mavsdk::Telemetry Class Reference

#include: telemetry.h

This class allows users to get vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates.

Data Structures

struct AccelerationNED

struct ActuatorControlTarget

struct ActuatorOutputStatus

struct AngularVelocityBody

struct AngularVelocityNED

struct Battery

struct EulerAngle

struct GPSInfo

struct GroundSpeedNED

struct Health

struct IMUReadingNED

struct MagneticFieldNED

struct Odometry

struct Position

struct PositionBody

struct PositionNED

struct PositionVelocityNED

struct Quaternion

struct RCStatus

struct SpeedBody

struct StatusText

struct VelocityNED

Public Types

Public Member Functions

Static Public Member Functions

Constructor & Destructor Documentation

Telemetry()

mavsdk::Telemetry::Telemetry(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto telemetry = std::make_shared<Telemetry>(system);

Parameters

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

~Telemetry()

mavsdk::Telemetry::~Telemetry()

Destructor (internal use only).

Telemetry()

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

Copy constructor (object is not copyable).

Parameters

• const Telemetry& -

Member Typdef Documentation

typedef result_callback_t

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

Callback type for telemetry requests.

typedef position_velocity_ned_callback_t

typedef std::function<void(PositionVelocityNED)> mavsdk::Telemetry::position_velocity_ned_callback_t

Callback type for kinematic (position and velocity) updates.

typedef position_callback_t

typedef std::function<void(Position)> mavsdk::Telemetry::position_callback_t

Callback type for position updates.

typedef in_air_callback_t

typedef std::function<void(bool in_air)> mavsdk::Telemetry::in_air_callback_t

Callback type for in-air updates.

Parameters

• in_air - true if in-air (flying) and not on-ground (landed).

typedef status_text_callback_t

typedef std::function<void(StatusText status_text)> mavsdk::Telemetry::status_text_callback_t

Callback for mavlink status text updates.

Parameters

• status - text with message type and text.

typedef armed_callback_t

typedef std::function<void(bool armed)> mavsdk::Telemetry::armed_callback_t

Callback type for armed updates (asynchronous).

Parameters

• armed - true if armed (motors spinning).

typedef attitude_quaternion_callback_t

typedef std::function<void(Quaternion quaternion)> mavsdk::Telemetry::attitude_quaternion_callback_t

Callback type for attitude updates in quaternion.

Parameters

• quaternion - Attitude quaternion.

typedef attitude_euler_angle_callback_t

typedef std::function<void(EulerAngle euler_angle)> mavsdk::Telemetry::attitude_euler_angle_callback_t

Callback type for attitude updates in Euler angles.

Parameters

• euler_angle - Attitude Euler angle.

typedef attitude_angular_velocity_body_callback_t

typedef std::function<void(AngularVelocityBody angular_velocity_body)> mavsdk::Telemetry::attitude_angular_velocity_body_callback_t

Callback type for angular velocity updates in quaternion.

Parameters

• angular_velocity_body - Angular velocity.

typedef ground_speed_ned_callback_t

typedef std::function<void(GroundSpeedNED ground_speed_ned)> mavsdk::Telemetry::ground_speed_ned_callback_t

Callback type for ground speed (NED) updates.

Parameters

• ground_speed_ned - Ground speed (NED).

typedef imu_reading_ned_callback_t

typedef std::function<void(IMUReadingNED imu_reading_ned)> mavsdk::Telemetry::imu_reading_ned_callback_t

Callback type for IMU (NED) updates.

Parameters

• imu_reading_ned - IMU reading (NED).

typedef gps_info_callback_t

typedef std::function<void(GPSInfo gps_info)> mavsdk::Telemetry::gps_info_callback_t

Callback type for GPS information updates.

Parameters

• gps_info - GPS information.

typedef battery_callback_t

typedef std::function<void(Battery battery)> mavsdk::Telemetry::battery_callback_t

Callback type for battery status updates.

Parameters

• battery - Battery status.

typedef flight_mode_callback_t

typedef std::function<void(FlightMode flight_mode)> mavsdk::Telemetry::flight_mode_callback_t

Callback type for flight mode updates.

Parameters

• flight_mode - Flight mode.

typedef health_callback_t

typedef std::function<void(Health health)> mavsdk::Telemetry::health_callback_t

Callback type for health status updates.

