mavsdk Namespace Reference

Namespace for all mavsdk types.

Data Structures

Enumerations

Type	Description
enum Autopilot	Autopilot type.
enum CompatibilityMode	Compatibility mode for MAVLink protocol behavior.
enum ComponentType	ComponentType of configurations, used for automatic ID setting.
enum ConnectionResult	Result type returned when adding a connection.
enum ForwardingOption	ForwardingOption for Connection, used to set message forwarding option.
enum Vehicle	Vehicle type.

Functions

Type	Name	Description
MAVSDK_PUBLIC std::ostream &	operator<< (std::ostream & os, const Autopilot & autopilot)	Stream operator to print information about an `Autopilot`.
MAVSDK_PUBLIC std::string	base64_encode (std::vector< uint8_t > & raw)	Encode raw bytes to a base64 string.
MAVSDK_PUBLIC std::vector< uint8_t >	base64_decode (const std::string & str)	Decode a base64 string into raw bytes.
MAVSDK_TEST_EXPORT std::ostream &	operator<< (std::ostream & os, const CompatibilityMode & mode)	Stream operator to print information about a `CompatibilityMode`.
MAVSDK_PUBLIC std::string_view	to_string (const ConnectionResult & result)	Convert `ConnectionResult` to string.
MAVSDK_PUBLIC std::ostream &	operator<< (std::ostream & str, const ConnectionResult & result)	Stream operator to print information about a `ConnectionResult`.
MAVSDK_PUBLIC bool	operator== (const Quaternion & lhs, const Quaternion & rhs)	Equality comparison for Quaternion. NaN-aware: two NaN components compare equal.
MAVSDK_PUBLIC bool	operator== (const EulerAngle & lhs, const EulerAngle & rhs)	Equality comparison for EulerAngle. NaN-aware: two NaN components compare equal.
MAVSDK_PUBLIC EulerAngle	to_euler_angle_from_quaternion (Quaternion quaternion)	Convert a Quaternion to EulerAngle in degrees (ZYX Tait-Bryan).
MAVSDK_PUBLIC Quaternion	to_quaternion_from_euler_angle (EulerAngle euler_angle)	Convert an EulerAngle (degrees) to a Quaternion (ZYX Tait-Bryan).
MAVSDK_PUBLIC Quaternion	operator* (const Quaternion & lhs, const Quaternion & rhs)	Hamilton product of two Quaternions; composes rotations.
constexpr T	to_rad_from_deg (T deg)	Convert degrees to radians.
constexpr T	to_deg_from_rad (T rad)	Convert radians to degrees.
constexpr T	constrain (T input, T min, T max)	Clamp a value to a closed interval [min, max].
	overloaded (Ts...)-> overloaded< Ts... >	Template deduction helper for `overloaded`
std::ostream &	operator<< (std::ostream & os, const Vehicle & vehicle)	Stream operator to print information about a `Vehicle`.
Vehicle	to_vehicle_from_mav_type (MAV_TYPE type)	Convert a 'MAV_TYPE' to a `Vehicle`.

Enumeration Type Documentation

enum Autopilot

#include: autopilot.hpp

Autopilot type.

Value	Description
`Unknown`
`Px4`
`ArduPilot`

enum CompatibilityMode

#include: compatibility_mode.hpp

Compatibility mode for MAVLink protocol behavior.

This setting determines which autopilot-specific quirks and behaviors are used when communicating via MAVLink.

Value	Description
`Auto`	Use detected autopilot (default, current behavior)
`Pure`	Pure standard MAVLink - no autopilot-specific quirks.
`Px4`	Force PX4 quirks regardless of detection.
`ArduPilot`	Force ArduPilot quirks regardless of detection.

enum ComponentType

#include: component_type.hpp

ComponentType of configurations, used for automatic ID setting.

Value	Description
`Autopilot`	SDK is used as an autopilot.
`GroundStation`	SDK is used as a ground station.
`CompanionComputer`	SDK is used as a companion computer on board the MAV.
`Camera`
`Gimbal`	SDK is used as a camera. <
`RemoteId`	SDK is used as a gimbal. <
`Custom`	SDK is used as a RemoteId system. <

the SDK is used in a custom configuration, no automatic ID will be provided

enum ConnectionResult

#include: connection_result.hpp

Result type returned when adding a connection.

Note: Mavsdk does not throw exceptions. Instead a result of this type will be returned.

