mavsdk::Action Class Reference

#include: action.h

Enable simple actions such as arming, taking off, and landing.

Public Types

Public Member Functions

Constructor & Destructor Documentation

Action()

mavsdk::Action::Action(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto action = Action(system);

Parameters

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

Action()

mavsdk::Action::Action(std::shared_ptr< System > system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto action = Action(system);

Parameters

• std::shared_ptr< System > system - The specific system associated with this plugin.

~Action()

mavsdk::Action::~Action() override

Destructor (internal use only).

Action()

mavsdk::Action::Action(const Action &other)

Copy constructor.

Parameters

• const Action& other -

Member Typdef Documentation

typedef ResultCallback

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

Callback type for asynchronous Action calls.

typedef GetTakeoffAltitudeCallback

using mavsdk::Action::GetTakeoffAltitudeCallback =  std::function<void(Result, float)>

Callback type for get_takeoff_altitude_async.

typedef GetMaximumSpeedCallback

using mavsdk::Action::GetMaximumSpeedCallback =  std::function<void(Result, float)>

Callback type for get_maximum_speed_async.

typedef GetReturnToLaunchAltitudeCallback

using mavsdk::Action::GetReturnToLaunchAltitudeCallback =  std::function<void(Result, float)>

Callback type for get_return_to_launch_altitude_async.

Member Enumeration Documentation

enum OrbitYawBehavior

Yaw behaviour during orbit flight.

enum Result

Possible results returned for action requests.

Member Function Documentation

arm_async()

void mavsdk::Action::arm_async(const ResultCallback callback)

Send command to arm the drone.

Arming a drone normally causes motors to spin at idle. Before arming take all safety precautions and stand clear of the drone!

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

Parameters

• const ResultCallback callback -

arm()

Result mavsdk::Action::arm() const

Send command to arm the drone.

Arming a drone normally causes motors to spin at idle. Before arming take all safety precautions and stand clear of the drone!

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

Returns

 Result - Result of request.

disarm_async()

void mavsdk::Action::disarm_async(const ResultCallback callback)

Send command to disarm the drone.

This will disarm a drone that considers itself landed. If flying, the drone should reject the disarm command. Disarming means that all motors will stop.

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

Parameters

• const ResultCallback callback -

disarm()

Result mavsdk::Action::disarm() const

Send command to disarm the drone.

This will disarm a drone that considers itself landed. If flying, the drone should reject the disarm command. Disarming means that all motors will stop.

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

Returns

 Result - Result of request.

takeoff_async()

void mavsdk::Action::takeoff_async(const ResultCallback callback)

Send command to take off and hover.

This switches the drone into position control mode and commands it to take off and hover at the takeoff altitude.

Note that the vehicle must be armed before it can take off.

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

Parameters

• const ResultCallback callback -

takeoff()

Result mavsdk::Action::takeoff() const

Send command to take off and hover.

This switches the drone into position control mode and commands it to take off and hover at the takeoff altitude.

Note that the vehicle must be armed before it can take off.

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

Returns

 Result - Result of request.

land_async()

void mavsdk::Action::land_async(const ResultCallback callback)

Send command to land at the current position.

This switches the drone to 'Land' flight mode.

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

Parameters

• const ResultCallback callback -

land()

Result mavsdk::Action::land() const

Send command to land at the current position.

This switches the drone to 'Land' flight mode.

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

Returns

 Result - Result of request.

reboot_async()

void mavsdk::Action::reboot_async(const ResultCallback callback)

Send command to reboot the drone components.

This will reboot the autopilot, companion computer, camera and gimbal.

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

Parameters

• const ResultCallback callback -

reboot()

Result mavsdk::Action::reboot() const

Send command to reboot the drone components.

This will reboot the autopilot, companion computer, camera and gimbal.

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

Returns

 Result - Result of request.

shutdown_async()

void mavsdk::Action::shutdown_async(const ResultCallback callback)

Send command to shut down the drone components.

This will shut down the autopilot, onboard computer, camera and gimbal. This command should only be used when the autopilot is disarmed and autopilots commonly reject it if they are not already ready to shut down.

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

Parameters

• const ResultCallback callback -

shutdown()

Result mavsdk::Action::shutdown() const

Send command to shut down the drone components.

This will shut down the autopilot, onboard computer, camera and gimbal. This command should only be used when the autopilot is disarmed and autopilots commonly reject it if they are not already ready to shut down.

