mavsdk::MissionRaw Class Reference

#include: mission_raw.h

---

Enable raw missions as exposed by MAVLink.

Data Structures

struct MissionImportData

struct MissionItem

struct MissionProgress

Public Types

Type	Description
enum Result	Possible results returned for action requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous MissionRaw calls.
std::function< void(Result, std::vector< MissionItem >)> DownloadMissionCallback	Callback type for download_mission_async.
std::function< void(Result, std::vector< MissionItem >)> DownloadGeofenceCallback	Callback type for download_geofence_async.
std::function< void(Result, std::vector< MissionItem >)> DownloadRallypointsCallback	Callback type for download_rallypoints_async.
std::function< void(MissionProgress)> MissionProgressCallback	Callback type for subscribe_mission_progress.
Handle< MissionProgress > MissionProgressHandle	Handle type for subscribe_mission_progress.
std::function< void(bool)> MissionChangedCallback	Callback type for subscribe_mission_changed.
Handle< bool > MissionChangedHandle	Handle type for subscribe_mission_changed.

Public Member Functions

Type	Name	Description
	MissionRaw (System & system)	Constructor. Creates the plugin for a specific System.
	MissionRaw (std::shared_ptr< System > system)	Constructor. Creates the plugin for a specific System.
	~MissionRaw () override	Destructor (internal use only).
	MissionRaw (const MissionRaw & other)	Copy constructor.
void	upload_mission_async (std::vector< MissionItem > mission_items, const ResultCallback callback)	Upload a list of raw mission items to the system.
Result	upload_mission (std::vector< MissionItem > mission_items)const	Upload a list of raw mission items to the system.
void	upload_geofence_async (std::vector< MissionItem > mission_items, const ResultCallback callback)	Upload a list of geofence items to the system.
Result	upload_geofence (std::vector< MissionItem > mission_items)const	Upload a list of geofence items to the system.
void	upload_rally_points_async (std::vector< MissionItem > mission_items, const ResultCallback callback)	Upload a list of rally point items to the system.
Result	upload_rally_points (std::vector< MissionItem > mission_items)const	Upload a list of rally point items to the system.
Result	cancel_mission_upload () const	Cancel an ongoing mission upload.
void	download_mission_async (const DownloadMissionCallback callback)	Download a list of raw mission items from the system (asynchronous).
std::pair< Result, std::vector< MissionRaw::MissionItem > >	download_mission () const	Download a list of raw mission items from the system (asynchronous).
void	download_geofence_async (const DownloadGeofenceCallback callback)	Download a list of raw geofence items from the system (asynchronous).
std::pair< Result, std::vector< MissionRaw::MissionItem > >	download_geofence () const	Download a list of raw geofence items from the system (asynchronous).
void	download_rallypoints_async (const DownloadRallypointsCallback callback)	Download a list of raw rallypoint items from the system (asynchronous).
std::pair< Result, std::vector< MissionRaw::MissionItem > >	download_rallypoints () const	Download a list of raw rallypoint items from the system (asynchronous).
Result	cancel_mission_download () const	Cancel an ongoing mission download.
void	start_mission_async (const ResultCallback callback)	Start the mission.
Result	start_mission () const	Start the mission.
void	pause_mission_async (const ResultCallback callback)	Pause the mission.
Result	pause_mission () const	Pause the mission.
void	clear_mission_async (const ResultCallback callback)	Clear the mission saved on the vehicle.
Result	clear_mission () const	Clear the mission saved on the vehicle.
void	set_current_mission_item_async (int32_t index, const ResultCallback callback)	Sets the raw mission item index to go to.
Result	set_current_mission_item (int32_t index)const	Sets the raw mission item index to go to.
MissionProgressHandle	subscribe_mission_progress (const MissionProgressCallback & callback)	Subscribe to mission progress updates.
void	unsubscribe_mission_progress (MissionProgressHandle handle)	Unsubscribe from subscribe_mission_progress.
MissionProgress	mission_progress () const	Poll for 'MissionProgress' (blocking).
MissionChangedHandle	subscribe_mission_changed (const MissionChangedCallback & callback)	Subscribes to mission changed.
void	unsubscribe_mission_changed (MissionChangedHandle handle)	Unsubscribe from subscribe_mission_changed.
std::pair< Result, MissionRaw::MissionImportData >	import_qgroundcontrol_mission (std::string qgc_plan_path)const	Import a QGroundControl missions in JSON .plan format, from a file.
std::pair< Result, MissionRaw::MissionImportData >	import_qgroundcontrol_mission_from_string (std::string qgc_plan)const	Import a QGroundControl missions in JSON .plan format, from a string.
const MissionRaw &	operator= (const MissionRaw &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

MissionRaw()

mavsdk::MissionRaw::MissionRaw(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto mission_raw = MissionRaw(system);

Parameters

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

MissionRaw()

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

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto mission_raw = MissionRaw(system);

Parameters

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

~MissionRaw()

mavsdk::MissionRaw::~MissionRaw() override

Destructor (internal use only).

MissionRaw()

mavsdk::MissionRaw::MissionRaw(const MissionRaw &other)

Copy constructor.

Parameters

• const MissionRaw& other -

Member Typdef Documentation

typedef ResultCallback

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

Callback type for asynchronous MissionRaw calls.

typedef DownloadMissionCallback

using mavsdk::MissionRaw::DownloadMissionCallback =  std::function<void(Result, std::vector<MissionItem>)>

Callback type for download_mission_async.

typedef DownloadGeofenceCallback

using mavsdk::MissionRaw::DownloadGeofenceCallback =  std::function<void(Result, std::vector<MissionItem>)>

Callback type for download_geofence_async.

typedef DownloadRallypointsCallback

using mavsdk::MissionRaw::DownloadRallypointsCallback =  std::function<void(Result, std::vector<MissionItem>)>

Callback type for download_rallypoints_async.

typedef MissionProgressCallback

using mavsdk::MissionRaw::MissionProgressCallback =  std::function<void(MissionProgress)>

Callback type for subscribe_mission_progress.

typedef MissionProgressHandle

using mavsdk::MissionRaw::MissionProgressHandle =  Handle<MissionProgress>

Handle type for subscribe_mission_progress.

typedef MissionChangedCallback

using mavsdk::MissionRaw::MissionChangedCallback =  std::function<void(bool)>

Callback type for subscribe_mission_changed.

typedef MissionChangedHandle

using mavsdk::MissionRaw::MissionChangedHandle =  Handle<bool>

Handle type for subscribe_mission_changed.

Member Enumeration Documentation

enum Result

Possible results returned for action requests.

Value	Description
Unknown	Unknown result.
Success	Request succeeded.
Error	Error.
TooManyMissionItems	Too many mission items in the mission.
Busy	Vehicle is busy.
Timeout	Request timed out.
InvalidArgument	Invalid argument.
Unsupported	Mission downloaded from the system is not supported.
NoMissionAvailable	No mission available on the system.
TransferCancelled	Mission transfer (upload or download) has been cancelled.
FailedToOpenQgcPlan	Failed to open the QGroundControl plan.
FailedToParseQgcPlan	Failed to parse the QGroundControl plan.
NoSystem	No system connected.
Denied	Request denied.
MissionTypeNotConsistent	Mission type is not consistent.
InvalidSequence	The mission item sequences are not increasing correctly.
CurrentInvalid	The current item is not set correctly.
ProtocolError	There was a protocol error.
IntMessagesNotSupported	The system does not support the MISSION_INT protocol.

Member Function Documentation

upload_mission_async()

void mavsdk::MissionRaw::upload_mission_async(std::vector< MissionItem > mission_items, const ResultCallback callback)

Upload a list of raw mission items to the system.

The raw mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

This function is non-blocking. See 'upload_mission' for the blocking counterpart.

Parameters

• std::vector< MissionItem > mission_items -
• const ResultCallback callback -

upload_mission()

Result mavsdk::MissionRaw::upload_mission(std::vector< MissionItem > mission_items) const

Upload a list of raw mission items to the system.

The raw mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

This function is blocking. See 'upload_mission_async' for the non-blocking counterpart.

