MissionRawServer

class mavsdk.mission_raw_server.MissionItem(seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z, mission_type)

Bases: object

Mission item exactly identical to MAVLink MISSION_ITEM_INT.

Parameters:

  • seq (uint32_t) – Sequence (uint16_t)

  • frame (uint32_t) – The coordinate system of the waypoint (actually uint8_t)

  • command (uint32_t) – The scheduled action for the waypoint (actually uint16_t)

  • current (uint32_t) – false:0, true:1 (actually uint8_t)

  • autocontinue (uint32_t) – Autocontinue to next waypoint (actually uint8_t)

  • param1 (float) – PARAM1, see MAV_CMD enum

  • param2 (float) – PARAM2, see MAV_CMD enum

  • param3 (float) – PARAM3, see MAV_CMD enum

  • param4 (float) – PARAM4, see MAV_CMD enum

  • x (int32_t) – PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7

  • y (int32_t) – PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7

  • z (float) – PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)

  • mission_type (uint32_t) – Mission type (actually uint8_t)

class mavsdk.mission_raw_server.MissionPlan(mission_items)

Bases: object

Mission plan type

Parameters:

mission_items ([MissionItem]) – The mission items

class mavsdk.mission_raw_server.MissionProgress(current, total)

Bases: object

Mission progress type.

Parameters:

  • current (int32_t) – Current mission item index (0-based), if equal to total, the mission is finished

  • total (int32_t) – Total number of mission items

class mavsdk.mission_raw_server.MissionRawServer(async_plugin_manager)

Bases: AsyncBase

Acts as a vehicle and receives incoming missions from GCS (in raw MAVLINK format). Provides current mission item state, so the server can progress through missions.

Generated by dcsdkgen - MAVSDK MissionRawServer API

async clear_all()

Subscribe when a MISSION_CLEAR_ALL is received

Yields:

clear_type (uint32_t)

async current_item_changed()

Subscribe to when a new current item is set

Yields:

mission_item (MissionItem)

async incoming_mission()

Subscribe to when a new mission is uploaded (asynchronous).

Yields:

mission_plan (MissionPlan) – The mission plan

Raises:

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

name = 'MissionRawServer'
async set_current_item_complete()

Set Current item as completed

exception mavsdk.mission_raw_server.MissionRawServerError(result, origin, *params)

Bases: Exception

Raised when a MissionRawServerResult is a fail code

class mavsdk.mission_raw_server.MissionRawServerResult(result, result_str)

Bases: object

Result type.

Parameters:

  • result (Result) – Result enum value

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

class Result(value)

Bases: Enum

Possible results returned for action requests.

Values

UNKNOWN

Unknown result

SUCCESS

Request succeeded

ERROR

Error

TOO_MANY_MISSION_ITEMS

Too many mission items in the mission

BUSY

Vehicle is busy

TIMEOUT

Request timed out

INVALID_ARGUMENT

Invalid argument

UNSUPPORTED

Mission downloaded from the system is not supported

NO_MISSION_AVAILABLE

No mission available on the system

UNSUPPORTED_MISSION_CMD

Unsupported mission command

TRANSFER_CANCELLED

Mission transfer (upload or download) has been cancelled

NO_SYSTEM

No system connected

NEXT

Intermediate message showing progress or instructions on the next steps

BUSY = 4
ERROR = 2
INVALID_ARGUMENT = 6
NEXT = 12
NO_MISSION_AVAILABLE = 8
NO_SYSTEM = 11
SUCCESS = 1
TIMEOUT = 5
TOO_MANY_MISSION_ITEMS = 3
TRANSFER_CANCELLED = 10
UNKNOWN = 0
UNSUPPORTED = 7
UNSUPPORTED_MISSION_CMD = 9