mavsdk::System Class Reference

#include: system.h

This class represents a system, made up of one or more components (e.g. autopilot, cameras, servos, gimbals, etc).

System objects are used to interact with UAVs (including their components) and standalone cameras. They are not created directly by application code, but are returned by the Mavsdk class.

Data Structures

struct AutopilotVersion

Public Types

Public Member Functions

Constructor & Destructor Documentation

~System()

mavsdk::System::~System()

Destructor.

System()

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

Copy constructor (object is not copyable).

Parameters

• const System& -

Member Typdef Documentation

typedef IsConnectedCallback

using mavsdk::System::IsConnectedCallback =  std::function<void(bool)>

type for is connected callback.

typedef DiscoverCallback

using mavsdk::System::DiscoverCallback =  std::function<void(ComponentType)>

type for component discovery callback

typedef DiscoverIdCallback

using mavsdk::System::DiscoverIdCallback =  std::function<void(ComponentType, uint8_t)>

type for component discovery callback

Member Enumeration Documentation

enum ComponentType

Component Types.

Member Function Documentation

init()

void mavsdk::System::init(uint8_t system_id, uint8_t component_id, bool connected) const

Initialize the system.

This is not (and should not be) directly called by application code.

Parameters

• uint8_t system_id - System id.
• uint8_t component_id - Component id.
• bool connected - If true then the system doesn't wait for heartbeat to go into connected state

has_autopilot()

bool mavsdk::System::has_autopilot() const

Checks whether the system has an autopilot.

Returns

 bool - true if it has an autopilot, false otherwise.

is_standalone()

bool mavsdk::System::is_standalone() const

Checks whether the system is a standalone (non-autopilot).

Returns

 bool - true if stand alone, false otherwise.

has_camera()

bool mavsdk::System::has_camera(int camera_id=-1) const

Checks whether the system has a camera with the given camera ID.

A System may have several cameras, with IDs starting from 0. When called without passing a camera ID, it checks whether the system has any camera.

Parameters

• int camera_id - ID of the camera starting from 0 onwards.

Returns

 bool - true if camera with the given camera ID is found, false otherwise.

has_gimbal()

bool mavsdk::System::has_gimbal() const

Checks whether the system has a gimbal.

Returns

 bool - true if the system has a gimbal, false otherwise.

is_connected()

bool mavsdk::System::is_connected() const

Checks if the system is connected.

A system is connected when heartbeats are arriving (discovered and not timed out).

Returns

 bool - true if the system is connected.

get_system_id()

uint8_t mavsdk::System::get_system_id() const

MAVLink System ID of connected system.

: this is 0 if nothing is connected yet.

Returns

 uint8_t - the system ID.

component_ids()

std::vector<uint8_t> mavsdk::System::component_ids() const

MAVLink component IDs of connected system.

: all components that have been seen at least once will be listed.

Returns

 std::vector< uint8_t > - a list of all component ids

subscribe_is_connected()

void mavsdk::System::subscribe_is_connected(IsConnectedCallback callback)

Subscribe to callback to be called when system connection state changes.

Parameters

• IsConnectedCallback callback - Callback which will be called.

register_component_discovered_callback()

void mavsdk::System::register_component_discovered_callback(DiscoverCallback callback) const

Register a callback to be called when a component is discovered.

Parameters

• DiscoverCallback callback - a function of type void(ComponentType) which will be called with the component type of the new component.

register_component_discovered_id_callback()

void mavsdk::System::register_component_discovered_id_callback(DiscoverIdCallback callback) const

Register a callback to be called when a component is discovered.

Parameters

• DiscoverIdCallback callback - a function of type void(ComponentType) which will be called with the component type and the component id of the new component.

enable_timesync()

void mavsdk::System::enable_timesync()

Enable time synchronization using the TIMESYNC messages.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const System& -

Returns

 const System & -

add_capabilities()

void mavsdk::System::add_capabilities(uint64_t capabilities)

Register capabilities to the system (only used if MAVSDK is autopilot)

Plugins should register additional capabilities they provide using this.

Parameters

• uint64_t capabilities - MAVLink capability flag to bitwise OR

set_flight_sw_version()

void mavsdk::System::set_flight_sw_version(uint32_t flight_sw_version)

Set flight sw version (only used if MAVSDK is autopilot)

Parameters

• uint32_t flight_sw_version - version number of flight control software

set_middleware_sw_version()

void mavsdk::System::set_middleware_sw_version(uint32_t middleware_sw_version)

Set middleware sw version (only used if MAVSDK is autopilot)

Parameters

• uint32_t middleware_sw_version - version number of middleware software

set_os_sw_version()

void mavsdk::System::set_os_sw_version(uint32_t os_sw_version)

Set OS sw version (only used if MAVSDK is autopilot)

Parameters

• uint32_t os_sw_version - version number of operating system

set_board_version()

void mavsdk::System::set_board_version(uint32_t board_version)

Set hardware board version (only used if MAVSDK is autopilot)

Parameters

• uint32_t board_version - version number of hardware board

set_vendor_id()

void mavsdk::System::set_vendor_id(uint16_t vendor_id)

Set vendor id (only used if MAVSDK is autopilot)

Parameters

• uint16_t vendor_id - number of vendor id

set_product_id()

void mavsdk::System::set_product_id(uint16_t product_id)

Set product id (only used if MAVSDK is autopilot)

Parameters

• uint16_t product_id - number of product id

set_uid2()

bool mavsdk::System::set_uid2(std::string uid2)

Set uid2, 18 chars max (only used if MAVSDK is autopilot)

Parameters

• std::string uid2 - unique hardware id

Returns

 bool - true if valid size, false if too large,

get_autopilot_version_data()

AutopilotVersion mavsdk::System::get_autopilot_version_data()

Get autopilot version data.

Returns

 AutopilotVersion - AutopilotVersion struct containing autopilot version ids