mavsdk::Telemetry Class Reference

#include: telemetry.h

---

Allow users to get vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates.

Data Structures

struct AccelerationFrd

struct ActuatorControlTarget

struct ActuatorOutputStatus

struct Altitude

struct AngularVelocityBody

struct AngularVelocityFrd

struct Battery

struct Covariance

struct DistanceSensor

struct EulerAngle

struct FixedwingMetrics

struct GpsGlobalOrigin

struct GpsInfo

struct GroundTruth

struct Heading

struct Health

struct Imu

struct MagneticFieldFrd

struct Odometry

struct Position

struct PositionBody

struct PositionNed

struct PositionVelocityNed

struct Quaternion

struct RawGps

struct RcStatus

struct ScaledPressure

struct StatusText

struct VelocityBody

struct VelocityNed

Public Types

Type	Description
enum FixType	GPS fix type.
enum FlightMode	Flight modes.
enum StatusTextType	Status types.
enum LandedState	Landed State enumeration.
enum VtolState	VTOL State enumeration.
enum Result	Possible results returned for telemetry requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous Telemetry calls.
std::function< void(Position)> PositionCallback	Callback type for subscribe_position.
Handle< Position > PositionHandle	Handle type for subscribe_position.
std::function< void(Position)> HomeCallback	Callback type for subscribe_home.
Handle< Position > HomeHandle	Handle type for subscribe_home.
std::function< void(bool)> InAirCallback	Callback type for subscribe_in_air.
Handle< bool > InAirHandle	Handle type for subscribe_in_air.
std::function< void(LandedState)> LandedStateCallback	Callback type for subscribe_landed_state.
Handle< LandedState > LandedStateHandle	Handle type for subscribe_landed_state.
std::function< void(bool)> ArmedCallback	Callback type for subscribe_armed.
Handle< bool > ArmedHandle	Handle type for subscribe_armed.
std::function< void(VtolState)> VtolStateCallback	Callback type for subscribe_vtol_state.
Handle< VtolState > VtolStateHandle	Handle type for subscribe_vtol_state.
std::function< void(Quaternion)> AttitudeQuaternionCallback	Callback type for subscribe_attitude_quaternion.
Handle< Quaternion > AttitudeQuaternionHandle	Handle type for subscribe_attitude_quaternion.
std::function< void(EulerAngle)> AttitudeEulerCallback	Callback type for subscribe_attitude_euler.
Handle< EulerAngle > AttitudeEulerHandle	Handle type for subscribe_attitude_euler.
std::function< void(AngularVelocityBody)> AttitudeAngularVelocityBodyCallback	Callback type for subscribe_attitude_angular_velocity_body.
Handle< AngularVelocityBody > AttitudeAngularVelocityBodyHandle	Handle type for subscribe_attitude_angular_velocity_body.
std::function< void(VelocityNed)> VelocityNedCallback	Callback type for subscribe_velocity_ned.
Handle< VelocityNed > VelocityNedHandle	Handle type for subscribe_velocity_ned.
std::function< void(GpsInfo)> GpsInfoCallback	Callback type for subscribe_gps_info.
Handle< GpsInfo > GpsInfoHandle	Handle type for subscribe_gps_info.
std::function< void(RawGps)> RawGpsCallback	Callback type for subscribe_raw_gps.
Handle< RawGps > RawGpsHandle	Handle type for subscribe_raw_gps.
std::function< void(Battery)> BatteryCallback	Callback type for subscribe_battery.
Handle< Battery > BatteryHandle	Handle type for subscribe_battery.
std::function< void(FlightMode)> FlightModeCallback	Callback type for subscribe_flight_mode.
Handle< FlightMode > FlightModeHandle	Handle type for subscribe_flight_mode.
std::function< void(Health)> HealthCallback	Callback type for subscribe_health.
Handle< Health > HealthHandle	Handle type for subscribe_health.
std::function< void(RcStatus)> RcStatusCallback	Callback type for subscribe_rc_status.
Handle< RcStatus > RcStatusHandle	Handle type for subscribe_rc_status.
std::function< void(StatusText)> StatusTextCallback	Callback type for subscribe_status_text.
Handle< StatusText > StatusTextHandle	Handle type for subscribe_status_text.
std::function< void(ActuatorControlTarget)> ActuatorControlTargetCallback	Callback type for subscribe_actuator_control_target.
Handle< ActuatorControlTarget > ActuatorControlTargetHandle	Handle type for subscribe_actuator_control_target.
std::function< void(ActuatorOutputStatus)> ActuatorOutputStatusCallback	Callback type for subscribe_actuator_output_status.
Handle< ActuatorOutputStatus > ActuatorOutputStatusHandle	Handle type for subscribe_actuator_output_status.
std::function< void(Odometry)> OdometryCallback	Callback type for subscribe_odometry.
Handle< Odometry > OdometryHandle	Handle type for subscribe_odometry.
std::function< void(PositionVelocityNed)> PositionVelocityNedCallback	Callback type for subscribe_position_velocity_ned.
Handle< PositionVelocityNed > PositionVelocityNedHandle	Handle type for subscribe_position_velocity_ned.
std::function< void(GroundTruth)> GroundTruthCallback	Callback type for subscribe_ground_truth.
Handle< GroundTruth > GroundTruthHandle	Handle type for subscribe_ground_truth.
std::function< void(FixedwingMetrics)> FixedwingMetricsCallback	Callback type for subscribe_fixedwing_metrics.
Handle< FixedwingMetrics > FixedwingMetricsHandle	Handle type for subscribe_fixedwing_metrics.
std::function< void(Imu)> ImuCallback	Callback type for subscribe_imu.
Handle< Imu > ImuHandle	Handle type for subscribe_imu.
std::function< void(Imu)> ScaledImuCallback	Callback type for subscribe_scaled_imu.
Handle< Imu > ScaledImuHandle	Handle type for subscribe_scaled_imu.
std::function< void(Imu)> RawImuCallback	Callback type for subscribe_raw_imu.
Handle< Imu > RawImuHandle	Handle type for subscribe_raw_imu.
std::function< void(bool)> HealthAllOkCallback	Callback type for subscribe_health_all_ok.
Handle< bool > HealthAllOkHandle	Handle type for subscribe_health_all_ok.
std::function< void(uint64_t)> UnixEpochTimeCallback	Callback type for subscribe_unix_epoch_time.
Handle< uint64_t > UnixEpochTimeHandle	Handle type for subscribe_unix_epoch_time.
std::function< void(DistanceSensor)> DistanceSensorCallback	Callback type for subscribe_distance_sensor.
Handle< DistanceSensor > DistanceSensorHandle	Handle type for subscribe_distance_sensor.
std::function< void(ScaledPressure)> ScaledPressureCallback	Callback type for subscribe_scaled_pressure.
Handle< ScaledPressure > ScaledPressureHandle	Handle type for subscribe_scaled_pressure.
std::function< void(Heading)> HeadingCallback	Callback type for subscribe_heading.
Handle< Heading > HeadingHandle	Handle type for subscribe_heading.
std::function< void(Altitude)> AltitudeCallback	Callback type for subscribe_altitude.
Handle< Altitude > AltitudeHandle	Handle type for subscribe_altitude.
std::function< void(Result, GpsGlobalOrigin)> GetGpsGlobalOriginCallback	Callback type for get_gps_global_origin_async.

