mavsdk::Mavsdk Class Reference

#include: mavsdk.h

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This is the main class of MAVSDK (a MAVLink API Library).

It is used to discover vehicles and manage active connections.

An instance of this class must be created and kept alive in order to use the library. The instance can be destroyed after use in order to break connections and release all resources.

Data Structures

struct Configuration

struct ConnectionError

Public Types

Type	Description
Handle<> ConnectionHandle	Handle type to remove a connection.
std::function< void(ConnectionError)> ConnectionErrorCallback
Handle< ConnectionError > ConnectionErrorHandle	Handle type to remove a connection error subscription.
std::function< void()> NewSystemCallback	Callback type discover and timeout notifications.
Handle<> NewSystemHandle	Handle type to unsubscribe from subscribe_on_new_system.

Public Member Functions

Type	Name	Description
	Mavsdk ()=delete	Default constructor without configuration, no longer recommended.
	Mavsdk (Configuration configuration)	Constructor with configuration.
	~Mavsdk ()	Destructor.
std::string	version () const	Returns the version of MAVSDK.
ConnectionResult	add_any_connection (const std::string & connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)	Adds Connection via URL.
std::pair< ConnectionResult, ConnectionHandle >	add_any_connection_with_handle (const std::string & connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)	Adds Connection via URL Additionally returns a handle to remove the connection later.
void	remove_connection (ConnectionHandle handle)
ConnectionErrorHandle	subscribe_connection_errors (ConnectionErrorCallback callback)
void	unsubscribe_connection_errors (ConnectionErrorHandle handle)
std::vector< std::shared_ptr< System > >	systems () const	Get a vector of systems which have been discovered or set-up.
std::optional< std::shared_ptr< System > >	first_autopilot (double timeout_s)const	Get the first autopilot that has been discovered.
void	set_configuration (Configuration configuration)	Set Configuration of SDK.
void	set_timeout_s (double timeout_s)	Set timeout of MAVLink transfers.
NewSystemHandle	subscribe_on_new_system (const NewSystemCallback & callback)	Get notification about a change in systems.
void	unsubscribe_on_new_system (NewSystemHandle handle)	unsubscribe from subscribe_on_new_system.
std::shared_ptr< ServerComponent >	server_component (unsigned instance=0)	Get server component with default type of Mavsdk instance.
std::shared_ptr< ServerComponent >	server_component_by_type (ComponentType component_type, unsigned instance=0)	Get server component by a high level type.
std::shared_ptr< ServerComponent >	server_component_by_id (uint8_t component_id)	Get server component by the low MAVLink component ID.
void	intercept_incoming_messages_async (std::function< bool(mavlink_message_t &)> callback)	Intercept incoming messages.
void	intercept_outgoing_messages_async (std::function< bool(mavlink_message_t &)> callback)	Intercept outgoing messages.

Constructor & Destructor Documentation

Mavsdk()

mavsdk::Mavsdk::Mavsdk()=delete

Default constructor without configuration, no longer recommended.

INFO

This has been removed because MAVSDK used to identify itself as a ground station by default which isn't always the safest choice. For instance, when MAVSDK is used on a companion computer (set as a ground station) it means that the appropriate failsafe doesn't trigger.

Mavsdk()

mavsdk::Mavsdk::Mavsdk(Configuration configuration)

Constructor with configuration.

Parameters

• Configuration configuration - Configuration to use in MAVSDK instance.

~Mavsdk()

mavsdk::Mavsdk::~Mavsdk()

Destructor.

Disconnects all connected vehicles and releases all resources.

Member Typdef Documentation

typedef ConnectionHandle

using mavsdk::Mavsdk::ConnectionHandle =  Handle<>

Handle type to remove a connection.

typedef ConnectionErrorCallback

using mavsdk::Mavsdk::ConnectionErrorCallback =  std::function<void(ConnectionError)>

Connection Error callback type

typedef ConnectionErrorHandle

using mavsdk::Mavsdk::ConnectionErrorHandle =  Handle<ConnectionError>

Handle type to remove a connection error subscription.

typedef NewSystemCallback

using mavsdk::Mavsdk::NewSystemCallback =  std::function<void()>

Callback type discover and timeout notifications.

typedef NewSystemHandle

using mavsdk::Mavsdk::NewSystemHandle =  Handle<>

Handle type to unsubscribe from subscribe_on_new_system.

