TelemetryServer

class mavsdk.telemetry_server.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_server.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_server.ActuatorOutputStatus(active, actuator)

Bases: object

Actuator output status type.

Parameters:

• active (uint32_t) – Active outputs

• actuator ([float]) – Servo/motor output values

class mavsdk.telemetry_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.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_server.PositionVelocityNed(position, velocity)

Bases: object

PositionVelocityNed message type.

Parameters:

• position (PositionNed) – Position (NED)

• velocity (VelocityNed) – Velocity (NED)

class mavsdk.telemetry_server.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_server.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_server.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_server.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_server.StatusText(type, text)

Bases: object

StatusText information type.

Parameters:

• type (StatusTextType) – Message type

• text (std::string) – MAVLink status message

class mavsdk.telemetry_server.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_server.TelemetryServer(async_plugin_manager)

Bases: AsyncBase

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

Generated by dcsdkgen - MAVSDK TelemetryServer API

name = 'TelemetryServer'

async publish_attitude(angle, angular_velocity)

Publish to “attitude” updates.

Parameters:

• angle (EulerAngle) – roll/pitch/yaw body angles

• angular_velocity (AngularVelocityBody) – roll/pitch/yaw angular velocities

Raises:

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

async publish_battery(battery)

Publish to ‘battery’ updates.

Parameters:

battery (Battery) – The next ‘battery’ state

Raises:

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

async publish_distance_sensor(distance_sensor)

Publish to “distance sensor” updates.

Parameters:

distance_sensor (DistanceSensor) – The next ‘Distance Sensor’ status

Raises:

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

async publish_extended_sys_state(vtol_state, landed_state)

Publish ‘extended sys state’ updates.

Parameters:

• vtol_state (VtolState)

• landed_state (LandedState)

Raises:

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

async publish_ground_truth(ground_truth)

Publish to ‘ground truth’ updates.

Parameters:

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

Raises:

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

async publish_home(home)

Publish to ‘home position’ updates.

Parameters:

home (Position) – The next home position

Raises:

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

async publish_imu(imu)

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

Parameters:

imu (Imu) – The next IMU status

Raises:

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

async publish_odometry(odometry)

Publish to ‘odometry’ updates.

Parameters:

odometry (Odometry) – The next odometry status

Raises:

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

async publish_position(position, velocity_ned, heading)

Publish to ‘position’ updates.

Parameters:

• position (Position) – The next position

• velocity_ned (VelocityNed) – The next velocity (NED)

• heading (Heading) – Heading (yaw) in degrees

Raises:

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

async publish_position_velocity_ned(position_velocity_ned)

Publish to ‘position velocity’ updates.

Parameters:

position_velocity_ned (PositionVelocityNed) – The next position and velocity status

Raises:

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

async publish_raw_gps(raw_gps, gps_info)

Publish to ‘Raw GPS’ updates.

Parameters:

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

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

Raises:

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

async publish_raw_imu(imu)

Publish to ‘Raw IMU’ updates.

Parameters:

imu (Imu) – The next raw IMU status

Raises:

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

async publish_scaled_imu(imu)

Publish to ‘Scaled IMU’ updates.

Parameters:

imu (Imu) – The next scaled IMU status

Raises:

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

async publish_status_text(status_text)

Publish to ‘status text’ updates.

Parameters:

status_text (StatusText) – The next ‘status text’

Raises:

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

async publish_sys_status(battery, rc_receiver_status, gyro_status, accel_status, mag_status, gps_status)

Publish ‘sys status’ updates.

Parameters:

• battery (Battery) – The next ‘battery’ state

• rc_receiver_status (bool) – rc receiver status

• gyro_status (bool)

• accel_status (bool)

• mag_status (bool)

• gps_status (bool)

Raises:

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

async publish_unix_epoch_time(time_us)

Publish to ‘unix epoch time’ updates.

Parameters:

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

Raises:

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

async publish_visual_flight_rules_hud(fixed_wing_metrics)

Publish to “Visual Flight Rules HUD” updates.

Parameters:

fixed_wing_metrics (FixedwingMetrics)

Raises:

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

exception mavsdk.telemetry_server.TelemetryServerError(result, origin, *params)

Bases: Exception

Raised when a TelemetryServerResult is a fail code

class mavsdk.telemetry_server.TelemetryServerResult(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_server.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_server.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_server.VtolState(value)

Bases: Enum

Maps to MAV_VTOL_STATE

Values

UNDEFINED

Not VTOL

TRANSITION_TO_FW

Transitioning to fixed-wing

TRANSITION_TO_MC

Transitioning to multi-copter

MC

Multi-copter

FW

Fixed-wing

FW = 4

MC = 3

TRANSITION_TO_FW = 1

TRANSITION_TO_MC = 2

UNDEFINED = 0