mavsdk::TelemetryServer Class Reference

#include: telemetry_server.h

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Allow users to provide 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 AngularVelocityBody

struct AngularVelocityFrd

struct Battery

struct Covariance

struct DistanceSensor

struct EulerAngle

struct FixedwingMetrics

struct GpsInfo

struct GroundTruth

struct Heading

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 VtolState	Maps to MAV_VTOL_STATE.
enum StatusTextType	Status types.
enum LandedState	Landed State enumeration.
enum Result	Possible results returned for telemetry requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous TelemetryServer calls.

Public Member Functions

Type	Name	Description
	TelemetryServer (std::shared_ptr< ServerComponent > server_component)	Constructor. Creates the plugin for a ServerComponent instance.
	~TelemetryServer () override	Destructor (internal use only).
	TelemetryServer (const TelemetryServer & other)	Copy constructor.
Result	publish_position (Position position, VelocityNed velocity_ned, Heading heading)const	Publish to 'position' updates.
Result	publish_home (Position home)const	Publish to 'home position' updates.
Result	publish_sys_status (Battery battery, bool rc_receiver_status, bool gyro_status, bool accel_status, bool mag_status, bool gps_status)const	Publish 'sys status' updates.
Result	publish_extended_sys_state (VtolState vtol_state, LandedState landed_state)const	Publish 'extended sys state' updates.
Result	publish_raw_gps (RawGps raw_gps, GpsInfo gps_info)const	Publish to 'Raw GPS' updates.
Result	publish_battery (Battery battery)const	Publish to 'battery' updates.
Result	publish_status_text (StatusText status_text)const	Publish to 'status text' updates.
Result	publish_odometry (Odometry odometry)const	Publish to 'odometry' updates.
Result	publish_position_velocity_ned (PositionVelocityNed position_velocity_ned)const	Publish to 'position velocity' updates.
Result	publish_ground_truth (GroundTruth ground_truth)const	Publish to 'ground truth' updates.
Result	publish_imu (Imu imu)const	Publish to 'IMU' updates (in SI units in NED body frame).
Result	publish_scaled_imu (Imu imu)const	Publish to 'Scaled IMU' updates.
Result	publish_raw_imu (Imu imu)const	Publish to 'Raw IMU' updates.
Result	publish_unix_epoch_time (uint64_t time_us)const	Publish to 'unix epoch time' updates.
Result	publish_distance_sensor (DistanceSensor distance_sensor)const	Publish to "distance sensor" updates.
Result	publish_attitude (EulerAngle angle, AngularVelocityBody angular_velocity)const	Publish to "attitude" updates.
Result	publish_visual_flight_rules_hud (FixedwingMetrics fixed_wing_metrics)const	Publish to "Visual Flight Rules HUD" updates.
const TelemetryServer &	operator= (const TelemetryServer &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

TelemetryServer()

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

Constructor. Creates the plugin for a ServerComponent instance.

The plugin is typically created as shown below:

auto telemetry_server = TelemetryServer(server_component);

Parameters

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

~TelemetryServer()

mavsdk::TelemetryServer::~TelemetryServer() override

Destructor (internal use only).

TelemetryServer()

mavsdk::TelemetryServer::TelemetryServer(const TelemetryServer &other)

Copy constructor.

Parameters

• const TelemetryServer& other -

Member Typdef Documentation

typedef ResultCallback

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

Callback type for asynchronous TelemetryServer calls.

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 VtolState

Maps to MAV_VTOL_STATE.

Value	Description
Undefined	Not VTOL.
TransitionToFw	Transitioning to fixed-wing.
TransitionToMc	Transitioning to multi-copter.
Mc	Multi-copter.
Fw	Fixed-wing.

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 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

publish_position()

Result mavsdk::TelemetryServer::publish_position(Position position, VelocityNed velocity_ned, Heading heading) const

Publish to 'position' updates.

This function is blocking.

Parameters

• Position position -
• VelocityNed velocity_ned -
• Heading heading -

Returns

 Result - Result of request.

publish_home()

Result mavsdk::TelemetryServer::publish_home(Position home) const

Publish to 'home position' updates.

This function is blocking.

