mavsdk::Telemetry Class Reference

#include: telemetry.h

Allow users to get vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates.

Data Structures

struct AccelerationFrd

struct ActuatorControlTarget

struct ActuatorOutputStatus

struct Altitude

struct AngularVelocityBody

struct AngularVelocityFrd

struct Battery

struct Covariance

struct DistanceSensor

struct EulerAngle

struct FixedwingMetrics

struct GpsGlobalOrigin

struct GpsInfo

struct GroundTruth

struct Heading

struct Health

struct Imu

struct MagneticFieldFrd

struct Odometry

struct Position

struct PositionBody

struct PositionNed

struct PositionVelocityNed

struct Quaternion

struct RawGps

struct RcStatus

struct ScaledPressure

struct StatusText

struct VelocityBody

struct VelocityNed

Public Types

Type Description
enum FixType GPS fix type.
enum FlightMode Flight modes.
enum StatusTextType Status types.
enum LandedState Landed State enumeration.
enum VtolState VTOL State enumeration.
enum Result Possible results returned for telemetry requests.
std::function< void(Result)> ResultCallback Callback type for asynchronous Telemetry calls.
std::function< void(Position)> PositionCallback Callback type for subscribe_position.
Handle< Position > PositionHandle Handle type for subscribe_position.
std::function< void(Position)> HomeCallback Callback type for subscribe_home.
Handle< Position > HomeHandle Handle type for subscribe_home.
std::function< void(bool)> InAirCallback Callback type for subscribe_in_air.
Handle< bool > InAirHandle Handle type for subscribe_in_air.
std::function< void(LandedState)> LandedStateCallback Callback type for subscribe_landed_state.
Handle< LandedState > LandedStateHandle Handle type for subscribe_landed_state.
std::function< void(bool)> ArmedCallback Callback type for subscribe_armed.
Handle< bool > ArmedHandle Handle type for subscribe_armed.
std::function< void(VtolState)> VtolStateCallback Callback type for subscribe_vtol_state.
Handle< VtolState > VtolStateHandle Handle type for subscribe_vtol_state.
std::function< void(Quaternion)> AttitudeQuaternionCallback Callback type for subscribe_attitude_quaternion.
Handle< Quaternion > AttitudeQuaternionHandle Handle type for subscribe_attitude_quaternion.
std::function< void(EulerAngle)> AttitudeEulerCallback Callback type for subscribe_attitude_euler.
Handle< EulerAngle > AttitudeEulerHandle Handle type for subscribe_attitude_euler.
std::function< void(AngularVelocityBody)> AttitudeAngularVelocityBodyCallback Callback type for subscribe_attitude_angular_velocity_body.
Handle< AngularVelocityBody > AttitudeAngularVelocityBodyHandle Handle type for subscribe_attitude_angular_velocity_body.
std::function< void(Quaternion)> CameraAttitudeQuaternionCallback Callback type for subscribe_camera_attitude_quaternion.
Handle< Quaternion > CameraAttitudeQuaternionHandle Handle type for subscribe_camera_attitude_quaternion.
std::function< void(EulerAngle)> CameraAttitudeEulerCallback Callback type for subscribe_camera_attitude_euler.
Handle< EulerAngle > CameraAttitudeEulerHandle Handle type for subscribe_camera_attitude_euler.
std::function< void(VelocityNed)> VelocityNedCallback Callback type for subscribe_velocity_ned.
Handle< VelocityNed > VelocityNedHandle Handle type for subscribe_velocity_ned.
std::function< void(GpsInfo)> GpsInfoCallback Callback type for subscribe_gps_info.
Handle< GpsInfo > GpsInfoHandle Handle type for subscribe_gps_info.
std::function< void(RawGps)> RawGpsCallback Callback type for subscribe_raw_gps.
Handle< RawGps > RawGpsHandle Handle type for subscribe_raw_gps.
std::function< void(Battery)> BatteryCallback Callback type for subscribe_battery.
Handle< Battery > BatteryHandle Handle type for subscribe_battery.
std::function< void(FlightMode)> FlightModeCallback Callback type for subscribe_flight_mode.
Handle< FlightMode > FlightModeHandle Handle type for subscribe_flight_mode.
std::function< void(Health)> HealthCallback Callback type for subscribe_health.
Handle< Health > HealthHandle Handle type for subscribe_health.
std::function< void(RcStatus)> RcStatusCallback Callback type for subscribe_rc_status.
Handle< RcStatus > RcStatusHandle Handle type for subscribe_rc_status.
std::function< void(StatusText)> StatusTextCallback Callback type for subscribe_status_text.
Handle< StatusText > StatusTextHandle Handle type for subscribe_status_text.
std::function< void(ActuatorControlTarget)> ActuatorControlTargetCallback Callback type for subscribe_actuator_control_target.
Handle< ActuatorControlTarget > ActuatorControlTargetHandle Handle type for subscribe_actuator_control_target.
std::function< void(ActuatorOutputStatus)> ActuatorOutputStatusCallback Callback type for subscribe_actuator_output_status.
Handle< ActuatorOutputStatus > ActuatorOutputStatusHandle Handle type for subscribe_actuator_output_status.
std::function< void(Odometry)> OdometryCallback Callback type for subscribe_odometry.
Handle< Odometry > OdometryHandle Handle type for subscribe_odometry.
std::function< void(PositionVelocityNed)> PositionVelocityNedCallback Callback type for subscribe_position_velocity_ned.
Handle< PositionVelocityNed > PositionVelocityNedHandle Handle type for subscribe_position_velocity_ned.
std::function< void(GroundTruth)> GroundTruthCallback Callback type for subscribe_ground_truth.
Handle< GroundTruth > GroundTruthHandle Handle type for subscribe_ground_truth.
std::function< void(FixedwingMetrics)> FixedwingMetricsCallback Callback type for subscribe_fixedwing_metrics.
Handle< FixedwingMetrics > FixedwingMetricsHandle Handle type for subscribe_fixedwing_metrics.
std::function< void(Imu)> ImuCallback Callback type for subscribe_imu.
Handle< Imu > ImuHandle Handle type for subscribe_imu.
std::function< void(Imu)> ScaledImuCallback Callback type for subscribe_scaled_imu.
Handle< Imu > ScaledImuHandle Handle type for subscribe_scaled_imu.
std::function< void(Imu)> RawImuCallback Callback type for subscribe_raw_imu.
Handle< Imu > RawImuHandle Handle type for subscribe_raw_imu.
std::function< void(bool)> HealthAllOkCallback Callback type for subscribe_health_all_ok.
Handle< bool > HealthAllOkHandle Handle type for subscribe_health_all_ok.
std::function< void(uint64_t)> UnixEpochTimeCallback Callback type for subscribe_unix_epoch_time.
Handle< uint64_t > UnixEpochTimeHandle Handle type for subscribe_unix_epoch_time.
std::function< void(DistanceSensor)> DistanceSensorCallback Callback type for subscribe_distance_sensor.
Handle< DistanceSensor > DistanceSensorHandle Handle type for subscribe_distance_sensor.
std::function< void(ScaledPressure)> ScaledPressureCallback Callback type for subscribe_scaled_pressure.
Handle< ScaledPressure > ScaledPressureHandle Handle type for subscribe_scaled_pressure.
std::function< void(Heading)> HeadingCallback Callback type for subscribe_heading.
Handle< Heading > HeadingHandle Handle type for subscribe_heading.
std::function< void(Altitude)> AltitudeCallback Callback type for subscribe_altitude.
Handle< Altitude > AltitudeHandle Handle type for subscribe_altitude.
std::function< void(Result, GpsGlobalOrigin)> GetGpsGlobalOriginCallback Callback type for get_gps_global_origin_async.

