package mavsdk.rpc.offboard

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Control a drone with position, velocity, attitude or motor commands. The module is called offboard because the commands can be sent from external sources as opposed to onboard control right inside the autopilot "board". Client code must specify a setpoint before starting offboard mode. Mavsdk automatically sends setpoints at 20Hz (PX4 Offboard mode requires that setpoints are minimally sent at 2Hz).

• rpc IsActive (IsActiveRequest, IsActiveResponse)

  offboard.proto:37

  Check if offboard control is active. True means that the vehicle is in offboard mode and we are actively sending setpoints.

  message IsActiveRequest

  offboard.proto:95

  (message has no fields)

  message IsActiveResponse

  offboard.proto:96

  • bool is_active = 1

    True if offboard is active

• rpc SetAccelerationNed (SetAccelerationNedRequest, SetAccelerationNedResponse)

  offboard.proto:82

  Set the acceleration in NED coordinates.

  message SetAccelerationNedRequest

  offboard.proto:168

  • optional AccelerationNed acceleration_ned = 1

    Acceleration

  message SetAccelerationNedResponse

  offboard.proto:171

  • optional OffboardResult offboard_result = 1

• rpc SetActuatorControl (SetActuatorControlRequest, SetActuatorControlResponse)

  offboard.proto:48

  Set direct actuator control values to groups #0 and #1. First 8 controls will go to control group 0, the following 8 controls to control group 1 (if actuator_control.num_controls more than 8).

  message SetActuatorControlRequest

  offboard.proto:107

  • optional ActuatorControl actuator_control = 1

    Actuator control values

  message SetActuatorControlResponse

  offboard.proto:110

  • optional OffboardResult offboard_result = 1

• rpc SetAttitude (SetAttitudeRequest, SetAttitudeResponse)

  offboard.proto:41

  Set the attitude in terms of roll, pitch and yaw in degrees with thrust.

  message SetAttitudeRequest

  offboard.proto:100

  • optional Attitude attitude = 1

    Attitude roll, pitch and yaw along with thrust

  message SetAttitudeResponse

  offboard.proto:103

  • optional OffboardResult offboard_result = 1

• rpc SetAttitudeRate (SetAttitudeRateRequest, SetAttitudeRateResponse)

  offboard.proto:52

  Set the attitude rate in terms of pitch, roll and yaw angular rate along with thrust.

  message SetAttitudeRateRequest

  offboard.proto:114

  • optional AttitudeRate attitude_rate = 1

    Attitude rate roll, pitch and yaw angular rate along with thrust

  message SetAttitudeRateResponse

  offboard.proto:117

  • optional OffboardResult offboard_result = 1

• rpc SetPositionGlobal (SetPositionGlobalRequest, SetPositionGlobalResponse)

  offboard.proto:60

  Set the position in Global coordinates (latitude, longitude, altitude) and yaw

  message SetPositionGlobalRequest

  offboard.proto:128

  • optional PositionGlobalYaw position_global_yaw = 1

    Position and yaw

  message SetPositionGlobalResponse

  offboard.proto:131

  • optional OffboardResult offboard_result = 1

• rpc SetPositionNed (SetPositionNedRequest, SetPositionNedResponse)

  offboard.proto:56

  Set the position in NED coordinates and yaw.

  message SetPositionNedRequest

  offboard.proto:121

  • optional PositionNedYaw position_ned_yaw = 1

    Position and yaw

  message SetPositionNedResponse

  offboard.proto:124

  • optional OffboardResult offboard_result = 1

• rpc SetPositionVelocityAccelerationNed (SetPositionVelocityAccelerationNedRequest, SetPositionVelocityAccelerationNedResponse)

  offboard.proto:77

  Set the position, velocity and acceleration in NED coordinates, with velocity and acceleration used as feed-forward.

