Telemetry¶

class mavsdk.telemetry.AccelerationFrd(forward_m_s2, right_m_s2, down_m_s2)¶

Bases: object

AccelerationFrd message type.

Parameters

forward_m_s2 (float) – Acceleration in forward direction in metres per second^2
right_m_s2 (float) – Acceleration in right direction in metres per second^2
down_m_s2 (float) – Acceleration in down direction in metres per second^2

class mavsdk.telemetry.ActuatorControlTarget(group, controls)¶

Bases: object

Actuator control target type.

Parameters

group (int32_t) – An actuator control group is e.g. ‘attitude’ for the core flight controls, or ‘gimbal’ for a payload.
controls ([float]) – Controls normed from -1 to 1, where 0 is neutral position.

class mavsdk.telemetry.ActuatorOutputStatus(active, actuator)¶

Bases: object

Actuator output status type.

Parameters

active (uint32_t) – Active outputs
actuator ([float]) – Servo/motor output values

class mavsdk.telemetry.AngularVelocityBody(roll_rad_s, pitch_rad_s, yaw_rad_s)¶

Bases: object

Angular velocity type.

Parameters

roll_rad_s (float) – Roll angular velocity
pitch_rad_s (float) – Pitch angular velocity
yaw_rad_s (float) – Yaw angular velocity

class mavsdk.telemetry.AngularVelocityFrd(forward_rad_s, right_rad_s, down_rad_s)¶

Bases: object

AngularVelocityFrd message type.

Parameters

forward_rad_s (float) – Angular velocity in forward direction in radians per second
right_rad_s (float) – Angular velocity in right direction in radians per second
down_rad_s (float) – Angular velocity in Down direction in radians per second

class mavsdk.telemetry.Battery(voltage_v, remaining_percent)¶

Bases: object

Battery type.

Parameters

voltage_v (float) – Voltage in volts
remaining_percent (float) – Estimated battery remaining (range: 0.0 to 1.0)

class mavsdk.telemetry.Covariance(covariance_matrix)¶

Bases: object

Covariance type.

Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Set first to NaN if unknown.

Parameters: covariance_matrix ([float]) – Representation of a covariance matrix.

class mavsdk.telemetry.DistanceSensor(minimum_distance_m, maximum_distance_m, current_distance_m)¶

Bases: object

DistanceSensor message type.

Parameters

minimum_distance_m (float) – Minimum distance the sensor can measure, NaN if unknown.
maximum_distance_m (float) – Maximum distance the sensor can measure, NaN if unknown.
current_distance_m (float) – Current distance reading, NaN if unknown.

class mavsdk.telemetry.EulerAngle(roll_deg, pitch_deg, yaw_deg, timestamp_us)¶

Bases: object

Euler angle type.

All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.

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

Parameters

roll_deg (float) – Roll angle in degrees, positive is banking to the right
pitch_deg (float) – Pitch angle in degrees, positive is pitching nose up
yaw_deg (float) – Yaw angle in degrees, positive is clock-wise seen from above
timestamp_us (uint64_t) – Timestamp in microseconds

class mavsdk.telemetry.FixType(value)¶

Bases: enum.Enum

GPS fix type.

NO_GPS: No GPS connected
NO_FIX: No position information, GPS is connected
FIX_2D: 2D position
FIX_3D: 3D position
FIX_DGPS: DGPS/SBAS aided 3D position
RTK_FLOAT: RTK float, 3D position
RTK_FIXED: RTK Fixed, 3D position

FIX_2D = 2¶

FIX_3D = 3¶

FIX_DGPS = 4¶

NO_FIX = 1¶

NO_GPS = 0¶

RTK_FIXED = 6¶

RTK_FLOAT = 5¶

class mavsdk.telemetry.FixedwingMetrics(airspeed_m_s, throttle_percentage, climb_rate_m_s)¶

Bases: object

FixedwingMetrics message type.

Parameters

airspeed_m_s (float) – Current indicated airspeed (IAS) in metres per second
throttle_percentage (float) – Current throttle setting (0 to 100)
climb_rate_m_s (float) – Current climb rate in metres per second

class mavsdk.telemetry.FlightMode(value)¶

Bases: enum.Enum

Flight modes.

For more information about flight modes, check out https://docs.px4.io/master/en/config/flight_mode.html.