Member Function Documentation

version()

std::string mavsdk::Mavsdk::version() const

Returns the version of MAVSDK.

Note, you're not supposed to request the version too many times.

Returns

 std::string - A string containing the version.

add_any_connection()

ConnectionResult mavsdk::Mavsdk::add_any_connection(const std::string &connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)

Adds Connection via URL.

Supports connection: Serial, TCP or UDP. Connection URL format should be:

• UDP in (server): udpin://our_ip:port

• UDP out (client): udpout://remote_ip:port

• TCP in (server): tcpin://our_ip:port

• TCP out (client): tcpout://remote_ip:port

• Serial: serial://dev_node:baudrate

• Serial with flow control: serial_flowcontrol://dev_node:baudrate

For UDP in and TCP in (as server), our IP can be set to:

• 0.0.0.0: listen on all interfaces

• 127.0.0.1: listen on loopback (local) interface only

• Our IP: (e.g. 192.168.1.12): listen only on the network interface with this IP.

For UDP out and TCP out, the IP needs to be set to the remote IP, where the MAVLink messages are to be sent to.

Parameters

• const std::string& connection_url - connection URL string.
• ForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).

Returns

 ConnectionResult - The result of adding the connection.

add_any_connection_with_handle()

std::pair< ConnectionResult, ConnectionHandle > mavsdk::Mavsdk::add_any_connection_with_handle(const std::string &connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)

Adds Connection via URL Additionally returns a handle to remove the connection later.

Supports connection: Serial, TCP or UDP. Connection URL format should be:

• UDP in (server): udpin://our_ip:port

• UDP out (client): udpout://remote_ip:port

• TCP in (server): tcpin://our_ip:port

• TCP out (client): tcpout://remote_ip:port

• Serial: serial://dev_node:baudrate

• Serial with flow control: serial_flowcontrol://dev_node:baudrate

For UDP in and TCP in (as server), our IP can be set to:

• 0.0.0.0: listen on all interfaces

• 127.0.0.1: listen on loopback (local) interface only

• Our IP: (e.g. 192.168.1.12): listen only on the network interface with this IP.

For UDP out and TCP out, the IP needs to be set to the remote IP, where the MAVLink messages are to be sent to.

Parameters

• const std::string& connection_url - connection URL string.
• ForwardingOption forwarding_option - message forwarding option (when multiple interfaces are used).

Returns

 std::pair< ConnectionResult, ConnectionHandle > - A pair containing the result of adding the connection as well as a handle to remove it later.

remove_connection()

void mavsdk::Mavsdk::remove_connection(ConnectionHandle handle)

Remove connection again.

Parameters

• ConnectionHandle handle - Handle returned when connection was added.

subscribe_connection_errors()

ConnectionErrorHandle mavsdk::Mavsdk::subscribe_connection_errors(ConnectionErrorCallback callback)

Subscribe to connection errors.

This will trigger when messages fail to be sent which can help diagnosing network interfaces or serial devices disappearing.

Usually, an error will require to remove a connection and add it fresh.

Parameters

• ConnectionErrorCallback callback - Callback to subscribe.

Returns

 ConnectionErrorHandle - Handle to unsubscribe again.

unsubscribe_connection_errors()

void mavsdk::Mavsdk::unsubscribe_connection_errors(ConnectionErrorHandle handle)

Unsubscribe from connection errors.

Parameters

• ConnectionErrorHandle handle - Handle to unsubscribe.

systems()

std::vector< std::shared_ptr< System > > mavsdk::Mavsdk::systems() const

Get a vector of systems which have been discovered or set-up.

