mavsdk::Offboard Class Reference

#include: offboard.h

This class is used to control a drone with velocity commands.

The module is called offboard because the velocity commands can be sent from external sources as opposed to onboard control right inside the autopilot "board".

Client code must specify a setpoint before starting offboard mode. Mavsdk automatically resends setpoints at 20Hz (PX4 Offboard mode requires that setpoints are minimally resent at 2Hz). If more precise control is required, clients can call the setpoint methods at whatever rate is required.

Attention: this is work in progress, use with caution!

Data Structures

struct ActuatorControl

struct Attitude

struct AttitudeRate

struct PositionNEDYaw

struct VelocityBodyYawspeed

struct VelocityNEDYaw

Public Types

Public Member Functions

Static Public Member Functions

Constructor & Destructor Documentation

Offboard()

mavsdk::Offboard::Offboard(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto offboard = std::make_shared<Offboard>(system);

Parameters

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

~Offboard()

mavsdk::Offboard::~Offboard()

Destructor (internal use only).

Offboard()

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

Copy constructor (object is not copyable).

Parameters

• const Offboard& -

Member Typdef Documentation

typedef result_callback_t

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

Callback type for offboard requests.

Member Enumeration Documentation

enum Result

Results for offboard requests.

Member Function Documentation

start()

Offboard::Result mavsdk::Offboard::start()

Start offboard control (synchronous).

Attention: this is work in progress, use with caution!

Returns

 Offboard::Result - Result of request.

stop()

Offboard::Result mavsdk::Offboard::stop()

Stop offboard control (synchronous).

The vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html

Returns

 Offboard::Result - Result of request.

start_async()

void mavsdk::Offboard::start_async(result_callback_t callback)

Start offboard control (asynchronous).

Attention: This is work in progress, use with caution!

Parameters

• result_callback_t callback - Callback to receive request result.

stop_async()

void mavsdk::Offboard::stop_async(result_callback_t callback)

Stop offboard control (asynchronous).

The vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html

Parameters

• result_callback_t callback - Callback to receive request result.

is_active()

bool mavsdk::Offboard::is_active() const

Check if offboard control is active.

true means that the vehicle is in offboard mode and we are actively sending setpoints.

Returns

 bool - true if active

set_position_ned()

void mavsdk::Offboard::set_position_ned(PositionNEDYaw position_ned_yaw)

Set the position in NED coordinates and yaw.

Parameters

• PositionNEDYaw position_ned_yaw - Position and yaw struct.

set_velocity_ned()

void mavsdk::Offboard::set_velocity_ned(VelocityNEDYaw velocity_ned_yaw)

Set the velocity in NED coordinates and yaw.

Parameters

• VelocityNEDYaw velocity_ned_yaw - Velocity and yaw struct.

set_velocity_body()

void mavsdk::Offboard::set_velocity_body(VelocityBodyYawspeed velocity_body_yawspeed)

Set the velocity body coordinates and yaw angular rate.

Parameters

• VelocityBodyYawspeed velocity_body_yawspeed - Velocity and yaw angular rate struct.

set_attitude()

void mavsdk::Offboard::set_attitude(Attitude attitude)

Set the attitude in terms of roll, pitch and yaw in degrees with thrust in percentage.

Parameters

• Attitude attitude - roll, pitch and yaw in degrees along with thrust in percentage.

set_attitude_rate()

void mavsdk::Offboard::set_attitude_rate(AttitudeRate attitude_rate)

Set the attitude rate in terms of pitch, roll and yaw angular rate along with thrust in percentage.

Parameters

• AttitudeRate attitude_rate - roll, pitch and yaw angular rate along with thrust in percentage.

set_actuator_control()

void mavsdk::Offboard::set_actuator_control(const ActuatorControl actuator_control)

Set direct actuator control values to groups #0 and #1. First 8 controls will go to control group 0, the following 8 controls to control group 1 (if actuator_control.num_controls more than 8).

Parameters

• const ActuatorControl actuator_control - actuators control values

operator=()

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

Equality operator (object is not copyable).

Parameters

• const Offboard& -

Returns

 const Offboard & -

result_str()

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

Get human-readable English string for Offboard::Result.

Parameters

• Result result - The enum value for which a string is required.

Returns

 const char * - Human-readable string for enum value.