mavsdk::Mavsdk::Configuration Class Reference

#include: mavsdk.hpp

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Possible configurations.

Public Member Functions

Type	Name	Description
	Configuration (uint8_t system_id, uint8_t component_id, bool always_send_heartbeats)	Create new Configuration via manually configured system and component ID.
	Configuration (ComponentType component_type)	Create new Configuration using a component type. In this mode, the system and component ID will be automatically chosen.
	Configuration ()=delete
	~Configuration ()=default
uint8_t	get_system_id () const	Get the system id of this configuration.
void	set_system_id (uint8_t system_id)	Set the system id of this configuration.
uint8_t	get_component_id () const	Get the component id of this configuration.
void	set_component_id (uint8_t component_id)	Set the component id of this configuration.
bool	get_always_send_heartbeats () const	Get whether to send heartbeats by default.
void	set_always_send_heartbeats (bool always_send_heartbeats)	Set whether to send heartbeats by default.
double	get_heartbeat_watchdog_timeout_s () const	Get the heartbeat watchdog timeout.
bool	set_heartbeat_watchdog_timeout_s (double timeout_s)	Set the heartbeat watchdog (deadman timer) timeout.
ComponentType	get_component_type () const	Component type of this configuration, used for automatic ID set.
void	set_component_type (ComponentType component_type)	Set the component type of this configuration.
uint8_t	get_mav_type () const	Get the mav type (vehicle type) of this configuration.
void	set_mav_type (uint8_t mav_type)	Set the mav type (vehicle type) of this configuration.
Autopilot	get_autopilot () const	Get the autopilot type for server identification in heartbeats.
void	set_autopilot (Autopilot autopilot)	Set the autopilot type for server identification.
CompatibilityMode	get_compatibility_mode () const	Get the compatibility mode.
void	set_compatibility_mode (CompatibilityMode mode)	Set the compatibility mode.

Constructor & Destructor Documentation

Configuration()

mavsdk::Mavsdk::Configuration::Configuration(uint8_t system_id, uint8_t component_id, bool always_send_heartbeats)

Create new Configuration via manually configured system and component ID.

Parameters

• uint8_t system_id - the system id to store in this configuration
• uint8_t component_id - the component id to store in this configuration
• bool always_send_heartbeats - send heartbeats by default even without a system connected

Configuration()

mavsdk::Mavsdk::Configuration::Configuration(ComponentType component_type)

Create new Configuration using a component type. In this mode, the system and component ID will be automatically chosen.

Parameters

• ComponentType component_type - the component type, used for automatically choosing ids.

Configuration()

mavsdk::Mavsdk::Configuration::Configuration()=delete

~Configuration()

mavsdk::Mavsdk::Configuration::~Configuration()=default

Member Function Documentation

get_system_id()

uint8_t mavsdk::Mavsdk::Configuration::get_system_id() const

Get the system id of this configuration.

Returns

 uint8_t - uint8_t the system id stored in this configuration, from 1-255

set_system_id()

void mavsdk::Mavsdk::Configuration::set_system_id(uint8_t system_id)

Set the system id of this configuration.

Parameters

• uint8_t system_id -

get_component_id()

uint8_t mavsdk::Mavsdk::Configuration::get_component_id() const

Get the component id of this configuration.

Returns

 uint8_t - uint8_t the component id stored in this configuration,from 1-255

set_component_id()

void mavsdk::Mavsdk::Configuration::set_component_id(uint8_t component_id)

Set the component id of this configuration.

Parameters

• uint8_t component_id -

get_always_send_heartbeats()

bool mavsdk::Mavsdk::Configuration::get_always_send_heartbeats() const

Get whether to send heartbeats by default.

Returns

 bool - whether to always send heartbeats

set_always_send_heartbeats()

void mavsdk::Mavsdk::Configuration::set_always_send_heartbeats(bool always_send_heartbeats)

Set whether to send heartbeats by default.

