MAVSDK

https://mavsdk.mavlink.io/main/
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### Build examples with static library dependencies

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_windows.html

Configures and builds the examples, passing the install prefix and third-party install path as CMAKE_PREFIX_PATH to provide the static library and its transitive dependencies.

```bash
cd examples
cmake -G"Ninja" -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_PREFIX_PATH="../install;../build/third_party/install" -DCMAKE_INSTALL_PREFIX=install -B build -S .
cmake --build build
```

--------------------------------

### Build an example with cmake

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/index.html

Builds the takeoff_and_land example. Requires the MAVSDK library to be installed. If MAVSDK is installed locally (e.g., on Windows), pass its location to cmake with -DCMAKE_PREFIX_PATH.

```sh
cd cpp/examples/takeoff_and_land/
cmake -B build -S .
cmake --build build -j4
```

--------------------------------

### Install Boost libraries on Linux

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/follow_me.html

Install the Boost libraries on Linux before building the example. Required for the Follow Me example to compile and run.

```sh
sudo apt-get install libboost-all-dev
```

--------------------------------

### Build static library and install

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_windows.html

Configures a static library build with RelWithDebInfo, install prefix, server enabled, and WERROR on, then builds the install target.

```bash
cmake -GNinja -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=ON -B build -S .
cmake --build build --config RelWithDebInfo --target install
```

--------------------------------

### Start, set target location, and stop following

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/follow_me.html

Starts following, sets a target location, and stops following. The example shows error handling for start and stop. Note that set_target_location can be called anytime but messages are only sent once following is started.

```cpp
// Start following
FollowMe::Result follow_me_result = follow_me.start();
if (follow_me_result != FollowMe::Result::Success) {
    // handle start failure (in this case print error)
    std::cout << "Failed to start following:" << follow_me_result << '\n';
}


// Get target position from underlying platform and supply to vehicle.
//   For this example we just show one point being set (instead of a stream).
follow_me.set_target_location({ 47.39776569, 8.54553292, 0.f, 0.f, 0.f, 0.f });


// Stop following
follow_me_result = follow_me.stop();
if (follow_me_result != FollowMe::Result::Success) {
    // handle stop failure (in this case print error)
    std::cout << "Failed to stop following:" << follow_me_result << '\n';
}

```

--------------------------------

### start()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_offboard.html

Start offboard control synchronously.

```APIDOC
## start()

### Description
Start offboard control.
This function is blocking. See 'start_async' for the non-blocking counterpart.

### Parameters
None

### Returns
- **Result** - Result of request.
```

--------------------------------

### Build and preview docs locally with npm

Source: https://mavsdk.mavlink.io/main/en/cpp/contributing/documentation.html

Use this command sequence to install dependencies and start the VitePress development server for local preview. The server runs at http://localhost:5173.

```bash
cd docs
npm install
npm run dev
```

--------------------------------

### start() method

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_follow_me.html

Start FollowMe mode. This function is blocking.

```cpp
Result mavsdk::FollowMe::start() const
```

--------------------------------

### Run Follow Me example with UDP connection

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/follow_me.html

Run the compiled Follow Me example, connecting to the drone via UDP on port 14540. The example then waits for a system to connect and starts the follow-me sequence.

```sh
$ ./follow_me udpin://0.0.0.0:14540
```

--------------------------------

### Build takeoff_and_land example

Source: https://mavsdk.mavlink.io/main/en/cpp/quickstart.html

Configures and builds the takeoff_and_land example using CMake.

```bash
cd takeoff_and_land/
cmake -B build -S .
cmake --build build -j4
```

--------------------------------

### Run example on Windows

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/index.html

Runs the example on Windows from the build\Debug directory, connecting to the simulator via the UDP port 14540.

```cmd
build\Debug\takeoff_and_land.exe udpin://0.0.0.0:14540
```

--------------------------------

### Navigate to C++ examples directory

Source: https://mavsdk.mavlink.io/main/en/cpp/quickstart.html

Changes to the cpp/examples directory where the examples are located.

```bash
cd cpp/examples
```

