mavsdk::Transponder Class Reference

#include: transponder.h

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Allow users to get ADS-B information and set ADS-B update rates.

Data Structures

struct AdsbVehicle

Public Types

Type	Description
enum AdsbEmitterType	ADSB classification for the type of vehicle emitting the transponder signal.
enum AdsbAltitudeType	Altitude type used in AdsbVehicle message.
enum Result	Possible results returned for transponder requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous Transponder calls.
std::function< void(AdsbVehicle)> TransponderCallback	Callback type for subscribe_transponder.
Handle< AdsbVehicle > TransponderHandle	Handle type for subscribe_transponder.

Public Member Functions

Type	Name	Description
	Transponder (System & system)	Constructor. Creates the plugin for a specific System.
	Transponder (std::shared_ptr< System > system)	Constructor. Creates the plugin for a specific System.
	~Transponder () override	Destructor (internal use only).
	Transponder (const Transponder & other)	Copy constructor.
TransponderHandle	subscribe_transponder (const TransponderCallback & callback)	Subscribe to 'transponder' updates.
void	unsubscribe_transponder (TransponderHandle handle)	Unsubscribe from subscribe_transponder.
AdsbVehicle	transponder () const	Poll for 'AdsbVehicle' (blocking).
void	set_rate_transponder_async (double rate_hz, const ResultCallback callback)	Set rate to 'transponder' updates.
Result	set_rate_transponder (double rate_hz)const	Set rate to 'transponder' updates.
const Transponder &	operator= (const Transponder &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

Transponder()

mavsdk::Transponder::Transponder(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto transponder = Transponder(system);

Parameters

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

Transponder()

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

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto transponder = Transponder(system);

Parameters

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

~Transponder()

mavsdk::Transponder::~Transponder() override

Destructor (internal use only).

Transponder()

mavsdk::Transponder::Transponder(const Transponder &other)

Copy constructor.

Parameters

• const Transponder& other -

Member Typdef Documentation

typedef ResultCallback

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

Callback type for asynchronous Transponder calls.

typedef TransponderCallback

using mavsdk::Transponder::TransponderCallback =  std::function<void(AdsbVehicle)>

Callback type for subscribe_transponder.

typedef TransponderHandle

using mavsdk::Transponder::TransponderHandle =  Handle<AdsbVehicle>

Handle type for subscribe_transponder.

Member Enumeration Documentation

enum AdsbEmitterType

ADSB classification for the type of vehicle emitting the transponder signal.

Value	Description
NoInfo	No emitter info..
Light	Light emitter..
Small	Small emitter..
Large	Large emitter..
HighVortexLarge	High vortex emitter..
Heavy	Heavy emitter..
HighlyManuv	Highly maneuverable emitter..
Rotocraft	Rotorcraft emitter..
Unassigned	Unassigned emitter..
Glider	Glider emitter..
LighterAir	Lighter air emitter..
Parachute	Parachute emitter..
UltraLight	Ultra light emitter..
Unassigned2	Unassigned2 emitter..
Uav	UAV emitter..
Space	Space emitter..
Unassgined3	Unassigned3 emitter..
EmergencySurface	Emergency emitter..
ServiceSurface	Service surface emitter..
PointObstacle	Point obstacle emitter..

enum AdsbAltitudeType

Altitude type used in AdsbVehicle message.

Value	Description
PressureQnh	Altitude reported from a Baro source using QNH reference.
Geometric	Altitude reported from a GNSS source.

enum Result

Possible results returned for transponder requests.

Value	Description
Unknown	Unknown result.
Success	Success: the transponder 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.

Member Function Documentation

subscribe_transponder()

TransponderHandle mavsdk::Transponder::subscribe_transponder(const TransponderCallback &callback)

Subscribe to 'transponder' updates.

Parameters

• const TransponderCallback& callback -

Returns

 TransponderHandle -

unsubscribe_transponder()

void mavsdk::Transponder::unsubscribe_transponder(TransponderHandle handle)

Unsubscribe from subscribe_transponder.

Parameters

• TransponderHandle handle -

transponder()

AdsbVehicle mavsdk::Transponder::transponder() const

Poll for 'AdsbVehicle' (blocking).

Returns

 AdsbVehicle - One AdsbVehicle update.

set_rate_transponder_async()

void mavsdk::Transponder::set_rate_transponder_async(double rate_hz, const ResultCallback callback)

Set rate to 'transponder' updates.

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

Parameters

• double rate_hz -
• const ResultCallback callback -

set_rate_transponder()

Result mavsdk::Transponder::set_rate_transponder(double rate_hz) const

Set rate to 'transponder' updates.

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

Parameters

• double rate_hz -

Returns

 Result - Result of request.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const Transponder& -

Returns

 const Transponder & -