Offboard

Initializes a new Offboard plugin.

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

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

Undocumented

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public struct RuntimeOffboardError : Error

Undocumented

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public struct OffboardError : Error

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

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public struct Attitude : Equatable

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.

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public struct ActuatorControlGroup : Equatable

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 conrols 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).

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public struct ActuatorControl : Equatable

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

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public struct AttitudeRate : Equatable

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

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public struct PositionNedYaw : Equatable

Type for velocity commands in body coordinates.

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public struct VelocityBodyYawspeed : Equatable

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

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public struct VelocityNedYaw : Equatable

Result type.

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public struct OffboardResult : Equatable

Start offboard control.

public func start() -> Completable

Stop offboard control.

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

public func stop() -> Completable

Check if offboard control is active.

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

public func isActive() -> Single<Bool>

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

public func setAttitude(attitude: Attitude) -> Completable

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).

public func setActuatorControl(actuatorControl: ActuatorControl) -> Completable

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

public func setAttitudeRate(attitudeRate: AttitudeRate) -> Completable

Set the position in NED coordinates and yaw.

public func setPositionNed(positionNedYaw: PositionNedYaw) -> Completable

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

public func setVelocityBody(velocityBodyYawspeed: VelocityBodyYawspeed) -> Completable

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

public func setVelocityNed(velocityNedYaw: VelocityNedYaw) -> Completable

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

public func setPositionVelocityNed(positionNedYaw: PositionNedYaw, velocityNedYaw: VelocityNedYaw) -> Completable