Note: when a heartbeat watchdog is configured (set_heartbeat_watchdog_timeout_s()) and has expired, heartbeats stay off until Mavsdk::feed_heartbeat_watchdog() is called again, even if always_send_heartbeats is set.

Parameters

• bool always_send_heartbeats -

get_heartbeat_watchdog_timeout_s()

double mavsdk::Mavsdk::Configuration::get_heartbeat_watchdog_timeout_s() const

Get the heartbeat watchdog timeout.

Returns

 double - Timeout in seconds, 0 if the watchdog is disabled.

set_heartbeat_watchdog_timeout_s()

bool mavsdk::Mavsdk::Configuration::set_heartbeat_watchdog_timeout_s(double timeout_s)

Set the heartbeat watchdog (deadman timer) timeout.

When set to a value greater than 0, the periodic heartbeats sent by MAVSDK are only sent as long as Mavsdk::feed_heartbeat_watchdog() keeps being called at least once per timeout period. Heartbeats never start (and any already-running heartbeats are stopped) until the watchdog has been fed - including when the watchdog is first enabled or its timeout is changed. If the watchdog times out, heartbeats stay off until it is fed again.

A successful feed remains valid until the timeout elapses, including across system disconnect/reconnect and temporary periods where the heartbeat policy does not allow sending.

This is useful when MAVSDK's heartbeats should reflect the liveness of the application: if the application hangs or dies, heartbeats stop.

While the watchdog is expired, heartbeats stay off until it is fed again, even if set_always_send_heartbeats() would otherwise allow them.

When set to 0, the watchdog is disabled and heartbeats follow the usual policy (always_send_heartbeats or a connected system).

Default: 0 (disabled)

Parameters

• double timeout_s - Timeout in seconds: 0 (disabled) or at least 2.

Returns

 bool - true if the value was accepted, false if it was rejected (invalid values are ignored and the previous value kept).

get_component_type()

ComponentType mavsdk::Mavsdk::Configuration::get_component_type() const

Component type of this configuration, used for automatic ID set.

Returns

 ComponentType -

set_component_type()

void mavsdk::Mavsdk::Configuration::set_component_type(ComponentType component_type)

Set the component type of this configuration.

Parameters

• ComponentType component_type -

get_mav_type()

uint8_t mavsdk::Mavsdk::Configuration::get_mav_type() const

Get the mav type (vehicle type) of this configuration.

Returns

 uint8_t - uint8_t the mav type stored in this configuration

set_mav_type()

void mavsdk::Mavsdk::Configuration::set_mav_type(uint8_t mav_type)

Set the mav type (vehicle type) of this configuration.

Parameters

• uint8_t mav_type -

get_autopilot()

Autopilot mavsdk::Mavsdk::Configuration::get_autopilot() const

Get the autopilot type for server identification in heartbeats.

Returns

 Autopilot - The autopilot type used in outgoing heartbeats.

set_autopilot()

void mavsdk::Mavsdk::Configuration::set_autopilot(Autopilot autopilot)

Set the autopilot type for server identification.

When MAVSDK acts as an autopilot server, this determines the MAV_AUTOPILOT value sent in heartbeats.

Default: Autopilot::Unknown (maps to MAV_AUTOPILOT_GENERIC)

Parameters

• Autopilot autopilot -

get_compatibility_mode()

CompatibilityMode mavsdk::Mavsdk::Configuration::get_compatibility_mode() const

Get the compatibility mode.

Returns

 CompatibilityMode - The current compatibility mode.

set_compatibility_mode()

void mavsdk::Mavsdk::Configuration::set_compatibility_mode(CompatibilityMode mode)

Set the compatibility mode.

This determines which autopilot-specific quirks are used:

• Auto: Use detected autopilot (default, current behavior)

• Pure: Pure standard MAVLink, no autopilot-specific quirks

• Px4: Force PX4 quirks regardless of detection

• ArduPilot: Force ArduPilot quirks regardless of detection

Default: CompatibilityMode::Auto

Parameters

• CompatibilityMode mode -