Parameters

• health - health flags.

typedef health_all_ok_callback_t

typedef std::function<void(bool health_all_ok)> mavsdk::Telemetry::health_all_ok_callback_t

Callback type for health status updates.

Parameters

• health_all_ok - If all health flags are ok.

typedef landed_state_callback_t

typedef std::function<void(LandedState landed_state)> mavsdk::Telemetry::landed_state_callback_t

Callback type for landed state updates.

Parameters

• LandedState - enumeration.

typedef rc_status_callback_t

typedef std::function<void(RCStatus rc_status)> mavsdk::Telemetry::rc_status_callback_t

Callback type for RC status updates.

Parameters

• rc_status - RC status.

typedef unix_epoch_time_callback_t

typedef std::function<void(uint64_t time_us)> mavsdk::Telemetry::unix_epoch_time_callback_t

Callback type for Unix Epoch Time updates.

Parameters

• uint64_t - Epoch time [us].

typedef actuator_control_target_callback_t

typedef std::function<void(ActuatorControlTarget actuator_control_target)> mavsdk::Telemetry::actuator_control_target_callback_t

Callback type for actuator control target updates (asynchronous).

Parameters

• actuator_control_target - Actuator control target.

typedef actuator_output_status_callback_t

typedef std::function<void(ActuatorOutputStatus actuator_output_status)> mavsdk::Telemetry::actuator_output_status_callback_t

Callback type for actuator output status target updates (asynchronous).

Parameters

• callback - Function to call with updates.

typedef odometry_callback_t

typedef std::function<void(Odometry odometry)> mavsdk::Telemetry::odometry_callback_t

Callback type for odometry updates (asynchronous).

Parameters

• callback - Function to call with updates.

Member Enumeration Documentation

enum FlightMode

Flight modes.

For more information about flight modes, check out https://docs.px4.io/en/config/flight_mode.html.

enum LandedState

LandedState. Enumeration of landed detector states.

enum Result

Results enum for telemetry requests.

Member Function Documentation

set_rate_position_velocity_ned()

Result mavsdk::Telemetry::set_rate_position_velocity_ned(double rate_hz)

Set rate of kinematic (position and velocity) updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

See Also:

• PositionVelocityNED

set_rate_position()

Result mavsdk::Telemetry::set_rate_position(double rate_hz)

Set rate of position updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_home_position()

Result mavsdk::Telemetry::set_rate_home_position(double rate_hz)

Set rate of home position updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_in_air()

Result mavsdk::Telemetry::set_rate_in_air(double rate_hz)

Set rate of in-air status updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_attitude()

Result mavsdk::Telemetry::set_rate_attitude(double rate_hz)

Set rate of attitude updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_camera_attitude()

Result mavsdk::Telemetry::set_rate_camera_attitude(double rate_hz)

Set rate of camera attitude updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_ground_speed_ned()

Result mavsdk::Telemetry::set_rate_ground_speed_ned(double rate_hz)

Set rate of ground speed (NED) updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_imu_reading_ned()

Result mavsdk::Telemetry::set_rate_imu_reading_ned(double rate_hz)

Set rate of IMU reading (NED) updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_gps_info()

Result mavsdk::Telemetry::set_rate_gps_info(double rate_hz)

Set rate of GPS information updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_battery()

Result mavsdk::Telemetry::set_rate_battery(double rate_hz)

Set rate of battery status updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_rc_status()

Result mavsdk::Telemetry::set_rate_rc_status(double rate_hz)

Set rate of RC status updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_actuator_control_target()

Result mavsdk::Telemetry::set_rate_actuator_control_target(double rate_hz)

Set rate of actuator controls updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_actuator_output_status()

Result mavsdk::Telemetry::set_rate_actuator_output_status(double rate_hz)

Set rate of actuator output status updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_odometry()

Result mavsdk::Telemetry::set_rate_odometry(double rate_hz)

Set rate of odometry updates (synchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.