--------------------------------

### start()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_offboard.html

Start offboard control. Blocking; see 'start_async' for the non-blocking counterpart.

```cpp
Result mavsdk::Offboard::start() const
```

--------------------------------

### Example plugin folder structure

Source: https://mavsdk.mavlink.io/main/en/cpp/contributing/plugins.html

Shows the required files and structure for a plugin, using the 'example' plugin as an example. Includes CMakeLists.txt, source files, and an optional test file.

```text
└── plugins
    └── example
        ├── CMakeLists.txt
        ├── example.cpp
        ├── example.h
        ├── example_impl.cpp
        ├── example_impl.h
        └── example_foo_test.cpp  ##optional

```

--------------------------------

### Clone MAVSDK repository with examples

Source: https://mavsdk.mavlink.io/main/en/cpp/quickstart.html

Clones the MAVSDK repository recursively to get the examples source code.

```bash
git clone https://github.com/mavlink/MAVSDK.git --recursive
cd MAVSDK
```

--------------------------------

### Local Installation

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_macos.html

Configures a Release build with CMAKE_INSTALL_PREFIX set to 'install' and then runs the install target to put artifacts in that local directory.

```bash
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -B build -S .
cmake --build build --target install
```

--------------------------------

### Install Homebrew and CMake

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_macos.html

Installs Homebrew via the official install script and then uses Homebrew to install CMake. Prepare for the script to prompt for confirmation and possibly require sudo.

```bash
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
brew install cmake
```

--------------------------------

### Run example on Linux/macOS

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/index.html

Runs the example on Linux/macOS from the build directory, connecting to the simulator via the UDP port 14540.

```sh
build/takeoff_and_land udpin://0.0.0.0:14540
```

--------------------------------

### System-wide Installation

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_macos.html

Installs the built library system-wide into /usr/local using sudo.

```bash
sudo cmake --build build --target install
```

--------------------------------

### Download and install MAVSDK .deb on Ubuntu

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/installation.html

Downloads the prebuilt C++ library .deb package from MAVSDK releases and installs it with dpkg. The example uses version v4.0.0 for Ubuntu 24.04 amd64.

```bash
wget https://github.com/mavlink/MAVSDK/releases/download/v4.0.0/libmavsdk-dev_4.0.0_ubuntu24.04_amd64.deb
sudo dpkg -i libmavsdk-dev_4.0.0_ubuntu24.04_amd64.deb
```

--------------------------------

### Start offboard mode with set_velocity_body() and start()

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/offboard.html

Create a setpoint using set_velocity_body() before starting offboard mode, then call start() synchronously. The returned Offboard::Result is checked and a human-readable error is printed on failure.

```cpp
// Create a setpoint before starting offboard mode (in this case a null setpoint)
offboard.set_velocity_body({0.0f, 0.0f, 0.0f, 0.0f});

// Start offboard mode.
Offboard::Result offboard_result = offboard.start();
if (result != Offboard::Result::Success) {
        std::cerr << "Offboard::start() failed: " << offboard_result << '\n';
    }
```

--------------------------------

### Run takeoff_and_land example

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/takeoff_and_land.html

Command to run the compiled example with a UDP connection address. The output shows the sequence of discovery, arming, takeoff, altitude telemetry, and landing.

```sh
$ ./takeoff_and_land udpin://0.0.0.0:14540
```

--------------------------------

### Get System Object from MAVSDK

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/system_information.html

Assumed preconditions for the examples on this page: include mavsdk.h and obtain the system from the MAVSDK instance.

```cpp
System system = mavsdk.systems()[0];
```

--------------------------------

### Install XCode Command Line Tools

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_macos.html

Runs xcode-select --install to install the XCode Command Line Tools, a required build dependency.

```bash
xcode-select --install
```

