MAVLink or Micro Air Vehicle Link is a protocol for communicating with small unmanned vehicles. More...

Data Structures
struct	sol_mavlink_config
	Server Configuration. More...

struct	sol_mavlink_handlers
	Mavlink callback handlers. More...

struct	sol_mavlink_position
	Mavlink position structure. More...

Typedefs
typedef struct sol_mavlink	sol_mavlink
	Mavlink Object. More...

typedef struct sol_mavlink_config	sol_mavlink_config
	Server Configuration. More...

typedef struct sol_mavlink_handlers	sol_mavlink_handlers
	Mavlink callback handlers. More...

typedef struct sol_mavlink_position	sol_mavlink_position
	Mavlink position structure. More...

Enumerations
enum	sol_mavlink_mode { SOL_MAVLINK_MODE_ACRO = 1, SOL_MAVLINK_MODE_ALT_HOLD = 2, SOL_MAVLINK_MODE_ALTITUDE = 3, SOL_MAVLINK_MODE_AUTO = 4, SOL_MAVLINK_MODE_AUTO_TUNE = 5, SOL_MAVLINK_MODE_CIRCLE = 6, SOL_MAVLINK_MODE_CRUISE = 7, SOL_MAVLINK_MODE_DRIFT = 8, SOL_MAVLINK_MODE_EASY = 9, SOL_MAVLINK_MODE_FBWA = 10, SOL_MAVLINK_MODE_FBWB = 11, SOL_MAVLINK_MODE_FLIP = 12, SOL_MAVLINK_MODE_GUIDED = 13, SOL_MAVLINK_MODE_HOLD = 14, SOL_MAVLINK_MODE_INITIALISING = 15, SOL_MAVLINK_MODE_LAND = 16, SOL_MAVLINK_MODE_LEARNING = 17, SOL_MAVLINK_MODE_LOITER = 18, SOL_MAVLINK_MODE_MANUAL = 19, SOL_MAVLINK_MODE_OF_LOITER = 20, SOL_MAVLINK_MODE_POS_HOLD = 21, SOL_MAVLINK_MODE_POSITION = 22, SOL_MAVLINK_MODE_RTL = 23, SOL_MAVLINK_MODE_SCAN = 24, SOL_MAVLINK_MODE_SPORT = 25, SOL_MAVLINK_MODE_STABILIZE = 26, SOL_MAVLINK_MODE_STEERING = 27, SOL_MAVLINK_MODE_STOP = 28, SOL_MAVLINK_MODE_TRAINING = 29, SOL_MAVLINK_MODE_UNKNOWN = 30 }
	Mavlink flight modes. More...

Functions
int	sol_mavlink_change_speed (struct sol_mavlink *mavlink, float speed, bool airspeed)
	Change the vehicle speed. More...

struct sol_mavlink *	sol_mavlink_connect (const char addr, const struct sol_mavlink_config config, const void *data)
	Connect to a mavlink server. More...

void	sol_mavlink_disconnect (struct sol_mavlink *mavlink)
	Disconnect from mavlink server. More...

int	sol_mavlink_get_current_position (struct sol_mavlink mavlink, struct sol_mavlink_position pos)
	Get the vehicle's current position. More...

int	sol_mavlink_get_home_position (struct sol_mavlink mavlink, struct sol_mavlink_position pos)
	Get the vehicle's home position. More...

enum sol_mavlink_mode	sol_mavlink_get_mode (struct sol_mavlink *mavlink)
	Get the current vehicle's mode. More...

int	sol_mavlink_go_to (struct sol_mavlink mavlink, struct sol_mavlink_position pos)
	Navigate to a given location. More...

bool	sol_mavlink_is_armed (struct sol_mavlink *mavlink)
	Check if the vehicle is currently armed. More...

int	sol_mavlink_land (struct sol_mavlink mavlink, struct sol_mavlink_position pos)
	Land the vehicle's. More...

int	sol_mavlink_set_armed (struct sol_mavlink *mavlink, bool armed)
	Set the vehicle to armed or not. More...

int	sol_mavlink_set_mode (struct sol_mavlink *mavlink, enum sol_mavlink_mode mode)
	Set the vehicle mode. More...

int	sol_mavlink_take_off (struct sol_mavlink mavlink, struct sol_mavlink_position pos)
	Takeoff the vehicle. More...

Detailed Description

MAVLink or Micro Air Vehicle Link is a protocol for communicating with small unmanned vehicles.

It is designed as a header-only message marshaling library.

Warning: Experimental API. Changes are expected in future releases.

Typedef Documentation

sol_mavlink

Mavlink Object.