Returns

 Result - Result of request.

set_rate_position_velocity_ned_async()

void mavsdk::Telemetry::set_rate_position_velocity_ned_async(double rate_hz, result_callback_t callback)

Set rate of kinematic (position and velocity) updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

See Also:

• PositionVelocityNED

set_rate_position_async()

void mavsdk::Telemetry::set_rate_position_async(double rate_hz, result_callback_t callback)

Set rate of position updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_rate_home_position_async()

void mavsdk::Telemetry::set_rate_home_position_async(double rate_hz, result_callback_t callback)

Set rate of home position updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_rate_in_air_async()

void mavsdk::Telemetry::set_rate_in_air_async(double rate_hz, result_callback_t callback)

Set rate of in-air status updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_rate_attitude_async()

void mavsdk::Telemetry::set_rate_attitude_async(double rate_hz, result_callback_t callback)

Set rate of attitude updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_rate_camera_attitude_async()

void mavsdk::Telemetry::set_rate_camera_attitude_async(double rate_hz, result_callback_t callback)

Set rate of camera attitude updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_rate_ground_speed_ned_async()

void mavsdk::Telemetry::set_rate_ground_speed_ned_async(double rate_hz, result_callback_t callback)

Set rate of ground speed (NED) updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_rate_imu_reading_ned_async()

void mavsdk::Telemetry::set_rate_imu_reading_ned_async(double rate_hz, result_callback_t callback)

Set rate of IMU reading (NED) updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Cabllback to receive request result.

set_rate_gps_info_async()

void mavsdk::Telemetry::set_rate_gps_info_async(double rate_hz, result_callback_t callback)

Set rate of GPS information updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_rate_battery_async()

void mavsdk::Telemetry::set_rate_battery_async(double rate_hz, result_callback_t callback)

Set rate of battery status updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_rate_rc_status_async()

void mavsdk::Telemetry::set_rate_rc_status_async(double rate_hz, result_callback_t callback)

Set rate of RC status updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_rate_actuator_control_target_async()

void mavsdk::Telemetry::set_rate_actuator_control_target_async(double rate_hz, result_callback_t callback)

Set rate of actuator control target updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_rate_actuator_output_status_async()

void mavsdk::Telemetry::set_rate_actuator_output_status_async(double rate_hz, result_callback_t callback)

Set rate of actuator control target updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_rate_odometry_async()

void mavsdk::Telemetry::set_rate_odometry_async(double rate_hz, result_callback_t callback)

Set rate of odometry updates (asynchronous).

To stop sending it completely, use a rate_hz of -1, for default rate use 0.

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

set_unix_epoch_time_async()

void mavsdk::Telemetry::set_unix_epoch_time_async(double rate_hz, result_callback_t callback)

Set rate of Unix Epoch Time update (asynchronous).

Parameters

• double rate_hz - Rate in Hz.
• result_callback_t callback - Callback to receive request result.

position_velocity_ned()

PositionVelocityNED mavsdk::Telemetry::position_velocity_ned() const

Get the current kinematic (position and velocity) in NED frame (synchronous).

Returns

 PositionVelocityNED - PositionVelocityNED.

position()

Position mavsdk::Telemetry::position() const

Get the current position (synchronous).

Returns

 Position - Position.

home_position()

Position mavsdk::Telemetry::home_position() const

Get the home position (synchronous).

Returns

 Position - Home position.

status_text()

StatusText mavsdk::Telemetry::status_text() const

Get status text (synchronous).

Returns

 StatusText - Status text.

in_air()

bool mavsdk::Telemetry::in_air() const

Get the in-air status (synchronous).

Returns

 bool - true if in-air (flying) and not on-ground (landed).

landed_state()

LandedState mavsdk::Telemetry::landed_state() const

Get the landed state status (synchronous).

Returns

 LandedState - Landed state.

armed()

bool mavsdk::Telemetry::armed() const

Get the arming status (synchronous).

Returns

 bool - true if armed (propellers spinning).

attitude_quaternion()

Quaternion mavsdk::Telemetry::attitude_quaternion() const

Get the current attitude in quaternions (synchronous).

Returns

 Quaternion - Attitude as quaternion.

attitude_euler_angle()

EulerAngle mavsdk::Telemetry::attitude_euler_angle() const

Get the current attitude in Euler angles (synchronous).

Returns

 EulerAngle - Attitude as Euler angle.

attitude_angular_velocity_body()

AngularVelocityBody mavsdk::Telemetry::attitude_angular_velocity_body() const

Get the current angular speed in rad/s (synchronous).

Returns

 AngularVelocityBody - Angular speed.

camera_attitude_quaternion()

Quaternion mavsdk::Telemetry::camera_attitude_quaternion() const

Get the camera's attitude in quaternions (synchronous).