Public Member Functions

Type	Name	Description
	Telemetry (System & system)	Constructor. Creates the plugin for a specific System.
	Telemetry (std::shared_ptr< System > system)	Constructor. Creates the plugin for a specific System.
	~Telemetry () override	Destructor (internal use only).
	Telemetry (const Telemetry & other)	Copy constructor.
PositionHandle	subscribe_position (const PositionCallback & callback)	Subscribe to 'position' updates.
void	unsubscribe_position (PositionHandle handle)	Unsubscribe from subscribe_position.
Position	position () const	Poll for 'Position' (blocking).
HomeHandle	subscribe_home (const HomeCallback & callback)	Subscribe to 'home position' updates.
void	unsubscribe_home (HomeHandle handle)	Unsubscribe from subscribe_home.
Position	home () const	Poll for 'Position' (blocking).
InAirHandle	subscribe_in_air (const InAirCallback & callback)	Subscribe to in-air updates.
void	unsubscribe_in_air (InAirHandle handle)	Unsubscribe from subscribe_in_air.
bool	in_air () const	Poll for 'bool' (blocking).
LandedStateHandle	subscribe_landed_state (const LandedStateCallback & callback)	Subscribe to landed state updates.
void	unsubscribe_landed_state (LandedStateHandle handle)	Unsubscribe from subscribe_landed_state.
LandedState	landed_state () const	Poll for 'LandedState' (blocking).
ArmedHandle	subscribe_armed (const ArmedCallback & callback)	Subscribe to armed updates.
void	unsubscribe_armed (ArmedHandle handle)	Unsubscribe from subscribe_armed.
bool	armed () const	Poll for 'bool' (blocking).
VtolStateHandle	subscribe_vtol_state (const VtolStateCallback & callback)	subscribe to vtol state Updates
void	unsubscribe_vtol_state (VtolStateHandle handle)	Unsubscribe from subscribe_vtol_state.
VtolState	vtol_state () const	Poll for 'VtolState' (blocking).
AttitudeQuaternionHandle	subscribe_attitude_quaternion (const AttitudeQuaternionCallback & callback)	Subscribe to 'attitude' updates (quaternion).
void	unsubscribe_attitude_quaternion (AttitudeQuaternionHandle handle)	Unsubscribe from subscribe_attitude_quaternion.
Quaternion	attitude_quaternion () const	Poll for 'Quaternion' (blocking).
AttitudeEulerHandle	subscribe_attitude_euler (const AttitudeEulerCallback & callback)	Subscribe to 'attitude' updates (Euler).
void	unsubscribe_attitude_euler (AttitudeEulerHandle handle)	Unsubscribe from subscribe_attitude_euler.
EulerAngle	attitude_euler () const	Poll for 'EulerAngle' (blocking).
AttitudeAngularVelocityBodyHandle	subscribe_attitude_angular_velocity_body (const AttitudeAngularVelocityBodyCallback & callback)	Subscribe to 'attitude' updates (angular velocity)
void	unsubscribe_attitude_angular_velocity_body (AttitudeAngularVelocityBodyHandle handle)	Unsubscribe from subscribe_attitude_angular_velocity_body.
AngularVelocityBody	attitude_angular_velocity_body () const	Poll for 'AngularVelocityBody' (blocking).
VelocityNedHandle	subscribe_velocity_ned (const VelocityNedCallback & callback)	Subscribe to 'ground speed' updates (NED).
void	unsubscribe_velocity_ned (VelocityNedHandle handle)	Unsubscribe from subscribe_velocity_ned.
VelocityNed	velocity_ned () const	Poll for 'VelocityNed' (blocking).
GpsInfoHandle	subscribe_gps_info (const GpsInfoCallback & callback)	Subscribe to 'GPS info' updates.
void	unsubscribe_gps_info (GpsInfoHandle handle)	Unsubscribe from subscribe_gps_info.
GpsInfo	gps_info () const	Poll for 'GpsInfo' (blocking).
RawGpsHandle	subscribe_raw_gps (const RawGpsCallback & callback)	Subscribe to 'Raw GPS' updates.
void	unsubscribe_raw_gps (RawGpsHandle handle)	Unsubscribe from subscribe_raw_gps.
RawGps	raw_gps () const	Poll for 'RawGps' (blocking).
BatteryHandle	subscribe_battery (const BatteryCallback & callback)	Subscribe to 'battery' updates.
void	unsubscribe_battery (BatteryHandle handle)	Unsubscribe from subscribe_battery.
Battery	battery () const	Poll for 'Battery' (blocking).
FlightModeHandle	subscribe_flight_mode (const FlightModeCallback & callback)	Subscribe to 'flight mode' updates.
void	unsubscribe_flight_mode (FlightModeHandle handle)	Unsubscribe from subscribe_flight_mode.
FlightMode	flight_mode () const	Poll for 'FlightMode' (blocking).
HealthHandle	subscribe_health (const HealthCallback & callback)	Subscribe to 'health' updates.
void	unsubscribe_health (HealthHandle handle)	Unsubscribe from subscribe_health.
Health	health () const	Poll for 'Health' (blocking).
RcStatusHandle	subscribe_rc_status (const RcStatusCallback & callback)	Subscribe to 'RC status' updates.
void	unsubscribe_rc_status (RcStatusHandle handle)	Unsubscribe from subscribe_rc_status.
RcStatus	rc_status () const	Poll for 'RcStatus' (blocking).
StatusTextHandle	subscribe_status_text (const StatusTextCallback & callback)	Subscribe to 'status text' updates.
void	unsubscribe_status_text (StatusTextHandle handle)	Unsubscribe from subscribe_status_text.
StatusText	status_text () const	Poll for 'StatusText' (blocking).
ActuatorControlTargetHandle	subscribe_actuator_control_target (const ActuatorControlTargetCallback & callback)	Subscribe to 'actuator control target' updates.
void	unsubscribe_actuator_control_target (ActuatorControlTargetHandle handle)	Unsubscribe from subscribe_actuator_control_target.
ActuatorControlTarget	actuator_control_target () const	Poll for 'ActuatorControlTarget' (blocking).
ActuatorOutputStatusHandle	subscribe_actuator_output_status (const ActuatorOutputStatusCallback & callback)	Subscribe to 'actuator output status' updates.
void	unsubscribe_actuator_output_status (ActuatorOutputStatusHandle handle)	Unsubscribe from subscribe_actuator_output_status.
ActuatorOutputStatus	actuator_output_status () const	Poll for 'ActuatorOutputStatus' (blocking).
OdometryHandle	subscribe_odometry (const OdometryCallback & callback)	Subscribe to 'odometry' updates.
void	unsubscribe_odometry (OdometryHandle handle)	Unsubscribe from subscribe_odometry.
Odometry	odometry () const	Poll for 'Odometry' (blocking).
PositionVelocityNedHandle	subscribe_position_velocity_ned (const PositionVelocityNedCallback & callback)	Subscribe to 'position velocity' updates.
void	unsubscribe_position_velocity_ned (PositionVelocityNedHandle handle)	Unsubscribe from subscribe_position_velocity_ned.
PositionVelocityNed	position_velocity_ned () const	Poll for 'PositionVelocityNed' (blocking).
GroundTruthHandle	subscribe_ground_truth (const GroundTruthCallback & callback)	Subscribe to 'ground truth' updates.
void	unsubscribe_ground_truth (GroundTruthHandle handle)	Unsubscribe from subscribe_ground_truth.
GroundTruth	ground_truth () const	Poll for 'GroundTruth' (blocking).
FixedwingMetricsHandle	subscribe_fixedwing_metrics (const FixedwingMetricsCallback & callback)	Subscribe to 'fixedwing metrics' updates.
void	unsubscribe_fixedwing_metrics (FixedwingMetricsHandle handle)	Unsubscribe from subscribe_fixedwing_metrics.
FixedwingMetrics	fixedwing_metrics () const	Poll for 'FixedwingMetrics' (blocking).
ImuHandle	subscribe_imu (const ImuCallback & callback)	Subscribe to 'IMU' updates (in SI units in NED body frame).
void	unsubscribe_imu (ImuHandle handle)	Unsubscribe from subscribe_imu.
Imu	imu () const	Poll for 'Imu' (blocking).
ScaledImuHandle	subscribe_scaled_imu (const ScaledImuCallback & callback)	Subscribe to 'Scaled IMU' updates.