See Also: sol_mavlink_connect

This object is the abstraction of a Mavlink connection. This is the base structure for all Mavlink operations and is obtained through the sol_mavlink_connect() API.

typedef struct sol_mavlink_config sol_mavlink_config

Server Configuration.

typedef struct sol_mavlink_handlers sol_mavlink_handlers

Mavlink callback handlers.

typedef struct sol_mavlink_position sol_mavlink_position

Mavlink position structure.

Enumeration Type Documentation

enum sol_mavlink_mode

Mavlink flight modes.

Enumerator
SOL_MAVLINK_MODE_ACRO	Acro mode (Rate mode) uses the RC sticks to control the angular velocity of the copter.
SOL_MAVLINK_MODE_ALT_HOLD	In altitude hold mode, Copter maintains a consistent altitude while allowing roll, pitch, and yaw to be controlled normally.
SOL_MAVLINK_MODE_ALTITUDE
SOL_MAVLINK_MODE_AUTO	In Auto mode the copter will follow a pre-programmed mission script stored in the autopilot which is made up of navigation commands (i.e. waypoints) and “do” commands (i.e. commands that do not affect the location of the copter including triggering a camera shutter).
SOL_MAVLINK_MODE_AUTO_TUNE
SOL_MAVLINK_MODE_CIRCLE	In circle mode the copter will orbit a point of interest with the nose of the vehicle pointed towards the center.
SOL_MAVLINK_MODE_CRUISE
SOL_MAVLINK_MODE_DRIFT	Drift Mode allows the user to fly a multi-copter as if it were a plane with built in automatic coordinated turns.
SOL_MAVLINK_MODE_EASY
SOL_MAVLINK_MODE_FBWA
SOL_MAVLINK_MODE_FBWB
SOL_MAVLINK_MODE_FLIP
SOL_MAVLINK_MODE_GUIDED	Guided mode is a capability of Copter to dynamically guide the copter to a target location wirelessly using a telemetry radio module, ground station application or a companion board application.
SOL_MAVLINK_MODE_HOLD
SOL_MAVLINK_MODE_INITIALISING
SOL_MAVLINK_MODE_LAND	Land mode attempts to bring the copter straight down.
SOL_MAVLINK_MODE_LEARNING
SOL_MAVLINK_MODE_LOITER	Loiter mode automatically attempts to maintain the current location, heading and altitude.
SOL_MAVLINK_MODE_MANUAL
SOL_MAVLINK_MODE_OF_LOITER
SOL_MAVLINK_MODE_POS_HOLD	It is similar to Loiter in that the vehicle maintains a constant location, heading, and altitude but is generally more popular because the pilot stick inputs directly control the vehicle’s lean angle providing a more “natural” feel.
SOL_MAVLINK_MODE_POSITION	Position mode is the same as loiter mode, but with manual throttle control.
SOL_MAVLINK_MODE_RTL	RTL mode (Return To Launch mode) navigates Copter from its current position to hover above the home position.
SOL_MAVLINK_MODE_SCAN
SOL_MAVLINK_MODE_SPORT	Sport Mode is also known as “rate controlled stabilize” plus Altitude Hold.
SOL_MAVLINK_MODE_STABILIZE	Stabilize mode allows you to fly your vehicle manually, but self-levels the roll and pitch axis.
SOL_MAVLINK_MODE_STEERING
SOL_MAVLINK_MODE_STOP
SOL_MAVLINK_MODE_TRAINING
SOL_MAVLINK_MODE_UNKNOWN

Function Documentation

int sol_mavlink_change_speed	(	struct sol_mavlink *	mavlink,
		float	speed,
		bool	airspeed
	)

Change the vehicle speed.

Parameters

mavlink	Mavlink Object;
speed	The desired speed in m/s;
airspeed	True if speed in airspeed, groundspeed is used otherwise;

Returns: 0 on success, -EINVAL on invalid argument, -errno on error

struct sol_mavlink* sol_mavlink_connect	(	const char *	addr,
		const struct sol_mavlink_config *	config,
		const void *	data
	)

Connect to a mavlink server.

Parameters

addr	The target mavlink server address
config	Configuration and callbacks
data	User data provided to the callbacks

Returns: New mavlink object on success, NULL otherwise

The addr argument is composed of protocol:address:port where port is optional depending on protocol.

Currently supported protocols are tcp and serial, valid addr would be: tcp:localhost:5726 serial:/dev/ttyUSB0

Examples:: /src/samples/mavlink/basic.c, and /src/samples/mavlink/goto.c.

Referenced by main().

void sol_mavlink_disconnect ( struct sol_mavlink * mavlink )

Disconnect from mavlink server.

Parameters

mavlink Mavlink Object;

See Also: sol_mavlink_connect

Terminate the connection with the mavlink server and free the resources associated to the mavlink object.

Examples:: /src/samples/mavlink/basic.c, and /src/samples/mavlink/goto.c.

