mavsdk::ModesServer Class Reference

#include: modes_server.hpp

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Provide the flight modes of an autopilot, the counterpart of the Modes plugin.

The modes are announced using the MAVLink standard modes protocol (AVAILABLE_MODES, AVAILABLE_MODES_MONITOR, CURRENT_MODE).

Once modes are set, this plugin also handles mode change requests (MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE and SET_MODE) for those modes, instead of the deprecated flight mode API of the ActionServer plugin.

Data Structures

struct Mode

Public Types

Type	Description
enum ModeFeedback	Possible answers to a mode change request.
enum Result	Possible results returned for mode requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous ModesServer calls.
std::function< void(Mode)> ModeRequestedCallback	Callback type for subscribe_mode_requested.
Handle< Mode > ModeRequestedHandle	Handle type for subscribe_mode_requested.

Public Member Functions

Type	Name	Description
	ModesServer (std::shared_ptr< ServerComponent > server_component)	Constructor. Creates the plugin for a ServerComponent instance.
	~ModesServer () override	Destructor (internal use only).
	ModesServer (const ModesServer & other)	Copy constructor.
Result	set_available_modes (std::vector< Mode > modes)const	Set the modes the vehicle provides.
ModeRequestedHandle	subscribe_mode_requested (const ModeRequestedCallback & callback)	Subscribe to mode change requests.
void	unsubscribe_mode_requested (ModeRequestedHandle handle)	Unsubscribe from subscribe_mode_requested.
Result	respond_mode_requested (ModeFeedback mode_feedback)const	Respond to the last mode change request.
Result	set_current_mode (std::string name)const	Set the mode the vehicle is in.
const ModesServer &	operator= (const ModesServer &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

ModesServer()

mavsdk::ModesServer::ModesServer(std::shared_ptr< ServerComponent > server_component)

Constructor. Creates the plugin for a ServerComponent instance.

The plugin is typically created as shown below:

auto modes_server = ModesServer(server_component);

Parameters

• std::shared_ptr< ServerComponent > server_component - The ServerComponent instance associated with this server plugin.

~ModesServer()

mavsdk::ModesServer::~ModesServer() override

Destructor (internal use only).

ModesServer()

mavsdk::ModesServer::ModesServer(const ModesServer &other)

Copy constructor.

Parameters

• const ModesServer& other -

Member Typdef Documentation

typedef ResultCallback

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

Callback type for asynchronous ModesServer calls.

typedef ModeRequestedCallback

using mavsdk::ModesServer::ModeRequestedCallback =  std::function<void(Mode)>

Callback type for subscribe_mode_requested.

typedef ModeRequestedHandle

using mavsdk::ModesServer::ModeRequestedHandle =  Handle<Mode>

Handle type for subscribe_mode_requested.

Member Enumeration Documentation

enum ModeFeedback

Possible answers to a mode change request.

Value	Description
Unknown	Unknown.
Accepted	The vehicle switches to the mode.
Busy	The vehicle can't switch to the mode right now, e.g. it has no GPS.
Denied	The vehicle doesn't allow switching to the mode.
Failed	Switching to the mode failed.

enum Result

Possible results returned for mode requests.

Value	Description
Unknown	Unknown result.
Success	Request was successful.
InvalidModes	Modes are invalid, e.g. none are given, a name or custom mode is used twice, or a standard mode name is unknown.
ModeNotFound	No available mode with this name.
NoRequest	There is no mode change request to respond to.
InvalidFeedback	The feedback is unknown.

Member Function Documentation

set_available_modes()

Result mavsdk::ModesServer::set_available_modes(std::vector< Mode > modes) const

Set the modes the vehicle provides.

Ground stations are told that the list changed so they download it again. From then on, mode change requests are handled by this plugin.

This function is blocking.

Parameters

• std::vector< Mode > modes -

Returns

 Result - Result of request.

subscribe_mode_requested()

ModeRequestedHandle mavsdk::ModesServer::subscribe_mode_requested(const ModeRequestedCallback &callback)

Subscribe to mode change requests.

Requests for a mode in the list are reported here and need to be answered with RespondModeRequested. Until then, the ground station is told that the request is in progress.

Parameters

• const ModeRequestedCallback& callback -

Returns

 ModeRequestedHandle -

unsubscribe_mode_requested()

void mavsdk::ModesServer::unsubscribe_mode_requested(ModeRequestedHandle handle)

Unsubscribe from subscribe_mode_requested.

Parameters

• ModeRequestedHandle handle -

respond_mode_requested()

Result mavsdk::ModesServer::respond_mode_requested(ModeFeedback mode_feedback) const

Respond to the last mode change request.

If the request is accepted, the requested mode becomes the current mode. Otherwise the vehicle stays in its current mode, e.g. if it can't switch to Position without GPS.

This function is blocking.

Parameters

• ModeFeedback mode_feedback -

Returns

 Result - Result of request.

set_current_mode()

Result mavsdk::ModesServer::set_current_mode(std::string name) const

Set the mode the vehicle is in.

This function is blocking.

Parameters

• std::string name -

Returns

 Result - Result of request.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const ModesServer& -

Returns

 const ModesServer & -