mavsdk::MissionRaw Class Reference

#include: mission_raw.h

Enable raw missions as exposed by MAVLink.

Data Structures

struct MissionItem

struct MissionProgress

Public Types

Public Member Functions

Constructor & Destructor Documentation

MissionRaw()

mavsdk::MissionRaw::MissionRaw(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto mission_raw = std::make_shared<MissionRaw>(system);

Parameters

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

~MissionRaw()

mavsdk::MissionRaw::~MissionRaw()

Destructor (internal use only).

MissionRaw()

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

Copy constructor (object is not copyable).

Parameters

• const MissionRaw& -

Member Typdef Documentation

typedef ResultCallback

using mavsdk::MissionRaw::ResultCallback =  std::function<void(Result)>

Callback type for asynchronous MissionRaw calls.

typedef DownloadMissionCallback

using mavsdk::MissionRaw::DownloadMissionCallback =  std::function<void(Result, std::vector<MissionItem>)>

Callback type for download_mission_async.

typedef MissionProgressCallback

using mavsdk::MissionRaw::MissionProgressCallback =  std::function<void(MissionProgress)>

Callback type for subscribe_mission_progress.

typedef MissionChangedCallback

using mavsdk::MissionRaw::MissionChangedCallback =  std::function<void(bool)>

Callback type for subscribe_mission_changed.

Member Enumeration Documentation

enum Result

Possible results returned for action requests.

Member Function Documentation

upload_mission_async()

void mavsdk::MissionRaw::upload_mission_async(std::vector< MissionItem > mission_items, const ResultCallback callback)

Upload a list of raw mission items to the system.

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

This function is non-blocking. See 'upload_mission' for the blocking counterpart.

Parameters

• std::vector< MissionItem > mission_items -
• const ResultCallback callback -

upload_mission()

Result mavsdk::MissionRaw::upload_mission(std::vector< MissionItem > mission_items) const

Upload a list of raw mission items to the system.

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

This function is blocking. See 'upload_mission_async' for the non-blocking counterpart.

Parameters

• std::vector< MissionItem > mission_items -

Returns

 Result - Result of request.

cancel_mission_upload()

Result mavsdk::MissionRaw::cancel_mission_upload() const

Cancel an ongoing mission upload.

This function is blocking.

Returns

 Result - Result of request.

download_mission_async()

void mavsdk::MissionRaw::download_mission_async(const DownloadMissionCallback callback)

Download a list of raw mission items from the system (asynchronous).

This function is non-blocking. See 'download_mission' for the blocking counterpart.

Parameters

• const DownloadMissionCallback callback -

download_mission()

std::pair<Result, std::vector<MissionRaw::MissionItem> > mavsdk::MissionRaw::download_mission() const

Download a list of raw mission items from the system (asynchronous).

This function is blocking. See 'download_mission_async' for the non-blocking counterpart.

Returns

 std::pair< Result, std::vector< MissionRaw::MissionItem > > - Result of request.

cancel_mission_download()

Result mavsdk::MissionRaw::cancel_mission_download() const

Cancel an ongoing mission download.

This function is blocking.

Returns

 Result - Result of request.

start_mission_async()

void mavsdk::MissionRaw::start_mission_async(const ResultCallback callback)

Start the mission.

A mission must be uploaded to the vehicle before this can be called.

This function is non-blocking. See 'start_mission' for the blocking counterpart.

Parameters

• const ResultCallback callback -

start_mission()

Result mavsdk::MissionRaw::start_mission() const

Start the mission.

A mission must be uploaded to the vehicle before this can be called.

This function is blocking. See 'start_mission_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

pause_mission_async()

void mavsdk::MissionRaw::pause_mission_async(const ResultCallback callback)

Pause the mission.

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.

This function is non-blocking. See 'pause_mission' for the blocking counterpart.

Parameters

• const ResultCallback callback -

pause_mission()

Result mavsdk::MissionRaw::pause_mission() const

Pause the mission.

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.

This function is blocking. See 'pause_mission_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

clear_mission_async()

void mavsdk::MissionRaw::clear_mission_async(const ResultCallback callback)

Clear the mission saved on the vehicle.

This function is non-blocking. See 'clear_mission' for the blocking counterpart.

Parameters

• const ResultCallback callback -

clear_mission()

Result mavsdk::MissionRaw::clear_mission() const

Clear the mission saved on the vehicle.

This function is blocking. See 'clear_mission_async' for the non-blocking counterpart.

Returns

 Result - Result of request.

set_current_mission_item_async()

void mavsdk::MissionRaw::set_current_mission_item_async(int32_t index, const ResultCallback callback)

Sets the raw mission item index to go to.

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

This function is non-blocking. See 'set_current_mission_item' for the blocking counterpart.

Parameters

• int32_t index -
• const ResultCallback callback -

set_current_mission_item()

Result mavsdk::MissionRaw::set_current_mission_item(int32_t index) const

Sets the raw mission item index to go to.

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

This function is blocking. See 'set_current_mission_item_async' for the non-blocking counterpart.

Parameters

• int32_t index -

Returns

 Result - Result of request.

subscribe_mission_progress()

void mavsdk::MissionRaw::subscribe_mission_progress(MissionProgressCallback callback)

Subscribe to mission progress updates.

Parameters

• MissionProgressCallback callback -

mission_progress()

MissionProgress mavsdk::MissionRaw::mission_progress() const

Poll for 'MissionProgress' (blocking).

Returns

 MissionProgress - One MissionProgress update.

subscribe_mission_changed()

void mavsdk::MissionRaw::subscribe_mission_changed(MissionChangedCallback callback)

• Subscribes to mission changed.

This notification can be used to be informed if a ground station has been uploaded or changed by a ground station or companion computer.

Parameters

• MissionChangedCallback callback - Callback to notify about change.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const MissionRaw& -

Returns

 const MissionRaw & -