Value	Description
`Success`	Connection succeeded.
`Timeout`	Connection timed out.
`SocketError`	Socket error.
`BindError`	Bind error.
`SocketConnectionError`	Socket connection error.
`ConnectionError`	Connection error.
`NotImplemented`	Connection type not implemented.
`SystemNotConnected`	No system is connected.
`SystemBusy`	System is busy.
`CommandDenied`	Command is denied.
`DestinationIpUnknown`	Connection IP is unknown.
`ConnectionsExhausted`	Connections exhausted.
`ConnectionUrlInvalid`	URL invalid.
`BaudrateUnknown`	Baudrate unknown.

enum ForwardingOption

#include: mavsdk.hpp

ForwardingOption for Connection, used to set message forwarding option.

Value	Description
`ForwardingOff`
`ForwardingOn`

enum Vehicle

#include: vehicle.hpp

Vehicle type.

Value	Description
`Unknown`
`Generic`
`FixedWing`
`Quadrotor`
`Coaxial`
`Helicopter`
`Airship`
`FreeBalloon`
`Rocket`
`GroundRover`
`SurfaceBoat`
`Submarine`
`Hexarotor`
`Octorotor`
`Tricopter`
`FlappingWing`
`Kite`
`VtolTailsitterDuorotor`
`VtolTailsitterQuadrotor`
`VtolTiltrotor`
`VtolFixedrotor`
`VtolTailsitter`
`VtolTiltwing`
`Parafoil`
`Dodecarotor`
`Decarotor`
`Parachute`
`GenericMultirotor`

Function Documentation

operator<<()

#include: autopilot.hpp

cpp

MAVSDK_PUBLIC std::ostream & mavsdk::operator<<(std::ostream &os, const Autopilot &autopilot)

Stream operator to print information about an Autopilot.

Parameters

std::ostream& os -
const Autopilot& autopilot -

Returns

MAVSDK_PUBLIC std::ostream & - A reference to the stream.

base64_encode()

#include: base64.hpp

cpp

MAVSDK_PUBLIC std::string mavsdk::base64_encode(std::vector< uint8_t > &raw)

Encode raw bytes to a base64 string.

Parameters

std::vector< uint8_t >& raw - Raw bytes

Returns

MAVSDK_PUBLIC std::string - Base64 string

base64_decode()

#include: base64.hpp

cpp

MAVSDK_PUBLIC std::vector< uint8_t > mavsdk::base64_decode(const std::string &str)

Decode a base64 string into raw bytes.

Parameters

const std::string& str - Base64 string

Returns

MAVSDK_PUBLIC std::vector< uint8_t > - Raw bytes

operator<<()

#include: compatibility_mode.hpp

cpp

MAVSDK_TEST_EXPORT std::ostream & mavsdk::operator<<(std::ostream &os, const CompatibilityMode &mode)

Stream operator to print information about a CompatibilityMode.

Parameters

std::ostream& os -
const CompatibilityMode& mode -

Returns

MAVSDK_TEST_EXPORT std::ostream & - A reference to the stream.

to_string()

#include: connection_result.hpp

cpp

MAVSDK_PUBLIC std::string_view mavsdk::to_string(const ConnectionResult &result)

Convert ConnectionResult to string.

Parameters

const ConnectionResult& result -

Returns

MAVSDK_PUBLIC std::string_view - A string representation of the enum.

operator<<()

#include: connection_result.hpp

cpp

MAVSDK_PUBLIC std::ostream & mavsdk::operator<<(std::ostream &str, const ConnectionResult &result)

Stream operator to print information about a ConnectionResult.

Parameters

std::ostream& str -
const ConnectionResult& result -

Returns

MAVSDK_PUBLIC std::ostream & - A reference to the stream.

operator==()

#include: math_utils.hpp

cpp

MAVSDK_PUBLIC bool mavsdk::operator==(const Quaternion &lhs, const Quaternion &rhs)

Equality comparison for Quaternion. NaN-aware: two NaN components compare equal.

Parameters

const Quaternion& lhs -
const Quaternion& rhs -

Returns

MAVSDK_PUBLIC bool -

operator==()

#include: math_utils.hpp

cpp

MAVSDK_PUBLIC bool mavsdk::operator==(const EulerAngle &lhs, const EulerAngle &rhs)

Equality comparison for EulerAngle. NaN-aware: two NaN components compare equal.

Parameters

const EulerAngle& lhs -
const EulerAngle& rhs -

Returns

MAVSDK_PUBLIC bool -

to_euler_angle_from_quaternion()

#include: math_utils.hpp

cpp

MAVSDK_PUBLIC EulerAngle mavsdk::to_euler_angle_from_quaternion(Quaternion quaternion)

Convert a Quaternion to EulerAngle in degrees (ZYX Tait-Bryan).

The argument to asinf is clamped to [-1, 1] so floating-point rounding cannot drive the pitch to NaN at gimbal lock.

Parameters

Quaternion quaternion - Input Quaternion (does not need to be exactly normalised).