Public Member Functions

Type Name Description
  Telemetry (System & system) Constructor. Creates the plugin for a specific System.
  Telemetry (std::shared_ptr< System > system) Constructor. Creates the plugin for a specific System.
  ~Telemetry () override Destructor (internal use only).
  Telemetry (const Telemetry & other) Copy constructor.
PositionHandle subscribe_position (const PositionCallback & callback) Subscribe to 'position' updates.
void unsubscribe_position (PositionHandle handle) Unsubscribe from subscribe_position.
Position position () const Poll for 'Position' (blocking).
HomeHandle subscribe_home (const HomeCallback & callback) Subscribe to 'home position' updates.
void unsubscribe_home (HomeHandle handle) Unsubscribe from subscribe_home.
Position home () const Poll for 'Position' (blocking).
InAirHandle subscribe_in_air (const InAirCallback & callback) Subscribe to in-air updates.
void unsubscribe_in_air (InAirHandle handle) Unsubscribe from subscribe_in_air.
bool in_air () const Poll for 'bool' (blocking).
LandedStateHandle subscribe_landed_state (const LandedStateCallback & callback) Subscribe to landed state updates.
void unsubscribe_landed_state (LandedStateHandle handle) Unsubscribe from subscribe_landed_state.
LandedState landed_state () const Poll for 'LandedState' (blocking).
ArmedHandle subscribe_armed (const ArmedCallback & callback) Subscribe to armed updates.
void unsubscribe_armed (ArmedHandle handle) Unsubscribe from subscribe_armed.
bool armed () const Poll for 'bool' (blocking).
VtolStateHandle subscribe_vtol_state (const VtolStateCallback & callback) subscribe to vtol state Updates
void unsubscribe_vtol_state (VtolStateHandle handle) Unsubscribe from subscribe_vtol_state.
VtolState vtol_state () const Poll for 'VtolState' (blocking).
AttitudeQuaternionHandle subscribe_attitude_quaternion (const AttitudeQuaternionCallback & callback) Subscribe to 'attitude' updates (quaternion).
void unsubscribe_attitude_quaternion (AttitudeQuaternionHandle handle) Unsubscribe from subscribe_attitude_quaternion.
Quaternion attitude_quaternion () const Poll for 'Quaternion' (blocking).
AttitudeEulerHandle subscribe_attitude_euler (const AttitudeEulerCallback & callback) Subscribe to 'attitude' updates (Euler).
void unsubscribe_attitude_euler (AttitudeEulerHandle handle) Unsubscribe from subscribe_attitude_euler.
EulerAngle attitude_euler () const Poll for 'EulerAngle' (blocking).
AttitudeAngularVelocityBodyHandle subscribe_attitude_angular_velocity_body (const AttitudeAngularVelocityBodyCallback & callback) Subscribe to 'attitude' updates (angular velocity)
void unsubscribe_attitude_angular_velocity_body (AttitudeAngularVelocityBodyHandle handle) Unsubscribe from subscribe_attitude_angular_velocity_body.
AngularVelocityBody attitude_angular_velocity_body () const Poll for 'AngularVelocityBody' (blocking).
CameraAttitudeQuaternionHandle subscribe_camera_attitude_quaternion (const CameraAttitudeQuaternionCallback & callback) Subscribe to 'camera attitude' updates (quaternion).
void unsubscribe_camera_attitude_quaternion (CameraAttitudeQuaternionHandle handle) Unsubscribe from subscribe_camera_attitude_quaternion.
Quaternion camera_attitude_quaternion () const Poll for 'Quaternion' (blocking).
CameraAttitudeEulerHandle subscribe_camera_attitude_euler (const CameraAttitudeEulerCallback & callback) Subscribe to 'camera attitude' updates (Euler).
void unsubscribe_camera_attitude_euler (CameraAttitudeEulerHandle handle) Unsubscribe from subscribe_camera_attitude_euler.
EulerAngle camera_attitude_euler () const Poll for 'EulerAngle' (blocking).
VelocityNedHandle subscribe_velocity_ned (const VelocityNedCallback & callback) Subscribe to 'ground speed' updates (NED).
void unsubscribe_velocity_ned (VelocityNedHandle handle) Unsubscribe from subscribe_velocity_ned.
VelocityNed velocity_ned () const Poll for 'VelocityNed' (blocking).
GpsInfoHandle subscribe_gps_info (const GpsInfoCallback & callback) Subscribe to 'GPS info' updates.
void unsubscribe_gps_info (GpsInfoHandle handle) Unsubscribe from subscribe_gps_info.
GpsInfo gps_info () const Poll for 'GpsInfo' (blocking).
RawGpsHandle subscribe_raw_gps (const RawGpsCallback & callback) Subscribe to 'Raw GPS' updates.
void unsubscribe_raw_gps (RawGpsHandle handle) Unsubscribe from subscribe_raw_gps.
RawGps raw_gps () const Poll for 'RawGps' (blocking).
BatteryHandle subscribe_battery (const BatteryCallback & callback) Subscribe to 'battery' updates.
void unsubscribe_battery (BatteryHandle handle) Unsubscribe from subscribe_battery.
Battery battery () const Poll for 'Battery' (blocking).
FlightModeHandle subscribe_flight_mode (const FlightModeCallback & callback) Subscribe to 'flight mode' updates.
void unsubscribe_flight_mode (FlightModeHandle handle) Unsubscribe from subscribe_flight_mode.
FlightMode flight_mode () const Poll for 'FlightMode' (blocking).
HealthHandle subscribe_health (const HealthCallback & callback) Subscribe to 'health' updates.
void unsubscribe_health (HealthHandle handle) Unsubscribe from subscribe_health.
Health health () const Poll for 'Health' (blocking).
RcStatusHandle subscribe_rc_status (const RcStatusCallback & callback) Subscribe to 'RC status' updates.
void unsubscribe_rc_status (RcStatusHandle handle) Unsubscribe from subscribe_rc_status.
RcStatus rc_status () const Poll for 'RcStatus' (blocking).
StatusTextHandle subscribe_status_text (const StatusTextCallback & callback) Subscribe to 'status text' updates.
void unsubscribe_status_text (StatusTextHandle handle) Unsubscribe from subscribe_status_text.
StatusText status_text () const Poll for 'StatusText' (blocking).
ActuatorControlTargetHandle subscribe_actuator_control_target (const ActuatorControlTargetCallback & callback) Subscribe to 'actuator control target' updates.
void unsubscribe_actuator_control_target (ActuatorControlTargetHandle handle) Unsubscribe from subscribe_actuator_control_target.
ActuatorControlTarget actuator_control_target () const Poll for 'ActuatorControlTarget' (blocking).
ActuatorOutputStatusHandle subscribe_actuator_output_status (const ActuatorOutputStatusCallback & callback) Subscribe to 'actuator output status' updates.
void unsubscribe_actuator_output_status (ActuatorOutputStatusHandle handle) Unsubscribe from subscribe_actuator_output_status.
ActuatorOutputStatus actuator_output_status () const Poll for 'ActuatorOutputStatus' (blocking).
OdometryHandle subscribe_odometry (const OdometryCallback & callback) Subscribe to 'odometry' updates.
void unsubscribe_odometry (OdometryHandle handle) Unsubscribe from subscribe_odometry.
Odometry odometry () const Poll for 'Odometry' (blocking).
PositionVelocityNedHandle subscribe_position_velocity_ned (const PositionVelocityNedCallback & callback) Subscribe to 'position velocity' updates.
void unsubscribe_position_velocity_ned (PositionVelocityNedHandle handle) Unsubscribe from subscribe_position_velocity_ned.
PositionVelocityNed position_velocity_ned () const Poll for 'PositionVelocityNed' (blocking).
GroundTruthHandle subscribe_ground_truth (const GroundTruthCallback & callback) Subscribe to 'ground truth' updates.
void unsubscribe_ground_truth (GroundTruthHandle handle) Unsubscribe from subscribe_ground_truth.
GroundTruth ground_truth () const Poll for 'GroundTruth' (blocking).
FixedwingMetricsHandle subscribe_fixedwing_metrics (const FixedwingMetricsCallback & callback) Subscribe to 'fixedwing metrics' updates.
void unsubscribe_fixedwing_metrics (FixedwingMetricsHandle handle) Unsubscribe from subscribe_fixedwing_metrics.
FixedwingMetrics fixedwing_metrics () const Poll for 'FixedwingMetrics' (blocking).
