Action

public class Action

Enable simple actions such as arming, taking off, and landing.

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  • Initializes a new Action plugin.

    Normally never created manually, but used from the Drone helper class instead.

    Declaration

    Swift

    public convenience init(address: String = "localhost",
                        port: Int32 = 50051,
                        scheduler: SchedulerType = ConcurrentDispatchQueueScheduler(qos: .background))

    Parameters

    address

    The address of the MavsdkServer instance to connect to
    port

    The port of the MavsdkServer instance to connect to
    scheduler

    The scheduler to be used by Observables
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  • Undocumented

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    Declaration

    Swift

    public struct RuntimeActionError : Error
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  • Undocumented

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    Declaration

    Swift

    public struct ActionError : Error
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  • Yaw behaviour during orbit flight.

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    Declaration

    Swift

    public enum OrbitYawBehavior : Equatable
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  • Result type.

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    Declaration

    Swift

    public struct ActionResult : Equatable
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  • Send command to arm the drone.

    Arming a drone normally causes motors to spin at idle. Before arming take all safety precautions and stand clear of the drone!

    Declaration

    Swift

    public func arm() -> Completable
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  • Send command to disarm the drone.

    This will disarm a drone that considers itself landed. If flying, the drone should reject the disarm command. Disarming means that all motors will stop.

    Declaration

    Swift

    public func disarm() -> Completable
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  • Send command to take off and hover.

    This switches the drone into position control mode and commands it to take off and hover at the takeoff altitude.

    Note that the vehicle must be armed before it can take off.

    Declaration

    Swift

    public func takeoff() -> Completable
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  • Send command to land at the current position.

    This switches the drone to ‘Land’ flight mode.

    Declaration

    Swift

    public func land() -> Completable
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  • Send command to reboot the drone components.

    This will reboot the autopilot, companion computer, camera and gimbal.

    Declaration

    Swift

    public func reboot() -> Completable
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  • Send command to shut down the drone components.

    This will shut down the autopilot, onboard computer, camera and gimbal. This command should only be used when the autopilot is disarmed and autopilots commonly reject it if they are not already ready to shut down.

    Declaration

    Swift

    public func shutdown() -> Completable
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  • Send command to terminate the drone.

    This will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).

    Declaration

    Swift

    public func terminate() -> Completable
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  • Send command to kill the drone.

    This will disarm a drone irrespective of whether it is landed or flying. Note that the drone will fall out of the sky if this command is used while flying.

    Declaration

    Swift

    public func kill() -> Completable
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  • Send command to return to the launch (takeoff) position and land.

    This switches the drone into Return mode which generally means it will rise up to a certain altitude to clear any obstacles before heading back to the launch (takeoff) position and land there.

    Declaration

    Swift

    public func returnToLaunch() -> Completable
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  • Send command to move the vehicle to a specific global position.

    The latitude and longitude are given in degrees (WGS84 frame) and the altitude in meters AMSL (above mean sea level).

    The yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).

    Declaration

    Swift

    public func gotoLocation(latitudeDeg: Double, longitudeDeg: Double, absoluteAltitudeM: Float, yawDeg: Float) -> Completable

    Parameters

    latitudeDeg

    Latitude (in degrees)
    longitudeDeg

    Longitude (in degrees)
    absoluteAltitudeM

    Altitude AMSL (in meters)
    yawDeg

    Yaw angle (in degrees, frame is NED, 0 is North, positive is clockwise)
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  • Send command do orbit to the drone.

    This will run the orbit routine with the given parameters.

    Declaration

    Swift

    public func doOrbit(radiusM: Float, velocityMs: Float, yawBehavior: OrbitYawBehavior, latitudeDeg: Double, longitudeDeg: Double, absoluteAltitudeM: Double) -> Completable

    Parameters

    radiusM

    Radius of circle (in meters)
    velocityMs

    Tangential velocity (in m/s)
    yawBehavior

    Yaw behavior of vehicle (ORBIT_YAW_BEHAVIOUR)
    latitudeDeg

    Center point latitude in degrees. NAN: use current latitude for center
    longitudeDeg

    Center point longitude in degrees. NAN: use current longitude for center
    absoluteAltitudeM

    Center point altitude in meters. NAN: use current altitude for center
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  • Send command to hold position (a.k.a. “Loiter”).

    Sends a command to drone to change to Hold flight mode, causing the vehicle to stop and maintain its current GPS position and altitude.

    Note: this command is specific to the PX4 Autopilot flight stack as it implies a change to a PX4-specific mode.

    Declaration

    Swift

    public func hold() -> Completable
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  • Send command to set the value of an actuator.

    Declaration

    Swift

    public func setActuator(index: Int32, value: Float) -> Completable

    Parameters

    index

    Index of actuator (starting with 1)
    value

    Value to set the actuator to (normalized from [-1..1])
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  • Send command to transition the drone to fixedwing.

    The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in fixedwing mode.

    Declaration

    Swift

    public func transitionToFixedwing() -> Completable
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  • Send command to transition the drone to multicopter.

    The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in multicopter mode.

    Declaration

    Swift

    public func transitionToMulticopter() -> Completable
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  • Get the takeoff altitude (in meters above ground).

    Declaration

    Swift

    public func getTakeoffAltitude() -> Single<Float>
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  • Set takeoff altitude (in meters above ground).

    Declaration

    Swift

    public func setTakeoffAltitude(altitude: Float) -> Completable

    Parameters

    altitude

    Takeoff altitude relative to ground/takeoff location (in meters)
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  • Get the vehicle maximum speed (in metres/second).

    Declaration

    Swift

    public func getMaximumSpeed() -> Single<Float>
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  • Set vehicle maximum speed (in metres/second).

    Declaration

    Swift

    public func setMaximumSpeed(speed: Float) -> Completable

    Parameters

    speed

    Maximum speed (in metres/second)
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  • Get the return to launch minimum return altitude (in meters).

    Declaration

    Swift

    public func getReturnToLaunchAltitude() -> Single<Float>
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  • Set the return to launch minimum return altitude (in meters).

    Declaration

    Swift

    public func setReturnToLaunchAltitude(relativeAltitudeM: Float) -> Completable

    Parameters

    relativeAltitudeM

    Return altitude relative to takeoff location (in meters)
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  • Set current speed.

    This will set the speed during a mission, reposition, and similar. It is ephemeral, so not stored on the drone and does not survive a reboot.

    Declaration

    Swift

    public func setCurrentSpeed(speedMS: Float) -> Completable

    Parameters

    speedMS

    Speed in meters/second
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