ManualControl

public class ManualControl

Enable manual control using e.g. a joystick or gamepad.

Show on GitHub

  • Initializes a new ManualControl 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
    Show on GitHub

  • Undocumented

    See more

    Declaration

    Swift

    public struct RuntimeManualControlError : Error
    Show on GitHub

  • Undocumented

    See more

    Declaration

    Swift

    public struct ManualControlError : Error
    Show on GitHub

  • Result type.

    See more

    Declaration

    Swift

    public struct ManualControlResult : Equatable
    Show on GitHub

  • Start position control using e.g. joystick input.

    Requires manual control input to be sent regularly already. Requires a valid position using e.g. GPS, external vision, or optical flow.

    Declaration

    Swift

    public func startPositionControl() -> Completable
    Show on GitHub

  • Start altitude control

    Requires manual control input to be sent regularly already. Does not require a valid position e.g. GPS.

    Declaration

    Swift

    public func startAltitudeControl() -> Completable
    Show on GitHub

  • Set manual control input

    The manual control input needs to be sent at a rate high enough to prevent triggering of RC loss, a good minimum rate is 10 Hz.

    Declaration

    Swift

    public func setManualControlInput(x: Float, y: Float, z: Float, r: Float) -> Completable

    Parameters

    x

    value between -1. to 1. negative -> backwards, positive -> forwards
    y

    value between -1. to 1. negative -> left, positive -> right
    z

    value between -1. to 1. negative -> down, positive -> up (usually for now, for multicopter 0 to 1 is expected)
    r

    value between -1. to 1. negative -> turn anti-clockwise (towards the left), positive -> turn clockwise (towards the right)
    Show on GitHub