mavsdk::Mission Class Reference

#include: mission.h

The Mission class enables waypoint missions.

Public Types

Public Member Functions

Static Public Member Functions

Constructor & Destructor Documentation

Mission()

mavsdk::Mission::Mission(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto mission = std::make_shared<Mission>(system);

Parameters

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

~Mission()

mavsdk::Mission::~Mission()

Destructor (internal use only).

Mission()

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

Copy constructor (object is not copyable).

Parameters

• const Mission& -

Member Typdef Documentation

typedef result_callback_t

typedef std::function<void(Result)> mavsdk::Mission::result_callback_t

Callback type for async mission calls.

typedef mission_items_t

typedef std::vector<std::shared_ptr<MissionItem> > mavsdk::Mission::mission_items_t

Type for vector of mission items.

typedef mission_items_and_result_callback_t

typedef std::function<void(Result, std::vector<std::shared_ptr<MissionItem> >)> mavsdk::Mission::mission_items_and_result_callback_t

Callback type for download_mission_async() call to get mission items and result.

typedef progress_callback_t

typedef std::function<void(int current, int total)> mavsdk::Mission::progress_callback_t

Callback type to receive mission progress.

The mission is finished if current == total.

Parameters

• current - Current mission item index (0 based).
• total - Total number of mission items.

Member Enumeration Documentation

enum Result

Possible results returned for mission requests.

Member Function Documentation

upload_mission_async()

void mavsdk::Mission::upload_mission_async(const std::vector< std::shared_ptr< MissionItem >> &mission_items, result_callback_t callback)

Uploads a vector of mission items to the system (asynchronous).

The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if a connection is lost.

Parameters

• const std::vector< std::shared_ptr< MissionItem >>& mission_items - Reference to vector of mission items.
• result_callback_t callback - Callback to receive result of this request.

upload_mission_cancel()

void mavsdk::Mission::upload_mission_cancel()

Cancel a mission upload (asynchronous).

This cancels an ongoing mission upload. The mission upload will fail with the result Result::CANCELLED.

download_mission_async()

void mavsdk::Mission::download_mission_async(mission_items_and_result_callback_t callback)

Downloads a vector of mission items from the system (asynchronous).

The method will fail if any of the downloaded mission items are not supported by the MAVSDK API.

Parameters

• mission_items_and_result_callback_t callback - Callback to receive mission items and result of this request.

download_mission_cancel()

void mavsdk::Mission::download_mission_cancel()

Cancel a mission download (asynchronous).

This cancels an ongoing mission download. The mission download will fail with the result Result::CANCELLED.

set_return_to_launch_after_mission()

void mavsdk::Mission::set_return_to_launch_after_mission(bool enable)

Set whether to trigger Return-to-Launch (RTL) after mission is complete.

This enables/disables to command RTL at the end of a mission.

After setting this option, the mission needs to be re-uploaded.

Parameters

• bool enable - Enables RTL after mission is complete.

get_return_to_launch_after_mission()

bool mavsdk::Mission::get_return_to_launch_after_mission()

Get whether to trigger Return-to-Launch (RTL) after mission is complete.

Before getting this option, it needs to be set, or a mission needs to be downloaded.

Returns

 bool - True if RTL after mission is complete is enabled.

start_mission_async()

void mavsdk::Mission::start_mission_async(result_callback_t callback)

Starts the mission (asynchronous).

Note that the mission must be uploaded to the vehicle using upload_mission_async() before this method is called.

Parameters

• result_callback_t callback - callback to receive result of this request.

pause_mission_async()

void mavsdk::Mission::pause_mission_async(result_callback_t callback)

Pauses the mission (asynchronous).

Pausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.

Parameters

• result_callback_t callback - Callback to receive result of this request.

clear_mission_async()

void mavsdk::Mission::clear_mission_async(result_callback_t callback)

Clears the mission saved on the vehicle (asynchronous).

Parameters

• result_callback_t callback - Callback to receive result of this request.

set_current_mission_item_async()

void mavsdk::Mission::set_current_mission_item_async(int current, result_callback_t callback)

Sets the mission item index to go to (asynchronous).

By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a mission item, the mission will be set to this item.

Note that this is not necessarily true for general missions using MAVLink if loop counters are used.

Parameters

• int current - Index for mission index to go to next (0 based).
• result_callback_t callback - Callback to receive result of this request.

mission_finished()

bool mavsdk::Mission::mission_finished() const

Checks if mission has been finished (synchronous).

Returns

 bool - true if mission is finished and the last mission item has been reached.

current_mission_item()

int mavsdk::Mission::current_mission_item() const

Returns the current mission item index (synchronous).

If the mission is finished, the current mission item will be the total number of mission items (so the last mission item index + 1).

Returns

 int - current mission item index (0 based).

total_mission_items()

int mavsdk::Mission::total_mission_items() const

Returns the total number of mission items (synchronous).

Returns

 int - total number of mission items

subscribe_progress()

void mavsdk::Mission::subscribe_progress(progress_callback_t callback)

Subscribes to mission progress (asynchronous).

Parameters

• progress_callback_t callback - Callback to receive mission progress.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const Mission& -

Returns

 const Mission & -

result_str()

static const char* mavsdk::Mission::result_str(Result result)

Gets a human-readable English string for an Mission::Result.

Parameters

• Result result - Enum for which string is required.

Returns

 const char * - Human readable string for the Mission::Result.

import_qgroundcontrol_mission()

static Result mavsdk::Mission::import_qgroundcontrol_mission(mission_items_t &mission_items, const std::string &qgc_plan_file)

Imports a QGroundControl (QGC) mission plan.

The method composes the plan into a vector of MissionItem shared pointers that can then be uploaded to a vehicle. The method will fail if any of the imported mission items are not supported by the MAVSDK API.

Parameters

• mission_items_t& mission_items - Vector of mission items imported from QGC plan.
• const std::string& qgc_plan_file - File path of the QGC plan.

Returns

 Result - Result::SUCCESS if successful in importing QGC mission items. Otherwise one of the error codes: Result::FAILED_TO_OPEN_QGC_PLAN, Result::FAILED_TO_PARSE_QGC_PLAN, Result::UNSUPPORTED_MISSION_CMD.

See Also:

• QGroundControl Plan file format (QGroundControl Dev Guide)