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.Altitude(altitude_monotonic_m, altitude_amsl_m, altitude_local_m, altitude_relative_m, altitude_terrain_m, bottom_clearance_m)¶
Bases:
object
Altitude message type
- Parameters:
altitude_monotonic_m (float) – Altitude in meters is initialized on system boot and monotonic
altitude_amsl_m (float) – Altitude AMSL (above mean sea level) in meters
altitude_local_m (float) – Local altitude in meters
altitude_relative_m (float) – Altitude above home position in meters
altitude_terrain_m (float) – Altitude above terrain in meters
bottom_clearance_m (float) – This is not the altitude, but the clear space below the system according to the fused clearance estimate in meters.
- 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(id, temperature_degc, voltage_v, current_battery_a, capacity_consumed_ah, remaining_percent, time_remaining_s, battery_function)¶
Bases:
object
Battery type.
- Parameters:
id (uint32_t) – Battery ID, for systems with multiple batteries
temperature_degc (float) – Temperature of the battery in degrees Celsius. NAN for unknown temperature
voltage_v (float) – Voltage in volts
current_battery_a (float) – Battery current in Amps, NAN if autopilot does not measure the current
capacity_consumed_ah (float) – Consumed charge in Amp hours, NAN if autopilot does not provide consumption estimate
remaining_percent (float) – Estimated battery remaining (range: 0 to 100)
time_remaining_s (float) – Estimated battery usage time remaining
battery_function (BatteryFunction) – Function of the battery
- class mavsdk.telemetry.BatteryFunction(value)¶
Bases:
Enum
Battery function type.
Values¶
- UNKNOWN
Battery function is unknown
- ALL
Battery supports all flight systems
- PROPULSION
Battery for the propulsion system
- AVIONICS
Avionics battery
- PAYLOAD
Payload battery
- ALL = 1¶
- AVIONICS = 3¶
- PAYLOAD = 4¶
- PROPULSION = 2¶
- UNKNOWN = 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, orientation)¶
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.
orientation (EulerAngle) – Sensor Orientation reading.
- 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
GPS fix type.
Values¶
- 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, groundspeed_m_s, heading_deg, absolute_altitude_m)¶
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
groundspeed_m_s (float) – Current groundspeed metres per second
heading_deg (float) – Current heading in compass units (0-360, 0=north)
absolute_altitude_m (float) – Current altitude in metres (MSL)
- class mavsdk.telemetry.FlightMode(value)¶
Bases:
Enum
Flight modes.
For more information about flight modes, check out https://docs.px4.io/master/en/config/flight_mode.html.
Values¶
- 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.Heading(heading_deg)¶
Bases:
object
Heading type used for global position
- Parameters:
heading_deg (double) – Heading in degrees (range: 0 to +360)
- class mavsdk.telemetry.Health(is_gyrometer_calibration_ok, is_accelerometer_calibration_ok, is_magnetometer_calibration_ok, is_local_position_ok, is_global_position_ok, is_home_position_ok, is_armable)¶
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_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
is_armable (bool) – True if system can be armed
- 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
Landed State enumeration.
Values¶
- 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
Mavlink frame id
Values¶
- 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, NaN if unknown)
- 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 celsius)
differential_pressure_temperature_deg (float) – Differential pressure temperature (in celsius, 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
Status types.
Values¶
- 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:
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
- async actuator_control_target()¶
Subscribe to ‘actuator control target’ updates.
- Yields:
actuator_control_target (ActuatorControlTarget) – The next actuator control target
- async actuator_output_status()¶
Subscribe to ‘actuator output status’ updates.
- Yields:
actuator_output_status (ActuatorOutputStatus) – The next actuator output status
- async altitude()¶
Subscribe to ‘Altitude’ updates.
- Yields:
altitude (Altitude) – The next altitude
- async armed()¶
Subscribe to armed updates.
- Yields:
is_armed (bool) – The next ‘armed’ state
- async attitude_angular_velocity_body()¶
Subscribe to ‘attitude’ updates (angular velocity)
- Yields:
attitude_angular_velocity_body (AngularVelocityBody) – The next angular velocity (rad/s)
- async attitude_euler()¶
Subscribe to ‘attitude’ updates (Euler).
- Yields:
attitude_euler (EulerAngle) – The next attitude (Euler)
- async attitude_quaternion()¶
Subscribe to ‘attitude’ updates (quaternion).
- Yields:
attitude_quaternion (Quaternion) – The next attitude (quaternion)
- async battery()¶
Subscribe to ‘battery’ updates.
- Yields:
battery (Battery) – The next ‘battery’ state
- async distance_sensor()¶
Subscribe to ‘Distance Sensor’ updates.
- Yields:
distance_sensor (DistanceSensor) – The next Distance Sensor status
- async fixedwing_metrics()¶
Subscribe to ‘fixedwing metrics’ updates.
- Yields:
fixedwing_metrics (FixedwingMetrics) – The next fixedwing metrics
- async 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:
- Raises:
TelemetryError – If the request fails. The error contains the reason for the failure.
- async gps_info()¶
Subscribe to ‘GPS info’ updates.
