mavsdk::TelemetryServer Class Reference

#include: telemetry_server.h


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 (System & system) Constructor. Creates the plugin for a specific System.
  TelemetryServer (std::shared_ptr< System > system) Constructor. Creates the plugin for a specific System.
  ~TelemetryServer () 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.
const TelemetryServer & operator= (const TelemetryServer &)=delete Equality operator (object is not copyable).

Constructor & Destructor Documentation

TelemetryServer()

mavsdk::TelemetryServer::TelemetryServer(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto telemetry_server = TelemetryServer(system);

Parameters

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

TelemetryServer()

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

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto telemetry_server = TelemetryServer(system);

Parameters

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

~TelemetryServer()

mavsdk::TelemetryServer::~TelemetryServer()

Destructor (internal use only).

TelemetryServer()

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

Copy constructor.

Parameters

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

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

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

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

Returns

Result - Result of request.

publish_battery()

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

Publish to 'battery' updates.

This function is blocking.

Parameters

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

Returns

Result - Result of request.

publish_odometry()

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

Publish to 'odometry' updates.

This function is blocking.

Parameters

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

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

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

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

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

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.

operator=()

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

Equality operator (object is not copyable).

Parameters

Returns

 const TelemetryServer & -

© Dronecode 2017-2020. License: CC BY 4.0            Updated: 2021-09-08 02:55:32

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