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

Returns

 Result - Result of request.

terminate_async()

void mavsdk::Action::terminate_async(const ResultCallback callback)

Send command to terminate the drone.

This will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).

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

Parameters

• const ResultCallback callback -

terminate()

Result mavsdk::Action::terminate() const

Send command to terminate the drone.

This will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).

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

Returns

 Result - Result of request.

kill_async()

void mavsdk::Action::kill_async(const ResultCallback callback)

Send command to kill the drone.

This will disarm a drone irrespective of whether it is landed or flying. Note that the drone will fall out of the sky if this command is used while flying.

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

Parameters

• const ResultCallback callback -

kill()

Result mavsdk::Action::kill() const

Send command to kill the drone.

This will disarm a drone irrespective of whether it is landed or flying. Note that the drone will fall out of the sky if this command is used while flying.

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

Returns

 Result - Result of request.

return_to_launch_async()

void mavsdk::Action::return_to_launch_async(const ResultCallback callback)

Send command to return to the launch (takeoff) position and land.

This switches the drone into Return mode which generally means it will rise up to a certain altitude to clear any obstacles before heading back to the launch (takeoff) position and land there.

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

Parameters

• const ResultCallback callback -

return_to_launch()

Result mavsdk::Action::return_to_launch() const

Send command to return to the launch (takeoff) position and land.

This switches the drone into Return mode which generally means it will rise up to a certain altitude to clear any obstacles before heading back to the launch (takeoff) position and land there.

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

Returns

 Result - Result of request.

goto_location_async()

void mavsdk::Action::goto_location_async(double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg, const ResultCallback callback)

Send command to move the vehicle to a specific global position.

The latitude and longitude are given in degrees (WGS84 frame) and the altitude in meters AMSL (above mean sea level).

The yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).

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

Parameters

• double latitude_deg -
• double longitude_deg -
• float absolute_altitude_m -
• float yaw_deg -
• const ResultCallback callback -

goto_location()

Result mavsdk::Action::goto_location(double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg) const

Send command to move the vehicle to a specific global position.

The latitude and longitude are given in degrees (WGS84 frame) and the altitude in meters AMSL (above mean sea level).

The yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).

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

Parameters

• double latitude_deg -
• double longitude_deg -
• float absolute_altitude_m -
• float yaw_deg -

Returns

 Result - Result of request.

do_orbit_async()

void mavsdk::Action::do_orbit_async(float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m, const ResultCallback callback)

Send command do orbit to the drone.

This will run the orbit routine with the given parameters.

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

Parameters

• float radius_m -
• float velocity_ms -
• OrbitYawBehavior yaw_behavior -
• double latitude_deg -
• double longitude_deg -
• double absolute_altitude_m -
• const ResultCallback callback -

do_orbit()

Result mavsdk::Action::do_orbit(float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m) const

Send command do orbit to the drone.

This will run the orbit routine with the given parameters.

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

Parameters

• float radius_m -
• float velocity_ms -
• OrbitYawBehavior yaw_behavior -
• double latitude_deg -
• double longitude_deg -
• double absolute_altitude_m -

Returns

 Result - Result of request.

hold_async()

void mavsdk::Action::hold_async(const ResultCallback callback)

Send command to hold position (a.k.a. "Loiter").

Sends a command to drone to change to Hold flight mode, causing the vehicle to stop and maintain its current GPS position and altitude.

Note: this command is specific to the PX4 Autopilot flight stack as it implies a change to a PX4-specific mode.

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

Parameters

• const ResultCallback callback -

hold()

Result mavsdk::Action::hold() const

Send command to hold position (a.k.a. "Loiter").

Sends a command to drone to change to Hold flight mode, causing the vehicle to stop and maintain its current GPS position and altitude.

Note: this command is specific to the PX4 Autopilot flight stack as it implies a change to a PX4-specific mode.

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

Returns

 Result - Result of request.

set_actuator_async()

void mavsdk::Action::set_actuator_async(int32_t index, float value, const ResultCallback callback)

Send command to set the value of an actuator.

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

Parameters

• int32_t index -
• float value -
• const ResultCallback callback -

set_actuator()

Result mavsdk::Action::set_actuator(int32_t index, float value) const

Send command to set the value of an actuator.

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

Parameters

• int32_t index -
• float value -

Returns

 Result - Result of request.

transition_to_fixedwing_async()

void mavsdk::Action::transition_to_fixedwing_async(const ResultCallback callback)

Send command to transition the drone to fixedwing.