void	unsubscribe_scaled_imu (ScaledImuHandle handle)	Unsubscribe from subscribe_scaled_imu.
Imu	scaled_imu () const	Poll for 'Imu' (blocking).
RawImuHandle	subscribe_raw_imu (const RawImuCallback & callback)	Subscribe to 'Raw IMU' updates.
void	unsubscribe_raw_imu (RawImuHandle handle)	Unsubscribe from subscribe_raw_imu.
Imu	raw_imu () const	Poll for 'Imu' (blocking).
HealthAllOkHandle	subscribe_health_all_ok (const HealthAllOkCallback & callback)	Subscribe to 'HealthAllOk' updates.
void	unsubscribe_health_all_ok (HealthAllOkHandle handle)	Unsubscribe from subscribe_health_all_ok.
bool	health_all_ok () const	Poll for 'bool' (blocking).
UnixEpochTimeHandle	subscribe_unix_epoch_time (const UnixEpochTimeCallback & callback)	Subscribe to 'unix epoch time' updates.
void	unsubscribe_unix_epoch_time (UnixEpochTimeHandle handle)	Unsubscribe from subscribe_unix_epoch_time.
uint64_t	unix_epoch_time () const	Poll for 'uint64_t' (blocking).
DistanceSensorHandle	subscribe_distance_sensor (const DistanceSensorCallback & callback)	Subscribe to 'Distance Sensor' updates.
void	unsubscribe_distance_sensor (DistanceSensorHandle handle)	Unsubscribe from subscribe_distance_sensor.
DistanceSensor	distance_sensor () const	Poll for 'DistanceSensor' (blocking).
ScaledPressureHandle	subscribe_scaled_pressure (const ScaledPressureCallback & callback)	Subscribe to 'Scaled Pressure' updates.
void	unsubscribe_scaled_pressure (ScaledPressureHandle handle)	Unsubscribe from subscribe_scaled_pressure.
ScaledPressure	scaled_pressure () const	Poll for 'ScaledPressure' (blocking).
HeadingHandle	subscribe_heading (const HeadingCallback & callback)	Subscribe to 'Heading' updates.
void	unsubscribe_heading (HeadingHandle handle)	Unsubscribe from subscribe_heading.
Heading	heading () const	Poll for 'Heading' (blocking).
AltitudeHandle	subscribe_altitude (const AltitudeCallback & callback)	Subscribe to 'Altitude' updates.
void	unsubscribe_altitude (AltitudeHandle handle)	Unsubscribe from subscribe_altitude.
Altitude	altitude () const	Poll for 'Altitude' (blocking).
void	set_rate_position_async (double rate_hz, const ResultCallback callback)	Set rate to 'position' updates.
Result	set_rate_position (double rate_hz)const	Set rate to 'position' updates.
void	set_rate_home_async (double rate_hz, const ResultCallback callback)	Set rate to 'home position' updates.
Result	set_rate_home (double rate_hz)const	Set rate to 'home position' updates.
void	set_rate_in_air_async (double rate_hz, const ResultCallback callback)	Set rate to in-air updates.
Result	set_rate_in_air (double rate_hz)const	Set rate to in-air updates.
void	set_rate_landed_state_async (double rate_hz, const ResultCallback callback)	Set rate to landed state updates.
Result	set_rate_landed_state (double rate_hz)const	Set rate to landed state updates.
void	set_rate_vtol_state_async (double rate_hz, const ResultCallback callback)	Set rate to VTOL state updates.
Result	set_rate_vtol_state (double rate_hz)const	Set rate to VTOL state updates.
void	set_rate_attitude_quaternion_async (double rate_hz, const ResultCallback callback)	Set rate to 'attitude euler angle' updates.
Result	set_rate_attitude_quaternion (double rate_hz)const	Set rate to 'attitude euler angle' updates.
void	set_rate_attitude_euler_async (double rate_hz, const ResultCallback callback)	Set rate to 'attitude quaternion' updates.
Result	set_rate_attitude_euler (double rate_hz)const	Set rate to 'attitude quaternion' updates.
void	set_rate_velocity_ned_async (double rate_hz, const ResultCallback callback)	Set rate of camera attitude updates. Set rate to 'ground speed' updates (NED).
Result	set_rate_velocity_ned (double rate_hz)const	Set rate of camera attitude updates. Set rate to 'ground speed' updates (NED).
void	set_rate_gps_info_async (double rate_hz, const ResultCallback callback)	Set rate to 'GPS info' updates.
Result	set_rate_gps_info (double rate_hz)const	Set rate to 'GPS info' updates.
void	set_rate_battery_async (double rate_hz, const ResultCallback callback)	Set rate to 'battery' updates.
Result	set_rate_battery (double rate_hz)const	Set rate to 'battery' updates.
void	set_rate_rc_status_async (double rate_hz, const ResultCallback callback)	Set rate to 'RC status' updates.
Result	set_rate_rc_status (double rate_hz)const	Set rate to 'RC status' updates.
void	set_rate_actuator_control_target_async (double rate_hz, const ResultCallback callback)	Set rate to 'actuator control target' updates.
Result	set_rate_actuator_control_target (double rate_hz)const	Set rate to 'actuator control target' updates.
void	set_rate_actuator_output_status_async (double rate_hz, const ResultCallback callback)	Set rate to 'actuator output status' updates.
Result	set_rate_actuator_output_status (double rate_hz)const	Set rate to 'actuator output status' updates.
void	set_rate_odometry_async (double rate_hz, const ResultCallback callback)	Set rate to 'odometry' updates.
Result	set_rate_odometry (double rate_hz)const	Set rate to 'odometry' updates.
void	set_rate_position_velocity_ned_async (double rate_hz, const ResultCallback callback)	Set rate to 'position velocity' updates.
Result	set_rate_position_velocity_ned (double rate_hz)const	Set rate to 'position velocity' updates.
void	set_rate_ground_truth_async (double rate_hz, const ResultCallback callback)	Set rate to 'ground truth' updates.
Result	set_rate_ground_truth (double rate_hz)const	Set rate to 'ground truth' updates.
void	set_rate_fixedwing_metrics_async (double rate_hz, const ResultCallback callback)	Set rate to 'fixedwing metrics' updates.
Result	set_rate_fixedwing_metrics (double rate_hz)const	Set rate to 'fixedwing metrics' updates.
void	set_rate_imu_async (double rate_hz, const ResultCallback callback)	Set rate to 'IMU' updates.
Result	set_rate_imu (double rate_hz)const	Set rate to 'IMU' updates.
void	set_rate_scaled_imu_async (double rate_hz, const ResultCallback callback)	Set rate to 'Scaled IMU' updates.
Result	set_rate_scaled_imu (double rate_hz)const	Set rate to 'Scaled IMU' updates.
void	set_rate_raw_imu_async (double rate_hz, const ResultCallback callback)	Set rate to 'Raw IMU' updates.
Result	set_rate_raw_imu (double rate_hz)const	Set rate to 'Raw IMU' updates.
void	set_rate_unix_epoch_time_async (double rate_hz, const ResultCallback callback)	Set rate to 'unix epoch time' updates.
Result	set_rate_unix_epoch_time (double rate_hz)const	Set rate to 'unix epoch time' updates.
void	set_rate_distance_sensor_async (double rate_hz, const ResultCallback callback)	Set rate to 'Distance Sensor' updates.
Result	set_rate_distance_sensor (double rate_hz)const	Set rate to 'Distance Sensor' updates.
void	set_rate_altitude_async (double rate_hz, const ResultCallback callback)	Set rate to 'Altitude' updates.
Result	set_rate_altitude (double rate_hz)const	Set rate to 'Altitude' updates.
void	get_gps_global_origin_async (const GetGpsGlobalOriginCallback callback)	Get the GPS location of where the estimator has been initialized.
std::pair< Result, Telemetry::GpsGlobalOrigin >	get_gps_global_origin () const	Get the GPS location of where the estimator has been initialized.
const Telemetry &	operator= (const Telemetry &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