Referenced by main().

int sol_mavlink_get_current_position	(	struct sol_mavlink *	mavlink,
		struct sol_mavlink_position *	pos
	)

Get the vehicle's current position.

Parameters

mavlink	Mavlink Object;
pos	sol_mavlink_position pointer to set the positions values to;

Returns: 0 on success, -EINVAL on invalid argument

Examples:: /src/samples/mavlink/basic.c, and /src/samples/mavlink/goto.c.

Referenced by mission_reached_cb(), and position_changed_cb().

int sol_mavlink_get_home_position	(	struct sol_mavlink *	mavlink,
		struct sol_mavlink_position *	pos
	)

Get the vehicle's home position.

Parameters

mavlink	Mavlink Object;
pos	sol_mavlink_position pointer to set the positions values to;

Returns: 0 on success, -EINVAL on invalid argument

Home position represents the location and altitude where the vehicle took off from.

Examples:: /src/samples/mavlink/basic.c, and /src/samples/mavlink/goto.c.

Referenced by mission_reached_cb().

enum sol_mavlink_mode sol_mavlink_get_mode ( struct sol_mavlink * mavlink )

Get the current vehicle's mode.

Parameters

mavlink Mavlink Object;

See Also: sol_mavlink_set_mode; sol_mavlink_mode

Returns: The current vehicle's mode

Examples:: /src/samples/mavlink/basic.c, and /src/samples/mavlink/goto.c.

Referenced by armed_cb(), disarmed_cb(), mavlink_connect_cb(), mission_reached_cb(), and mode_changed_cb().

int sol_mavlink_go_to	(	struct sol_mavlink *	mavlink,
		struct sol_mavlink_position *	pos
	)

Navigate to a given location.

Parameters

mavlink	Mavlink Object;
pos	sol_mavlink_position The position where the vehicle should go to;

Returns: 0 on success, -EINVAL on invalid argument, -errno on error

Examples:: /src/samples/mavlink/goto.c.

Referenced by mission_reached_cb().

bool sol_mavlink_is_armed ( struct sol_mavlink * mavlink )

Check if the vehicle is currently armed.

Parameters

mavlink Mavlink Object;

See Also: sol_mavlink_set_armed

Returns: true the vehicle is currently armed, false otherwise

Examples:: /src/samples/mavlink/basic.c, and /src/samples/mavlink/goto.c.

Referenced by mavlink_connect_cb(), mode_changed_cb(), and position_changed_cb().

int sol_mavlink_land	(	struct sol_mavlink *	mavlink,
		struct sol_mavlink_position *	pos
	)

Land the vehicle's.

Parameters

mavlink	Mavlink Object;
pos	sol_mavlink_position The position where it should land to;

Returns: 0 on success, -EINVAL on invalid argument, -errno on error

Examples:: /src/samples/mavlink/basic.c, and /src/samples/mavlink/goto.c.

Referenced by mission_reached_cb().

int sol_mavlink_set_armed	(	struct sol_mavlink *	mavlink,
		bool	armed
	)

Set the vehicle to armed or not.

Parameters

mavlink	Mavlink Object;
armed	true to set as armed, false otherwise;

See Also: sol_mavlink_is_armed

Returns: 0 on success, -EINVAL on invalid argument, -errno on error

Examples:: /src/samples/mavlink/basic.c, and /src/samples/mavlink/goto.c.

Referenced by mavlink_connect_cb(), and mode_changed_cb().

int sol_mavlink_set_mode	(	struct sol_mavlink *	mavlink,
		enum sol_mavlink_mode	mode
	)

Set the vehicle mode.

Parameters

mavlink	Mavlink Object;
mode	The mode to be set;

See Also: sol_mavlink_get_mode; sol_mavlink_mode

Returns: 0 on success, -EINVAL on invalid argument, -errno on error

Examples:: /src/samples/mavlink/basic.c, and /src/samples/mavlink/goto.c.

Referenced by mavlink_connect_cb().

int sol_mavlink_take_off	(	struct sol_mavlink *	mavlink,
		struct sol_mavlink_position *	pos
	)

Takeoff the vehicle.

Parameters

mavlink	Mavlink Object;
pos	The target position;

See Also: sol_mavlink_set_armed; sol_mavlink_is_armed; sol_mavlink_get_mode; SOL_MAVLINK_MODE_GUIDED

Returns: 0 on success, -EINVAL on invalid argument, -errno on error

This call will attempt to take the vehicle off, for this the vehicle must in SOL_MAVLINK_MODE_GUIDED and armed. If the vehicle has already taken off calling this function will have no effect.

Examples:: /src/samples/mavlink/basic.c, and /src/samples/mavlink/goto.c.

Referenced by takeoff().

Data Structures

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation