mavsdk::Modes Class Reference

#include: modes.hpp

Discover and set flight modes at runtime.

The modes are queried from the vehicle using the MAVLink standard modes protocol (AVAILABLE_MODES, CURRENT_MODE). For autopilots that don't implement it, a list of known modes is used as a fallback.

Modes are identified by name. Standard modes have a fixed name, e.g. "Position" or "Mission", other modes use the name reported by the vehicle. Setting a mode works the same way for both.

Data Structures

struct Mode

Public Types

Type	Description
enum Result	Possible results returned for mode requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous Modes calls.
std::function< void(std::vector< Mode >)> AvailableModesCallback	Callback type for subscribe_available_modes.
Handle< std::vector< Mode > > AvailableModesHandle	Handle type for subscribe_available_modes.
std::function< void(Mode)> CurrentModeCallback	Callback type for subscribe_current_mode.
Handle< Mode > CurrentModeHandle	Handle type for subscribe_current_mode.

Public Member Functions

Type	Name	Description
	Modes (System & system)	Constructor. Creates the plugin for a specific System.
	Modes (std::shared_ptr< System > system)	Constructor. Creates the plugin for a specific System.
	~Modes () override	Destructor (internal use only).
	Modes (const Modes & other)	Copy constructor.
AvailableModesHandle	subscribe_available_modes (const AvailableModesCallback & callback)	Subscribe to the list of available modes.
void	unsubscribe_available_modes (AvailableModesHandle handle)	Unsubscribe from subscribe_available_modes.
std::vector< Mode >	available_modes () const	Poll for the list of 'Mode' (blocking).
CurrentModeHandle	subscribe_current_mode (const CurrentModeCallback & callback)	Subscribe to the current mode.
void	unsubscribe_current_mode (CurrentModeHandle handle)	Unsubscribe from subscribe_current_mode.
Mode	current_mode () const	Poll for 'Mode' (blocking).
void	set_mode_async (std::string name, const ResultCallback callback)	Set mode by name.
Result	set_mode (std::string name)const	Set mode by name.
const Modes &	operator= (const Modes &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

Modes()

cpp

mavsdk::Modes::Modes(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

cpp

auto modes = Modes(system);

Parameters

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

Modes()

cpp

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

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

cpp

auto modes = Modes(system);

Parameters

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

~Modes()

cpp

mavsdk::Modes::~Modes() override

Destructor (internal use only).

Modes()

cpp

mavsdk::Modes::Modes(const Modes &other)

Copy constructor.

Parameters

const Modes& other -

Member Typdef Documentation

typedef ResultCallback

cpp

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

Callback type for asynchronous Modes calls.

typedef AvailableModesCallback

cpp

using mavsdk::Modes::AvailableModesCallback =  std::function<void(std::vector<Mode>)>

Callback type for subscribe_available_modes.

typedef AvailableModesHandle

cpp

using mavsdk::Modes::AvailableModesHandle =  Handle<std::vector<Mode>>

Handle type for subscribe_available_modes.

typedef CurrentModeCallback

cpp

using mavsdk::Modes::CurrentModeCallback =  std::function<void(Mode)>

Callback type for subscribe_current_mode.

typedef CurrentModeHandle

cpp

using mavsdk::Modes::CurrentModeHandle =  Handle<Mode>

Handle type for subscribe_current_mode.

Member Enumeration Documentation

enum Result

Possible results returned for mode requests.

Value	Description
`Unknown`	Unknown result.
`Success`	Request was successful.
`NoSystem`	No system is connected.
`ConnectionError`	Connection error.
`Busy`	Vehicle is busy.
`Denied`	Request was denied, e.g. because the mode can't be entered right now.
`Unsupported`	Mode or command is not supported.
`Timeout`	Request timed out.
`Failed`	Request failed.
`ModeNotFound`	No available mode with this name.
`ModesNotKnownYet`	The available modes have not been received yet.

Member Function Documentation

subscribe_available_modes()

cpp

AvailableModesHandle mavsdk::Modes::subscribe_available_modes(const AvailableModesCallback &callback)

Subscribe to the list of available modes.

The list is updated whenever the vehicle reports that its modes have changed.

Parameters

const AvailableModesCallback& callback -

Returns

AvailableModesHandle -

unsubscribe_available_modes()

cpp

void mavsdk::Modes::unsubscribe_available_modes(AvailableModesHandle handle)

Unsubscribe from subscribe_available_modes.

Parameters

AvailableModesHandle handle -

available_modes()

cpp

std::vector< Mode > mavsdk::Modes::available_modes() const

Poll for the list of 'Mode' (blocking).

Returns

std::vector< Mode > - The current list of Mode.

subscribe_current_mode()

cpp

CurrentModeHandle mavsdk::Modes::subscribe_current_mode(const CurrentModeCallback &callback)

Subscribe to the current mode.

Parameters

const CurrentModeCallback& callback -

Returns

CurrentModeHandle -

unsubscribe_current_mode()

cpp

void mavsdk::Modes::unsubscribe_current_mode(CurrentModeHandle handle)

Unsubscribe from subscribe_current_mode.

Parameters

CurrentModeHandle handle -

current_mode()

cpp

Mode mavsdk::Modes::current_mode() const

Poll for 'Mode' (blocking).

Returns

Mode - One Mode update.

set_mode_async()

cpp

void mavsdk::Modes::set_mode_async(std::string name, const ResultCallback callback)

Set mode by name.

The name needs to match exactly (case-sensitive) the name of one of the available modes.

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

Parameters

std::string name -
const ResultCallback callback -

set_mode()

cpp

Result mavsdk::Modes::set_mode(std::string name) const

Set mode by name.

The name needs to match exactly (case-sensitive) the name of one of the available modes.

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

Parameters

std::string name -

Returns

Result - Result of request.

operator=()

cpp

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

Equality operator (object is not copyable).

Parameters

const Modes& -

Returns

const Modes & -

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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 Modes

class ModesServer

class Offboard

class Param

class ParamServer

class Rtk

class Shell

class Telemetry

class TelemetryServer

class Transponder

class Tune

class Winch

mavsdk::Modes Class Reference ​

Data Structures ​

Public Types ​

Public Member Functions ​

Constructor & Destructor Documentation ​

Modes() ​

Modes() ​

~Modes() ​

Modes() ​

Member Typdef Documentation ​

typedef ResultCallback ​

typedef AvailableModesCallback ​

typedef AvailableModesHandle ​

typedef CurrentModeCallback ​

typedef CurrentModeHandle ​

Member Enumeration Documentation ​

enum Result ​

Member Function Documentation ​

subscribe_available_modes() ​

unsubscribe_available_modes() ​

available_modes() ​

subscribe_current_mode() ​

unsubscribe_current_mode() ​

current_mode() ​

set_mode_async() ​

set_mode() ​

operator=() ​

mavsdk::Modes Class Reference

Data Structures

Public Types

Public Member Functions

Constructor & Destructor Documentation

Modes()

Modes()

~Modes()

Modes()

Member Typdef Documentation

typedef ResultCallback

typedef AvailableModesCallback

typedef AvailableModesHandle

typedef CurrentModeCallback

typedef CurrentModeHandle

Member Enumeration Documentation

enum Result

Member Function Documentation

subscribe_available_modes()

unsubscribe_available_modes()

available_modes()

subscribe_current_mode()

unsubscribe_current_mode()

current_mode()

set_mode_async()

set_mode()

operator=()