ArmAuthorizerServer

class mavsdk.arm_authorizer_server.ArmAuthorizerServer(async_plugin_manager)

Bases: AsyncBase

Use arm authorization.

Generated by dcsdkgen - MAVSDK ArmAuthorizerServer API

async accept_arm_authorization(valid_time_s)

Authorize arm for the specific time

Parameters:

valid_time_s (int32_t) – Time in seconds for which this authorization is valid

Raises:

ArmAuthorizerServerError – If the request fails. The error contains the reason for the failure.

async arm_authorization()

Subscribe to arm authorization request messages. Each request received should respond to using RespondArmAuthorization

Yields:

system_id (uint32_t) – vehicle system id

name = 'ArmAuthorizerServer'

async reject_arm_authorization(temporarily, reason, extra_info)

Reject arm authorization request

Parameters:

• temporarily (bool) – True if the answer should be TEMPORARILY_REJECTED, false for DENIED

• reason (RejectionReason) – Reason for the arm to be rejected

• extra_info (int32_t) – Extra information specific to the rejection reason (see https://mavlink.io/en/services/arm_authorization.html)

Raises:

ArmAuthorizerServerError – If the request fails. The error contains the reason for the failure.

exception mavsdk.arm_authorizer_server.ArmAuthorizerServerError(result, origin, *params)

Bases: Exception

Raised when a ArmAuthorizerServerResult is a fail code

class mavsdk.arm_authorizer_server.ArmAuthorizerServerResult(result, result_str)

Bases: object

Parameters:

• result (Result) – Result enum value

• result_str (std::string) – Human-readable English string describing the result

class Result(value)

Bases: Enum

The result

Values

UNKNOWN

Unknown result

SUCCESS

Command accepted

FAILED

Command failed

FAILED = 2

SUCCESS = 1

UNKNOWN = 0

class mavsdk.arm_authorizer_server.RejectionReason(value)

Bases: Enum

The rejection reason

Values

GENERIC

Not a specific reason

NONE

Authorizer will send the error as string to GCS

INVALID_WAYPOINT

At least one waypoint have a invalid value

TIMEOUT

Timeout in the authorizer process(in case it depends on network)

AIRSPACE_IN_USE

Airspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.

BAD_WEATHER

Weather is not good to fly

AIRSPACE_IN_USE = 4

BAD_WEATHER = 5

GENERIC = 0

INVALID_WAYPOINT = 2

NONE = 1

TIMEOUT = 3