Offboard

class mavsdk.offboard.AccelerationNed(north_m_s2, east_m_s2, down_m_s2)

Bases: object

Type for acceleration commands in NED (North East Down) coordinates.

Parameters:

  • north_m_s2 (float) – Acceleration North (in metres/second^2)

  • east_m_s2 (float) – Acceleration East (in metres/second^2)

  • down_m_s2 (float) – Acceleration Down (in metres/second^2)

class mavsdk.offboard.ActuatorControl(groups)

Bases: object

Type for actuator control.

Control members should be normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction.

One group support eight controls.

Up to 16 actuator controls can be set. To ignore an output group, set all it controls to NaN. If one or more controls in group is not NaN, then all NaN controls will sent as zero. The first 8 actuator controls internally map to control group 0, the latter 8 actuator controls map to control group 1. Depending on what controls are set (instead of NaN) 1 or 2 MAVLink messages are actually sent.

In PX4 v1.9.0 Only first four Control Groups are supported (https://github.com/PX4/Firmware/blob/v1.9.0/src/modules/mavlink/mavlink_receiver.cpp#L980).

Parameters:

groups ([ActuatorControlGroup]) – Control groups.

class mavsdk.offboard.ActuatorControlGroup(controls)

Bases: object

Eight controls that will be given to the group. Each control is a normalized (-1..+1) command value, which will be mapped and scaled through the mixer.

Parameters:

controls ([float]) – Controls in the group

class mavsdk.offboard.Attitude(roll_deg, pitch_deg, yaw_deg, thrust_value)

Bases: object

Type for attitude body angles in NED reference frame (roll, pitch, yaw and thrust)

Parameters:

  • roll_deg (float) – Roll angle (in degrees, positive is right side down)

  • pitch_deg (float) – Pitch angle (in degrees, positive is nose up)

  • yaw_deg (float) – Yaw angle (in degrees, positive is move nose to the right)

  • thrust_value (float) – Thrust (range: 0 to 1)

class mavsdk.offboard.AttitudeRate(roll_deg_s, pitch_deg_s, yaw_deg_s, thrust_value)

Bases: object

Type for attitude rate commands in body coordinates (roll, pitch, yaw angular rate and thrust)

Parameters:

  • roll_deg_s (float) – Roll angular rate (in degrees/second, positive for clock-wise looking from front)

  • pitch_deg_s (float) – Pitch angular rate (in degrees/second, positive for head/front moving up)

  • yaw_deg_s (float) – Yaw angular rate (in degrees/second, positive for clock-wise looking from above)

  • thrust_value (float) – Thrust (range: 0 to 1)

class mavsdk.offboard.Offboard(async_plugin_manager)

Bases: AsyncBase

Control a drone with position, velocity, attitude or motor commands.

The module is called offboard because the commands can be sent from external sources as opposed to onboard control right inside the autopilot “board”.

Client code must specify a setpoint before starting offboard mode. Mavsdk automatically sends setpoints at 20Hz (PX4 Offboard mode requires that setpoints are minimally sent at 2Hz).

Generated by dcsdkgen - MAVSDK Offboard API

async is_active()

Check if offboard control is active.

True means that the vehicle is in offboard mode and we are actively sending setpoints.

Returns:

is_active – True if offboard is active

Return type:

bool

name = 'Offboard'
async set_acceleration_ned(acceleration_ned)

Set the acceleration in NED coordinates.

Parameters:

acceleration_ned (AccelerationNed) – Acceleration

Raises:

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

async set_actuator_control(actuator_control)

Set direct actuator control values to groups #0 and #1.

First 8 controls will go to control group 0, the following 8 controls to control group 1 (if actuator_control.num_controls more than 8).

Parameters:

actuator_control (ActuatorControl) – Actuator control values

Raises:

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

async set_attitude(attitude)

Set the attitude in terms of roll, pitch and yaw in degrees with thrust.

Parameters:

attitude (Attitude) – Attitude roll, pitch and yaw along with thrust

Raises:

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

async set_attitude_rate(attitude_rate)

Set the attitude rate in terms of pitch, roll and yaw angular rate along with thrust.

