mavsdk::System Class Reference

#include: system.h

This class represents a system, made up of one or more components (e.g. autopilot, cameras, servos, gimbals, etc).

System objects are used to interact with UAVs (including their components) and standalone cameras. They are not created directly by application code, but are returned by the Mavsdk class.

Public Types

Public Member Functions

Constructor & Destructor Documentation

~System()

mavsdk::System::~System()

Destructor.

System()

mavsdk::System::System(const System &)=delete

Copy constructor (object is not copyable).

Parameters

• const System& -

Member Typdef Documentation

typedef IsConnectedCallback

using mavsdk::System::IsConnectedCallback =  std::function<void(bool)>

type for is connected callback.

typedef IsConnectedHandle

using mavsdk::System::IsConnectedHandle =  Handle<bool>

handle type to unsubscribe from subscribe_is_connected.

typedef ComponentDiscoveredCallback

using mavsdk::System::ComponentDiscoveredCallback =  std::function<void(ComponentType)>

type for component discovery callback

typedef ComponentDiscoveredHandle

using mavsdk::System::ComponentDiscoveredHandle =  Handle<ComponentType>

type for component discovery callback handle

typedef ComponentDiscoveredIdCallback

using mavsdk::System::ComponentDiscoveredIdCallback =  std::function<void(ComponentType, uint8_t)>

type for component discovery callback with component ID

typedef ComponentDiscoveredIdHandle

using mavsdk::System::ComponentDiscoveredIdHandle =  Handle<ComponentType, uint8_t>

type for component discovery callback handle with component ID

Member Enumeration Documentation

enum ComponentType

Component Types.

Member Function Documentation

init()

void mavsdk::System::init(uint8_t system_id, uint8_t component_id) const

Initialize the system.

This is not (and should not be) directly called by application code.

Parameters

• uint8_t system_id - System id.
• uint8_t component_id - Component id.

has_autopilot()

bool mavsdk::System::has_autopilot() const

Checks whether the system has an autopilot.

Returns

 bool - true if it has an autopilot, false otherwise.

is_standalone()

bool mavsdk::System::is_standalone() const

Checks whether the system is a standalone (non-autopilot).

Returns

 bool - true if stand alone, false otherwise.

has_camera()

bool mavsdk::System::has_camera(int camera_id=-1) const

Checks whether the system has a camera with the given camera ID.

A System may have several cameras, with IDs starting from 0. When called without passing a camera ID, it checks whether the system has any camera.

Parameters

• int camera_id - ID of the camera starting from 0 onwards.

Returns

 bool - true if camera with the given camera ID is found, false otherwise.

has_gimbal()

bool mavsdk::System::has_gimbal() const

Checks whether the system has a gimbal.

Returns

 bool - true if the system has a gimbal, false otherwise.

is_connected()

bool mavsdk::System::is_connected() const

Checks if the system is connected.

A system is connected when heartbeats are arriving (discovered and not timed out).

Returns

 bool - true if the system is connected.

get_system_id()

uint8_t mavsdk::System::get_system_id() const

MAVLink System ID of connected system.

: this is 0 if nothing is connected yet.

Returns

 uint8_t - the system ID.

component_ids()

std::vector<uint8_t> mavsdk::System::component_ids() const

MAVLink component IDs of connected system.

: all components that have been seen at least once will be listed.

Returns

 std::vector< uint8_t > - a list of all component ids

subscribe_is_connected()

IsConnectedHandle mavsdk::System::subscribe_is_connected(const IsConnectedCallback &callback)

Subscribe to callback to be called when system connection state changes.

Parameters

• const IsConnectedCallback& callback - Callback which will be called.

Returns

 IsConnectedHandle -

unsubscribe_is_connected()

void mavsdk::System::unsubscribe_is_connected(IsConnectedHandle handle)

Unsubscribe from subscribe_is_connected.

Parameters

• IsConnectedHandle handle -

subscribe_component_discovered()

ComponentDiscoveredHandle mavsdk::System::subscribe_component_discovered(const ComponentDiscoveredCallback &callback)

Subscribe to be called when a component is discovered.

Parameters

• const ComponentDiscoveredCallback& callback - a function of type void(ComponentType) which will be called with the component type of the new component.

Returns

 ComponentDiscoveredHandle -

unsubscribe_component_discovered()

void mavsdk::System::unsubscribe_component_discovered(ComponentDiscoveredHandle handle)

Unsubscribe from subscribe_component_discovered.

Parameters

• ComponentDiscoveredHandle handle -

subscribe_component_discovered_id()

ComponentDiscoveredIdHandle mavsdk::System::subscribe_component_discovered_id(const ComponentDiscoveredIdCallback &callback)

Subscribe to be called when a component is discovered.

Parameters

• const ComponentDiscoveredIdCallback& callback - a function of type void(ComponentType) which will be called with the component type and the component id of the new component.

Returns

 ComponentDiscoveredIdHandle -

unsubscribe_component_discovered_id()

void mavsdk::System::unsubscribe_component_discovered_id(ComponentDiscoveredIdHandle handle)

Unsubscribe from subscribe_component_discovered_id.

Parameters

• ComponentDiscoveredIdHandle handle -

enable_timesync()

void mavsdk::System::enable_timesync()

Enable time synchronization using the TIMESYNC messages.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const System& -

Returns

 const System & -