Telemetry()

mavsdk::Telemetry::Telemetry(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto telemetry = Telemetry(system);

Parameters

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

Telemetry()

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

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto telemetry = Telemetry(system);

Parameters

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

~Telemetry()

mavsdk::Telemetry::~Telemetry() override

Destructor (internal use only).

Telemetry()

mavsdk::Telemetry::Telemetry(const Telemetry &other)

Copy constructor.

Parameters

• const Telemetry& other -

Member Typdef Documentation

typedef ResultCallback

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

Callback type for asynchronous Telemetry calls.

typedef PositionCallback

using mavsdk::Telemetry::PositionCallback =  std::function<void(Position)>

Callback type for subscribe_position.

typedef PositionHandle

using mavsdk::Telemetry::PositionHandle =  Handle<Position>

Handle type for subscribe_position.

typedef HomeCallback

using mavsdk::Telemetry::HomeCallback =  std::function<void(Position)>

Callback type for subscribe_home.

typedef HomeHandle

using mavsdk::Telemetry::HomeHandle =  Handle<Position>

Handle type for subscribe_home.

typedef InAirCallback

using mavsdk::Telemetry::InAirCallback =  std::function<void(bool)>

Callback type for subscribe_in_air.

typedef InAirHandle

using mavsdk::Telemetry::InAirHandle =  Handle<bool>

Handle type for subscribe_in_air.

typedef LandedStateCallback

using mavsdk::Telemetry::LandedStateCallback =  std::function<void(LandedState)>

Callback type for subscribe_landed_state.

typedef LandedStateHandle

using mavsdk::Telemetry::LandedStateHandle =  Handle<LandedState>

Handle type for subscribe_landed_state.

typedef ArmedCallback

using mavsdk::Telemetry::ArmedCallback =  std::function<void(bool)>

Callback type for subscribe_armed.

typedef ArmedHandle

using mavsdk::Telemetry::ArmedHandle =  Handle<bool>

Handle type for subscribe_armed.

typedef VtolStateCallback

using mavsdk::Telemetry::VtolStateCallback =  std::function<void(VtolState)>

Callback type for subscribe_vtol_state.

typedef VtolStateHandle

using mavsdk::Telemetry::VtolStateHandle =  Handle<VtolState>

Handle type for subscribe_vtol_state.

typedef AttitudeQuaternionCallback

using mavsdk::Telemetry::AttitudeQuaternionCallback =  std::function<void(Quaternion)>

Callback type for subscribe_attitude_quaternion.

typedef AttitudeQuaternionHandle

using mavsdk::Telemetry::AttitudeQuaternionHandle =  Handle<Quaternion>

Handle type for subscribe_attitude_quaternion.

typedef AttitudeEulerCallback

using mavsdk::Telemetry::AttitudeEulerCallback =  std::function<void(EulerAngle)>

Callback type for subscribe_attitude_euler.

typedef AttitudeEulerHandle

using mavsdk::Telemetry::AttitudeEulerHandle =  Handle<EulerAngle>

Handle type for subscribe_attitude_euler.

typedef AttitudeAngularVelocityBodyCallback

using mavsdk::Telemetry::AttitudeAngularVelocityBodyCallback =  std::function<void(AngularVelocityBody)>

Callback type for subscribe_attitude_angular_velocity_body.

typedef AttitudeAngularVelocityBodyHandle

using mavsdk::Telemetry::AttitudeAngularVelocityBodyHandle =  Handle<AngularVelocityBody>

Handle type for subscribe_attitude_angular_velocity_body.

typedef VelocityNedCallback

using mavsdk::Telemetry::VelocityNedCallback =  std::function<void(VelocityNed)>

Callback type for subscribe_velocity_ned.

typedef VelocityNedHandle

using mavsdk::Telemetry::VelocityNedHandle =  Handle<VelocityNed>

Handle type for subscribe_velocity_ned.

typedef GpsInfoCallback

using mavsdk::Telemetry::GpsInfoCallback =  std::function<void(GpsInfo)>

Callback type for subscribe_gps_info.

typedef GpsInfoHandle

using mavsdk::Telemetry::GpsInfoHandle =  Handle<GpsInfo>

Handle type for subscribe_gps_info.

typedef RawGpsCallback

using mavsdk::Telemetry::RawGpsCallback =  std::function<void(RawGps)>

Callback type for subscribe_raw_gps.

typedef RawGpsHandle

using mavsdk::Telemetry::RawGpsHandle =  Handle<RawGps>

Handle type for subscribe_raw_gps.

typedef BatteryCallback

using mavsdk::Telemetry::BatteryCallback =  std::function<void(Battery)>

Callback type for subscribe_battery.

typedef BatteryHandle

using mavsdk::Telemetry::BatteryHandle =  Handle<Battery>

Handle type for subscribe_battery.

typedef FlightModeCallback

using mavsdk::Telemetry::FlightModeCallback =  std::function<void(FlightMode)>

Callback type for subscribe_flight_mode.

typedef FlightModeHandle

using mavsdk::Telemetry::FlightModeHandle =  Handle<FlightMode>

Handle type for subscribe_flight_mode.

typedef HealthCallback

using mavsdk::Telemetry::HealthCallback =  std::function<void(Health)>

Callback type for subscribe_health.

typedef HealthHandle

using mavsdk::Telemetry::HealthHandle =  Handle<Health>

Handle type for subscribe_health.

typedef RcStatusCallback

using mavsdk::Telemetry::RcStatusCallback =  std::function<void(RcStatus)>

Callback type for subscribe_rc_status.

typedef RcStatusHandle

using mavsdk::Telemetry::RcStatusHandle =  Handle<RcStatus>

Handle type for subscribe_rc_status.

typedef StatusTextCallback

using mavsdk::Telemetry::StatusTextCallback =  std::function<void(StatusText)>

Callback type for subscribe_status_text.

typedef StatusTextHandle

using mavsdk::Telemetry::StatusTextHandle =  Handle<StatusText>

Handle type for subscribe_status_text.

typedef ActuatorControlTargetCallback

using mavsdk::Telemetry::ActuatorControlTargetCallback =  std::function<void(ActuatorControlTarget)>

Callback type for subscribe_actuator_control_target.

typedef ActuatorControlTargetHandle

using mavsdk::Telemetry::ActuatorControlTargetHandle =  Handle<ActuatorControlTarget>

Handle type for subscribe_actuator_control_target.

typedef ActuatorOutputStatusCallback

using mavsdk::Telemetry::ActuatorOutputStatusCallback =  std::function<void(ActuatorOutputStatus)>

Callback type for subscribe_actuator_output_status.

typedef ActuatorOutputStatusHandle

using mavsdk::Telemetry::ActuatorOutputStatusHandle =  Handle<ActuatorOutputStatus>

Handle type for subscribe_actuator_output_status.

typedef OdometryCallback

using mavsdk::Telemetry::OdometryCallback =  std::function<void(Odometry)>

Callback type for subscribe_odometry.

typedef OdometryHandle

using mavsdk::Telemetry::OdometryHandle =  Handle<Odometry>

Handle type for subscribe_odometry.

typedef PositionVelocityNedCallback

using mavsdk::Telemetry::PositionVelocityNedCallback =  std::function<void(PositionVelocityNed)>

Callback type for subscribe_position_velocity_ned.

typedef PositionVelocityNedHandle

using mavsdk::Telemetry::PositionVelocityNedHandle =  Handle<PositionVelocityNed>

Handle type for subscribe_position_velocity_ned.

typedef GroundTruthCallback

using mavsdk::Telemetry::GroundTruthCallback =  std::function<void(GroundTruth)>

Callback type for subscribe_ground_truth.

typedef GroundTruthHandle

using mavsdk::Telemetry::GroundTruthHandle =  Handle<GroundTruth>

Handle type for subscribe_ground_truth.

typedef FixedwingMetricsCallback

using mavsdk::Telemetry::FixedwingMetricsCallback =  std::function<void(FixedwingMetrics)>

Callback type for subscribe_fixedwing_metrics.

typedef FixedwingMetricsHandle

using mavsdk::Telemetry::FixedwingMetricsHandle =  Handle<FixedwingMetrics>

Handle type for subscribe_fixedwing_metrics.

typedef ImuCallback

using mavsdk::Telemetry::ImuCallback =  std::function<void(Imu)>

Callback type for subscribe_imu.

typedef ImuHandle

using mavsdk::Telemetry::ImuHandle =  Handle<Imu>

Handle type for subscribe_imu.

typedef ScaledImuCallback

using mavsdk::Telemetry::ScaledImuCallback =  std::function<void(Imu)>

Callback type for subscribe_scaled_imu.

typedef ScaledImuHandle

using mavsdk::Telemetry::ScaledImuHandle =  Handle<Imu>

Handle type for subscribe_scaled_imu.

typedef RawImuCallback

using mavsdk::Telemetry::RawImuCallback =  std::function<void(Imu)>

Callback type for subscribe_raw_imu.

typedef RawImuHandle

using mavsdk::Telemetry::RawImuHandle =  Handle<Imu>

Handle type for subscribe_raw_imu.

typedef HealthAllOkCallback

using mavsdk::Telemetry::HealthAllOkCallback =  std::function<void(bool)>

Callback type for subscribe_health_all_ok.

typedef HealthAllOkHandle

using mavsdk::Telemetry::HealthAllOkHandle =  Handle<bool>

Handle type for subscribe_health_all_ok.

typedef UnixEpochTimeCallback

using mavsdk::Telemetry::UnixEpochTimeCallback =  std::function<void(uint64_t)>

Callback type for subscribe_unix_epoch_time.

typedef UnixEpochTimeHandle

using mavsdk::Telemetry::UnixEpochTimeHandle =  Handle<uint64_t>

Handle type for subscribe_unix_epoch_time.