ImuHandle subscribe_imu (const ImuCallback & callback) Subscribe to 'IMU' updates (in SI units in NED body frame).
void unsubscribe_imu (ImuHandle handle) Unsubscribe from subscribe_imu.
Imu imu () const Poll for 'Imu' (blocking).
ScaledImuHandle subscribe_scaled_imu (const ScaledImuCallback & callback) Subscribe to 'Scaled IMU' updates.
void unsubscribe_scaled_imu (ScaledImuHandle handle) Unsubscribe from subscribe_scaled_imu.
Imu scaled_imu () const Poll for 'Imu' (blocking).
RawImuHandle subscribe_raw_imu (const RawImuCallback & callback) Subscribe to 'Raw IMU' updates.
void unsubscribe_raw_imu (RawImuHandle handle) Unsubscribe from subscribe_raw_imu.
Imu raw_imu () const Poll for 'Imu' (blocking).
HealthAllOkHandle subscribe_health_all_ok (const HealthAllOkCallback & callback) Subscribe to 'HealthAllOk' updates.
void unsubscribe_health_all_ok (HealthAllOkHandle handle) Unsubscribe from subscribe_health_all_ok.
bool health_all_ok () const Poll for 'bool' (blocking).
UnixEpochTimeHandle subscribe_unix_epoch_time (const UnixEpochTimeCallback & callback) Subscribe to 'unix epoch time' updates.
void unsubscribe_unix_epoch_time (UnixEpochTimeHandle handle) Unsubscribe from subscribe_unix_epoch_time.
uint64_t unix_epoch_time () const Poll for 'uint64_t' (blocking).
DistanceSensorHandle subscribe_distance_sensor (const DistanceSensorCallback & callback) Subscribe to 'Distance Sensor' updates.
void unsubscribe_distance_sensor (DistanceSensorHandle handle) Unsubscribe from subscribe_distance_sensor.
DistanceSensor distance_sensor () const Poll for 'DistanceSensor' (blocking).
ScaledPressureHandle subscribe_scaled_pressure (const ScaledPressureCallback & callback) Subscribe to 'Scaled Pressure' updates.
void unsubscribe_scaled_pressure (ScaledPressureHandle handle) Unsubscribe from subscribe_scaled_pressure.
ScaledPressure scaled_pressure () const Poll for 'ScaledPressure' (blocking).
HeadingHandle subscribe_heading (const HeadingCallback & callback) Subscribe to 'Heading' updates.
void unsubscribe_heading (HeadingHandle handle) Unsubscribe from subscribe_heading.
Heading heading () const Poll for 'Heading' (blocking).
AltitudeHandle subscribe_altitude (const AltitudeCallback & callback) Subscribe to 'Altitude' updates.
void unsubscribe_altitude (AltitudeHandle handle) Unsubscribe from subscribe_altitude.
Altitude altitude () const Poll for 'Altitude' (blocking).
void set_rate_position_async (double rate_hz, const ResultCallback callback) Set rate to 'position' updates.
Result set_rate_position (double rate_hz)const Set rate to 'position' updates.
void set_rate_home_async (double rate_hz, const ResultCallback callback) Set rate to 'home position' updates.
Result set_rate_home (double rate_hz)const Set rate to 'home position' updates.
void set_rate_in_air_async (double rate_hz, const ResultCallback callback) Set rate to in-air updates.
Result set_rate_in_air (double rate_hz)const Set rate to in-air updates.
void set_rate_landed_state_async (double rate_hz, const ResultCallback callback) Set rate to landed state updates.
Result set_rate_landed_state (double rate_hz)const Set rate to landed state updates.
void set_rate_vtol_state_async (double rate_hz, const ResultCallback callback) Set rate to VTOL state updates.
Result set_rate_vtol_state (double rate_hz)const Set rate to VTOL state updates.
void set_rate_attitude_quaternion_async (double rate_hz, const ResultCallback callback) Set rate to 'attitude euler angle' updates.
Result set_rate_attitude_quaternion (double rate_hz)const Set rate to 'attitude euler angle' updates.
void set_rate_attitude_euler_async (double rate_hz, const ResultCallback callback) Set rate to 'attitude quaternion' updates.
Result set_rate_attitude_euler (double rate_hz)const Set rate to 'attitude quaternion' updates.
void set_rate_camera_attitude_async (double rate_hz, const ResultCallback callback) Set rate of camera attitude updates.
Result set_rate_camera_attitude (double rate_hz)const Set rate of camera attitude updates.
void set_rate_velocity_ned_async (double rate_hz, const ResultCallback callback) Set rate to 'ground speed' updates (NED).
Result set_rate_velocity_ned (double rate_hz)const Set rate to 'ground speed' updates (NED).
void set_rate_gps_info_async (double rate_hz, const ResultCallback callback) Set rate to 'GPS info' updates.
Result set_rate_gps_info (double rate_hz)const Set rate to 'GPS info' updates.
void set_rate_battery_async (double rate_hz, const ResultCallback callback) Set rate to 'battery' updates.
Result set_rate_battery (double rate_hz)const Set rate to 'battery' updates.
void set_rate_rc_status_async (double rate_hz, const ResultCallback callback) Set rate to 'RC status' updates.
Result set_rate_rc_status (double rate_hz)const Set rate to 'RC status' updates.
void set_rate_actuator_control_target_async (double rate_hz, const ResultCallback callback) Set rate to 'actuator control target' updates.
Result set_rate_actuator_control_target (double rate_hz)const Set rate to 'actuator control target' updates.
void set_rate_actuator_output_status_async (double rate_hz, const ResultCallback callback) Set rate to 'actuator output status' updates.
Result set_rate_actuator_output_status (double rate_hz)const Set rate to 'actuator output status' updates.
void set_rate_odometry_async (double rate_hz, const ResultCallback callback) Set rate to 'odometry' updates.
Result set_rate_odometry (double rate_hz)const Set rate to 'odometry' updates.
void set_rate_position_velocity_ned_async (double rate_hz, const ResultCallback callback) Set rate to 'position velocity' updates.
Result set_rate_position_velocity_ned (double rate_hz)const Set rate to 'position velocity' updates.
void set_rate_ground_truth_async (double rate_hz, const ResultCallback callback) Set rate to 'ground truth' updates.
Result set_rate_ground_truth (double rate_hz)const Set rate to 'ground truth' updates.
void set_rate_fixedwing_metrics_async (double rate_hz, const ResultCallback callback) Set rate to 'fixedwing metrics' updates.
Result set_rate_fixedwing_metrics (double rate_hz)const Set rate to 'fixedwing metrics' updates.
void set_rate_imu_async (double rate_hz, const ResultCallback callback) Set rate to 'IMU' updates.
Result set_rate_imu (double rate_hz)const Set rate to 'IMU' updates.
void set_rate_scaled_imu_async (double rate_hz, const ResultCallback callback) Set rate to 'Scaled IMU' updates.
Result set_rate_scaled_imu (double rate_hz)const Set rate to 'Scaled IMU' updates.
void set_rate_raw_imu_async (double rate_hz, const ResultCallback callback) Set rate to 'Raw IMU' updates.
Result set_rate_raw_imu (double rate_hz)const Set rate to 'Raw IMU' updates.
void set_rate_unix_epoch_time_async (double rate_hz, const ResultCallback callback) Set rate to 'unix epoch time' updates.
Result set_rate_unix_epoch_time (double rate_hz)const Set rate to 'unix epoch time' updates.
void set_rate_distance_sensor_async (double rate_hz, const ResultCallback callback) Set rate to 'Distance Sensor' updates.
Result set_rate_distance_sensor (double rate_hz)const Set rate to 'Distance Sensor' updates.
void set_rate_altitude_async (double rate_hz, const ResultCallback callback) Set rate to 'Altitude' updates.
Result set_rate_altitude (double rate_hz)const Set rate to 'Altitude' updates.
void get_gps_global_origin_async (const GetGpsGlobalOriginCallback callback) Get the GPS location of where the estimator has been initialized.
std::pair< Result, Telemetry::GpsGlobalOrigin > get_gps_global_origin () const Get the GPS location of where the estimator has been initialized.
const Telemetry & operator= (const Telemetry &)=delete Equality operator (object is not copyable).

