Telemetry Class Reference


                    
                    
                    init(address:port:scheduler:)

Initializes a new Telemetry 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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                    RuntimeTelemetryError

Undocumented

Declaration

Swift

public struct RuntimeTelemetryError : Error

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                    TelemetryError

Undocumented

Declaration

Swift

public struct TelemetryError : Error

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                    FixType

GPS fix type.

Declaration

Swift

public enum FixType : Equatable

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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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                    StatusTextType

Status types.

Declaration

Swift

public enum StatusTextType : Equatable

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                    LandedState

Landed State enumeration.

Declaration

Swift

public enum LandedState : Equatable

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                    VtolState

VTOL State enumeration

Declaration

Swift

public enum VtolState : Equatable

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                    Position

Position type in global coordinates.

Declaration

Swift

public struct Position : Equatable

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                    Heading

Heading type used for global position

Declaration

Swift

public struct Heading : Equatable

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                    Quaternion

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

Declaration

Swift

public struct Quaternion : Equatable

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                    EulerAngle

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

Declaration

Swift

public struct EulerAngle : Equatable

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                    AngularVelocityBody

Angular velocity type.

Declaration

Swift

public struct AngularVelocityBody : Equatable

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                    GpsInfo

GPS information type.

Declaration

Swift

public struct GpsInfo : Equatable

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                    RawGps

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.

Declaration

Swift

public struct RawGps : Equatable

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                    Battery

Battery type.

Declaration

Swift

public struct Battery : Equatable

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                    Health

Health type.

Declaration

Swift

public struct Health : Equatable

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                    RcStatus

Remote control status type.

Declaration

Swift

public struct RcStatus : Equatable

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                    StatusText

StatusText information type.

Declaration

Swift

public struct StatusText : Equatable

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                    ActuatorControlTarget

Actuator control target type.

Declaration

Swift

public struct ActuatorControlTarget : Equatable

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                    ActuatorOutputStatus

Actuator output status type.

Declaration

Swift

public struct ActuatorOutputStatus : Equatable

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                    Covariance

Covariance type.

Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Set first to NaN if unknown.

Declaration

Swift

public struct Covariance : Equatable

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                    VelocityBody

Velocity type, represented in the Body (X Y Z) frame and in metres/second.

Declaration

Swift

public struct VelocityBody : Equatable

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                    PositionBody

Position type, represented in the Body (X Y Z) frame

Declaration

Swift

public struct PositionBody : Equatable

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                    Odometry

Odometry message type.

Declaration

Swift

public struct Odometry : Equatable

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                    DistanceSensor

DistanceSensor message type.

Declaration

Swift

public struct DistanceSensor : Equatable

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                    ScaledPressure

Scaled Pressure message type.

Declaration

Swift

public struct ScaledPressure : Equatable

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                    PositionNed

PositionNed message type.

Declaration

Swift

public struct PositionNed : Equatable

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                    VelocityNed

VelocityNed message type.

Declaration

Swift

public struct VelocityNed : Equatable

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                    PositionVelocityNed

PositionVelocityNed message type.

Declaration

Swift

public struct PositionVelocityNed : Equatable

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                    GroundTruth

GroundTruth message type.

Declaration

Swift

public struct GroundTruth : Equatable

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                    FixedwingMetrics

FixedwingMetrics message type.

Declaration

Swift

public struct FixedwingMetrics : Equatable

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                    AccelerationFrd

AccelerationFrd message type.

Declaration

Swift

public struct AccelerationFrd : Equatable

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                    AngularVelocityFrd

AngularVelocityFrd message type.

Declaration

Swift

public struct AngularVelocityFrd : Equatable

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                    MagneticFieldFrd

MagneticFieldFrd message type.

Declaration

Swift

public struct MagneticFieldFrd : Equatable

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Imu

Imu message type.

Declaration

Swift

public struct Imu : Equatable

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                    GpsGlobalOrigin

Gps global origin type.

Declaration

Swift

public struct GpsGlobalOrigin : Equatable

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                    TelemetryResult

Result type.

Declaration

Swift

public struct TelemetryResult : Equatable

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                    position

Subscribe to ‘position’ updates.