typedef DistanceSensorCallback

using mavsdk::Telemetry::DistanceSensorCallback =  std::function<void(DistanceSensor)>

Callback type for subscribe_distance_sensor.

typedef DistanceSensorHandle

using mavsdk::Telemetry::DistanceSensorHandle =  Handle<DistanceSensor>

Handle type for subscribe_distance_sensor.

typedef ScaledPressureCallback

using mavsdk::Telemetry::ScaledPressureCallback =  std::function<void(ScaledPressure)>

Callback type for subscribe_scaled_pressure.

typedef ScaledPressureHandle

using mavsdk::Telemetry::ScaledPressureHandle =  Handle<ScaledPressure>

Handle type for subscribe_scaled_pressure.

typedef HeadingCallback

using mavsdk::Telemetry::HeadingCallback =  std::function<void(Heading)>

Callback type for subscribe_heading.

typedef HeadingHandle

using mavsdk::Telemetry::HeadingHandle =  Handle<Heading>

Handle type for subscribe_heading.

typedef AltitudeCallback

using mavsdk::Telemetry::AltitudeCallback =  std::function<void(Altitude)>

Callback type for subscribe_altitude.

typedef AltitudeHandle

using mavsdk::Telemetry::AltitudeHandle =  Handle<Altitude>

Handle type for subscribe_altitude.

typedef GetGpsGlobalOriginCallback

using mavsdk::Telemetry::GetGpsGlobalOriginCallback =  std::function<void(Result, GpsGlobalOrigin)>

Callback type for get_gps_global_origin_async.

Member Enumeration Documentation

enum FixType

GPS fix type.

Value	Description
NoGps	No GPS connected.
NoFix	No position information, GPS is connected.
Fix2D	2D position.
Fix3D	3D position.
FixDgps	DGPS/SBAS aided 3D position.
RtkFloat	RTK float, 3D position.
RtkFixed	RTK Fixed, 3D position.

enum FlightMode

Flight modes.

For more information about flight modes, check out https://docs.px4.io/master/en/config/flight_mode.html.

Value	Description
Unknown	Mode not known.
Ready	Armed and ready to take off.
Takeoff	Taking off.
Hold	Holding (hovering in place (or circling for fixed-wing vehicles).
Mission	In mission.
ReturnToLaunch	Returning to launch position (then landing).
Land	Landing.
Offboard	In 'offboard' mode.
FollowMe	In 'follow-me' mode.
Manual	In 'Manual' mode.
Altctl	In 'Altitude Control' mode.
Posctl	In 'Position Control' mode.
Acro	In 'Acro' mode.
Stabilized	In 'Stabilize' mode.
Rattitude	In 'Rattitude' mode.

enum StatusTextType

Status types.

Value	Description
Debug	Debug.
Info	Information.
Notice	Notice.
Warning	Warning.
Error	Error.
Critical	Critical.
Alert	Alert.
Emergency	Emergency.

enum LandedState

Landed State enumeration.

Value	Description
Unknown	Landed state is unknown.
OnGround	The vehicle is on the ground.
InAir	The vehicle is in the air.
TakingOff	The vehicle is taking off.
Landing	The vehicle is landing.

enum VtolState

VTOL State enumeration.

Value	Description
Undefined	MAV is not configured as VTOL.
TransitionToFw	VTOL is in transition from multicopter to fixed-wing.
TransitionToMc	VTOL is in transition from fixed-wing to multicopter.
Mc	VTOL is in multicopter state.
Fw	VTOL is in fixed-wing state.

enum Result

Possible results returned for telemetry requests.

Value	Description
Unknown	Unknown result.
Success	Success: the telemetry command was accepted by the vehicle.
NoSystem	No system connected.
ConnectionError	Connection error.
Busy	Vehicle is busy.
CommandDenied	Command refused by vehicle.
Timeout	Request timed out.
Unsupported	Request not supported.

Member Function Documentation

subscribe_position()

PositionHandle mavsdk::Telemetry::subscribe_position(const PositionCallback &callback)

Subscribe to 'position' updates.

Parameters

• const PositionCallback& callback -

Returns

 PositionHandle -

unsubscribe_position()

void mavsdk::Telemetry::unsubscribe_position(PositionHandle handle)

Unsubscribe from subscribe_position.

Parameters

• PositionHandle handle -

position()

Position mavsdk::Telemetry::position() const

Poll for 'Position' (blocking).

Returns

 Position - One Position update.

subscribe_home()

HomeHandle mavsdk::Telemetry::subscribe_home(const HomeCallback &callback)

Subscribe to 'home position' updates.

Parameters

• const HomeCallback& callback -

Returns

 HomeHandle -

unsubscribe_home()

void mavsdk::Telemetry::unsubscribe_home(HomeHandle handle)

Unsubscribe from subscribe_home.

Parameters

• HomeHandle handle -

home()

Position mavsdk::Telemetry::home() const

Poll for 'Position' (blocking).

Returns

 Position - One Position update.

subscribe_in_air()

InAirHandle mavsdk::Telemetry::subscribe_in_air(const InAirCallback &callback)

Subscribe to in-air updates.

Parameters

• const InAirCallback& callback -

Returns

 InAirHandle -

unsubscribe_in_air()

void mavsdk::Telemetry::unsubscribe_in_air(InAirHandle handle)

Unsubscribe from subscribe_in_air.

Parameters

• InAirHandle handle -

in_air()

bool mavsdk::Telemetry::in_air() const

Poll for 'bool' (blocking).

Returns

 bool - One bool update.

subscribe_landed_state()

LandedStateHandle mavsdk::Telemetry::subscribe_landed_state(const LandedStateCallback &callback)

Subscribe to landed state updates.

Parameters

• const LandedStateCallback& callback -

Returns

 LandedStateHandle -

unsubscribe_landed_state()

void mavsdk::Telemetry::unsubscribe_landed_state(LandedStateHandle handle)

Unsubscribe from subscribe_landed_state.

Parameters

• LandedStateHandle handle -

landed_state()

LandedState mavsdk::Telemetry::landed_state() const

Poll for 'LandedState' (blocking).

Returns

 LandedState - One LandedState update.

subscribe_armed()

ArmedHandle mavsdk::Telemetry::subscribe_armed(const ArmedCallback &callback)

Subscribe to armed updates.

Parameters

• const ArmedCallback& callback -

Returns

 ArmedHandle -

unsubscribe_armed()

void mavsdk::Telemetry::unsubscribe_armed(ArmedHandle handle)

Unsubscribe from subscribe_armed.

Parameters

• ArmedHandle handle -

armed()

bool mavsdk::Telemetry::armed() const

Poll for 'bool' (blocking).

Returns

 bool - One bool update.

subscribe_vtol_state()

VtolStateHandle mavsdk::Telemetry::subscribe_vtol_state(const VtolStateCallback &callback)

subscribe to vtol state Updates

Parameters

• const VtolStateCallback& callback -

Returns

 VtolStateHandle -

unsubscribe_vtol_state()

void mavsdk::Telemetry::unsubscribe_vtol_state(VtolStateHandle handle)

Unsubscribe from subscribe_vtol_state.

Parameters

• VtolStateHandle handle -

vtol_state()

VtolState mavsdk::Telemetry::vtol_state() const

Poll for 'VtolState' (blocking).

Returns

 VtolState - One VtolState update.

subscribe_attitude_quaternion()

AttitudeQuaternionHandle mavsdk::Telemetry::subscribe_attitude_quaternion(const AttitudeQuaternionCallback &callback)

Subscribe to 'attitude' updates (quaternion).

Parameters

• const AttitudeQuaternionCallback& callback -

Returns

 AttitudeQuaternionHandle -

unsubscribe_attitude_quaternion()

void mavsdk::Telemetry::unsubscribe_attitude_quaternion(AttitudeQuaternionHandle handle)

Unsubscribe from subscribe_attitude_quaternion.

Parameters

• AttitudeQuaternionHandle handle -

attitude_quaternion()

Quaternion mavsdk::Telemetry::attitude_quaternion() const

Poll for 'Quaternion' (blocking).

Returns

 Quaternion - One Quaternion update.

subscribe_attitude_euler()

AttitudeEulerHandle mavsdk::Telemetry::subscribe_attitude_euler(const AttitudeEulerCallback &callback)

Subscribe to 'attitude' updates (Euler).