Constructor & Destructor Documentation

Telemetry() 

mavsdk::Telemetry::Telemetry(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below: 

auto telemetry = Telemetry(system);

Parameters

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

Telemetry() 

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

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below: 

auto telemetry = Telemetry(system);

Parameters

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

~Telemetry() 

mavsdk::Telemetry::~Telemetry() override

Destructor (internal use only).

Telemetry() 

mavsdk::Telemetry::Telemetry(const Telemetry &other)

Copy constructor.

Parameters

Member Typdef Documentation

typedef ResultCallback 

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

Callback type for asynchronous Telemetry calls.

typedef PositionCallback 

using mavsdk::Telemetry::PositionCallback =  std::function<void(Position)>

Callback type for subscribe_position.

typedef PositionHandle 

using mavsdk::Telemetry::PositionHandle =  Handle<Position>

Handle type for subscribe_position.

typedef HomeCallback 

using mavsdk::Telemetry::HomeCallback =  std::function<void(Position)>

Callback type for subscribe_home.

typedef HomeHandle 

using mavsdk::Telemetry::HomeHandle =  Handle<Position>

Handle type for subscribe_home.

typedef InAirCallback 

using mavsdk::Telemetry::InAirCallback =  std::function<void(bool)>

Callback type for subscribe_in_air.

typedef InAirHandle 

using mavsdk::Telemetry::InAirHandle =  Handle<bool>

Handle type for subscribe_in_air.

typedef LandedStateCallback 

using mavsdk::Telemetry::LandedStateCallback =  std::function<void(LandedState)>

Callback type for subscribe_landed_state.

typedef LandedStateHandle 

using mavsdk::Telemetry::LandedStateHandle =  Handle<LandedState>

Handle type for subscribe_landed_state.

typedef ArmedCallback 

using mavsdk::Telemetry::ArmedCallback =  std::function<void(bool)>

Callback type for subscribe_armed.

typedef ArmedHandle 

using mavsdk::Telemetry::ArmedHandle =  Handle<bool>

Handle type for subscribe_armed.

typedef VtolStateCallback 

using mavsdk::Telemetry::VtolStateCallback =  std::function<void(VtolState)>

Callback type for subscribe_vtol_state.

typedef VtolStateHandle 

using mavsdk::Telemetry::VtolStateHandle =  Handle<VtolState>

Handle type for subscribe_vtol_state.

typedef AttitudeQuaternionCallback 

using mavsdk::Telemetry::AttitudeQuaternionCallback =  std::function<void(Quaternion)>

Callback type for subscribe_attitude_quaternion.

typedef AttitudeQuaternionHandle 

using mavsdk::Telemetry::AttitudeQuaternionHandle =  Handle<Quaternion>

Handle type for subscribe_attitude_quaternion.

typedef AttitudeEulerCallback 

using mavsdk::Telemetry::AttitudeEulerCallback =  std::function<void(EulerAngle)>

Callback type for subscribe_attitude_euler.

typedef AttitudeEulerHandle 

using mavsdk::Telemetry::AttitudeEulerHandle =  Handle<EulerAngle>

Handle type for subscribe_attitude_euler.

typedef AttitudeAngularVelocityBodyCallback 

using mavsdk::Telemetry::AttitudeAngularVelocityBodyCallback =  std::function<void(AngularVelocityBody)>

Callback type for subscribe_attitude_angular_velocity_body.

typedef AttitudeAngularVelocityBodyHandle 

using mavsdk::Telemetry::AttitudeAngularVelocityBodyHandle =  Handle<AngularVelocityBody>

Handle type for subscribe_attitude_angular_velocity_body.

typedef CameraAttitudeQuaternionCallback 

using mavsdk::Telemetry::CameraAttitudeQuaternionCallback =  std::function<void(Quaternion)>

Callback type for subscribe_camera_attitude_quaternion.

typedef CameraAttitudeQuaternionHandle 

using mavsdk::Telemetry::CameraAttitudeQuaternionHandle =  Handle<Quaternion>

Handle type for subscribe_camera_attitude_quaternion.

typedef CameraAttitudeEulerCallback 

using mavsdk::Telemetry::CameraAttitudeEulerCallback =  std::function<void(EulerAngle)>

Callback type for subscribe_camera_attitude_euler.

typedef CameraAttitudeEulerHandle 

using mavsdk::Telemetry::CameraAttitudeEulerHandle =  Handle<EulerAngle>

Handle type for subscribe_camera_attitude_euler.

typedef VelocityNedCallback 

using mavsdk::Telemetry::VelocityNedCallback =  std::function<void(VelocityNed)>

Callback type for subscribe_velocity_ned.

typedef VelocityNedHandle 

using mavsdk::Telemetry::VelocityNedHandle =  Handle<VelocityNed>

Handle type for subscribe_velocity_ned.

typedef GpsInfoCallback 

using mavsdk::Telemetry::GpsInfoCallback =  std::function<void(GpsInfo)>

Callback type for subscribe_gps_info.

typedef GpsInfoHandle 

using mavsdk::Telemetry::GpsInfoHandle =  Handle<GpsInfo>

Handle type for subscribe_gps_info.

typedef RawGpsCallback 

using mavsdk::Telemetry::RawGpsCallback =  std::function<void(RawGps)>

Callback type for subscribe_raw_gps.

typedef RawGpsHandle 

using mavsdk::Telemetry::RawGpsHandle =  Handle<RawGps>

Handle type for subscribe_raw_gps.

typedef BatteryCallback 

using mavsdk::Telemetry::BatteryCallback =  std::function<void(Battery)>

Callback type for subscribe_battery.

typedef BatteryHandle 

using mavsdk::Telemetry::BatteryHandle =  Handle<Battery>

Handle type for subscribe_battery.

typedef FlightModeCallback 

using mavsdk::Telemetry::FlightModeCallback =  std::function<void(FlightMode)>

Callback type for subscribe_flight_mode.

typedef FlightModeHandle 

using mavsdk::Telemetry::FlightModeHandle =  Handle<FlightMode>

Handle type for subscribe_flight_mode.

typedef HealthCallback 

using mavsdk::Telemetry::HealthCallback =  std::function<void(Health)>

Callback type for subscribe_health.

typedef HealthHandle 

using mavsdk::Telemetry::HealthHandle =  Handle<Health>

Handle type for subscribe_health.

typedef RcStatusCallback 

using mavsdk::Telemetry::RcStatusCallback =  std::function<void(RcStatus)>

Callback type for subscribe_rc_status.

typedef RcStatusHandle 

using mavsdk::Telemetry::RcStatusHandle =  Handle<RcStatus>

Handle type for subscribe_rc_status.

typedef StatusTextCallback 

using mavsdk::Telemetry::StatusTextCallback =  std::function<void(StatusText)>

Callback type for subscribe_status_text.

typedef StatusTextHandle 

using mavsdk::Telemetry::StatusTextHandle =  Handle<StatusText>

Handle type for subscribe_status_text.

typedef ActuatorControlTargetCallback 

using mavsdk::Telemetry::ActuatorControlTargetCallback =  std::function<void(ActuatorControlTarget)>

Callback type for subscribe_actuator_control_target.

typedef ActuatorControlTargetHandle 

using mavsdk::Telemetry::ActuatorControlTargetHandle =  Handle<ActuatorControlTarget>

Handle type for subscribe_actuator_control_target.

typedef ActuatorOutputStatusCallback 

using mavsdk::Telemetry::ActuatorOutputStatusCallback =  std::function<void(ActuatorOutputStatus)>

Callback type for subscribe_actuator_output_status.

typedef ActuatorOutputStatusHandle 

using mavsdk::Telemetry::ActuatorOutputStatusHandle =  Handle<ActuatorOutputStatus>

Handle type for subscribe_actuator_output_status.

typedef OdometryCallback 

using mavsdk::Telemetry::OdometryCallback =  std::function<void(Odometry)>

Callback type for subscribe_odometry.

typedef OdometryHandle 

using mavsdk::Telemetry::OdometryHandle =  Handle<Odometry>

Handle type for subscribe_odometry.

typedef PositionVelocityNedCallback 

using mavsdk::Telemetry::PositionVelocityNedCallback =  std::function<void(PositionVelocityNed)>

Callback type for subscribe_position_velocity_ned.

typedef PositionVelocityNedHandle 

using mavsdk::Telemetry::PositionVelocityNedHandle =  Handle<PositionVelocityNed>

Handle type for subscribe_position_velocity_ned.

typedef GroundTruthCallback 

using mavsdk::Telemetry::GroundTruthCallback =  std::function<void(GroundTruth)>

Callback type for subscribe_ground_truth.

typedef GroundTruthHandle 

using mavsdk::Telemetry::GroundTruthHandle =  Handle<GroundTruth>

Handle type for subscribe_ground_truth.

typedef FixedwingMetricsCallback 

using mavsdk::Telemetry::FixedwingMetricsCallback =  std::function<void(FixedwingMetrics)>

Callback type for subscribe_fixedwing_metrics.

typedef FixedwingMetricsHandle 

using mavsdk::Telemetry::FixedwingMetricsHandle =  Handle<FixedwingMetrics>

Handle type for subscribe_fixedwing_metrics.

typedef ImuCallback 

using mavsdk::Telemetry::ImuCallback =  std::function<void(Imu)>

Callback type for subscribe_imu.

typedef ImuHandle 

using mavsdk::Telemetry::ImuHandle =  Handle<Imu>

Handle type for subscribe_imu.

typedef ScaledImuCallback 

using mavsdk::Telemetry::ScaledImuCallback =  std::function<void(Imu)>

Callback type for subscribe_scaled_imu.

typedef ScaledImuHandle 

using mavsdk::Telemetry::ScaledImuHandle =  Handle<Imu>

Handle type for subscribe_scaled_imu.

typedef RawImuCallback 

using mavsdk::Telemetry::RawImuCallback =  std::function<void(Imu)>

Callback type for subscribe_raw_imu.

typedef RawImuHandle 

using mavsdk::Telemetry::RawImuHandle =  Handle<Imu>

Handle type for subscribe_raw_imu.

typedef HealthAllOkCallback 

using mavsdk::Telemetry::HealthAllOkCallback =  std::function<void(bool)>

Callback type for subscribe_health_all_ok.