Parameters

• Position home -

Returns

 Result - Result of request.

publish_sys_status()

Result mavsdk::TelemetryServer::publish_sys_status(Battery battery, bool rc_receiver_status, bool gyro_status, bool accel_status, bool mag_status, bool gps_status) const

Publish 'sys status' updates.

This function is blocking.

Parameters

• Battery battery -
• bool rc_receiver_status -
• bool gyro_status -
• bool accel_status -
• bool mag_status -
• bool gps_status -

Returns

 Result - Result of request.

publish_extended_sys_state()

Result mavsdk::TelemetryServer::publish_extended_sys_state(VtolState vtol_state, LandedState landed_state) const

Publish 'extended sys state' updates.

This function is blocking.

Parameters

• VtolState vtol_state -
• LandedState landed_state -

Returns

 Result - Result of request.

publish_raw_gps()

Result mavsdk::TelemetryServer::publish_raw_gps(RawGps raw_gps, GpsInfo gps_info) const

Publish to 'Raw GPS' updates.

This function is blocking.

Parameters

• RawGps raw_gps -
• GpsInfo gps_info -

Returns

 Result - Result of request.

publish_battery()

Result mavsdk::TelemetryServer::publish_battery(Battery battery) const

Publish to 'battery' updates.

This function is blocking.

Parameters

• Battery battery -

Returns

 Result - Result of request.

publish_status_text()

Result mavsdk::TelemetryServer::publish_status_text(StatusText status_text) const

Publish to 'status text' updates.

This function is blocking.

Parameters

• StatusText status_text -

Returns

 Result - Result of request.

publish_odometry()

Result mavsdk::TelemetryServer::publish_odometry(Odometry odometry) const

Publish to 'odometry' updates.

This function is blocking.

Parameters

• Odometry odometry -

Returns

 Result - Result of request.

publish_position_velocity_ned()

Result mavsdk::TelemetryServer::publish_position_velocity_ned(PositionVelocityNed position_velocity_ned) const

Publish to 'position velocity' updates.

This function is blocking.

Parameters

• PositionVelocityNed position_velocity_ned -

Returns

 Result - Result of request.

publish_ground_truth()

Result mavsdk::TelemetryServer::publish_ground_truth(GroundTruth ground_truth) const

Publish to 'ground truth' updates.

This function is blocking.

Parameters

• GroundTruth ground_truth -

Returns

 Result - Result of request.

publish_imu()

Result mavsdk::TelemetryServer::publish_imu(Imu imu) const

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

This function is blocking.

Parameters

• Imu imu -

Returns

 Result - Result of request.

publish_scaled_imu()

Result mavsdk::TelemetryServer::publish_scaled_imu(Imu imu) const

Publish to 'Scaled IMU' updates.

This function is blocking.

Parameters

• Imu imu -

Returns

 Result - Result of request.

publish_raw_imu()

Result mavsdk::TelemetryServer::publish_raw_imu(Imu imu) const

Publish to 'Raw IMU' updates.

This function is blocking.

Parameters

• Imu imu -

Returns

 Result - Result of request.

publish_unix_epoch_time()

Result mavsdk::TelemetryServer::publish_unix_epoch_time(uint64_t time_us) const

Publish to 'unix epoch time' updates.

This function is blocking.

Parameters

• uint64_t time_us -

Returns

 Result - Result of request.

publish_distance_sensor()

Result mavsdk::TelemetryServer::publish_distance_sensor(DistanceSensor distance_sensor) const

Publish to "distance sensor" updates.

This function is blocking.

Parameters

• DistanceSensor distance_sensor -

Returns

 Result - Result of request.

publish_attitude()

Result mavsdk::TelemetryServer::publish_attitude(EulerAngle angle, AngularVelocityBody angular_velocity) const

Publish to "attitude" updates.

This function is blocking.

Parameters

• EulerAngle angle -
• AngularVelocityBody angular_velocity -

Returns

 Result - Result of request.

publish_visual_flight_rules_hud()

Result mavsdk::TelemetryServer::publish_visual_flight_rules_hud(FixedwingMetrics fixed_wing_metrics) const

Publish to "Visual Flight Rules HUD" updates.

This function is blocking.

Parameters

• FixedwingMetrics fixed_wing_metrics -

Returns

 Result - Result of request.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const TelemetryServer& -

Returns

 const TelemetryServer & -