout |
A timeout happened. |
CommandTemporarilyRejected |
Command has been rejected for now. |
CommandFailed |
Command has failed. |
ParamWrongType |
Wrong type for requested param. |
ParamNameTooLong |
Param name too long. |
ParamValueTooLong |
Param value too long. |
ParamNotFound |
Param not found. |
ParamValueUnsupported |
Param value unsupported. |
Member Function Documentation
send_message()
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.
queue_message()
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
send_command_long()
Result mavsdk::MavlinkPassthrough::send_command_long(const CommandLong &command)
Send a MAVLink command_long.
Parameters
- const CommandLong& command - Command to send.
Returns
Result - result of the request.
send_command_int()
Result mavsdk::MavlinkPassthrough::send_command_int(const CommandInt &command)
Send a MAVLink command_long.
Parameters
- const CommandInt& command - Command to send.
Returns
Result - result of the request.
make_command_ack_message()
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.
get_param_int()
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 > -
get_param_float()
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 > -
subscribe_message()
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
unsubscribe_message()
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.
get_our_sysid()
uint8_t mavsdk::MavlinkPassthrough::get_our_sysid() const
Get our own system ID.
Returns
uint8_t - our own system ID.
get_our_compid()
uint8_t mavsdk::MavlinkPassthrough::get_our_compid() const
Get our own component ID.
Returns
uint8_t - our own component ID.
get_target_sysid()
uint8_t mavsdk::MavlinkPassthrough::get_target_sysid() const
Get system ID of target.
Returns
uint8_t - system ID of target.
get_target_compid()
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.
operator=()
const MavlinkPassthrough& mavsdk::MavlinkPassthrough::operator=(const MavlinkPassthrough &)=delete
Equality operator (object is not copyable).
Parameters
- const MavlinkPassthrough& -
Returns
const MavlinkPassthrough & -