typedef HealthAllOkHandle 

using mavsdk::Telemetry::HealthAllOkHandle =  Handle<bool>

Handle type for subscribe_health_all_ok.

typedef UnixEpochTimeCallback 

using mavsdk::Telemetry::UnixEpochTimeCallback =  std::function<void(uint64_t)>

Callback type for subscribe_unix_epoch_time.

typedef UnixEpochTimeHandle 

using mavsdk::Telemetry::UnixEpochTimeHandle =  Handle<uint64_t>

Handle type for subscribe_unix_epoch_time.

typedef DistanceSensorCallback 

using mavsdk::Telemetry::DistanceSensorCallback =  std::function<void(DistanceSensor)>

Callback type for subscribe_distance_sensor.

typedef DistanceSensorHandle 

using mavsdk::Telemetry::DistanceSensorHandle =  Handle<DistanceSensor>

Handle type for subscribe_distance_sensor.

typedef ScaledPressureCallback 

using mavsdk::Telemetry::ScaledPressureCallback =  std::function<void(ScaledPressure)>

Callback type for subscribe_scaled_pressure.

typedef ScaledPressureHandle 

using mavsdk::Telemetry::ScaledPressureHandle =  Handle<ScaledPressure>

Handle type for subscribe_scaled_pressure.

typedef HeadingCallback 

using mavsdk::Telemetry::HeadingCallback =  std::function<void(Heading)>

Callback type for subscribe_heading.

typedef HeadingHandle 

using mavsdk::Telemetry::HeadingHandle =  Handle<Heading>

Handle type for subscribe_heading.

typedef AltitudeCallback 

using mavsdk::Telemetry::AltitudeCallback =  std::function<void(Altitude)>

Callback type for subscribe_altitude.

typedef AltitudeHandle 

using mavsdk::Telemetry::AltitudeHandle =  Handle<Altitude>

Handle type for subscribe_altitude.

typedef GetGpsGlobalOriginCallback 

using mavsdk::Telemetry::GetGpsGlobalOriginCallback =  std::function<void(Result, GpsGlobalOrigin)>

Callback type for get_gps_global_origin_async.

Member Enumeration Documentation

enum FixType

GPS fix type.

Value Description
NoGps No GPS connected.
NoFix No position information, GPS is connected.
Fix2D 2D position.
Fix3D 3D position.
FixDgps DGPS/SBAS aided 3D position.
RtkFloat RTK float, 3D position.
RtkFixed RTK Fixed, 3D position.

enum FlightMode

Flight modes.

For more information about flight modes, check out https://docs.px4.io/master/en/config/flight_mode.html.

Value Description
Unknown Mode not known.
Ready Armed and ready to take off.
Takeoff Taking off.
Hold Holding (hovering in place (or circling for fixed-wing vehicles).
Mission In mission.
ReturnToLaunch Returning to launch position (then landing).
Land Landing.
Offboard In 'offboard' mode.
FollowMe In 'follow-me' mode.
Manual In 'Manual' mode.
Altctl In 'Altitude Control' mode.
Posctl In 'Position Control' mode.
Acro In 'Acro' mode.
Stabilized In 'Stabilize' mode.
Rattitude In 'Rattitude' mode.

enum StatusTextType

Status types.

Value Description
Debug Debug.
Info Information.
Notice Notice.
Warning Warning.
Error Error.
Critical Critical.
Alert Alert.
Emergency Emergency.

enum LandedState

Landed State enumeration.

Value Description
Unknown Landed state is unknown.
OnGround The vehicle is on the ground.
InAir The vehicle is in the air.
TakingOff The vehicle is taking off.
Landing The vehicle is landing.

enum VtolState

VTOL State enumeration.

Value Description
Undefined MAV is not configured as VTOL.
TransitionToFw VTOL is in transition from multicopter to fixed-wing.
TransitionToMc VTOL is in transition from fixed-wing to multicopter.
Mc VTOL is in multicopter state.
Fw VTOL is in fixed-wing state.

enum Result

Possible results returned for telemetry requests.

Value Description
Unknown Unknown result.
Success Success: the telemetry command was accepted by the vehicle.
NoSystem No system connected.
ConnectionError Connection error.
Busy Vehicle is busy.
CommandDenied Command refused by vehicle.
Timeout Request timed out.
Unsupported Request not supported.

Member Function Documentation

subscribe_position() 

PositionHandle mavsdk::Telemetry::subscribe_position(const PositionCallback &callback)

Subscribe to 'position' updates.

Parameters

Returns

 PositionHandle -

unsubscribe_position() 

void mavsdk::Telemetry::unsubscribe_position(PositionHandle handle)

Unsubscribe from subscribe_position.

Parameters

position() 

Position mavsdk::Telemetry::position() const

Poll for 'Position' (blocking).

Returns

 Position - One Position update.

subscribe_home() 

HomeHandle mavsdk::Telemetry::subscribe_home(const HomeCallback &callback)

Subscribe to 'home position' updates.

Parameters

Returns

 HomeHandle -

unsubscribe_home() 

void mavsdk::Telemetry::unsubscribe_home(HomeHandle handle)

Unsubscribe from subscribe_home.

Parameters

home() 

Position mavsdk::Telemetry::home() const

Poll for 'Position' (blocking).

Returns

 Position - One Position update.

subscribe_in_air() 

InAirHandle mavsdk::Telemetry::subscribe_in_air(const InAirCallback &callback)

Subscribe to in-air updates.

Parameters

Returns

 InAirHandle -

unsubscribe_in_air() 

void mavsdk::Telemetry::unsubscribe_in_air(InAirHandle handle)

Unsubscribe from subscribe_in_air.

Parameters

in_air() 

bool mavsdk::Telemetry::in_air() const

Poll for 'bool' (blocking).

Returns

 bool - One bool update.

subscribe_landed_state() 

LandedStateHandle mavsdk::Telemetry::subscribe_landed_state(const LandedStateCallback &callback)

Subscribe to landed state updates.

Parameters

Returns

 LandedStateHandle -

unsubscribe_landed_state() 

void mavsdk::Telemetry::unsubscribe_landed_state(LandedStateHandle handle)

Unsubscribe from subscribe_landed_state.

Parameters

landed_state() 

LandedState mavsdk::Telemetry::landed_state() const

Poll for 'LandedState' (blocking).

Returns

 LandedState - One LandedState update.

subscribe_armed() 

ArmedHandle mavsdk::Telemetry::subscribe_armed(const ArmedCallback &callback)

Subscribe to armed updates.

Parameters

Returns

 ArmedHandle -

unsubscribe_armed() 

void mavsdk::Telemetry::unsubscribe_armed(ArmedHandle handle)

Unsubscribe from subscribe_armed.

Parameters

armed() 

bool mavsdk::Telemetry::armed() const

Poll for 'bool' (blocking).

Returns

 bool - One bool update.

subscribe_vtol_state() 

VtolStateHandle mavsdk::Telemetry::subscribe_vtol_state(const VtolStateCallback &callback)

subscribe to vtol state Updates

Parameters

Returns

 VtolStateHandle -

unsubscribe_vtol_state() 

void mavsdk::Telemetry::unsubscribe_vtol_state(VtolStateHandle handle)

Unsubscribe from subscribe_vtol_state.

Parameters

vtol_state() 

VtolState mavsdk::Telemetry::vtol_state() const

Poll for 'VtolState' (blocking).

Returns

 VtolState - One VtolState update.

subscribe_attitude_quaternion() 

AttitudeQuaternionHandle mavsdk::Telemetry::subscribe_attitude_quaternion(const AttitudeQuaternionCallback &callback)

Subscribe to 'attitude' updates (quaternion).

Parameters

Returns

 AttitudeQuaternionHandle -

unsubscribe_attitude_quaternion() 

void mavsdk::Telemetry::unsubscribe_attitude_quaternion(AttitudeQuaternionHandle handle)

Unsubscribe from subscribe_attitude_quaternion.

Parameters

attitude_quaternion() 

Quaternion mavsdk::Telemetry::attitude_quaternion() const

Poll for 'Quaternion' (blocking).

Returns

 Quaternion - One Quaternion update.

subscribe_attitude_euler() 

AttitudeEulerHandle mavsdk::Telemetry::subscribe_attitude_euler(const AttitudeEulerCallback &callback)

Subscribe to 'attitude' updates (Euler).

Parameters

Returns

 AttitudeEulerHandle -

unsubscribe_attitude_euler() 

void mavsdk::Telemetry::unsubscribe_attitude_euler(AttitudeEulerHandle handle)

Unsubscribe from subscribe_attitude_euler.

