mavsdk::Offboard Class Reference

#include: offboard.h

• Control a drone with position, velocity, attitude or motor commands.

The module is called offboard because the commands can be sent from external sources as opposed to onboard control right inside the autopilot "board".

Client code must specify a setpoint before starting offboard mode. Mavsdk automatically sends setpoints at 20Hz (PX4 Offboard mode requires that setpoints are minimally sent at 2Hz).

Data Structures

struct AccelerationNed

struct ActuatorControl

struct ActuatorControlGroup

struct Attitude

struct AttitudeRate

struct PositionGlobalYaw

struct PositionNedYaw

struct VelocityBodyYawspeed

struct VelocityNedYaw

Public Types

Public Member Functions

Constructor & Destructor Documentation

Offboard()

mavsdk::Offboard::Offboard(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto offboard = Offboard(system);

Parameters

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

Offboard()

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

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto offboard = Offboard(system);

Parameters

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

~Offboard()

mavsdk::Offboard::~Offboard() override

Destructor (internal use only).

Offboard()

mavsdk::Offboard::Offboard(const Offboard &other)

Copy constructor.

Parameters

• const Offboard& other -

Member Typdef Documentation

typedef ResultCallback

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

Callback type for asynchronous Offboard calls.

Member Enumeration Documentation

enum Result

Possible results returned for offboard requests.

Member Function Documentation

start_async()

void mavsdk::Offboard::start_async(const ResultCallback callback)

Start offboard control.

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

Parameters

• const ResultCallback callback -

start()

Result mavsdk::Offboard::start() const

Start offboard control.

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

Returns

 Result - Result of request.

stop_async()

void mavsdk::Offboard::stop_async(const ResultCallback callback)

Stop offboard control.

The vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html

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

Parameters

• const ResultCallback callback -

stop()

Result mavsdk::Offboard::stop() const

Stop offboard control.

The vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html

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

Returns

 Result - Result of request.

is_active()

bool mavsdk::Offboard::is_active() const

Check if offboard control is active.

True means that the vehicle is in offboard mode and we are actively sending setpoints.

This function is blocking.

Returns

 bool - Result of request.

set_attitude()

Result mavsdk::Offboard::set_attitude(Attitude attitude) const

Set the attitude in terms of roll, pitch and yaw in degrees with thrust.

This function is blocking.

Parameters

• Attitude attitude -

Returns

 Result - Result of request.

set_actuator_control()

Result mavsdk::Offboard::set_actuator_control(ActuatorControl actuator_control) const

Set direct actuator control values to groups #0 and #1.

First 8 controls will go to control group 0, the following 8 controls to control group 1 (if actuator_control.num_controls more than 8).

This function is blocking.

Parameters

• ActuatorControl actuator_control -

Returns

 Result - Result of request.

set_attitude_rate()

Result mavsdk::Offboard::set_attitude_rate(AttitudeRate attitude_rate) const

Set the attitude rate in terms of pitch, roll and yaw angular rate along with thrust.

This function is blocking.

Parameters

• AttitudeRate attitude_rate -

Returns

 Result - Result of request.

set_position_ned()

Result mavsdk::Offboard::set_position_ned(PositionNedYaw position_ned_yaw) const

Set the position in NED coordinates and yaw.

This function is blocking.

Parameters

• PositionNedYaw position_ned_yaw -

Returns

 Result - Result of request.

set_position_global()

Result mavsdk::Offboard::set_position_global(PositionGlobalYaw position_global_yaw) const

Set the position in Global coordinates (latitude, longitude, altitude) and yaw.

This function is blocking.

Parameters

• PositionGlobalYaw position_global_yaw -

Returns

 Result - Result of request.

set_velocity_body()

Result mavsdk::Offboard::set_velocity_body(VelocityBodyYawspeed velocity_body_yawspeed) const

Set the velocity in body coordinates and yaw angular rate. Not available for fixed-wing aircraft.

This function is blocking.

Parameters

• VelocityBodyYawspeed velocity_body_yawspeed -

Returns

 Result - Result of request.

set_velocity_ned()

Result mavsdk::Offboard::set_velocity_ned(VelocityNedYaw velocity_ned_yaw) const

Set the velocity in NED coordinates and yaw. Not available for fixed-wing aircraft.

This function is blocking.

Parameters

• VelocityNedYaw velocity_ned_yaw -

Returns

 Result - Result of request.

set_position_velocity_ned()

Result mavsdk::Offboard::set_position_velocity_ned(PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw) const

Set the position in NED coordinates, with the velocity to be used as feed-forward.

This function is blocking.

Parameters

• PositionNedYaw position_ned_yaw -
• VelocityNedYaw velocity_ned_yaw -

Returns

 Result - Result of request.

set_position_velocity_acceleration_ned()

Result mavsdk::Offboard::set_position_velocity_acceleration_ned(PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw, AccelerationNed acceleration_ned) const

Set the position, velocity and acceleration in NED coordinates, with velocity and acceleration used as feed-forward.

This function is blocking.

Parameters

• PositionNedYaw position_ned_yaw -
• VelocityNedYaw velocity_ned_yaw -
• AccelerationNed acceleration_ned -

Returns

 Result - Result of request.

set_acceleration_ned()

Result mavsdk::Offboard::set_acceleration_ned(AccelerationNed acceleration_ned) const

Set the acceleration in NED coordinates.

This function is blocking.

Parameters

• AccelerationNed acceleration_ned -

Returns

 Result - Result of request.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const Offboard& -

Returns

 const Offboard & -