Parameters

• const AttitudeEulerCallback& callback -

Returns

 AttitudeEulerHandle -

unsubscribe_attitude_euler()

void mavsdk::Telemetry::unsubscribe_attitude_euler(AttitudeEulerHandle handle)

Unsubscribe from subscribe_attitude_euler.

Parameters

• AttitudeEulerHandle handle -

attitude_euler()

EulerAngle mavsdk::Telemetry::attitude_euler() const

Poll for 'EulerAngle' (blocking).

Returns

 EulerAngle - One EulerAngle update.

subscribe_attitude_angular_velocity_body()

AttitudeAngularVelocityBodyHandle mavsdk::Telemetry::subscribe_attitude_angular_velocity_body(const AttitudeAngularVelocityBodyCallback &callback)

Subscribe to 'attitude' updates (angular velocity)

Parameters

• const AttitudeAngularVelocityBodyCallback& callback -

Returns

 AttitudeAngularVelocityBodyHandle -

unsubscribe_attitude_angular_velocity_body()

void mavsdk::Telemetry::unsubscribe_attitude_angular_velocity_body(AttitudeAngularVelocityBodyHandle handle)

Unsubscribe from subscribe_attitude_angular_velocity_body.

Parameters

• AttitudeAngularVelocityBodyHandle handle -

attitude_angular_velocity_body()

AngularVelocityBody mavsdk::Telemetry::attitude_angular_velocity_body() const

Poll for 'AngularVelocityBody' (blocking).

Returns

 AngularVelocityBody - One AngularVelocityBody update.

subscribe_velocity_ned()

VelocityNedHandle mavsdk::Telemetry::subscribe_velocity_ned(const VelocityNedCallback &callback)

Subscribe to 'ground speed' updates (NED).

Parameters

• const VelocityNedCallback& callback -

Returns

 VelocityNedHandle -

unsubscribe_velocity_ned()

void mavsdk::Telemetry::unsubscribe_velocity_ned(VelocityNedHandle handle)

Unsubscribe from subscribe_velocity_ned.

Parameters

• VelocityNedHandle handle -

velocity_ned()

VelocityNed mavsdk::Telemetry::velocity_ned() const

Poll for 'VelocityNed' (blocking).

Returns

 VelocityNed - One VelocityNed update.

subscribe_gps_info()

GpsInfoHandle mavsdk::Telemetry::subscribe_gps_info(const GpsInfoCallback &callback)

Subscribe to 'GPS info' updates.

Parameters

• const GpsInfoCallback& callback -

Returns

 GpsInfoHandle -

unsubscribe_gps_info()

void mavsdk::Telemetry::unsubscribe_gps_info(GpsInfoHandle handle)

Unsubscribe from subscribe_gps_info.

Parameters

• GpsInfoHandle handle -

gps_info()

GpsInfo mavsdk::Telemetry::gps_info() const

Poll for 'GpsInfo' (blocking).

Returns

 GpsInfo - One GpsInfo update.

subscribe_raw_gps()

RawGpsHandle mavsdk::Telemetry::subscribe_raw_gps(const RawGpsCallback &callback)

Subscribe to 'Raw GPS' updates.

Parameters

• const RawGpsCallback& callback -

Returns

 RawGpsHandle -

unsubscribe_raw_gps()

void mavsdk::Telemetry::unsubscribe_raw_gps(RawGpsHandle handle)

Unsubscribe from subscribe_raw_gps.

Parameters

• RawGpsHandle handle -

raw_gps()

RawGps mavsdk::Telemetry::raw_gps() const

Poll for 'RawGps' (blocking).

Returns

 RawGps - One RawGps update.

subscribe_battery()

BatteryHandle mavsdk::Telemetry::subscribe_battery(const BatteryCallback &callback)

Subscribe to 'battery' updates.

Parameters

• const BatteryCallback& callback -

Returns

 BatteryHandle -

unsubscribe_battery()

void mavsdk::Telemetry::unsubscribe_battery(BatteryHandle handle)

Unsubscribe from subscribe_battery.

Parameters

• BatteryHandle handle -

battery()

Battery mavsdk::Telemetry::battery() const

Poll for 'Battery' (blocking).

Returns

 Battery - One Battery update.

subscribe_flight_mode()

FlightModeHandle mavsdk::Telemetry::subscribe_flight_mode(const FlightModeCallback &callback)

Subscribe to 'flight mode' updates.

Parameters

• const FlightModeCallback& callback -

Returns

 FlightModeHandle -

unsubscribe_flight_mode()

void mavsdk::Telemetry::unsubscribe_flight_mode(FlightModeHandle handle)

Unsubscribe from subscribe_flight_mode.

Parameters

• FlightModeHandle handle -

flight_mode()

FlightMode mavsdk::Telemetry::flight_mode() const

Poll for 'FlightMode' (blocking).

Returns

 FlightMode - One FlightMode update.

subscribe_health()

HealthHandle mavsdk::Telemetry::subscribe_health(const HealthCallback &callback)

Subscribe to 'health' updates.

Parameters

• const HealthCallback& callback -

Returns

 HealthHandle -

unsubscribe_health()

void mavsdk::Telemetry::unsubscribe_health(HealthHandle handle)

Unsubscribe from subscribe_health.

Parameters

• HealthHandle handle -

health()

Health mavsdk::Telemetry::health() const

Poll for 'Health' (blocking).

Returns

 Health - One Health update.

subscribe_rc_status()

RcStatusHandle mavsdk::Telemetry::subscribe_rc_status(const RcStatusCallback &callback)

Subscribe to 'RC status' updates.

Parameters

• const RcStatusCallback& callback -

Returns

 RcStatusHandle -

unsubscribe_rc_status()

void mavsdk::Telemetry::unsubscribe_rc_status(RcStatusHandle handle)

Unsubscribe from subscribe_rc_status.

Parameters

• RcStatusHandle handle -

rc_status()

RcStatus mavsdk::Telemetry::rc_status() const

Poll for 'RcStatus' (blocking).

Returns

 RcStatus - One RcStatus update.

subscribe_status_text()

StatusTextHandle mavsdk::Telemetry::subscribe_status_text(const StatusTextCallback &callback)

Subscribe to 'status text' updates.

Parameters

• const StatusTextCallback& callback -

Returns

 StatusTextHandle -

unsubscribe_status_text()

void mavsdk::Telemetry::unsubscribe_status_text(StatusTextHandle handle)

Unsubscribe from subscribe_status_text.

Parameters

• StatusTextHandle handle -

status_text()

StatusText mavsdk::Telemetry::status_text() const

Poll for 'StatusText' (blocking).

Returns

 StatusText - One StatusText update.

subscribe_actuator_control_target()

ActuatorControlTargetHandle mavsdk::Telemetry::subscribe_actuator_control_target(const ActuatorControlTargetCallback &callback)

Subscribe to 'actuator control target' updates.

Parameters

• const ActuatorControlTargetCallback& callback -

Returns

 ActuatorControlTargetHandle -

unsubscribe_actuator_control_target()

void mavsdk::Telemetry::unsubscribe_actuator_control_target(ActuatorControlTargetHandle handle)

Unsubscribe from subscribe_actuator_control_target.

Parameters

• ActuatorControlTargetHandle handle -

actuator_control_target()

ActuatorControlTarget mavsdk::Telemetry::actuator_control_target() const

Poll for 'ActuatorControlTarget' (blocking).

Returns

 ActuatorControlTarget - One ActuatorControlTarget update.

subscribe_actuator_output_status()

ActuatorOutputStatusHandle mavsdk::Telemetry::subscribe_actuator_output_status(const ActuatorOutputStatusCallback &callback)

Subscribe to 'actuator output status' updates.

Parameters

• const ActuatorOutputStatusCallback& callback -

Returns

 ActuatorOutputStatusHandle -

unsubscribe_actuator_output_status()

void mavsdk::Telemetry::unsubscribe_actuator_output_status(ActuatorOutputStatusHandle handle)

Unsubscribe from subscribe_actuator_output_status.

Parameters

• ActuatorOutputStatusHandle handle -

actuator_output_status()

ActuatorOutputStatus mavsdk::Telemetry::actuator_output_status() const

Poll for 'ActuatorOutputStatus' (blocking).

Returns

 ActuatorOutputStatus - One ActuatorOutputStatus update.

subscribe_odometry()

OdometryHandle mavsdk::Telemetry::subscribe_odometry(const OdometryCallback &callback)

Subscribe to 'odometry' updates.