UNKNOWN: Mode not known
READY: Armed and ready to take off
TAKEOFF: Taking off
HOLD: Holding (hovering in place (or circling for fixed-wing vehicles)
MISSION: In mission
RETURN_TO_LAUNCH: Returning to launch position (then landing)
LAND: Landing
OFFBOARD: In ‘offboard’ mode
FOLLOW_ME: In ‘follow-me’ mode
MANUAL: In ‘Manual’ mode
ALTCTL: In ‘Altitude Control’ mode
POSCTL: In ‘Position Control’ mode
ACRO: In ‘Acro’ mode
STABILIZED: In ‘Stabilize’ mode
RATTITUDE: In ‘Rattitude’ mode

ACRO = 12¶

ALTCTL = 10¶

FOLLOW_ME = 8¶

HOLD = 3¶

LAND = 6¶

MANUAL = 9¶

MISSION = 4¶

OFFBOARD = 7¶

POSCTL = 11¶

RATTITUDE = 14¶

READY = 1¶

RETURN_TO_LAUNCH = 5¶

STABILIZED = 13¶

TAKEOFF = 2¶

UNKNOWN = 0¶

class mavsdk.telemetry.GpsGlobalOrigin(latitude_deg, longitude_deg, altitude_m)¶

Bases: object

Gps global origin type.

Parameters

latitude_deg (double) – Latitude of the origin
longitude_deg (double) – Longitude of the origin
altitude_m (float) – Altitude AMSL (above mean sea level) in metres

class mavsdk.telemetry.GpsInfo(num_satellites, fix_type)¶

Bases: object

GPS information type.

Parameters

num_satellites (int32_t) – Number of visible satellites in use
fix_type (FixType) – Fix type

class mavsdk.telemetry.GroundTruth(latitude_deg, longitude_deg, absolute_altitude_m)¶

Bases: object

GroundTruth message type.

Parameters

latitude_deg (double) – Latitude in degrees (range: -90 to +90)
longitude_deg (double) – Longitude in degrees (range: -180 to 180)
absolute_altitude_m (float) – Altitude AMSL (above mean sea level) in metres

class mavsdk.telemetry.Health(is_gyrometer_calibration_ok, is_accelerometer_calibration_ok, is_magnetometer_calibration_ok, is_level_calibration_ok, is_local_position_ok, is_global_position_ok, is_home_position_ok)¶

Bases: object

Health type.

Parameters

is_gyrometer_calibration_ok (bool) – True if the gyrometer is calibrated
is_accelerometer_calibration_ok (bool) – True if the accelerometer is calibrated
is_magnetometer_calibration_ok (bool) – True if the magnetometer is calibrated
is_level_calibration_ok (bool) – True if the vehicle has a valid level calibration
is_local_position_ok (bool) – True if the local position estimate is good enough to fly in ‘position control’ mode
is_global_position_ok (bool) – True if the global position estimate is good enough to fly in ‘position control’ mode
is_home_position_ok (bool) – True if the home position has been initialized properly

class mavsdk.telemetry.Imu(acceleration_frd, angular_velocity_frd, magnetic_field_frd, temperature_degc, timestamp_us)¶

Bases: object

Imu message type.

Parameters

acceleration_frd (AccelerationFrd) – Acceleration
angular_velocity_frd (AngularVelocityFrd) – Angular velocity
magnetic_field_frd (MagneticFieldFrd) – Magnetic field
temperature_degc (float) – Temperature
timestamp_us (uint64_t) – Timestamp in microseconds

class mavsdk.telemetry.LandedState(value)¶

Bases: enum.Enum

Landed State enumeration.

UNKNOWN: Landed state is unknown
ON_GROUND: The vehicle is on the ground
IN_AIR: The vehicle is in the air
TAKING_OFF: The vehicle is taking off
LANDING: The vehicle is landing

IN_AIR = 2¶

LANDING = 4¶

ON_GROUND = 1¶

TAKING_OFF = 3¶

UNKNOWN = 0¶

class mavsdk.telemetry.MagneticFieldFrd(forward_gauss, right_gauss, down_gauss)¶

Bases: object

MagneticFieldFrd message type.

Parameters

forward_gauss (float) – Magnetic field in forward direction measured in Gauss
right_gauss (float) – Magnetic field in East direction measured in Gauss
down_gauss (float) – Magnetic field in Down direction measured in Gauss

class mavsdk.telemetry.Odometry(time_usec, frame_id, child_frame_id, position_body, q, velocity_body, angular_velocity_body, pose_covariance, velocity_covariance)¶

Bases: object

Odometry message type.

