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.