  message SetPositionVelocityAccelerationNedRequest

  offboard.proto:154

  • optional PositionNedYaw position_ned_yaw = 1

    Position and yaw

  • optional VelocityNedYaw velocity_ned_yaw = 2

    Velocity and yaw

  • optional AccelerationNed acceleration_ned = 3

    Acceleration

  message SetPositionVelocityAccelerationNedResponse

  offboard.proto:164

  • optional OffboardResult offboard_result = 1

• rpc SetPositionVelocityNed (SetPositionVelocityNedRequest, SetPositionVelocityNedResponse)

  offboard.proto:72

  Set the position in NED coordinates, with the velocity to be used as feed-forward.

  message SetPositionVelocityNedRequest

  offboard.proto:149

  • optional PositionNedYaw position_ned_yaw = 1

    Position and yaw

  • optional VelocityNedYaw velocity_ned_yaw = 2

    Velocity and yaw

  message SetPositionVelocityNedResponse

  offboard.proto:160

  • optional OffboardResult offboard_result = 1

• rpc SetVelocityBody (SetVelocityBodyRequest, SetVelocityBodyResponse)

  offboard.proto:64

  Set the velocity in body coordinates and yaw angular rate. Not available for fixed-wing aircraft.

  message SetVelocityBodyRequest

  offboard.proto:135

  • optional VelocityBodyYawspeed velocity_body_yawspeed = 1

    Velocity and yaw angular rate

  message SetVelocityBodyResponse

  offboard.proto:138

  • optional OffboardResult offboard_result = 1

• rpc SetVelocityNed (SetVelocityNedRequest, SetVelocityNedResponse)

  offboard.proto:68

  Set the velocity in NED coordinates and yaw. Not available for fixed-wing aircraft.

  message SetVelocityNedRequest

  offboard.proto:142

  • optional VelocityNedYaw velocity_ned_yaw = 1

    Velocity and yaw

  message SetVelocityNedResponse

  offboard.proto:145

  • optional OffboardResult offboard_result = 1

• rpc Start (StartRequest, StartResponse)

  offboard.proto:24

  Start offboard control.

  message StartRequest

  offboard.proto:85

  (message has no fields)

  message StartResponse

  offboard.proto:86

  • optional OffboardResult offboard_result = 1

• rpc Stop (StopRequest, StopResponse)

  offboard.proto:30

  Stop offboard control. The vehicle will be put into Hold mode: https://docs.px4.io/en/flight_modes/hold.html

  message StopRequest

  offboard.proto:90

  (message has no fields)

  message StopResponse

  offboard.proto:91

  • optional OffboardResult offboard_result = 1

Type for acceleration commands in NED (North East Down) coordinates.

Used in: SetAccelerationNedRequest, SetPositionVelocityAccelerationNedRequest

• float north_m_s2 = 1

  Acceleration North (in metres/second^2)

• float east_m_s2 = 2

  Acceleration East (in metres/second^2)

• float down_m_s2 = 3

  Acceleration Down (in metres/second^2)

Type for actuator control. Control members should be normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. One group support eight controls. Up to 16 actuator controls can be set. To ignore an output group, set all it controls to NaN. If one or more controls in group is not NaN, then all NaN controls will sent as zero. The first 8 actuator controls internally map to control group 0, the latter 8 actuator controls map to control group 1. Depending on what controls are set (instead of NaN) 1 or 2 MAVLink messages are actually sent. In PX4 v1.9.0 Only first four Control Groups are supported (https://github.com/PX4/Firmware/blob/v1.9.0/src/modules/mavlink/mavlink_receiver.cpp#L980).

Used in: SetActuatorControlRequest

• repeated ActuatorControlGroup groups = 1

  Control groups.

Eight controls that will be given to the group. Each control is a normalized (-1..+1) command value, which will be mapped and scaled through the mixer.

