mavsdk::FollowMe Class Reference

#include: follow_me.h

This class enables vehicle tracking of a specified target (typically a ground station carried by a user).

The API is used to supply both the position(s) for the target and the relative follow position of the vehicle. Applications must get target position information from the underlying platform (or some other source).

See Also:

• Follow Me Mode (PX4 User Guide)

Data Structures

struct Config

struct TargetLocation

Public Types

Public Member Functions

Static Public Member Functions

Constructor & Destructor Documentation

FollowMe()

mavsdk::FollowMe::FollowMe(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto follow_me = std::make_shared<FollowMe>(system);

Parameters

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

~FollowMe()

mavsdk::FollowMe::~FollowMe()

Destructor (internal use only).

FollowMe()

mavsdk::FollowMe::FollowMe(const FollowMe &)=delete

Copy constructor (object is not copyable).

Parameters

• const FollowMe& -

Member Enumeration Documentation

enum Result

Results of FollowMe operations.

See Also:

• result_str()

Member Function Documentation

get_config()

const Config& mavsdk::FollowMe::get_config() const

Gets current FollowMe configuration.

Returns

 const Config & - Current FollowMe configuration.

See Also:

• set_config()

set_config()

Result mavsdk::FollowMe::set_config(const Config &config)

Applies FollowMe configuration by sending it to system.

Parameters

• const Config& config - FollowMe configuration to be applied.

Returns

 Result - FollowMe::Result::SUCCESS if configuration is applied successfully, FollowMe::Result::SET_CONFIG_FAILED on failure. In case of failure, last configuration is preserved.

See Also:

• get_config()

is_active()

bool mavsdk::FollowMe::is_active() const

Checks whether FollowMe is active.

Returns

 bool - true if FollowMe is active, false otherwise.

set_target_location()

void mavsdk::FollowMe::set_target_location(const TargetLocation &location)

Sets location of the moving target.

An app can obtain the location of the moving target from Location framework of the underlying platform.

The following links provide information about location services on different platforms:

• Android - https://developer.android.com/reference/android/location/Location.html

• Apple - https://developer.apple.com/documentation/corelocation

• Windows - https://docs.microsoft.com/en-us/uwp/api/Windows.Devices.Geolocation

Parameters

• const TargetLocation& location - Location of the moving target.

See Also:

• get_last_location()

get_last_location()

const TargetLocation& mavsdk::FollowMe::get_last_location() const

Returns the last location of the target.

Returns

 const TargetLocation & - Last location of the target.

See Also:

• set_target_location()

start()

FollowMe::Result mavsdk::FollowMe::start() const

Starts FollowMe mode.

Returns

 FollowMe::Result - FollowMe::Result::SUCCESS if succeeded, error otherwise.

stop()

FollowMe::Result mavsdk::FollowMe::stop() const

Stops FollowMe mode.

Returns

 FollowMe::Result - FollowMe::Result::SUCCESS if succeeded, error otherwise. See FollowMe::Result for error codes.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const FollowMe& -

Returns

 const FollowMe & -

result_str()

static std::string mavsdk::FollowMe::result_str(Result result)

Returns English string for FollowMe error codes.

Parameters

• Result result - Result code.

Returns

 std::string - Returns std::string describing error code.