Parameters

attitude_euler() 

EulerAngle mavsdk::Telemetry::attitude_euler() const

Poll for 'EulerAngle' (blocking).

Returns

 EulerAngle - One EulerAngle update.

subscribe_attitude_angular_velocity_body() 

AttitudeAngularVelocityBodyHandle mavsdk::Telemetry::subscribe_attitude_angular_velocity_body(const AttitudeAngularVelocityBodyCallback &callback)

Subscribe to 'attitude' updates (angular velocity)

Parameters

Returns

 AttitudeAngularVelocityBodyHandle -

unsubscribe_attitude_angular_velocity_body() 

void mavsdk::Telemetry::unsubscribe_attitude_angular_velocity_body(AttitudeAngularVelocityBodyHandle handle)

Unsubscribe from subscribe_attitude_angular_velocity_body.

Parameters

attitude_angular_velocity_body() 

AngularVelocityBody mavsdk::Telemetry::attitude_angular_velocity_body() const

Poll for 'AngularVelocityBody' (blocking).

Returns

 AngularVelocityBody - One AngularVelocityBody update.

subscribe_camera_attitude_quaternion() 

CameraAttitudeQuaternionHandle mavsdk::Telemetry::subscribe_camera_attitude_quaternion(const CameraAttitudeQuaternionCallback &callback)

Subscribe to 'camera attitude' updates (quaternion).

Parameters

Returns

 CameraAttitudeQuaternionHandle -

unsubscribe_camera_attitude_quaternion() 

void mavsdk::Telemetry::unsubscribe_camera_attitude_quaternion(CameraAttitudeQuaternionHandle handle)

Unsubscribe from subscribe_camera_attitude_quaternion.

Parameters

camera_attitude_quaternion() 

Quaternion mavsdk::Telemetry::camera_attitude_quaternion() const

Poll for 'Quaternion' (blocking).

Returns

 Quaternion - One Quaternion update.

subscribe_camera_attitude_euler() 

CameraAttitudeEulerHandle mavsdk::Telemetry::subscribe_camera_attitude_euler(const CameraAttitudeEulerCallback &callback)

Subscribe to 'camera attitude' updates (Euler).

Parameters

Returns

 CameraAttitudeEulerHandle -

unsubscribe_camera_attitude_euler() 

void mavsdk::Telemetry::unsubscribe_camera_attitude_euler(CameraAttitudeEulerHandle handle)

Unsubscribe from subscribe_camera_attitude_euler.

Parameters

camera_attitude_euler() 

EulerAngle mavsdk::Telemetry::camera_attitude_euler() const

Poll for 'EulerAngle' (blocking).

Returns

 EulerAngle - One EulerAngle update.

subscribe_velocity_ned() 

VelocityNedHandle mavsdk::Telemetry::subscribe_velocity_ned(const VelocityNedCallback &callback)

Subscribe to 'ground speed' updates (NED).

Parameters

Returns

 VelocityNedHandle -

unsubscribe_velocity_ned() 

void mavsdk::Telemetry::unsubscribe_velocity_ned(VelocityNedHandle handle)

Unsubscribe from subscribe_velocity_ned.

Parameters

velocity_ned() 

VelocityNed mavsdk::Telemetry::velocity_ned() const

Poll for 'VelocityNed' (blocking).

Returns

 VelocityNed - One VelocityNed update.

subscribe_gps_info() 

GpsInfoHandle mavsdk::Telemetry::subscribe_gps_info(const GpsInfoCallback &callback)

Subscribe to 'GPS info' updates.

Parameters

Returns

 GpsInfoHandle -

unsubscribe_gps_info() 

void mavsdk::Telemetry::unsubscribe_gps_info(GpsInfoHandle handle)

Unsubscribe from subscribe_gps_info.

Parameters

gps_info() 

GpsInfo mavsdk::Telemetry::gps_info() const

Poll for 'GpsInfo' (blocking).

Returns

 GpsInfo - One GpsInfo update.

subscribe_raw_gps() 

RawGpsHandle mavsdk::Telemetry::subscribe_raw_gps(const RawGpsCallback &callback)

Subscribe to 'Raw GPS' updates.

Parameters

Returns

 RawGpsHandle -

unsubscribe_raw_gps() 

void mavsdk::Telemetry::unsubscribe_raw_gps(RawGpsHandle handle)

Unsubscribe from subscribe_raw_gps.

Parameters

raw_gps() 

RawGps mavsdk::Telemetry::raw_gps() const

Poll for 'RawGps' (blocking).

Returns

 RawGps - One RawGps update.

subscribe_battery() 

BatteryHandle mavsdk::Telemetry::subscribe_battery(const BatteryCallback &callback)

Subscribe to 'battery' updates.

Parameters

Returns

 BatteryHandle -

unsubscribe_battery() 

void mavsdk::Telemetry::unsubscribe_battery(BatteryHandle handle)

Unsubscribe from subscribe_battery.

Parameters

battery() 

Battery mavsdk::Telemetry::battery() const

Poll for 'Battery' (blocking).

Returns

 Battery - One Battery update.

subscribe_flight_mode() 

FlightModeHandle mavsdk::Telemetry::subscribe_flight_mode(const FlightModeCallback &callback)

Subscribe to 'flight mode' updates.

Parameters

Returns

 FlightModeHandle -

unsubscribe_flight_mode() 

void mavsdk::Telemetry::unsubscribe_flight_mode(FlightModeHandle handle)

Unsubscribe from subscribe_flight_mode.

Parameters

flight_mode() 

FlightMode mavsdk::Telemetry::flight_mode() const

Poll for 'FlightMode' (blocking).

Returns

 FlightMode - One FlightMode update.

subscribe_health() 

HealthHandle mavsdk::Telemetry::subscribe_health(const HealthCallback &callback)

Subscribe to 'health' updates.

Parameters

Returns

 HealthHandle -

unsubscribe_health() 

void mavsdk::Telemetry::unsubscribe_health(HealthHandle handle)

Unsubscribe from subscribe_health.

Parameters

health() 

Health mavsdk::Telemetry::health() const

Poll for 'Health' (blocking).

Returns

 Health - One Health update.

subscribe_rc_status() 

RcStatusHandle mavsdk::Telemetry::subscribe_rc_status(const RcStatusCallback &callback)

Subscribe to 'RC status' updates.

Parameters

Returns

 RcStatusHandle -

unsubscribe_rc_status() 

void mavsdk::Telemetry::unsubscribe_rc_status(RcStatusHandle handle)

Unsubscribe from subscribe_rc_status.

Parameters

rc_status() 

RcStatus mavsdk::Telemetry::rc_status() const

Poll for 'RcStatus' (blocking).

Returns

 RcStatus - One RcStatus update.

subscribe_status_text() 

StatusTextHandle mavsdk::Telemetry::subscribe_status_text(const StatusTextCallback &callback)

Subscribe to 'status text' updates.

Parameters

Returns

 StatusTextHandle -

unsubscribe_status_text() 

void mavsdk::Telemetry::unsubscribe_status_text(StatusTextHandle handle)

Unsubscribe from subscribe_status_text.

Parameters

status_text() 

StatusText mavsdk::Telemetry::status_text() const

Poll for 'StatusText' (blocking).

Returns

 StatusText - One StatusText update.

subscribe_actuator_control_target() 

ActuatorControlTargetHandle mavsdk::Telemetry::subscribe_actuator_control_target(const ActuatorControlTargetCallback &callback)

Subscribe to 'actuator control target' updates.

Parameters

Returns

 ActuatorControlTargetHandle -

unsubscribe_actuator_control_target() 

void mavsdk::Telemetry::unsubscribe_actuator_control_target(ActuatorControlTargetHandle handle)

Unsubscribe from subscribe_actuator_control_target.

Parameters

actuator_control_target() 

ActuatorControlTarget mavsdk::Telemetry::actuator_control_target() const

Poll for 'ActuatorControlTarget' (blocking).

Returns

 ActuatorControlTarget - One ActuatorControlTarget update.

subscribe_actuator_output_status() 

ActuatorOutputStatusHandle mavsdk::Telemetry::subscribe_actuator_output_status(const ActuatorOutputStatusCallback &callback)

Subscribe to 'actuator output status' updates.

Parameters

Returns

 ActuatorOutputStatusHandle -

unsubscribe_actuator_output_status() 

void mavsdk::Telemetry::unsubscribe_actuator_output_status(ActuatorOutputStatusHandle handle)

Unsubscribe from subscribe_actuator_output_status.

Parameters

actuator_output_status() 

ActuatorOutputStatus mavsdk::Telemetry::actuator_output_status() const

Poll for 'ActuatorOutputStatus' (blocking).