Parameters

• const OdometryCallback& callback -

Returns

 OdometryHandle -

unsubscribe_odometry()

void mavsdk::Telemetry::unsubscribe_odometry(OdometryHandle handle)

Unsubscribe from subscribe_odometry.

Parameters

• OdometryHandle handle -

odometry()

Odometry mavsdk::Telemetry::odometry() const

Poll for 'Odometry' (blocking).

Returns

 Odometry - One Odometry update.

subscribe_position_velocity_ned()

PositionVelocityNedHandle mavsdk::Telemetry::subscribe_position_velocity_ned(const PositionVelocityNedCallback &callback)

Subscribe to 'position velocity' updates.

Parameters

• const PositionVelocityNedCallback& callback -

Returns

 PositionVelocityNedHandle -

unsubscribe_position_velocity_ned()

void mavsdk::Telemetry::unsubscribe_position_velocity_ned(PositionVelocityNedHandle handle)

Unsubscribe from subscribe_position_velocity_ned.

Parameters

• PositionVelocityNedHandle handle -

position_velocity_ned()

PositionVelocityNed mavsdk::Telemetry::position_velocity_ned() const

Poll for 'PositionVelocityNed' (blocking).

Returns

 PositionVelocityNed - One PositionVelocityNed update.

subscribe_ground_truth()

GroundTruthHandle mavsdk::Telemetry::subscribe_ground_truth(const GroundTruthCallback &callback)

Subscribe to 'ground truth' updates.

Parameters

• const GroundTruthCallback& callback -

Returns

 GroundTruthHandle -

unsubscribe_ground_truth()

void mavsdk::Telemetry::unsubscribe_ground_truth(GroundTruthHandle handle)

Unsubscribe from subscribe_ground_truth.

Parameters

• GroundTruthHandle handle -

ground_truth()

GroundTruth mavsdk::Telemetry::ground_truth() const

Poll for 'GroundTruth' (blocking).

Returns

 GroundTruth - One GroundTruth update.

subscribe_fixedwing_metrics()

FixedwingMetricsHandle mavsdk::Telemetry::subscribe_fixedwing_metrics(const FixedwingMetricsCallback &callback)

Subscribe to 'fixedwing metrics' updates.

Parameters

• const FixedwingMetricsCallback& callback -

Returns

 FixedwingMetricsHandle -

unsubscribe_fixedwing_metrics()

void mavsdk::Telemetry::unsubscribe_fixedwing_metrics(FixedwingMetricsHandle handle)

Unsubscribe from subscribe_fixedwing_metrics.

Parameters

• FixedwingMetricsHandle handle -

fixedwing_metrics()

FixedwingMetrics mavsdk::Telemetry::fixedwing_metrics() const

Poll for 'FixedwingMetrics' (blocking).

Returns

 FixedwingMetrics - One FixedwingMetrics update.

subscribe_imu()

ImuHandle mavsdk::Telemetry::subscribe_imu(const ImuCallback &callback)

Subscribe to 'IMU' updates (in SI units in NED body frame).

Parameters

• const ImuCallback& callback -

Returns

 ImuHandle -

unsubscribe_imu()

void mavsdk::Telemetry::unsubscribe_imu(ImuHandle handle)

Unsubscribe from subscribe_imu.

Parameters

• ImuHandle handle -

imu()

Imu mavsdk::Telemetry::imu() const

Poll for 'Imu' (blocking).

Returns

 Imu - One Imu update.

subscribe_scaled_imu()

ScaledImuHandle mavsdk::Telemetry::subscribe_scaled_imu(const ScaledImuCallback &callback)

Subscribe to 'Scaled IMU' updates.

Parameters

• const ScaledImuCallback& callback -

Returns

 ScaledImuHandle -

unsubscribe_scaled_imu()

void mavsdk::Telemetry::unsubscribe_scaled_imu(ScaledImuHandle handle)

Unsubscribe from subscribe_scaled_imu.

Parameters

• ScaledImuHandle handle -

scaled_imu()

Imu mavsdk::Telemetry::scaled_imu() const

Poll for 'Imu' (blocking).

Returns

 Imu - One Imu update.

subscribe_raw_imu()

RawImuHandle mavsdk::Telemetry::subscribe_raw_imu(const RawImuCallback &callback)

Subscribe to 'Raw IMU' updates.

Parameters

• const RawImuCallback& callback -

Returns

 RawImuHandle -

unsubscribe_raw_imu()

void mavsdk::Telemetry::unsubscribe_raw_imu(RawImuHandle handle)

Unsubscribe from subscribe_raw_imu.

Parameters

• RawImuHandle handle -

raw_imu()

Imu mavsdk::Telemetry::raw_imu() const

Poll for 'Imu' (blocking).

Returns

 Imu - One Imu update.

subscribe_health_all_ok()

HealthAllOkHandle mavsdk::Telemetry::subscribe_health_all_ok(const HealthAllOkCallback &callback)

Subscribe to 'HealthAllOk' updates.

Parameters

• const HealthAllOkCallback& callback -

Returns

 HealthAllOkHandle -

unsubscribe_health_all_ok()

void mavsdk::Telemetry::unsubscribe_health_all_ok(HealthAllOkHandle handle)

Unsubscribe from subscribe_health_all_ok.

Parameters

• HealthAllOkHandle handle -

health_all_ok()

bool mavsdk::Telemetry::health_all_ok() const

Poll for 'bool' (blocking).

Returns

 bool - One bool update.

subscribe_unix_epoch_time()

UnixEpochTimeHandle mavsdk::Telemetry::subscribe_unix_epoch_time(const UnixEpochTimeCallback &callback)

Subscribe to 'unix epoch time' updates.

Parameters

• const UnixEpochTimeCallback& callback -

Returns

 UnixEpochTimeHandle -

unsubscribe_unix_epoch_time()

void mavsdk::Telemetry::unsubscribe_unix_epoch_time(UnixEpochTimeHandle handle)

Unsubscribe from subscribe_unix_epoch_time.

Parameters

• UnixEpochTimeHandle handle -

unix_epoch_time()

uint64_t mavsdk::Telemetry::unix_epoch_time() const

Poll for 'uint64_t' (blocking).

Returns

 uint64_t - One uint64_t update.

subscribe_distance_sensor()

DistanceSensorHandle mavsdk::Telemetry::subscribe_distance_sensor(const DistanceSensorCallback &callback)

Subscribe to 'Distance Sensor' updates.

Parameters

• const DistanceSensorCallback& callback -

Returns

 DistanceSensorHandle -

unsubscribe_distance_sensor()

void mavsdk::Telemetry::unsubscribe_distance_sensor(DistanceSensorHandle handle)

Unsubscribe from subscribe_distance_sensor.

Parameters

• DistanceSensorHandle handle -

distance_sensor()

DistanceSensor mavsdk::Telemetry::distance_sensor() const

Poll for 'DistanceSensor' (blocking).

Returns

 DistanceSensor - One DistanceSensor update.

subscribe_scaled_pressure()

ScaledPressureHandle mavsdk::Telemetry::subscribe_scaled_pressure(const ScaledPressureCallback &callback)

Subscribe to 'Scaled Pressure' updates.

Parameters

• const ScaledPressureCallback& callback -

Returns

 ScaledPressureHandle -

unsubscribe_scaled_pressure()

void mavsdk::Telemetry::unsubscribe_scaled_pressure(ScaledPressureHandle handle)

Unsubscribe from subscribe_scaled_pressure.

Parameters

• ScaledPressureHandle handle -

scaled_pressure()

ScaledPressure mavsdk::Telemetry::scaled_pressure() const

Poll for 'ScaledPressure' (blocking).

Returns

 ScaledPressure - One ScaledPressure update.

subscribe_heading()

HeadingHandle mavsdk::Telemetry::subscribe_heading(const HeadingCallback &callback)

Subscribe to 'Heading' updates.

Parameters

• const HeadingCallback& callback -

Returns

 HeadingHandle -

unsubscribe_heading()

void mavsdk::Telemetry::unsubscribe_heading(HeadingHandle handle)

Unsubscribe from subscribe_heading.

Parameters

• HeadingHandle handle -

heading()

Heading mavsdk::Telemetry::heading() const

Poll for 'Heading' (blocking).