Parameters

• std::vector< MissionItem > mission_items -

Returns

 Result - Result of request.

upload_geofence_async()

void mavsdk::MissionRaw::upload_geofence_async(std::vector< MissionItem > mission_items, const ResultCallback callback)

Upload a list of geofence items to the system.

This function is non-blocking. See 'upload_geofence' for the blocking counterpart.

Parameters

• std::vector< MissionItem > mission_items -
• const ResultCallback callback -

upload_geofence()

Result mavsdk::MissionRaw::upload_geofence(std::vector< MissionItem > mission_items) const

Upload a list of geofence items to the system.

This function is blocking. See 'upload_geofence_async' for the non-blocking counterpart.

Parameters

• std::vector< MissionItem > mission_items -

Returns

 Result - Result of request.

upload_rally_points_async()

void mavsdk::MissionRaw::upload_rally_points_async(std::vector< MissionItem > mission_items, const ResultCallback callback)

Upload a list of rally point items to the system.

This function is non-blocking. See 'upload_rally_points' for the blocking counterpart.

Parameters

• std::vector< MissionItem > mission_items -
• const ResultCallback callback -

upload_rally_points()

Result mavsdk::MissionRaw::upload_rally_points(std::vector< MissionItem > mission_items) const

Upload a list of rally point items to the system.

This function is blocking. See 'upload_rally_points_async' for the non-blocking counterpart.

Parameters

• std::vector< MissionItem > mission_items -

Returns

 Result - Result of request.

cancel_mission_upload()

Result mavsdk::MissionRaw::cancel_mission_upload() const

Cancel an ongoing mission upload.

This function is blocking.

Returns

 Result - Result of request.

download_mission_async()

void mavsdk::MissionRaw::download_mission_async(const DownloadMissionCallback callback)

Download a list of raw mission items from the system (asynchronous).

This function is non-blocking. See 'download_mission' for the blocking counterpart.

Parameters

• const DownloadMissionCallback callback -

download_mission()

std::pair< Result, std::vector< MissionRaw::MissionItem > > mavsdk::MissionRaw::download_mission() const

Download a list of raw mission items from the system (asynchronous).

This function is blocking. See 'download_mission_async' for the non-blocking counterpart.

Returns

 std::pair< Result, std::vector< MissionRaw::MissionItem > > - Result of request.

download_geofence_async()

void mavsdk::MissionRaw::download_geofence_async(const DownloadGeofenceCallback callback)

Download a list of raw geofence items from the system (asynchronous).

This function is non-blocking. See 'download_geofence' for the blocking counterpart.

Parameters

• const DownloadGeofenceCallback callback -

download_geofence()

std::pair< Result, std::vector< MissionRaw::MissionItem > > mavsdk::MissionRaw::download_geofence() const

Download a list of raw geofence items from the system (asynchronous).

This function is blocking. See 'download_geofence_async' for the non-blocking counterpart.

Returns

 std::pair< Result, std::vector< MissionRaw::MissionItem > > - Result of request.

download_rallypoints_async()

void mavsdk::MissionRaw::download_rallypoints_async(const DownloadRallypointsCallback callback)

Download a list of raw rallypoint items from the system (asynchronous).

This function is non-blocking. See 'download_rallypoints' for the blocking counterpart.

Parameters

• const DownloadRallypointsCallback callback -

download_rallypoints()

std::pair< Result, std::vector< MissionRaw::MissionItem > > mavsdk::MissionRaw::download_rallypoints() const

Download a list of raw rallypoint items from the system (asynchronous).

This function is blocking. See 'download_rallypoints_async' for the non-blocking counterpart.

Returns

 std::pair< Result, std::vector< MissionRaw::MissionItem > > - Result of request.

cancel_mission_download()

Result mavsdk::MissionRaw::cancel_mission_download() const

Cancel an ongoing mission download.

This function is blocking.

Returns

 Result - Result of request.

start_mission_async()

void mavsdk::MissionRaw::start_mission_async(const ResultCallback callback)

Start the mission.

A mission must be uploaded to the vehicle before this can be called.

This function is non-blocking. See 'start_mission' for the blocking counterpart.