--------------------------------

### Install protoc_gen_mavsdk

Source: https://mavsdk.mavlink.io/main/en/cpp/contributing/plugins.html

Installs the protoc_gen_mavsdk tool required for auto-generation of plugin files.

```bash
pip3 install --user protoc_gen_mavsdk  # Or however you install pip packages
```

--------------------------------

### Local installation of MAVSDK

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_windows.html

Configures and builds the install target with a custom install prefix.

```bash
cmake -GNinja -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -B build -S .
cmake --build build --target install
```

--------------------------------

### Run VTOL Transition Example

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/transition_vtol_fixed_wing.html

Command to run the VTOL transition example, connecting to a simulated or real VTOL aircraft via UDP on port 14540.

```bash
$ ./transition_vtol_fixed_wing udpin://0.0.0.0:14540
```

--------------------------------

### Run autopilot_server example

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/autopilot_server.html

Command to run the autopilot_server example. The output shows MAVSDK version v0.44.0 and a series of debug/info messages, including mission item details and telemetry updates.

```bash
$ ./autopilot_server
```

--------------------------------

### System-wide installation of MAVSDK

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_windows.html

Installs the built MAVSDK system-wide. Requires admin privileges.

```bash
# Run in command prompt with admin privileges
cmake --build build --target install
```

--------------------------------

### start_async()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_offboard.html

Start offboard control asynchronously. Non-blocking; see 'start' for the blocking counterpart.

```cpp
void mavsdk::Offboard::start_async(const ResultCallback callback)
```

--------------------------------

### start_async()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_offboard.html

Start offboard control asynchronously.

```APIDOC
## start_async()

### Description
Start offboard control.
This function is non-blocking. See 'start' for the blocking counterpart.

### Parameters
- **const ResultCallback callback** - Callback to receive the result.

### Returns
None
```

--------------------------------

### Run Fly Mission Example

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/fly_mission.html

Command to run the compiled fly_mission example, connecting via UDP to the specified address.

```bash
$ ./fly_mission udpin://0.0.0.0:14540
```

--------------------------------

### respond_start_video()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_camera_server.html

Responds to a start video request.

```APIDOC
## respond_start_video()

### Description
Subscribe to stop video requests. Each request received should respond using StopVideoResponse. This function is blocking.

### Method
respond_start_video

### Parameters
- **start_video_feedback** (CameraFeedback) - Required - Feedback result for the start video request.

### Returns
- **Result** - Result of request.
```

--------------------------------

### Follow Me example terminal output

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/follow_me.html

Example terminal output from a debug build of the SDK when running the Follow Me example. Shows the sequence from connection, arming, takeoff, and follow-me flight with position updates. Release builds omit the 'Debug' messages.

```text
[01:55:59|Info ] DronecodeSDK version: 0.2.8 (dronecode_sdk_impl.cpp:25)
Wait for system to connect via heartbeat
[01:55:59|Info ] New device on: 127.0.0.1:14580 (udp_connection.cpp:200)
[01:55:59|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:286)
[01:55:59|Debug] Component Autopilot added. (system_impl.cpp:335)
[01:56:00|Debug] Found 1 component(s). (system_impl.cpp:462)
[01:56:00|Debug] Discovered 4294967298 (system_impl.cpp:464)
Waiting for system to be ready
...
Waiting for system to be ready
System is ready
Armed
[01:56:07|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:273)
In Air...
[01:56:07|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:273)
[01:56:07|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:273)
[01:56:07|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:273)
[FlightMode: Takeoff] Vehicle is at: nan, nan degrees.
[FlightMode: Takeoff] Vehicle is at: nan, nan degrees.
[FlightMode: Hold] Vehicle is at: nan, nan degrees.
[01:56:12|Debug] Waiting for the system confirmation of the new configuration.. (follow_me_impl.cpp:81)
[FlightMode: FollowMe] Vehicle is at: nan, nan degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54559 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54559 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54559 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54559 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54559 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54559 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54563 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54567 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.5457 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54574 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54577 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54581 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54588 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54592 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54595 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54595 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54595 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54595 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54592 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54588 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54581 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54577 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54574 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.5457 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54567 degrees.
[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54563 degrees.
```