Parameters

time_usec (uint64_t) – Timestamp (0 to use Backend timestamp).
frame_id (MavFrame) – Coordinate frame of reference for the pose data.
child_frame_id (MavFrame) – Coordinate frame of reference for the velocity in free space (twist) data.
position_body (PositionBody) – Position.
q (Quaternion) – Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).
velocity_body (VelocityBody) – Linear velocity (m/s).
angular_velocity_body (AngularVelocityBody) – Angular velocity (rad/s).
pose_covariance (Covariance) – Pose cross-covariance matrix.
velocity_covariance (Covariance) – Velocity cross-covariance matrix.

class MavFrame(value)¶

Bases: enum.Enum

Mavlink frame id

UNDEF: Frame is undefined.
BODY_NED: Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.
VISION_NED: Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down).
ESTIM_NED: Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).

BODY_NED = 1¶

ESTIM_NED = 3¶

UNDEF = 0¶

VISION_NED = 2¶

class mavsdk.telemetry.Position(latitude_deg, longitude_deg, absolute_altitude_m, relative_altitude_m)¶

Bases: object

Position type in global coordinates.

Parameters

latitude_deg (double) – Latitude in degrees (range: -90 to +90)
longitude_deg (double) – Longitude in degrees (range: -180 to +180)
absolute_altitude_m (float) – Altitude AMSL (above mean sea level) in metres
relative_altitude_m (float) – Altitude relative to takeoff altitude in metres

class mavsdk.telemetry.PositionBody(x_m, y_m, z_m)¶

Bases: object

Position type, represented in the Body (X Y Z) frame

Parameters

x_m (float) – X Position in metres.
y_m (float) – Y Position in metres.
z_m (float) – Z Position in metres.

class mavsdk.telemetry.PositionNed(north_m, east_m, down_m)¶

Bases: object

PositionNed message type.

Parameters

north_m (float) – Position along north direction in metres
east_m (float) – Position along east direction in metres
down_m (float) – Position along down direction in metres

class mavsdk.telemetry.PositionVelocityNed(position, velocity)¶

Bases: object

PositionVelocityNed message type.

Parameters

position (PositionNed) – Position (NED)
velocity (VelocityNed) – Velocity (NED)

class mavsdk.telemetry.Quaternion(w, x, y, z, timestamp_us)¶

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
timestamp_us (uint64_t) – Timestamp in microseconds

class mavsdk.telemetry.RawGps(timestamp_us, latitude_deg, longitude_deg, absolute_altitude_m, hdop, vdop, velocity_m_s, cog_deg, altitude_ellipsoid_m, horizontal_uncertainty_m, vertical_uncertainty_m, velocity_uncertainty_m_s, heading_uncertainty_deg, yaw_deg)¶

Bases: object

Raw GPS information type.

Warning: this is an advanced type! If you want the location of the drone, use the position instead. This message exposes the raw values of the GNSS sensor.

Parameters

timestamp_us (uint64_t) – Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)
latitude_deg (double) – Latitude in degrees (WGS84, EGM96 ellipsoid)
longitude_deg (double) – Longitude in degrees (WGS84, EGM96 ellipsoid)
absolute_altitude_m (float) – Altitude AMSL (above mean sea level) in metres
hdop (float) – GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN
vdop (float) – GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN
velocity_m_s (float) – Ground velocity in metres per second
cog_deg (float) – Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN
altitude_ellipsoid_m (float) – Altitude in metres (above WGS84, EGM96 ellipsoid)
horizontal_uncertainty_m (float) – Position uncertainty in metres
vertical_uncertainty_m (float) – Altitude uncertainty in metres
velocity_uncertainty_m_s (float) – Velocity uncertainty in metres per second
heading_uncertainty_deg (float) – Heading uncertainty in degrees
yaw_deg (float) – Yaw in earth frame from north.

class mavsdk.telemetry.RcStatus(was_available_once, is_available, signal_strength_percent)¶

Bases: object

Remote control status type.

Parameters

was_available_once (bool) – True if an RC signal has been available once
is_available (bool) – True if the RC signal is available now
signal_strength_percent (float) – Signal strength (range: 0 to 100)

class mavsdk.telemetry.ScaledPressure(timestamp_us, absolute_pressure_hpa, differential_pressure_hpa, temperature_deg, differential_pressure_temperature_deg)¶

Bases: object

Scaled Pressure message type.

