Mocap

class mavsdk.mocap.AngleBody(roll_rad, pitch_rad, yaw_rad)

Bases: object

Body angle type

Parameters:

  • roll_rad (float) – Roll angle in radians.

  • pitch_rad (float) – Pitch angle in radians.

  • yaw_rad (float) – Yaw angle in radians.

class mavsdk.mocap.AngularVelocityBody(roll_rad_s, pitch_rad_s, yaw_rad_s)

Bases: object

Angular velocity type

Parameters:

  • roll_rad_s (float) – Roll angular velocity in radians/second.

  • pitch_rad_s (float) – Pitch angular velocity in radians/second.

  • yaw_rad_s (float) – Yaw angular velocity in radians/second.

class mavsdk.mocap.AttitudePositionMocap(time_usec, q, position_body, pose_covariance)

Bases: object

Motion capture attitude and position

Parameters:

  • time_usec (uint64_t) – PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)

  • q (Quaternion) – Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)

  • position_body (PositionBody) – Body Position (NED)

  • pose_covariance (Covariance) – Pose cross-covariance matrix.

class mavsdk.mocap.Covariance(covariance_matrix)

Bases: object

Covariance type. Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Needs to be 21 entries or 1 entry with NaN if unknown.

Parameters:

covariance_matrix ([float]) – The covariance matrix

class mavsdk.mocap.Mocap(async_plugin_manager)

Bases: AsyncBase

Allows interfacing a vehicle with a motion capture system in order to allow navigation without global positioning sources available (e.g. indoors, or when flying under a bridge. etc.).

Generated by dcsdkgen - MAVSDK Mocap API

name = 'Mocap'
async set_attitude_position_mocap(attitude_position_mocap)

Send motion capture attitude and position.

Parameters:

attitude_position_mocap (AttitudePositionMocap) – The attitude and position data

Raises:

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

async set_odometry(odometry)

Send odometry information with an external interface.

Parameters:

odometry (Odometry) – The odometry data

Raises:

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

async set_vision_position_estimate(vision_position_estimate)

Send Global position/attitude estimate from a vision source.

Parameters:

vision_position_estimate (VisionPositionEstimate) – The vision position estimate

Raises:

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

async set_vision_speed_estimate(vision_speed_estimate)

Send Global speed estimate from a vision source.

Parameters:

vision_speed_estimate (VisionSpeedEstimate) – The vision speed estimate

Raises:

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

exception mavsdk.mocap.MocapError(result, origin, *params)

Bases: Exception

Raised when a MocapResult is a fail code

class mavsdk.mocap.MocapResult(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 mocap requests

Values

UNKNOWN

Unknown error

SUCCESS

Request succeeded

NO_SYSTEM

No system is connected

CONNECTION_ERROR

Connection error

INVALID_REQUEST_DATA

Invalid request data

UNSUPPORTED

Function unsupported

CONNECTION_ERROR = 3
INVALID_REQUEST_DATA = 4
NO_SYSTEM = 2
SUCCESS = 1
UNKNOWN = 0
UNSUPPORTED = 5
class mavsdk.mocap.Odometry(time_usec, frame_id, position_body, q, speed_body, angular_velocity_body, pose_covariance, velocity_covariance)

Bases: object

Odometry message to communicate odometry information with an external interface.

Parameters:

  • time_usec (uint64_t) – Timestamp (0 to use Backend timestamp).

  • frame_id (MavFrame) – Coordinate frame of reference for the pose data.

  • position_body (PositionBody) – Body Position.

  • q (Quaternion) – Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

  • speed_body (SpeedBody) – Linear speed (m/s).

  • angular_velocity_body (AngularVelocityBody) – Angular speed (rad/s).

  • pose_covariance (Covariance) – Pose cross-covariance matrix.

  • velocity_covariance (Covariance) – Velocity cross-covariance matrix.

class MavFrame(value)

Bases: Enum

Mavlink frame id

Values

MOCAP_NED

MAVLink number: 14. Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down).

LOCAL_FRD

MAVLink number: 20. Forward, Right, Down coordinate frame. This is a local frame with Z-down and arbitrary F/R alignment (i.e. not aligned with NED/earth frame). Replacement for MAV_FRAME_MOCAP_NED, MAV_FRAME_VISION_NED, MAV_FRAME_ESTIM_NED.

LOCAL_FRD = 1
MOCAP_NED = 0
class mavsdk.mocap.PositionBody(x_m, y_m, z_m)

Bases: object

Body position type

Parameters:

  • x_m (float) – X position in metres.

  • y_m (float) – Y position in metres.

  • z_m (float) – Z position in metres.

class mavsdk.mocap.Quaternion(w, x, y, z)

Bases: object

Quaternion type.

All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.

For more info see: https://en.wikipedia.org/wiki/Quaternion

Parameters:

  • w (float) – Quaternion entry 0, also denoted as a

  • x (float) – Quaternion entry 1, also denoted as b

  • y (float) – Quaternion entry 2, also denoted as c

  • z (float) – Quaternion entry 3, also denoted as d

class mavsdk.mocap.SpeedBody(x_m_s, y_m_s, z_m_s)

Bases: object

Speed type, represented in the Body (X Y Z) frame and in metres/second.

Parameters:

  • x_m_s (float) – Velocity in X in metres/second.

  • y_m_s (float) – Velocity in Y in metres/second.

  • z_m_s (float) – Velocity in Z in metres/second.

class mavsdk.mocap.SpeedNed(north_m_s, east_m_s, down_m_s)

Bases: object

Speed type, represented in NED (North East Down) coordinates.

Parameters:

  • north_m_s (float) – Velocity North in metres/second.

  • east_m_s (float) – Velocity East in metres/second.

  • down_m_s (float) – Velocity Down in metres/second.

class mavsdk.mocap.VisionPositionEstimate(time_usec, position_body, angle_body, pose_covariance)

Bases: object

Global position/attitude estimate from a vision source.

Parameters:

  • time_usec (uint64_t) – PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)

  • position_body (PositionBody) – Global position (m)

  • angle_body (AngleBody) – Body angle (rad).

  • pose_covariance (Covariance) – Pose cross-covariance matrix.

class mavsdk.mocap.VisionSpeedEstimate(time_usec, speed_ned, speed_covariance)

Bases: object

Global speed estimate from a vision source.

Parameters:

  • time_usec (uint64_t) – Timestamp UNIX Epoch time (0 to use Backend timestamp)

  • speed_ned (SpeedNed) – Global speed (m/s)

  • speed_covariance (Covariance) – Linear velocity cross-covariance matrix.