Returns

 ActuatorOutputStatus - One ActuatorOutputStatus update.

subscribe_odometry() 

OdometryHandle mavsdk::Telemetry::subscribe_odometry(const OdometryCallback &callback)

Subscribe to 'odometry' updates.

Parameters

Returns

 OdometryHandle -

unsubscribe_odometry() 

void mavsdk::Telemetry::unsubscribe_odometry(OdometryHandle handle)

Unsubscribe from subscribe_odometry.

Parameters

odometry() 

Odometry mavsdk::Telemetry::odometry() const

Poll for 'Odometry' (blocking).

Returns

 Odometry - One Odometry update.

subscribe_position_velocity_ned() 

PositionVelocityNedHandle mavsdk::Telemetry::subscribe_position_velocity_ned(const PositionVelocityNedCallback &callback)

Subscribe to 'position velocity' updates.

Parameters

Returns

 PositionVelocityNedHandle -

unsubscribe_position_velocity_ned() 

void mavsdk::Telemetry::unsubscribe_position_velocity_ned(PositionVelocityNedHandle handle)

Unsubscribe from subscribe_position_velocity_ned.

Parameters

position_velocity_ned() 

PositionVelocityNed mavsdk::Telemetry::position_velocity_ned() const

Poll for 'PositionVelocityNed' (blocking).

Returns

 PositionVelocityNed - One PositionVelocityNed update.

subscribe_ground_truth() 

GroundTruthHandle mavsdk::Telemetry::subscribe_ground_truth(const GroundTruthCallback &callback)

Subscribe to 'ground truth' updates.

Parameters

Returns

 GroundTruthHandle -

unsubscribe_ground_truth() 

void mavsdk::Telemetry::unsubscribe_ground_truth(GroundTruthHandle handle)

Unsubscribe from subscribe_ground_truth.

Parameters

ground_truth() 

GroundTruth mavsdk::Telemetry::ground_truth() const

Poll for 'GroundTruth' (blocking).

Returns

 GroundTruth - One GroundTruth update.

subscribe_fixedwing_metrics() 

FixedwingMetricsHandle mavsdk::Telemetry::subscribe_fixedwing_metrics(const FixedwingMetricsCallback &callback)

Subscribe to 'fixedwing metrics' updates.

Parameters

Returns

 FixedwingMetricsHandle -

unsubscribe_fixedwing_metrics() 

void mavsdk::Telemetry::unsubscribe_fixedwing_metrics(FixedwingMetricsHandle handle)

Unsubscribe from subscribe_fixedwing_metrics.

Parameters

fixedwing_metrics() 

FixedwingMetrics mavsdk::Telemetry::fixedwing_metrics() const

Poll for 'FixedwingMetrics' (blocking).

Returns

 FixedwingMetrics - One FixedwingMetrics update.

subscribe_imu() 

ImuHandle mavsdk::Telemetry::subscribe_imu(const ImuCallback &callback)

Subscribe to 'IMU' updates (in SI units in NED body frame).

Parameters

Returns

 ImuHandle -

unsubscribe_imu() 

void mavsdk::Telemetry::unsubscribe_imu(ImuHandle handle)

Unsubscribe from subscribe_imu.

Parameters

imu() 

Imu mavsdk::Telemetry::imu() const

Poll for 'Imu' (blocking).

Returns

 Imu - One Imu update.

subscribe_scaled_imu() 

ScaledImuHandle mavsdk::Telemetry::subscribe_scaled_imu(const ScaledImuCallback &callback)

Subscribe to 'Scaled IMU' updates.

Parameters

Returns

 ScaledImuHandle -

unsubscribe_scaled_imu() 

void mavsdk::Telemetry::unsubscribe_scaled_imu(ScaledImuHandle handle)

Unsubscribe from subscribe_scaled_imu.

Parameters

scaled_imu() 

Imu mavsdk::Telemetry::scaled_imu() const

Poll for 'Imu' (blocking).

Returns

 Imu - One Imu update.

subscribe_raw_imu() 

RawImuHandle mavsdk::Telemetry::subscribe_raw_imu(const RawImuCallback &callback)

Subscribe to 'Raw IMU' updates.

Parameters

Returns

 RawImuHandle -

unsubscribe_raw_imu() 

void mavsdk::Telemetry::unsubscribe_raw_imu(RawImuHandle handle)

Unsubscribe from subscribe_raw_imu.

Parameters

raw_imu() 

Imu mavsdk::Telemetry::raw_imu() const

Poll for 'Imu' (blocking).

Returns

 Imu - One Imu update.

subscribe_health_all_ok() 

HealthAllOkHandle mavsdk::Telemetry::subscribe_health_all_ok(const HealthAllOkCallback &callback)

Subscribe to 'HealthAllOk' updates.

Parameters

Returns

 HealthAllOkHandle -

unsubscribe_health_all_ok() 

void mavsdk::Telemetry::unsubscribe_health_all_ok(HealthAllOkHandle handle)

Unsubscribe from subscribe_health_all_ok.

Parameters

health_all_ok() 

bool mavsdk::Telemetry::health_all_ok() const

Poll for 'bool' (blocking).

Returns

 bool - One bool update.

subscribe_unix_epoch_time() 

UnixEpochTimeHandle mavsdk::Telemetry::subscribe_unix_epoch_time(const UnixEpochTimeCallback &callback)

Subscribe to 'unix epoch time' updates.

Parameters

Returns

 UnixEpochTimeHandle -

unsubscribe_unix_epoch_time() 

void mavsdk::Telemetry::unsubscribe_unix_epoch_time(UnixEpochTimeHandle handle)

Unsubscribe from subscribe_unix_epoch_time.

Parameters

unix_epoch_time() 

uint64_t mavsdk::Telemetry::unix_epoch_time() const

Poll for 'uint64_t' (blocking).

Returns

 uint64_t - One uint64_t update.

subscribe_distance_sensor() 

DistanceSensorHandle mavsdk::Telemetry::subscribe_distance_sensor(const DistanceSensorCallback &callback)

Subscribe to 'Distance Sensor' updates.

Parameters

Returns

 DistanceSensorHandle -

unsubscribe_distance_sensor() 

void mavsdk::Telemetry::unsubscribe_distance_sensor(DistanceSensorHandle handle)

Unsubscribe from subscribe_distance_sensor.

Parameters

distance_sensor() 

DistanceSensor mavsdk::Telemetry::distance_sensor() const

Poll for 'DistanceSensor' (blocking).

Returns

 DistanceSensor - One DistanceSensor update.

subscribe_scaled_pressure() 

ScaledPressureHandle mavsdk::Telemetry::subscribe_scaled_pressure(const ScaledPressureCallback &callback)

Subscribe to 'Scaled Pressure' updates.

Parameters

Returns

 ScaledPressureHandle -

unsubscribe_scaled_pressure() 

void mavsdk::Telemetry::unsubscribe_scaled_pressure(ScaledPressureHandle handle)

Unsubscribe from subscribe_scaled_pressure.

Parameters

scaled_pressure() 

ScaledPressure mavsdk::Telemetry::scaled_pressure() const

Poll for 'ScaledPressure' (blocking).

Returns

 ScaledPressure - One ScaledPressure update.

subscribe_heading() 

HeadingHandle mavsdk::Telemetry::subscribe_heading(const HeadingCallback &callback)

Subscribe to 'Heading' updates.

Parameters

Returns

 HeadingHandle -

unsubscribe_heading() 

void mavsdk::Telemetry::unsubscribe_heading(HeadingHandle handle)

Unsubscribe from subscribe_heading.

Parameters

heading() 

Heading mavsdk::Telemetry::heading() const

Poll for 'Heading' (blocking).

Returns

 Heading - One Heading update.

subscribe_altitude() 

AltitudeHandle mavsdk::Telemetry::subscribe_altitude(const AltitudeCallback &callback)

Subscribe to 'Altitude' updates.

Parameters

Returns

 AltitudeHandle -

unsubscribe_altitude() 

void mavsdk::Telemetry::unsubscribe_altitude(AltitudeHandle handle)

Unsubscribe from subscribe_altitude.

Parameters

altitude() 

Altitude mavsdk::Telemetry::altitude() const

Poll for 'Altitude' (blocking).

Returns

 Altitude - One Altitude update.

set_rate_position_async() 

void mavsdk::Telemetry::set_rate_position_async(double rate_hz, const ResultCallback callback)

Set rate to 'position' updates.

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

Parameters

set_rate_position() 

Result mavsdk::Telemetry::set_rate_position(double rate_hz) const

Set rate to 'position' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_home_async() 

void mavsdk::Telemetry::set_rate_home_async(double rate_hz, const ResultCallback callback)

Set rate to 'home position' updates.

