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:
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:

GpsGlobalOrigin

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