Returns

MAVSDK_PUBLIC EulerAngle - EulerAngle with roll, pitch, yaw in degrees.

to_quaternion_from_euler_angle()

#include: math_utils.hpp

cpp

MAVSDK_PUBLIC Quaternion mavsdk::to_quaternion_from_euler_angle(EulerAngle euler_angle)

Convert an EulerAngle (degrees) to a Quaternion (ZYX Tait-Bryan).

Parameters

EulerAngle euler_angle - Input EulerAngle in degrees.

Returns

MAVSDK_PUBLIC Quaternion - Normalised Quaternion.

operator*()

#include: math_utils.hpp

cpp

MAVSDK_PUBLIC Quaternion mavsdk::operator*(const Quaternion &lhs, const Quaternion &rhs)

Hamilton product of two Quaternions; composes rotations.

(lhs * rhs) applies rhs first, then lhs.

Parameters

const Quaternion& lhs - Left-hand side Quaternion.
const Quaternion& rhs - Right-hand side Quaternion.

Returns

MAVSDK_PUBLIC Quaternion - Composed Quaternion.

to_rad_from_deg()

#include: math_utils.hpp

cpp

constexpr T mavsdk::to_rad_from_deg(T deg)

Convert degrees to radians.

Parameters

T deg - Angle in degrees.

Returns

constexpr T - Angle in radians.

to_deg_from_rad()

#include: math_utils.hpp

cpp

constexpr T mavsdk::to_deg_from_rad(T rad)

Convert radians to degrees.

Parameters

T rad - Angle in radians.

Returns

constexpr T - Angle in degrees.

constrain()

#include: math_utils.hpp

cpp

constexpr T mavsdk::constrain(T input, T min, T max)

Clamp a value to a closed interval [min, max].

Parameters

T input - Value to clamp.
T min - Lower bound (inclusive).
T max - Upper bound (inclusive).

Returns

constexpr T - input clamped to [min, max].

overloaded()

#include: overloaded.hpp

cpp

mavsdk::overloaded(Ts...) -> overloaded< Ts... >

Template deduction helper for overloaded

Parameters

Ts... -

operator<<()

#include: vehicle.hpp

cpp

std::ostream & mavsdk::operator<<(std::ostream &os, const Vehicle &vehicle)

Stream operator to print information about a Vehicle.

Parameters

std::ostream& os -
const Vehicle& vehicle -

Returns

std::ostream & - A reference to the stream.

to_vehicle_from_mav_type()

#include: vehicle.hpp

cpp

Vehicle mavsdk::to_vehicle_from_mav_type(MAV_TYPE type)

Convert a 'MAV_TYPE' to a Vehicle.

Parameters

MAV_TYPE type -

Returns

Vehicle - The corresponding Vehicle.

class ActionServer

class Calibration

class Camera

class CameraServer

class ComponentMetadata

class ComponentMetadataServer

class Events

class FollowMe

class Ftp

class Geofence

class geometry::CoordinateTransformation

class Gimbal

class Info

class LogFiles

class LogStreaming

class MavlinkDirect

class MavlinkPassthrough

class Mavsdk

class Mission

class MissionRaw

class MissionRawServer

class Mocap

class Offboard

class Param

class ParamServer

class Rtk

class Telemetry

class TelemetryServer

class Transponder

class Tune

class Winch

mavsdk Namespace Reference ​

Data Structures ​

Enumerations ​

Functions ​

Enumeration Type Documentation ​

enum Autopilot ​

enum CompatibilityMode ​

enum ComponentType ​

enum ConnectionResult ​

enum ForwardingOption ​

enum Vehicle ​

Function Documentation ​

operator<<() ​

base64_encode() ​

base64_decode() ​

operator<<() ​

to_string() ​

operator<<() ​

operator==() ​

operator==() ​

to_euler_angle_from_quaternion() ​

to_quaternion_from_euler_angle() ​

operator*() ​

to_rad_from_deg() ​

to_deg_from_rad() ​

constrain() ​

overloaded() ​

operator<<() ​

to_vehicle_from_mav_type() ​

mavsdk Namespace Reference

Data Structures

Enumerations

Functions

Enumeration Type Documentation

enum Autopilot

enum CompatibilityMode

enum ComponentType

enum ConnectionResult

enum ForwardingOption

enum Vehicle

Function Documentation

operator<<()

base64_encode()

base64_decode()

operator<<()

to_string()

operator<<()

operator==()

operator==()

to_euler_angle_from_quaternion()

to_quaternion_from_euler_angle()

operator*()

to_rad_from_deg()

to_deg_from_rad()

constrain()

overloaded()

operator<<()

to_vehicle_from_mav_type()