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

Parameters

set_rate_home() 

Result mavsdk::Telemetry::set_rate_home(double rate_hz) const

Set rate to 'home position' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_in_air_async() 

void mavsdk::Telemetry::set_rate_in_air_async(double rate_hz, const ResultCallback callback)

Set rate to in-air updates.

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

Parameters

set_rate_in_air() 

Result mavsdk::Telemetry::set_rate_in_air(double rate_hz) const

Set rate to in-air updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_landed_state_async() 

void mavsdk::Telemetry::set_rate_landed_state_async(double rate_hz, const ResultCallback callback)

Set rate to landed state updates.

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

Parameters

set_rate_landed_state() 

Result mavsdk::Telemetry::set_rate_landed_state(double rate_hz) const

Set rate to landed state updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_vtol_state_async() 

void mavsdk::Telemetry::set_rate_vtol_state_async(double rate_hz, const ResultCallback callback)

Set rate to VTOL state updates.

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

Parameters

set_rate_vtol_state() 

Result mavsdk::Telemetry::set_rate_vtol_state(double rate_hz) const

Set rate to VTOL state updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_attitude_quaternion_async() 

void mavsdk::Telemetry::set_rate_attitude_quaternion_async(double rate_hz, const ResultCallback callback)

Set rate to 'attitude euler angle' updates.

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

Parameters

set_rate_attitude_quaternion() 

Result mavsdk::Telemetry::set_rate_attitude_quaternion(double rate_hz) const

Set rate to 'attitude euler angle' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_attitude_euler_async() 

void mavsdk::Telemetry::set_rate_attitude_euler_async(double rate_hz, const ResultCallback callback)

Set rate to 'attitude quaternion' updates.

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

Parameters

set_rate_attitude_euler() 

Result mavsdk::Telemetry::set_rate_attitude_euler(double rate_hz) const

Set rate to 'attitude quaternion' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_camera_attitude_async() 

void mavsdk::Telemetry::set_rate_camera_attitude_async(double rate_hz, const ResultCallback callback)

Set rate of camera attitude updates.

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

Parameters

set_rate_camera_attitude() 

Result mavsdk::Telemetry::set_rate_camera_attitude(double rate_hz) const

Set rate of camera attitude updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_velocity_ned_async() 

void mavsdk::Telemetry::set_rate_velocity_ned_async(double rate_hz, const ResultCallback callback)

Set rate to 'ground speed' updates (NED).

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

Parameters

set_rate_velocity_ned() 

Result mavsdk::Telemetry::set_rate_velocity_ned(double rate_hz) const

Set rate to 'ground speed' updates (NED).

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_gps_info_async() 

void mavsdk::Telemetry::set_rate_gps_info_async(double rate_hz, const ResultCallback callback)

Set rate to 'GPS info' updates.

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

Parameters

set_rate_gps_info() 

Result mavsdk::Telemetry::set_rate_gps_info(double rate_hz) const

Set rate to 'GPS info' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_battery_async() 

void mavsdk::Telemetry::set_rate_battery_async(double rate_hz, const ResultCallback callback)

Set rate to 'battery' updates.

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

Parameters

set_rate_battery() 

Result mavsdk::Telemetry::set_rate_battery(double rate_hz) const

Set rate to 'battery' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_rc_status_async() 

void mavsdk::Telemetry::set_rate_rc_status_async(double rate_hz, const ResultCallback callback)

Set rate to 'RC status' updates.

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

Parameters

set_rate_rc_status() 

Result mavsdk::Telemetry::set_rate_rc_status(double rate_hz) const

Set rate to 'RC status' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_actuator_control_target_async() 

void mavsdk::Telemetry::set_rate_actuator_control_target_async(double rate_hz, const ResultCallback callback)

Set rate to 'actuator control target' updates.

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

Parameters

set_rate_actuator_control_target() 

Result mavsdk::Telemetry::set_rate_actuator_control_target(double rate_hz) const

Set rate to 'actuator control target' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_actuator_output_status_async() 

void mavsdk::Telemetry::set_rate_actuator_output_status_async(double rate_hz, const ResultCallback callback)

Set rate to 'actuator output status' updates.

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

Parameters

set_rate_actuator_output_status() 

Result mavsdk::Telemetry::set_rate_actuator_output_status(double rate_hz) const

Set rate to 'actuator output status' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_odometry_async() 

void mavsdk::Telemetry::set_rate_odometry_async(double rate_hz, const ResultCallback callback)

Set rate to 'odometry' updates.

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

Parameters

set_rate_odometry() 

Result mavsdk::Telemetry::set_rate_odometry(double rate_hz) const

Set rate to 'odometry' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_position_velocity_ned_async() 

void mavsdk::Telemetry::set_rate_position_velocity_ned_async(double rate_hz, const ResultCallback callback)

Set rate to 'position velocity' updates.

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

Parameters

set_rate_position_velocity_ned() 

Result mavsdk::Telemetry::set_rate_position_velocity_ned(double rate_hz) const

Set rate to 'position velocity' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_ground_truth_async() 

void mavsdk::Telemetry::set_rate_ground_truth_async(double rate_hz, const ResultCallback callback)

Set rate to 'ground truth' updates.

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

Parameters

set_rate_ground_truth() 

Result mavsdk::Telemetry::set_rate_ground_truth(double rate_hz) const

Set rate to 'ground truth' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_fixedwing_metrics_async() 

void mavsdk::Telemetry::set_rate_fixedwing_metrics_async(double rate_hz, const ResultCallback callback)

Set rate to 'fixedwing metrics' updates.

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

Parameters

set_rate_fixedwing_metrics() 

Result mavsdk::Telemetry::set_rate_fixedwing_metrics(double rate_hz) const

Set rate to 'fixedwing metrics' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_imu_async() 

void mavsdk::Telemetry::set_rate_imu_async(double rate_hz, const ResultCallback callback)

Set rate to 'IMU' updates.

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

Parameters

set_rate_imu() 

Result mavsdk::Telemetry::set_rate_imu(double rate_hz) const

Set rate to 'IMU' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_scaled_imu_async() 

void mavsdk::Telemetry::set_rate_scaled_imu_async(double rate_hz, const ResultCallback callback)

Set rate to 'Scaled IMU' updates.

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

Parameters

set_rate_scaled_imu() 

Result mavsdk::Telemetry::set_rate_scaled_imu(double rate_hz) const

Set rate to 'Scaled IMU' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_raw_imu_async() 

void mavsdk::Telemetry::set_rate_raw_imu_async(double rate_hz, const ResultCallback callback)

Set rate to 'Raw IMU' updates.

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

Parameters

set_rate_raw_imu() 

Result mavsdk::Telemetry::set_rate_raw_imu(double rate_hz) const

Set rate to 'Raw IMU' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_unix_epoch_time_async() 

void mavsdk::Telemetry::set_rate_unix_epoch_time_async(double rate_hz, const ResultCallback callback)

Set rate to 'unix epoch time' updates.

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

Parameters

set_rate_unix_epoch_time() 

Result mavsdk::Telemetry::set_rate_unix_epoch_time(double rate_hz) const

Set rate to 'unix epoch time' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_distance_sensor_async() 

void mavsdk::Telemetry::set_rate_distance_sensor_async(double rate_hz, const ResultCallback callback)

Set rate to 'Distance Sensor' updates.

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

Parameters

set_rate_distance_sensor() 

Result mavsdk::Telemetry::set_rate_distance_sensor(double rate_hz) const

Set rate to 'Distance Sensor' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

set_rate_altitude_async() 

void mavsdk::Telemetry::set_rate_altitude_async(double rate_hz, const ResultCallback callback)

Set rate to 'Altitude' updates.

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

Parameters

set_rate_altitude() 

Result mavsdk::Telemetry::set_rate_altitude(double rate_hz) const

Set rate to 'Altitude' updates.

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

Parameters

  • double rate_hz -

Returns

 Result - Result of request.

get_gps_global_origin_async() 

void mavsdk::Telemetry::get_gps_global_origin_async(const GetGpsGlobalOriginCallback callback)

Get the GPS location of where the estimator has been initialized.

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

Parameters

get_gps_global_origin() 

std::pair<Result, Telemetry::GpsGlobalOrigin> mavsdk::Telemetry::get_gps_global_origin() const

Get the GPS location of where the estimator has been initialized.

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

Returns

 std::pair< Result, Telemetry::GpsGlobalOrigin > - Result of request.

operator=() 

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

Equality operator (object is not copyable).

Parameters

Returns

 const Telemetry & -

© MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 03:58:12

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