Declaration

Swift

public lazy var position: Observable<Position> { get set }

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                    home

Subscribe to ‘home position’ updates.

Declaration

Swift

public lazy var home: Observable<Position> { get set }

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                    inAir

Subscribe to in-air updates.

Declaration

Swift

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

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                    landedState

Subscribe to landed state updates

Declaration

Swift

public lazy var landedState: Observable<LandedState> { get set }

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                    armed

Subscribe to armed updates.

Declaration

Swift

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

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                    vtolState

subscribe to vtol state Updates

Declaration

Swift

public lazy var vtolState: Observable<VtolState> { get set }

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                    attitudeQuaternion

Subscribe to ‘attitude’ updates (quaternion).

Declaration

Swift

public lazy var attitudeQuaternion: Observable<Quaternion> { get set }

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                    attitudeEuler

Subscribe to ‘attitude’ updates (Euler).

Declaration

Swift

public lazy var attitudeEuler: Observable<EulerAngle> { get set }

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                    attitudeAngularVelocityBody

Subscribe to ‘attitude’ updates (angular velocity)

Declaration

Swift

public lazy var attitudeAngularVelocityBody: Observable<AngularVelocityBody> { get set }

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                    cameraAttitudeQuaternion

Subscribe to ‘camera attitude’ updates (quaternion).

Declaration

Swift

public lazy var cameraAttitudeQuaternion: Observable<Quaternion> { get set }

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                    cameraAttitudeEuler

Subscribe to ‘camera attitude’ updates (Euler).

Declaration

Swift

public lazy var cameraAttitudeEuler: Observable<EulerAngle> { get set }

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                    velocityNed

Subscribe to ‘ground speed’ updates (NED).

Declaration

Swift

public lazy var velocityNed: Observable<VelocityNed> { get set }

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                    gpsInfo

Subscribe to ‘GPS info’ updates.

Declaration

Swift

public lazy var gpsInfo: Observable<GpsInfo> { get set }

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                    rawGps

Subscribe to ‘Raw GPS’ updates.

Declaration

Swift

public lazy var rawGps: Observable<RawGps> { get set }

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                    battery

Subscribe to ‘battery’ updates.

Declaration

Swift

public lazy var battery: Observable<Battery> { get set }

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                    flightMode

Subscribe to ‘flight mode’ updates.

Declaration

Swift

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

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                    health

Subscribe to ‘health’ updates.

Declaration

Swift

public lazy var health: Observable<Health> { get set }

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                    rcStatus

Subscribe to ‘RC status’ updates.

Declaration

Swift

public lazy var rcStatus: Observable<RcStatus> { get set }

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                    statusText

Subscribe to ‘status text’ updates.

Declaration

Swift

public lazy var statusText: Observable<StatusText> { get set }

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                    actuatorControlTarget

Subscribe to ‘actuator control target’ updates.

Declaration

Swift

public lazy var actuatorControlTarget: Observable<ActuatorControlTarget> { get set }

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                    actuatorOutputStatus

Subscribe to ‘actuator output status’ updates.

Declaration

Swift

public lazy var actuatorOutputStatus: Observable<ActuatorOutputStatus> { get set }

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                    odometry

Subscribe to ‘odometry’ updates.

Declaration

Swift

public lazy var odometry: Observable<Odometry> { get set }

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                    positionVelocityNed

Subscribe to ‘position velocity’ updates.

Declaration

Swift

public lazy var positionVelocityNed: Observable<PositionVelocityNed> { get set }

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                    groundTruth

Subscribe to ‘ground truth’ updates.

Declaration

Swift

public lazy var groundTruth: Observable<GroundTruth> { get set }

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                    fixedwingMetrics

Subscribe to ‘fixedwing metrics’ updates.

Declaration

Swift

public lazy var fixedwingMetrics: Observable<FixedwingMetrics> { get set }

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imu

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

Declaration

Swift

public lazy var imu: Observable<Imu> { get set }

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                    scaledImu

Subscribe to ‘Scaled IMU’ updates.

Declaration

Swift

public lazy var scaledImu: Observable<Imu> { get set }

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                    rawImu

Subscribe to ‘Raw IMU’ updates.