Used in: ActuatorControl

• repeated float controls = 1

  Controls in the group

Type for attitude body angles in NED reference frame (roll, pitch, yaw and thrust)

Used in: SetAttitudeRequest

• float roll_deg = 1

  Roll angle (in degrees, positive is right side down)

• float pitch_deg = 2

  Pitch angle (in degrees, positive is nose up)

• float yaw_deg = 3

  Yaw angle (in degrees, positive is move nose to the right)

• float thrust_value = 4

  Thrust (range: 0 to 1)

Type for attitude rate commands in body coordinates (roll, pitch, yaw angular rate and thrust)

Used in: SetAttitudeRateRequest

• float roll_deg_s = 1

  Roll angular rate (in degrees/second, positive for clock-wise looking from front)

• float pitch_deg_s = 2

  Pitch angular rate (in degrees/second, positive for head/front moving up)

• float yaw_deg_s = 3

  Yaw angular rate (in degrees/second, positive for clock-wise looking from above)

• float thrust_value = 4

  Thrust (range: 0 to 1)

Result type.

Used in: SetAccelerationNedResponse, SetActuatorControlResponse, SetAttitudeRateResponse, SetAttitudeResponse, SetPositionGlobalResponse, SetPositionNedResponse, SetPositionVelocityAccelerationNedResponse, SetPositionVelocityNedResponse, SetVelocityBodyResponse, SetVelocityNedResponse, StartResponse, StopResponse

• OffboardResult.Result result = 1

  Result enum value

• string result_str = 2

  Human-readable English string describing the result

Possible results returned for offboard requests

Used in: OffboardResult

• RESULT_UNKNOWN = 0

  Unknown result

• RESULT_SUCCESS = 1

  Request succeeded

• RESULT_NO_SYSTEM = 2

  No system is connected

• RESULT_CONNECTION_ERROR = 3

  Connection error

• RESULT_BUSY = 4

  Vehicle is busy

• RESULT_COMMAND_DENIED = 5

  Command denied

• RESULT_TIMEOUT = 6

  Request timed out

• RESULT_NO_SETPOINT_SET = 7

  Cannot start without setpoint set

• RESULT_FAILED = 8

  Request failed

Type for position commands in Global (Latitude, Longitude, Altitude) coordinates and yaw.

Used in: SetPositionGlobalRequest

• double lat_deg = 1

  Latitude (in degrees)

• double lon_deg = 2

  Longitude (in degrees)

• float alt_m = 3

  altitude (in metres)

• float yaw_deg = 4

  Yaw in degrees (0 North, positive is clock-wise looking from above)

• PositionGlobalYaw.AltitudeType altitude_type = 5

  altitude type for this position

Possible altitude options

Used in: PositionGlobalYaw

• ALTITUDE_TYPE_REL_HOME = 0

  Altitude relative to the Home position

• ALTITUDE_TYPE_AMSL = 1

  Altitude above mean sea level (AMSL)

• ALTITUDE_TYPE_AGL = 2

  Altitude above ground level (AGL)

Type for position commands in NED (North East Down) coordinates and yaw.

Used in: SetPositionNedRequest, SetPositionVelocityAccelerationNedRequest, SetPositionVelocityNedRequest

• float north_m = 1

  Position North (in metres)

• float east_m = 2

  Position East (in metres)

• float down_m = 3

  Position Down (in metres)

• float yaw_deg = 4

  Yaw in degrees (0 North, positive is clock-wise looking from above)

Type for velocity commands in body coordinates.

Used in: SetVelocityBodyRequest

• float forward_m_s = 1

  Velocity forward (in metres/second)

• float right_m_s = 2

  Velocity right (in metres/second)

• float down_m_s = 3

  Velocity down (in metres/second)

• float yawspeed_deg_s = 4

  Yaw angular rate (in degrees/second, positive for clock-wise looking from above)

Type for velocity commands in NED (North East Down) coordinates and yaw.

Used in: SetPositionVelocityAccelerationNedRequest, SetPositionVelocityNedRequest, SetVelocityNedRequest

• float north_m_s = 1

  Velocity North (in metres/second)

• float east_m_s = 2

  Velocity East (in metres/second)

• float down_m_s = 3

  Velocity Down (in metres/second)

• float yaw_deg = 4

  Yaw in degrees (0 North, positive is clock-wise looking from above)