Parameters:

attitude_rate (AttitudeRate) – Attitude rate roll, pitch and yaw angular rate along with thrust

Raises:

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

async set_position_global(position_global_yaw)

Set the position in Global coordinates (latitude, longitude, altitude) and yaw

Parameters:

position_global_yaw (PositionGlobalYaw) – Position and yaw

Raises:

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

async set_position_ned(position_ned_yaw)

Set the position in NED coordinates and yaw.

Parameters:

position_ned_yaw (PositionNedYaw) – Position and yaw

Raises:

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

async set_position_velocity_acceleration_ned(position_ned_yaw, velocity_ned_yaw, acceleration_ned)

Set the position, velocity and acceleration in NED coordinates, with velocity and acceleration used as feed-forward.

Parameters:
Raises:

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

async set_position_velocity_ned(position_ned_yaw, velocity_ned_yaw)

Set the position in NED coordinates, with the velocity to be used as feed-forward.

Parameters:
Raises:

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

async set_velocity_body(velocity_body_yawspeed)

Set the velocity in body coordinates and yaw angular rate. Not available for fixed-wing aircraft.

Parameters:

velocity_body_yawspeed (VelocityBodyYawspeed) – Velocity and yaw angular rate

Raises:

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

async set_velocity_ned(velocity_ned_yaw)

Set the velocity in NED coordinates and yaw. Not available for fixed-wing aircraft.

Parameters:

velocity_ned_yaw (VelocityNedYaw) – Velocity and yaw

Raises:

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

async start()

Start offboard control.

Raises:

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

async stop()

Stop offboard control.

The vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html

Raises:

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

exception mavsdk.offboard.OffboardError(result, origin, *params)

Bases: Exception

Raised when a OffboardResult is a fail code

class mavsdk.offboard.OffboardResult(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 offboard requests

Values

UNKNOWN

Unknown result

SUCCESS

Request succeeded

NO_SYSTEM

No system is connected

CONNECTION_ERROR

Connection error

BUSY

Vehicle is busy

COMMAND_DENIED

Command denied

TIMEOUT

Request timed out

NO_SETPOINT_SET

Cannot start without setpoint set

FAILED

Request failed

BUSY = 4
COMMAND_DENIED = 5
CONNECTION_ERROR = 3
FAILED = 8
NO_SETPOINT_SET = 7
NO_SYSTEM = 2
SUCCESS = 1
TIMEOUT = 6
UNKNOWN = 0
class mavsdk.offboard.PositionGlobalYaw(lat_deg, lon_deg, alt_m, yaw_deg, altitude_type)

Bases: object

Type for position commands in Global (Latitude, Longitude, Altitude) coordinates and yaw.

Parameters:

  • lat_deg (double) – Latitude (in degrees)

  • lon_deg (double) – Longitude (in degrees)

  • alt_m (float) – altitude (in metres)

  • yaw_deg (float) – Yaw in degrees (0 North, positive is clock-wise looking from above)

  • altitude_type (AltitudeType) – altitude type for this position

class AltitudeType(value)

Bases: Enum

Possible altitude options

Values

REL_HOME

Altitude relative to the Home position

AMSL

Altitude above mean sea level (AMSL)

AGL

Altitude above ground level (AGL)

AGL = 2
AMSL = 1
REL_HOME = 0
class mavsdk.offboard.PositionNedYaw(north_m, east_m, down_m, yaw_deg)

Bases: object

Type for position commands in NED (North East Down) coordinates and yaw.

Parameters:

  • north_m (float) – Position North (in metres)

  • east_m (float) – Position East (in metres)

  • down_m (float) – Position Down (in metres)

  • yaw_deg (float) – Yaw in degrees (0 North, positive is clock-wise looking from above)

class mavsdk.offboard.VelocityBodyYawspeed(forward_m_s, right_m_s, down_m_s, yawspeed_deg_s)

Bases: object

Type for velocity commands in body coordinates.

Parameters:

  • forward_m_s (float) – Velocity forward (in metres/second)

  • right_m_s (float) – Velocity right (in metres/second)

  • down_m_s (float) – Velocity down (in metres/second)

  • yawspeed_deg_s (float) – Yaw angular rate (in degrees/second, positive for clock-wise looking from above)

class mavsdk.offboard.VelocityNedYaw(north_m_s, east_m_s, down_m_s, yaw_deg)

Bases: object

Type for velocity commands in NED (North East Down) coordinates and yaw.

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)

  • yaw_deg (float) – Yaw in degrees (0 North, positive is clock-wise looking from above)