mavsdk::Calibration Class Reference
#include: calibration.h
Enable to calibrate sensors of a drone such as gyro, accelerometer, and magnetometer.
Data Structures
struct ProgressData
Public Types
| Type | Description |
|---|---|
| enum Result | Possible results returned for calibration commands. |
| std::function< void(Result)> ResultCallback | Callback type for asynchronous Calibration calls. |
| std::function< void(Calibration::Result, ProgressData)> CalibrateGyroCallback | Callback type for calibrate_gyro_async. |
| std::function< void(Calibration::Result, ProgressData)> CalibrateAccelerometerCallback | Callback type for calibrate_accelerometer_async. |
| std::function< void(Calibration::Result, ProgressData)> CalibrateMagnetometerCallback | Callback type for calibrate_magnetometer_async. |
| std::function< void(Calibration::Result, ProgressData)> CalibrateLevelHorizonCallback | Callback type for calibrate_level_horizon_async. |
| std::function< void(Calibration::Result, ProgressData)> CalibrateGimbalAccelerometerCallback | Callback type for calibrate_gimbal_accelerometer_async. |
Public Member Functions
| Type | Name | Description |
|---|---|---|
| Calibration (System & system) | Constructor. Creates the plugin for a specific System. | |
| Calibration (std::shared_ptr< System > system) | Constructor. Creates the plugin for a specific System. | |
| ~Calibration () | Destructor (internal use only). | |
| Calibration (const Calibration & other) | Copy constructor. | |
| void | calibrate_gyro_async (CalibrateGyroCallback callback) | Perform gyro calibration. |
| void | calibrate_accelerometer_async (CalibrateAccelerometerCallback callback) | Perform accelerometer calibration. |
| void | calibrate_magnetometer_async (CalibrateMagnetometerCallback callback) | Perform magnetometer calibration. |
| void | calibrate_level_horizon_async (CalibrateLevelHorizonCallback callback) | Perform board level horizon calibration. |
| void | calibrate_gimbal_accelerometer_async (CalibrateGimbalAccelerometerCallback callback) | Perform gimbal accelerometer calibration. |
| void | cancel () const | Cancel ongoing calibration process. |
| const Calibration & | operator= (const Calibration &)=delete | Equality operator (object is not copyable). |
Constructor & Destructor Documentation
Calibration()
mavsdk::Calibration::Calibration(System &system)
Constructor. Creates the plugin for a specific System.
The plugin is typically created as shown below:
auto calibration = Calibration(system);
Parameters
- System& system - The specific system associated with this plugin.
Calibration()
mavsdk::Calibration::Calibration(std::shared_ptr< System > system)
Constructor. Creates the plugin for a specific System.
The plugin is typically created as shown below:
auto calibration = Calibration(system);
Parameters
- std::shared_ptr< System > system - The specific system associated with this plugin.
~Calibration()
mavsdk::Calibration::~Calibration()
Destructor (internal use only).
Calibration()
mavsdk::Calibration::Calibration(const Calibration &other)
Copy constructor.
Parameters
- const Calibration& other -
Member Typdef Documentation
typedef ResultCallback
using mavsdk::Calibration::ResultCallback = std::function<void(Result)>
Callback type for asynchronous Calibration calls.
typedef CalibrateGyroCallback
using mavsdk::Calibration::CalibrateGyroCallback = std::function<void(Calibration::Result, ProgressData)>
Callback type for calibrate_gyro_async.
typedef CalibrateAccelerometerCallback
using mavsdk::Calibration::CalibrateAccelerometerCallback = std::function<void(Calibration::Result, ProgressData)>
Callback type for calibrate_accelerometer_async.
typedef CalibrateMagnetometerCallback
using mavsdk::Calibration::CalibrateMagnetometerCallback = std::function<void(Calibration::Result, ProgressData)>
Callback type for calibrate_magnetometer_async.
typedef CalibrateLevelHorizonCallback
using mavsdk::Calibration::CalibrateLevelHorizonCallback = std::function<void(Calibration::Result, ProgressData)>
Callback type for calibrate_level_horizon_async.
typedef CalibrateGimbalAccelerometerCallback
using mavsdk::Calibration::CalibrateGimbalAccelerometerCallback = std::function<void(Calibration::Result, ProgressData)>
Callback type for calibrate_gimbal_accelerometer_async.
Member Enumeration Documentation
enum Result
Possible results returned for calibration commands.
| Value | Description |
|---|---|
Unknown |
Unknown result. |
Success |
The calibration succeeded. |
Next |
Intermediate message showing progress or instructions on the next steps. |
Failed |
Calibration failed. |
NoSystem |
No system is connected. |
ConnectionError |
Connection error. |
Busy |
Vehicle is busy. |
CommandDenied |
Command refused by vehicle. |
Timeout |
Command timed out. |
Cancelled |
Calibration process was cancelled. |
FailedArmed |
Calibration process failed since the vehicle is armed. |
Member Function Documentation
calibrate_gyro_async()
void mavsdk::Calibration::calibrate_gyro_async(CalibrateGyroCallback callback)
Perform gyro calibration.
Parameters
- CalibrateGyroCallback callback -
calibrate_accelerometer_async()
void mavsdk::Calibration::calibrate_accelerometer_async(CalibrateAccelerometerCallback callback)
Perform accelerometer calibration.
Parameters
- CalibrateAccelerometerCallback callback -
calibrate_magnetometer_async()
void mavsdk::Calibration::calibrate_magnetometer_async(CalibrateMagnetometerCallback callback)
Perform magnetometer calibration.
Parameters
- CalibrateMagnetometerCallback callback -
calibrate_level_horizon_async()
void mavsdk::Calibration::calibrate_level_horizon_async(CalibrateLevelHorizonCallback callback)
Perform board level horizon calibration.
Parameters
- CalibrateLevelHorizonCallback callback -
calibrate_gimbal_accelerometer_async()
void mavsdk::Calibration::calibrate_gimbal_accelerometer_async(CalibrateGimbalAccelerometerCallback callback)
Perform gimbal accelerometer calibration.
Parameters
- CalibrateGimbalAccelerometerCallback callback -
cancel()
void mavsdk::Calibration::cancel() const
Cancel ongoing calibration process.
This function is blocking.
operator=()
const Calibration& mavsdk::Calibration::operator=(const Calibration &)=delete
Equality operator (object is not copyable).
Parameters
- const Calibration& -
Returns
const Calibration & -