- Yields:
gps_info (GpsInfo) – The next ‘GPS info’ state
- async ground_truth()¶
Subscribe to ‘ground truth’ updates.
- Yields:
ground_truth (GroundTruth) – Ground truth position information available in simulation
- async heading()¶
Subscribe to ‘Heading’ updates.
- Yields:
heading_deg (Heading) – The next heading (yaw) in degrees
- async health()¶
Subscribe to ‘health’ updates.
- Yields:
health (Health) – The next ‘health’ state
- async health_all_ok()¶
Subscribe to ‘HealthAllOk’ updates.
- Yields:
is_health_all_ok (bool) – The next ‘health all ok’ status
- async home()¶
Subscribe to ‘home position’ updates.
- Yields:
home (Position) – The next home position
- async imu()¶
Subscribe to ‘IMU’ updates (in SI units in NED body frame).
- Yields:
imu (Imu) – The next IMU status
- async in_air()¶
Subscribe to in-air updates.
- Yields:
is_in_air (bool) – The next ‘in-air’ state
- async landed_state()¶
Subscribe to landed state updates
- Yields:
landed_state (LandedState) – The next ‘landed’ state
- name = 'Telemetry'¶
- async odometry()¶
Subscribe to ‘odometry’ updates.
- Yields:
odometry (Odometry) – The next odometry status
- async position()¶
Subscribe to ‘position’ updates.
- Yields:
position (Position) – The next position
- async position_velocity_ned()¶
Subscribe to ‘position velocity’ updates.
- Yields:
position_velocity_ned (PositionVelocityNed) – The next position and velocity status
- async 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!
- async raw_imu()¶
Subscribe to ‘Raw IMU’ updates.
- Yields:
imu (Imu) – The next raw IMU status
- async rc_status()¶
Subscribe to ‘RC status’ updates.
- Yields:
rc_status (RcStatus) – The next RC status
- async scaled_imu()¶
Subscribe to ‘Scaled IMU’ updates.
- Yields:
imu (Imu) – The next scaled IMU status
- async 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_altitude(rate_hz)¶
Set rate to ‘Altitude’ 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_euler(rate_hz)¶
Set rate to ‘attitude quaternion’ 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_quaternion(rate_hz)¶
Set rate to ‘attitude euler angle’ 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_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_health(rate_hz)¶
Set rate to ‘Health’ 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 of camera attitude updates. 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.
- async set_rate_vtol_state(rate_hz)¶
Set rate to VTOL 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 status_text()¶
Subscribe to ‘status text’ updates.
- Yields:
status_text (StatusText) – The next ‘status text’
- async unix_epoch_time()¶
Subscribe to ‘unix epoch time’ updates.
- Yields:
time_us (uint64_t) – The next ‘unix epoch time’ status
- async velocity_ned()¶
Subscribe to ‘ground speed’ updates (NED).
- Yields:
velocity_ned (VelocityNed) – The next velocity (NED)
- async vtol_state()¶
subscribe to vtol state Updates
- Yields:
vtol_state (VtolState) – The next ‘vtol’ state
- async wind()¶
Subscribe to ‘Wind Estimated’ updates.
- Yields:
wind (Wind) – The next wind
- 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
Possible results returned for telemetry requests.
Values¶
- 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
- UNSUPPORTED
Request not supported
- BUSY = 4¶
- COMMAND_DENIED = 5¶
- CONNECTION_ERROR = 3¶
- NO_SYSTEM = 2¶
- SUCCESS = 1¶
- TIMEOUT = 6¶
- UNKNOWN = 0¶
- UNSUPPORTED = 7¶
- 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
- class mavsdk.telemetry.VtolState(value)¶
Bases:
Enum
VTOL State enumeration
Values¶
- UNDEFINED
MAV is not configured as VTOL
- TRANSITION_TO_FW
VTOL is in transition from multicopter to fixed-wing
- TRANSITION_TO_MC
VTOL is in transition from fixed-wing to multicopter
- MC
VTOL is in multicopter state
- FW
VTOL is in fixed-wing state
- FW = 4¶
- MC = 3¶
- TRANSITION_TO_FW = 1¶
- TRANSITION_TO_MC = 2¶
- UNDEFINED = 0¶
- class mavsdk.telemetry.Wind(wind_x_ned_m_s, wind_y_ned_m_s, wind_z_ned_m_s, horizontal_variability_stddev_m_s, vertical_variability_stddev_m_s, wind_altitude_msl_m, horizontal_wind_speed_accuracy_m_s, vertical_wind_speed_accuracy_m_s)¶
Bases:
object
Wind message type
- Parameters:
wind_x_ned_m_s (float) – Wind in North (NED) direction
wind_y_ned_m_s (float) – Wind in East (NED) direction
wind_z_ned_m_s (float) – Wind in down (NED) direction
horizontal_variability_stddev_m_s (float) – Variability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate
vertical_variability_stddev_m_s (float) – Variability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate
wind_altitude_msl_m (float) – Altitude (MSL) that this measurement was taken at
horizontal_wind_speed_accuracy_m_s (float) – Horizontal speed 1-STD accuracy
vertical_wind_speed_accuracy_m_s (float) – Vertical speed 1-STD accuracy