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. Certain Telemetry Topics such as, Position or Velocity_Ned require GPS Fix before data gets published.

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 (note that units are are incorrect and “raw” as provided by the sensor)

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