Parameters

• const ResultCallback callback -

start_mission()

Result mavsdk::MissionRaw::start_mission() const

Start the mission.

A mission must be uploaded to the vehicle before this can be called.

This function is blocking. See 'start_mission_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

pause_mission_async()

void mavsdk::MissionRaw::pause_mission_async(const ResultCallback callback)

Pause the mission.

Pausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.

This function is non-blocking. See 'pause_mission' for the blocking counterpart.

Parameters

• const ResultCallback callback -

pause_mission()

Result mavsdk::MissionRaw::pause_mission() const

Pause the mission.

Pausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.

This function is blocking. See 'pause_mission_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

clear_mission_async()

void mavsdk::MissionRaw::clear_mission_async(const ResultCallback callback)

Clear the mission saved on the vehicle.

This function is non-blocking. See 'clear_mission' for the blocking counterpart.

Parameters

• const ResultCallback callback -

clear_mission()

Result mavsdk::MissionRaw::clear_mission() const

Clear the mission saved on the vehicle.

This function is blocking. See 'clear_mission_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

set_current_mission_item_async()

void mavsdk::MissionRaw::set_current_mission_item_async(int32_t index, const ResultCallback callback)

Sets the raw mission item index to go to.

By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a raw mission item, the mission will be set to this item.

This function is non-blocking. See 'set_current_mission_item' for the blocking counterpart.

Parameters

• int32_t index -
• const ResultCallback callback -

set_current_mission_item()

Result mavsdk::MissionRaw::set_current_mission_item(int32_t index) const

Sets the raw mission item index to go to.

By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a raw mission item, the mission will be set to this item.

This function is blocking. See 'set_current_mission_item_async' for the non-blocking counterpart.

Parameters

• int32_t index -

Returns

 Result - Result of request.

subscribe_mission_progress()

MissionProgressHandle mavsdk::MissionRaw::subscribe_mission_progress(const MissionProgressCallback &callback)

Subscribe to mission progress updates.

Parameters

• const MissionProgressCallback& callback -

Returns

 MissionProgressHandle -

unsubscribe_mission_progress()

void mavsdk::MissionRaw::unsubscribe_mission_progress(MissionProgressHandle handle)

Unsubscribe from subscribe_mission_progress.

Parameters

• MissionProgressHandle handle -

mission_progress()

MissionProgress mavsdk::MissionRaw::mission_progress() const

Poll for 'MissionProgress' (blocking).

Returns

 MissionProgress - One MissionProgress update.

subscribe_mission_changed()

MissionChangedHandle mavsdk::MissionRaw::subscribe_mission_changed(const MissionChangedCallback &callback)

Subscribes to mission changed.

This notification can be used to be informed if a ground station has been uploaded or changed by a ground station or companion computer.

Parameters

• const MissionChangedCallback& callback - Callback to notify about change.

Returns

 MissionChangedHandle -

unsubscribe_mission_changed()

void mavsdk::MissionRaw::unsubscribe_mission_changed(MissionChangedHandle handle)

Unsubscribe from subscribe_mission_changed.

Parameters

• MissionChangedHandle handle -

import_qgroundcontrol_mission()

std::pair< Result, MissionRaw::MissionImportData > mavsdk::MissionRaw::import_qgroundcontrol_mission(std::string qgc_plan_path) const

Import a QGroundControl missions in JSON .plan format, from a file.

Supported:

• Waypoints

• Survey Not supported:

• Structure Scan

This function is blocking.

Parameters

• std::string qgc_plan_path -

Returns

 std::pair< Result, MissionRaw::MissionImportData > - Result of request.

import_qgroundcontrol_mission_from_string()

std::pair< Result, MissionRaw::MissionImportData > mavsdk::MissionRaw::import_qgroundcontrol_mission_from_string(std::string qgc_plan) const

Import a QGroundControl missions in JSON .plan format, from a string.

Supported:

• Waypoints

• Survey Not supported:

• Structure Scan

This function is blocking.

Parameters

• std::string qgc_plan -

Returns

 std::pair< Result, MissionRaw::MissionImportData > - Result of request.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const MissionRaw& -

Returns

 const MissionRaw & -