Note that the yaw component of attitude is relative to North (absolute frame).

Returns

 Quaternion - Camera's attitude as quaternion.

camera_attitude_euler_angle()

EulerAngle mavsdk::Telemetry::camera_attitude_euler_angle() const

Get the camera's attitude in Euler angles (synchronous).

Note that the yaw component of attitude is relative to North (absolute frame).

Returns

 EulerAngle - Camera's attitude as Euler angle.

ground_speed_ned()

GroundSpeedNED mavsdk::Telemetry::ground_speed_ned() const

Get the current ground speed (NED) (synchronous).

Returns

 GroundSpeedNED - Ground speed in NED.

imu_reading_ned()

IMUReadingNED mavsdk::Telemetry::imu_reading_ned() const

Get the current IMU reading (NED) (synchronous).

Returns

 IMUReadingNED - IMU reading in NED.

gps_info()

GPSInfo mavsdk::Telemetry::gps_info() const

Get the current GPS information (synchronous).

Returns

 GPSInfo - GPS information.

battery()

Battery mavsdk::Telemetry::battery() const

Get the current battery status (synchronous).

Returns

 Battery -

flight_mode()

FlightMode mavsdk::Telemetry::flight_mode() const

Get the current flight mode (synchronous).

Returns

 FlightMode - Flight mode.

health()

Health mavsdk::Telemetry::health() const

Get the current health status (synchronous).

Returns

 Health - Health status.

health_all_ok()

bool mavsdk::Telemetry::health_all_ok() const

Returns true if the overall health is ok (synchronous).

Returns

 bool - True if all health flags are OK.

rc_status()

RCStatus mavsdk::Telemetry::rc_status() const

Get the RC status (synchronous).

Returns

 RCStatus - RC status.

actuator_control_target()

ActuatorControlTarget mavsdk::Telemetry::actuator_control_target() const

Get the actuator control target (synchronous).

Returns

 ActuatorControlTarget - Actuator control target

actuator_output_status()

ActuatorOutputStatus mavsdk::Telemetry::actuator_output_status() const

Get the actuator output status (synchronous).

Returns

 ActuatorOutputStatus - Actuator output status

position_velocity_ned_async()

void mavsdk::Telemetry::position_velocity_ned_async(position_velocity_ned_callback_t callback)

Subscribe to kinematic (position and velocity) updates (asynchronous).

Parameters

• position_velocity_ned_callback_t callback - Function to call with updates.

position_async()

void mavsdk::Telemetry::position_async(position_callback_t callback)

Subscribe to position updates (asynchronous).

Parameters

• position_callback_t callback - Function to call with updates.

home_position_async()

void mavsdk::Telemetry::home_position_async(position_callback_t callback)

Subscribe to home position updates (asynchronous).

Parameters

• position_callback_t callback - Function to call with updates.

in_air_async()

void mavsdk::Telemetry::in_air_async(in_air_callback_t callback)

Subscribe to in-air updates (asynchronous).

Parameters

• in_air_callback_t callback - Function to call with updates.

status_text_async()

void mavsdk::Telemetry::status_text_async(status_text_callback_t callback)

Subscribe to status text updates (asynchronous).

Parameters

• status_text_callback_t callback - Function to call with updates.

armed_async()

void mavsdk::Telemetry::armed_async(armed_callback_t callback)

Subscribe to armed updates (asynchronous).

Note that armed updates are limited to 1Hz.

Parameters

• armed_callback_t callback - Function to call with updates.

attitude_quaternion_async()

void mavsdk::Telemetry::attitude_quaternion_async(attitude_quaternion_callback_t callback)

Subscribe to attitude updates in quaternion (asynchronous).

Parameters

• attitude_quaternion_callback_t callback - Function to call with updates.

attitude_euler_angle_async()

void mavsdk::Telemetry::attitude_euler_angle_async(attitude_euler_angle_callback_t callback)

Subscribe to attitude updates in Euler angles (asynchronous).

Parameters

• attitude_euler_angle_callback_t callback - Function to call with updates.

attitude_angular_velocity_body_async()

void mavsdk::Telemetry::attitude_angular_velocity_body_async(attitude_angular_velocity_body_callback_t callback)

Subscribe to attitude updates in angular velocity (asynchronous).