Returns

 Heading - One Heading update.

subscribe_altitude()

AltitudeHandle mavsdk::Telemetry::subscribe_altitude(const AltitudeCallback &callback)

Subscribe to 'Altitude' updates.

Parameters

• const AltitudeCallback& callback -

Returns

 AltitudeHandle -

unsubscribe_altitude()

void mavsdk::Telemetry::unsubscribe_altitude(AltitudeHandle handle)

Unsubscribe from subscribe_altitude.

Parameters

• AltitudeHandle handle -

altitude()

Altitude mavsdk::Telemetry::altitude() const

Poll for 'Altitude' (blocking).

Returns

 Altitude - One Altitude update.

set_rate_position_async()

void mavsdk::Telemetry::set_rate_position_async(double rate_hz, const ResultCallback callback)

Set rate to 'position' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_position()

Result mavsdk::Telemetry::set_rate_position(double rate_hz) const

Set rate to 'position' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_home_async()

void mavsdk::Telemetry::set_rate_home_async(double rate_hz, const ResultCallback callback)

Set rate to 'home position' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_home()

Result mavsdk::Telemetry::set_rate_home(double rate_hz) const

Set rate to 'home position' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_in_air_async()

void mavsdk::Telemetry::set_rate_in_air_async(double rate_hz, const ResultCallback callback)

Set rate to in-air updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_in_air()

Result mavsdk::Telemetry::set_rate_in_air(double rate_hz) const

Set rate to in-air updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_landed_state_async()

void mavsdk::Telemetry::set_rate_landed_state_async(double rate_hz, const ResultCallback callback)

Set rate to landed state updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_landed_state()

Result mavsdk::Telemetry::set_rate_landed_state(double rate_hz) const

Set rate to landed state updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_vtol_state_async()

void mavsdk::Telemetry::set_rate_vtol_state_async(double rate_hz, const ResultCallback callback)

Set rate to VTOL state updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_vtol_state()

Result mavsdk::Telemetry::set_rate_vtol_state(double rate_hz) const

Set rate to VTOL state updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_attitude_quaternion_async()

void mavsdk::Telemetry::set_rate_attitude_quaternion_async(double rate_hz, const ResultCallback callback)

Set rate to 'attitude euler angle' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_attitude_quaternion()

Result mavsdk::Telemetry::set_rate_attitude_quaternion(double rate_hz) const

Set rate to 'attitude euler angle' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_attitude_euler_async()

void mavsdk::Telemetry::set_rate_attitude_euler_async(double rate_hz, const ResultCallback callback)

Set rate to 'attitude quaternion' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_attitude_euler()

Result mavsdk::Telemetry::set_rate_attitude_euler(double rate_hz) const

Set rate to 'attitude quaternion' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_velocity_ned_async()

void mavsdk::Telemetry::set_rate_velocity_ned_async(double rate_hz, const ResultCallback callback)

Set rate of camera attitude updates. Set rate to 'ground speed' updates (NED).

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_velocity_ned()

Result mavsdk::Telemetry::set_rate_velocity_ned(double rate_hz) const

Set rate of camera attitude updates. Set rate to 'ground speed' updates (NED).

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_gps_info_async()

void mavsdk::Telemetry::set_rate_gps_info_async(double rate_hz, const ResultCallback callback)

Set rate to 'GPS info' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_gps_info()

Result mavsdk::Telemetry::set_rate_gps_info(double rate_hz) const

Set rate to 'GPS info' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_battery_async()

void mavsdk::Telemetry::set_rate_battery_async(double rate_hz, const ResultCallback callback)

Set rate to 'battery' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_battery()

Result mavsdk::Telemetry::set_rate_battery(double rate_hz) const

Set rate to 'battery' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_rc_status_async()

void mavsdk::Telemetry::set_rate_rc_status_async(double rate_hz, const ResultCallback callback)

Set rate to 'RC status' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_rc_status()

Result mavsdk::Telemetry::set_rate_rc_status(double rate_hz) const

Set rate to 'RC status' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_actuator_control_target_async()

void mavsdk::Telemetry::set_rate_actuator_control_target_async(double rate_hz, const ResultCallback callback)

Set rate to 'actuator control target' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_actuator_control_target()

Result mavsdk::Telemetry::set_rate_actuator_control_target(double rate_hz) const

Set rate to 'actuator control target' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_actuator_output_status_async()

void mavsdk::Telemetry::set_rate_actuator_output_status_async(double rate_hz, const ResultCallback callback)

Set rate to 'actuator output status' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_actuator_output_status()

Result mavsdk::Telemetry::set_rate_actuator_output_status(double rate_hz) const

Set rate to 'actuator output status' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_odometry_async()

void mavsdk::Telemetry::set_rate_odometry_async(double rate_hz, const ResultCallback callback)

Set rate to 'odometry' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_odometry()

Result mavsdk::Telemetry::set_rate_odometry(double rate_hz) const

Set rate to 'odometry' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_position_velocity_ned_async()

void mavsdk::Telemetry::set_rate_position_velocity_ned_async(double rate_hz, const ResultCallback callback)

Set rate to 'position velocity' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_position_velocity_ned()

Result mavsdk::Telemetry::set_rate_position_velocity_ned(double rate_hz) const

Set rate to 'position velocity' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_ground_truth_async()

void mavsdk::Telemetry::set_rate_ground_truth_async(double rate_hz, const ResultCallback callback)

Set rate to 'ground truth' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_ground_truth()

Result mavsdk::Telemetry::set_rate_ground_truth(double rate_hz) const

Set rate to 'ground truth' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_fixedwing_metrics_async()

void mavsdk::Telemetry::set_rate_fixedwing_metrics_async(double rate_hz, const ResultCallback callback)

Set rate to 'fixedwing metrics' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_fixedwing_metrics()

Result mavsdk::Telemetry::set_rate_fixedwing_metrics(double rate_hz) const

Set rate to 'fixedwing metrics' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_imu_async()

void mavsdk::Telemetry::set_rate_imu_async(double rate_hz, const ResultCallback callback)

Set rate to 'IMU' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_imu()

Result mavsdk::Telemetry::set_rate_imu(double rate_hz) const

Set rate to 'IMU' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_scaled_imu_async()

void mavsdk::Telemetry::set_rate_scaled_imu_async(double rate_hz, const ResultCallback callback)

Set rate to 'Scaled IMU' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_scaled_imu()

Result mavsdk::Telemetry::set_rate_scaled_imu(double rate_hz) const

Set rate to 'Scaled IMU' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_raw_imu_async()

void mavsdk::Telemetry::set_rate_raw_imu_async(double rate_hz, const ResultCallback callback)

Set rate to 'Raw IMU' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_raw_imu()

Result mavsdk::Telemetry::set_rate_raw_imu(double rate_hz) const

Set rate to 'Raw IMU' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_unix_epoch_time_async()

void mavsdk::Telemetry::set_rate_unix_epoch_time_async(double rate_hz, const ResultCallback callback)

Set rate to 'unix epoch time' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_unix_epoch_time()

Result mavsdk::Telemetry::set_rate_unix_epoch_time(double rate_hz) const

Set rate to 'unix epoch time' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_distance_sensor_async()

void mavsdk::Telemetry::set_rate_distance_sensor_async(double rate_hz, const ResultCallback callback)

Set rate to 'Distance Sensor' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_distance_sensor()

Result mavsdk::Telemetry::set_rate_distance_sensor(double rate_hz) const

Set rate to 'Distance Sensor' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

set_rate_altitude_async()

void mavsdk::Telemetry::set_rate_altitude_async(double rate_hz, const ResultCallback callback)

Set rate to 'Altitude' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_altitude()

Result mavsdk::Telemetry::set_rate_altitude(double rate_hz) const

Set rate to 'Altitude' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

get_gps_global_origin_async()

void mavsdk::Telemetry::get_gps_global_origin_async(const GetGpsGlobalOriginCallback callback)

Get the GPS location of where the estimator has been initialized.

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

Parameters

• const GetGpsGlobalOriginCallback callback -

get_gps_global_origin()

std::pair< Result, Telemetry::GpsGlobalOrigin > mavsdk::Telemetry::get_gps_global_origin() const

Get the GPS location of where the estimator has been initialized.

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

Returns

 std::pair< Result, Telemetry::GpsGlobalOrigin > - Result of request.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const Telemetry& -

Returns

 const Telemetry & -