The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in fixedwing mode.

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

Parameters

• const ResultCallback callback -

transition_to_fixedwing()

Result mavsdk::Action::transition_to_fixedwing() const

Send command to transition the drone to fixedwing.

The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in fixedwing mode.

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

Returns

 Result - Result of request.

transition_to_multicopter_async()

void mavsdk::Action::transition_to_multicopter_async(const ResultCallback callback)

Send command to transition the drone to multicopter.

The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in multicopter mode.

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

Parameters

• const ResultCallback callback -

transition_to_multicopter()

Result mavsdk::Action::transition_to_multicopter() const

Send command to transition the drone to multicopter.

The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in multicopter mode.

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

Returns

 Result - Result of request.

get_takeoff_altitude_async()

void mavsdk::Action::get_takeoff_altitude_async(const GetTakeoffAltitudeCallback callback)

Get the takeoff altitude (in meters above ground).

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

Parameters

• const GetTakeoffAltitudeCallback callback -

get_takeoff_altitude()

std::pair<Result, float> mavsdk::Action::get_takeoff_altitude() const

Get the takeoff altitude (in meters above ground).

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

Returns

 std::pair< Result, float > - Result of request.

set_takeoff_altitude_async()

void mavsdk::Action::set_takeoff_altitude_async(float altitude, const ResultCallback callback)

Set takeoff altitude (in meters above ground).

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

Parameters

• float altitude -
• const ResultCallback callback -

set_takeoff_altitude()

Result mavsdk::Action::set_takeoff_altitude(float altitude) const

Set takeoff altitude (in meters above ground).

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

Parameters

• float altitude -

Returns

 Result - Result of request.

get_maximum_speed_async()

void mavsdk::Action::get_maximum_speed_async(const GetMaximumSpeedCallback callback)

Get the vehicle maximum speed (in metres/second).

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

Parameters

• const GetMaximumSpeedCallback callback -

get_maximum_speed()

std::pair<Result, float> mavsdk::Action::get_maximum_speed() const

Get the vehicle maximum speed (in metres/second).

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

Returns

 std::pair< Result, float > - Result of request.

set_maximum_speed_async()

void mavsdk::Action::set_maximum_speed_async(float speed, const ResultCallback callback)

Set vehicle maximum speed (in metres/second).

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

Parameters

• float speed -
• const ResultCallback callback -

set_maximum_speed()

Result mavsdk::Action::set_maximum_speed(float speed) const

Set vehicle maximum speed (in metres/second).

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

Parameters

• float speed -

Returns

 Result - Result of request.

get_return_to_launch_altitude_async()

void mavsdk::Action::get_return_to_launch_altitude_async(const GetReturnToLaunchAltitudeCallback callback)

Get the return to launch minimum return altitude (in meters).

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

Parameters

• const GetReturnToLaunchAltitudeCallback callback -

get_return_to_launch_altitude()

std::pair<Result, float> mavsdk::Action::get_return_to_launch_altitude() const

Get the return to launch minimum return altitude (in meters).

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

Returns

 std::pair< Result, float > - Result of request.

set_return_to_launch_altitude_async()

void mavsdk::Action::set_return_to_launch_altitude_async(float relative_altitude_m, const ResultCallback callback)

Set the return to launch minimum return altitude (in meters).

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

Parameters

• float relative_altitude_m -
• const ResultCallback callback -

set_return_to_launch_altitude()

Result mavsdk::Action::set_return_to_launch_altitude(float relative_altitude_m) const

Set the return to launch minimum return altitude (in meters).

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

Parameters

• float relative_altitude_m -

Returns

 Result - Result of request.

set_current_speed_async()

void mavsdk::Action::set_current_speed_async(float speed_m_s, const ResultCallback callback)

Set current speed.

This will set the speed during a mission, reposition, and similar. It is ephemeral, so not stored on the drone and does not survive a reboot.

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

Parameters

• float speed_m_s -
• const ResultCallback callback -

set_current_speed()

Result mavsdk::Action::set_current_speed(float speed_m_s) const

Set current speed.

This will set the speed during a mission, reposition, and similar. It is ephemeral, so not stored on the drone and does not survive a reboot.

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

Parameters

• float speed_m_s -

Returns

 Result - Result of request.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const Action& -

Returns

 const Action & -