Parameters

• attitude_angular_velocity_body_callback_t callback - Function to call with updates.

camera_attitude_quaternion_async()

void mavsdk::Telemetry::camera_attitude_quaternion_async(attitude_quaternion_callback_t callback)

Subscribe to camera attitude updates in quaternion (asynchronous).

Parameters

• attitude_quaternion_callback_t callback - Function to call with updates.

camera_attitude_euler_angle_async()

void mavsdk::Telemetry::camera_attitude_euler_angle_async(attitude_euler_angle_callback_t callback)

Subscribe to camera attitude updates in Euler angles (asynchronous).

Parameters

• attitude_euler_angle_callback_t callback - Function to call with updates.

ground_speed_ned_async()

void mavsdk::Telemetry::ground_speed_ned_async(ground_speed_ned_callback_t callback)

Subscribe to ground speed (NED) updates (asynchronous).

Parameters

• ground_speed_ned_callback_t callback - Function to call with updates.

imu_reading_ned_async()

void mavsdk::Telemetry::imu_reading_ned_async(imu_reading_ned_callback_t callback)

Subscribe to IMU reading (NED) updates (asynchronous).

Parameters

• imu_reading_ned_callback_t callback - function to call with updates.

gps_info_async()

void mavsdk::Telemetry::gps_info_async(gps_info_callback_t callback)

Subscribe to GPS information updates (asynchronous).

Parameters

• gps_info_callback_t callback - Function to call with updates.

battery_async()

void mavsdk::Telemetry::battery_async(battery_callback_t callback)

Subscribe to battery status updates (asynchronous).

Parameters

• battery_callback_t callback - Function to call with updates.

flight_mode_async()

void mavsdk::Telemetry::flight_mode_async(flight_mode_callback_t callback)

Subscribe to flight mode updates (asynchronous).

Note that flight mode updates are limited to 1Hz.

Parameters

• flight_mode_callback_t callback - Function to call with updates.

health_async()

void mavsdk::Telemetry::health_async(health_callback_t callback)

Subscribe to health status updates (asynchronous).

Note that health status updates are limited to 1Hz.

Parameters

• health_callback_t callback - Function to call with updates.

health_all_ok_async()

void mavsdk::Telemetry::health_all_ok_async(health_all_ok_callback_t callback)

Subscribe to overall health status updates (asynchronous).

Note that overall health status updates are limited to 1Hz.

Parameters

• health_all_ok_callback_t callback - Function to call with updates.

landed_state_async()

void mavsdk::Telemetry::landed_state_async(landed_state_callback_t callback)

Subscribe to Landed state updates (asynchronous).

Parameters

• landed_state_callback_t callback - Function to call with updates.

actuator_control_target_async()

void mavsdk::Telemetry::actuator_control_target_async(actuator_control_target_callback_t callback)

Subscribe to actuator control target updates (asynchronous).

Parameters

• actuator_control_target_callback_t callback - Function to call with updates.

actuator_output_status_async()

void mavsdk::Telemetry::actuator_output_status_async(actuator_output_status_callback_t callback)

Subscribe to actuator output status target updates (asynchronous).

Parameters

• actuator_output_status_callback_t callback - Function to call with updates.

odometry_async()

void mavsdk::Telemetry::odometry_async(odometry_callback_t callback)

Subscribe to odometry updates (asynchronous).

Parameters

• odometry_callback_t callback - Function to call with updates.

rc_status_async()

void mavsdk::Telemetry::rc_status_async(rc_status_callback_t callback)

Subscribe to RC status updates (asynchronous).

Parameters

• rc_status_callback_t callback - Function to call with updates.

unix_epoch_time_async()

void mavsdk::Telemetry::unix_epoch_time_async(unix_epoch_time_callback_t callback)

Subscribe to Unix Epoch Time updates (asynchronous).

Parameters

• unix_epoch_time_callback_t callback - Function to call with updates.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const Telemetry& -

Returns

 const Telemetry & -

flight_mode_str()

static std::string mavsdk::Telemetry::flight_mode_str(FlightMode flight_mode)

Get a human readable English string for a flight mode.

Parameters

• FlightMode flight_mode -

Returns

 std::string -

landed_state_str()

static std::string mavsdk::Telemetry::landed_state_str(LandedState landed_state)

Get a human readable English string for a landed state.

Parameters

• LandedState landed_state -

Returns

 std::string -

result_str()

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

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

Parameters

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

Returns

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