ActionServer Class Reference


                    
                    
                    init(address:port:scheduler:)

Initializes a new ActionServer 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 `Observable`s

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                    RuntimeActionServerError

Undocumented

Declaration

Swift

public struct RuntimeActionServerError : Error

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                    ActionServerError

Undocumented

Declaration

Swift

public struct ActionServerError : Error

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                    FlightMode

Flight modes.

For more information about flight modes, check out https://docs.px4.io/master/en/config/flight_mode.html.

Declaration

Swift

public enum FlightMode : Equatable

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                    AllowableFlightModes

State to check if the vehicle can transition to respective flightmodes

Declaration

Swift

public struct AllowableFlightModes : Equatable

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                    ArmDisarm

Arming message type

Declaration

Swift

public struct ArmDisarm : Equatable

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                    ActionServerResult

Result type.

Declaration

Swift

public struct ActionServerResult : Equatable

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                    armDisarm

Subscribe to ARM/DISARM commands

Declaration

Swift

public lazy var armDisarm: Observable<ArmDisarm> { get set }

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                    flightModeChange

Subscribe to DO_SET_MODE

Declaration

Swift

public lazy var flightModeChange: Observable<FlightMode> { get set }

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                    takeoff

Subscribe to takeoff command

Declaration

Swift

public lazy var takeoff: Observable<Bool> { get set }

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                    land

Subscribe to land command

Declaration

Swift

public lazy var land: Observable<Bool> { get set }

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                    reboot

Subscribe to reboot command

Declaration

Swift

public lazy var reboot: Observable<Bool> { get set }

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                    shutdown

Subscribe to shutdown command

Declaration

Swift

public lazy var shutdown: Observable<Bool> { get set }

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                    terminate

Subscribe to terminate command

Declaration

Swift

public lazy var terminate: Observable<Bool> { get set }

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                    setAllowTakeoff(allowTakeoff:)

Can the vehicle takeoff

Declaration

Swift

public func setAllowTakeoff(allowTakeoff: Bool) -> Completable

Parameters


                                allowTakeoff

Is takeoff allowed?

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                    setArmable(armable:forceArmable:)

Can the vehicle arm when requested

Declaration

Swift

public func setArmable(armable: Bool, forceArmable: Bool) -> Completable

Parameters

`armable`	Is Armable now?
`forceArmable`	Is armable with force?

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                    setDisarmable(disarmable:forceDisarmable:)

Can the vehicle disarm when requested

Declaration

Swift

public func setDisarmable(disarmable: Bool, forceDisarmable: Bool) -> Completable

Parameters

`disarmable`	Is disarmable now?
`forceDisarmable`	Is disarmable with force? (Kill)

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                    setAllowableFlightModes(flightModes:)

Set which modes the vehicle can transition to (Manual always allowed)

Declaration

Swift

public func setAllowableFlightModes(flightModes: AllowableFlightModes) -> Completable

Parameters


                                flightModes

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                    getAllowableFlightModes()

Get which modes the vehicle can transition to (Manual always allowed)

Declaration

Swift

public func getAllowableFlightModes() -> Single<AllowableFlightModes>

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