Returns

 std::vector< std::shared_ptr< System > > - The vector of systems which are available.

first_autopilot()

std::optional< std::shared_ptr< System > > mavsdk::Mavsdk::first_autopilot(double timeout_s) const

Get the first autopilot that has been discovered.

INFO

This requires a MAVLink component with component ID 1 sending heartbeats.

Parameters

• double timeout_s - A timeout in seconds. A timeout of 0 will not wait and return immediately. A negative timeout will wait forever.

Returns

 std::optional< std::shared_ptr< System > > - A system or nothing if nothing was discovered within the timeout.

set_configuration()

void mavsdk::Mavsdk::set_configuration(Configuration configuration)

Set Configuration of SDK.

The default configuration is Configuration::GroundStation The configuration is used in order to set the MAVLink system ID, the component ID, as well as the MAV_TYPE accordingly.

Parameters

• Configuration configuration - Configuration chosen.

set_timeout_s()

void mavsdk::Mavsdk::set_timeout_s(double timeout_s)

Set timeout of MAVLink transfers.

The default timeout used is generally DEFAULT_SERIAL_BAUDRATE (0.5 seconds) seconds. If MAVSDK is used on the same host this timeout can be reduced, while if MAVSDK has to communicate over links with high latency it might need to be increased to prevent timeouts.

Parameters

• double timeout_s -

subscribe_on_new_system()

NewSystemHandle mavsdk::Mavsdk::subscribe_on_new_system(const NewSystemCallback &callback)

Get notification about a change in systems.

This gets called whenever a system is added.

Parameters

• const NewSystemCallback& callback - Callback to subscribe.

Returns

 NewSystemHandle - A handle to unsubscribe again.

unsubscribe_on_new_system()

void mavsdk::Mavsdk::unsubscribe_on_new_system(NewSystemHandle handle)

unsubscribe from subscribe_on_new_system.

Parameters

• NewSystemHandle handle - Handle received on subscription.

server_component()

std::shared_ptr< ServerComponent > mavsdk::Mavsdk::server_component(unsigned instance=0)

Get server component with default type of Mavsdk instance.

Parameters

• unsigned instance -

Returns

 std::shared_ptr< ServerComponent > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.

server_component_by_type()

std::shared_ptr< ServerComponent > mavsdk::Mavsdk::server_component_by_type(ComponentType component_type, unsigned instance=0)

Get server component by a high level type.

This represents a server component of the MAVSDK instance.

Parameters

• ComponentType component_type - The high level type of the component.
• unsigned instance - The instance of the component if there are multiple, starting at 0.

Returns

 std::shared_ptr< ServerComponent > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.

server_component_by_id()

std::shared_ptr< ServerComponent > mavsdk::Mavsdk::server_component_by_id(uint8_t component_id)

Get server component by the low MAVLink component ID.

This represents a server component of the MAVSDK instance.

Parameters

• uint8_t component_id - MAVLink component ID to use

Returns

 std::shared_ptr< ServerComponent > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.

intercept_incoming_messages_async()

void mavsdk::Mavsdk::intercept_incoming_messages_async(std::function< bool(mavlink_message_t &)> callback)

Intercept incoming messages.

This is a hook which allows to change or drop MAVLink messages as they are received before they get forwarded any subscribers.

INFO

This functionality is provided primarily for testing in order to simulate packet drops or actors not adhering to the MAVLink protocols.

Parameters

• std::function< bool(mavlink_message_t &)> callback - Callback to be called for each incoming message. To drop a message, return 'false' from the callback.

intercept_outgoing_messages_async()

void mavsdk::Mavsdk::intercept_outgoing_messages_async(std::function< bool(mavlink_message_t &)> callback)

Intercept outgoing messages.

This is a hook which allows to change or drop MAVLink messages before they are sent.

INFO

This functionality is provided primarily for testing in order to simulate packet drops or actors not adhering to the MAVLink protocols.

Parameters

• std::function< bool(mavlink_message_t &)> callback - Callback to be called for each outgoing message. To drop a message, return 'false' from the callback.