Declaration

Swift

public lazy var rawImu: Observable<Imu> { get set }

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                    healthAllOk

Subscribe to ‘HealthAllOk’ updates.

Declaration

Swift

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

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                    unixEpochTime

Subscribe to ‘unix epoch time’ updates.

Declaration

Swift

public lazy var unixEpochTime: Observable<UInt64> { get set }

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                    distanceSensor

Subscribe to ‘Distance Sensor’ updates.

Declaration

Swift

public lazy var distanceSensor: Observable<DistanceSensor> { get set }

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                    scaledPressure

Subscribe to ‘Scaled Pressure’ updates.

Declaration

Swift

public lazy var scaledPressure: Observable<ScaledPressure> { get set }

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                    heading

Subscribe to ‘Heading’ updates.

Declaration

Swift

public lazy var heading: Observable<Heading> { get set }

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                    setRatePosition(rateHz:)

Set rate to ‘position’ updates.

Declaration

Swift

public func setRatePosition(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateHome(rateHz:)

Set rate to ‘home position’ updates.

Declaration

Swift

public func setRateHome(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateInAir(rateHz:)

Set rate to in-air updates.

Declaration

Swift

public func setRateInAir(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateLandedState(rateHz:)

Set rate to landed state updates

Declaration

Swift

public func setRateLandedState(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateVtolState(rateHz:)

Set rate to VTOL state updates

Declaration

Swift

public func setRateVtolState(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateAttitude(rateHz:)

Set rate to ‘attitude’ updates.

Declaration

Swift

public func setRateAttitude(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateCameraAttitude(rateHz:)

Set rate of camera attitude updates.

Declaration

Swift

public func setRateCameraAttitude(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateVelocityNed(rateHz:)

Set rate to ‘ground speed’ updates (NED).

Declaration

Swift

public func setRateVelocityNed(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateGpsInfo(rateHz:)

Set rate to ‘GPS info’ updates.

Declaration

Swift

public func setRateGpsInfo(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateBattery(rateHz:)

Set rate to ‘battery’ updates.

Declaration

Swift

public func setRateBattery(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateRcStatus(rateHz:)

Set rate to ‘RC status’ updates.

Declaration

Swift

public func setRateRcStatus(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateActuatorControlTarget(rateHz:)

Set rate to ‘actuator control target’ updates.

Declaration

Swift

public func setRateActuatorControlTarget(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateActuatorOutputStatus(rateHz:)

Set rate to ‘actuator output status’ updates.

Declaration

Swift

public func setRateActuatorOutputStatus(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateOdometry(rateHz:)

Set rate to ‘odometry’ updates.

Declaration

Swift

public func setRateOdometry(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRatePositionVelocityNed(rateHz:)

Set rate to ‘position velocity’ updates.

Declaration

Swift

public func setRatePositionVelocityNed(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateGroundTruth(rateHz:)

Set rate to ‘ground truth’ updates.

Declaration

Swift

public func setRateGroundTruth(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateFixedwingMetrics(rateHz:)

Set rate to ‘fixedwing metrics’ updates.

Declaration

Swift

public func setRateFixedwingMetrics(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateImu(rateHz:)

Set rate to ‘IMU’ updates.

Declaration

Swift

public func setRateImu(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateScaledImu(rateHz:)

Set rate to ‘Scaled IMU’ updates.

Declaration

Swift

public func setRateScaledImu(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateRawImu(rateHz:)

Set rate to ‘Raw IMU’ updates.

Declaration

Swift

public func setRateRawImu(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateUnixEpochTime(rateHz:)

Set rate to ‘unix epoch time’ updates.

Declaration

Swift

public func setRateUnixEpochTime(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    setRateDistanceSensor(rateHz:)

Set rate to ‘Distance Sensor’ updates.

Declaration

Swift

public func setRateDistanceSensor(rateHz: Double) -> Completable

Parameters


                                rateHz

The requested rate (in Hertz)

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                    getGpsGlobalOrigin()

Get the GPS location of where the estimator has been initialized.

Declaration

Swift

public func getGpsGlobalOrigin() -> Single<GpsGlobalOrigin>

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