Parameters

timestamp_us (uint64_t) – Timestamp (time since system boot)
absolute_pressure_hpa (float) – Absolute pressure in hPa
differential_pressure_hpa (float) – Differential pressure 1 in hPa
temperature_deg (float) – Absolute pressure temperature (in celcius)
differential_pressure_temperature_deg (float) – Differential pressure temperature (in celcius, 0 if not available)

class mavsdk.telemetry.StatusText(type, text)¶

Bases: object

StatusText information type.

Parameters

type (StatusTextType) – Message type
text (std::string) – MAVLink status message

class mavsdk.telemetry.StatusTextType(value)¶

Bases: enum.Enum

Status types.

DEBUG: Debug
INFO: Information
NOTICE: Notice
WARNING: Warning
ERROR: Error
CRITICAL: Critical
ALERT: Alert
EMERGENCY: Emergency

ALERT = 6¶

CRITICAL = 5¶

DEBUG = 0¶

EMERGENCY = 7¶

ERROR = 4¶

INFO = 1¶

NOTICE = 2¶

WARNING = 3¶

class mavsdk.telemetry.Telemetry(async_plugin_manager)¶

Bases: mavsdk._base.AsyncBase

Allow users to get vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates.

Generated by dcsdkgen - MAVSDK Telemetry API

actuator_control_target()¶

Subscribe to ‘actuator control target’ updates.

Yields: actuator_control_target (ActuatorControlTarget) – The next actuator control target

actuator_output_status()¶

Subscribe to ‘actuator output status’ updates.

Yields: actuator_output_status (ActuatorOutputStatus) – The next actuator output status

armed()¶

Subscribe to armed updates.

Yields: is_armed (bool) – The next ‘armed’ state

attitude_angular_velocity_body()¶

Subscribe to ‘attitude’ updates (angular velocity)

Yields: attitude_angular_velocity_body (AngularVelocityBody) – The next angular velocity (rad/s)

attitude_euler()¶

Subscribe to ‘attitude’ updates (Euler).

Yields: attitude_euler (EulerAngle) – The next attitude (Euler)

attitude_quaternion()¶

Subscribe to ‘attitude’ updates (quaternion).

Yields: attitude_quaternion (Quaternion) – The next attitude (quaternion)

battery()¶

Subscribe to ‘battery’ updates.

Yields: battery (Battery) – The next ‘battery’ state

camera_attitude_euler()¶

Subscribe to ‘camera attitude’ updates (Euler).

Yields: attitude_euler (EulerAngle) – The next camera attitude (Euler)

camera_attitude_quaternion()¶

Subscribe to ‘camera attitude’ updates (quaternion).

Yields: attitude_quaternion (Quaternion) – The next camera attitude (quaternion)

distance_sensor()¶

Subscribe to ‘Distance Sensor’ updates.

Yields: distance_sensor (DistanceSensor) – The next Distance Sensor status

fixedwing_metrics()¶

Subscribe to ‘fixedwing metrics’ updates.

Yields: fixedwing_metrics (FixedwingMetrics) – The next fixedwing metrics

flight_mode()¶

Subscribe to ‘flight mode’ updates.

Yields: flight_mode (FlightMode) – The next flight mode

async get_gps_global_origin()¶

Get the GPS location of where the estimator has been initialized.

Returns: gps_global_origin
Return type: GpsGlobalOrigin
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

gps_info()¶

Subscribe to ‘GPS info’ updates.

Yields: gps_info (GpsInfo) – The next ‘GPS info’ state

ground_truth()¶

Subscribe to ‘ground truth’ updates.

Yields: ground_truth (GroundTruth) – Ground truth position information available in simulation

health()¶

Subscribe to ‘health’ updates.

Yields: health (Health) – The next ‘health’ state

health_all_ok()¶

Subscribe to ‘HealthAllOk’ updates.

Yields: is_health_all_ok (bool) – The next ‘health all ok’ status

home()¶

Subscribe to ‘home position’ updates.

Yields: home (Position) – The next home position

imu()¶

Subscribe to ‘IMU’ updates (in SI units in NED body frame).

Yields: imu (Imu) – The next IMU status

in_air()¶

Subscribe to in-air updates.

Yields: is_in_air (bool) – The next ‘in-air’ state

landed_state()¶

Subscribe to landed state updates

Yields: landed_state (LandedState) – The next ‘landed’ state

name = 'Telemetry'¶

odometry()¶

Subscribe to ‘odometry’ updates.

Yields: odometry (Odometry) – The next odometry status

position()¶

Subscribe to ‘position’ updates.

Yields: position (Position) – The next position

position_velocity_ned()¶

Subscribe to ‘position velocity’ updates.

Yields: position_velocity_ned (PositionVelocityNed) – The next position and velocity status

raw_gps()¶

Subscribe to ‘Raw GPS’ updates.

Yields: raw_gps (RawGps) – The next ‘Raw GPS’ state. Warning: this is an advanced feature, use Position updates to get the location of the drone!

raw_imu()¶

Subscribe to ‘Raw IMU’ updates.

Yields: imu (Imu) – The next raw IMU status

rc_status()¶

Subscribe to ‘RC status’ updates.

Yields: rc_status (RcStatus) – The next RC status

scaled_imu()¶

Subscribe to ‘Scaled IMU’ updates.

Yields: imu (Imu) – The next scaled IMU status

scaled_pressure()¶

Subscribe to ‘Scaled Pressure’ updates.

Yields: scaled_pressure (ScaledPressure) – The next Scaled Pressure status

async set_rate_actuator_control_target(rate_hz)¶

Set rate to ‘actuator control target’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_actuator_output_status(rate_hz)¶

Set rate to ‘actuator output status’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_attitude(rate_hz)¶

Set rate to ‘attitude’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_battery(rate_hz)¶

Set rate to ‘battery’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_camera_attitude(rate_hz)¶

Set rate of camera attitude updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_distance_sensor(rate_hz)¶

Set rate to ‘Distance Sensor’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_fixedwing_metrics(rate_hz)¶

Set rate to ‘fixedwing metrics’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_gps_info(rate_hz)¶

Set rate to ‘GPS info’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_ground_truth(rate_hz)¶

Set rate to ‘ground truth’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_home(rate_hz)¶

Set rate to ‘home position’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_imu(rate_hz)¶

Set rate to ‘IMU’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_in_air(rate_hz)¶

Set rate to in-air updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_landed_state(rate_hz)¶

Set rate to landed state updates

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_odometry(rate_hz)¶

Set rate to ‘odometry’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_position(rate_hz)¶

Set rate to ‘position’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_position_velocity_ned(rate_hz)¶

Set rate to ‘position velocity’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_raw_imu(rate_hz)¶

Set rate to ‘Raw IMU’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_rc_status(rate_hz)¶

Set rate to ‘RC status’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_scaled_imu(rate_hz)¶

Set rate to ‘Scaled IMU’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_unix_epoch_time(rate_hz)¶

Set rate to ‘unix epoch time’ updates.

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

async set_rate_velocity_ned(rate_hz)¶

Set rate to ‘ground speed’ updates (NED).

Parameters: rate_hz (double) – The requested rate (in Hertz)
Raises: TelemetryError – If the request fails. The error contains the reason for the failure.

status_text()¶

Subscribe to ‘status text’ updates.

Yields: status_text (StatusText) – The next ‘status text’

unix_epoch_time()¶

Subscribe to ‘unix epoch time’ updates.

Yields: time_us (uint64_t) – The next ‘unix epoch time’ status

velocity_ned()¶

Subscribe to ‘ground speed’ updates (NED).

Yields: velocity_ned (VelocityNed) – The next velocity (NED)

exception mavsdk.telemetry.TelemetryError(result, origin, *params)¶

Bases: Exception

Raised when a TelemetryResult is a fail code

class mavsdk.telemetry.TelemetryResult(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.Enum

Possible results returned for telemetry requests.

UNKNOWN: Unknown result
SUCCESS: Success: the telemetry command was accepted by the vehicle
NO_SYSTEM: No system connected
CONNECTION_ERROR: Connection error
BUSY: Vehicle is busy
COMMAND_DENIED: Command refused by vehicle
TIMEOUT: Request timed out

BUSY = 4¶

COMMAND_DENIED = 5¶

CONNECTION_ERROR = 3¶

NO_SYSTEM = 2¶

SUCCESS = 1¶

TIMEOUT = 6¶

UNKNOWN = 0¶

class mavsdk.telemetry.VelocityBody(x_m_s, y_m_s, z_m_s)¶

Bases: object

Velocity 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.telemetry.VelocityNed(north_m_s, east_m_s, down_m_s)¶

Bases: object

VelocityNed message type.

Parameters

north_m_s (float) – Velocity along north direction in metres per second
east_m_s (float) – Velocity along east direction in metres per second
down_m_s (float) – Velocity along down direction in metres per second

Telemetry¶

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