--------------------------------

### Install prerequisites for building without superbuild

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_linux.html

Installs the required system packages needed before running the build script.

```bash
sudo apt install build-essential cmake git python3 python3-pip \
                 liblzma-dev libtinyxml2-dev nlohmann-json3-dev \
                 libcurl4-openssl-dev libssl-dev
```

--------------------------------

### System-wide installation of MAVSDK

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_linux.html

Installs MAVSDK system-wide to /usr/local and updates the linker cache.

```bash
sudo cmake --build build --target install
sudo ldconfig  # Update linker cache
```

--------------------------------

### start_mission

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_mission_raw.html

Start the mission synchronously.

```APIDOC
## start_mission

### Description
Start the mission synchronously.

### Method
Result

### Signature
```cpp
Result start_mission() const
```

### Parameters
None.

### Returns
- **Result** - The result of the start mission operation.
```

--------------------------------

### Using MAVSDK plugins in C++ (Action example)

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/using_plugins.html

Steps to use a MAVSDK plugin in C++: include the plugin header, create a plugin instance bound to a System object, then call its methods. The Action plugin is used as the example.

```cpp
#include <mavsdk/plugins/action/action.h>
```

```cpp
auto action = Action{system};
```

```cpp
action.takeoff();
```

--------------------------------

### respond_zoom_in_start

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_camera_server.html

Responds to a zoom in start command.

```APIDOC
## respond_zoom_in_start

### Description
Responds to a zoom in start command.

### Method
respond_zoom_in_start

### Parameters
- **zoom_in_start_feedback** (CameraFeedback) - Required - The feedback for the zoom in start command.

### Returns
- **Result** - The result of the operation.
```

--------------------------------

### respond_focus_in_start

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_camera_server.html

Responds to a focus in start command.

```APIDOC
## respond_focus_in_start

### Description
Responds to a focus in start command.

### Method
respond_focus_in_start

### Parameters
- **focus_in_start_feedback** (CameraFeedback) - Required - The feedback for the focus in start command.

### Returns
- **Result** - The result of the operation.
```

--------------------------------

### Start interactive asyncio Python shell

Source: https://mavsdk.mavlink.io/main/en/python/quickstart.html

Start an interactive Python shell that supports await, which is needed for the asyncio API used in this guide.

```sh
python3 -m asyncio
```

--------------------------------

### subscribe_start_video()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_camera_server.html

Subscribes to start video requests.

```APIDOC
## subscribe_start_video()

### Description
Subscribe to start video requests. Each request received should respond to using RespondStartVideo.

### Method
subscribe_start_video

### Parameters
- **callback** (const StartVideoCallback&) - Required - Callback to be called on start video requests.

### Returns
- **StartVideoHandle** - Handle for the subscription.
```

--------------------------------

### start_video_async()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_camera.html

Asynchronous method to start a video recording.

```APIDOC
## start_video_async()

### Description
Start a video recording. This function is non-blocking. See 'start_video' for the blocking counterpart.

### Method
void mavsdk::Camera::start_video_async(int32_t component_id, const ResultCallback callback)

### Parameters
- **component_id** (int32_t) - Required - Component ID.
- **callback** (const ResultCallback) - Required - Callback to receive the result.

### Returns
void
```

--------------------------------

### CameraServer constructor usage example

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_camera_server.html

Shows how to create a CameraServer instance with a ServerComponent.

```cpp
auto camera_server = CameraServer(server_component);
```

--------------------------------

### Typical plugin creation with System reference

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_mavlink_direct.html

Shows the typical way to create the plugin using a System reference.

```cpp
auto mavlink_direct = MavlinkDirect(system);
```

--------------------------------

### Send a custom MAVLink message with MavlinkDirect::send_message

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/mavlink_direct.html

Quickstart example showing how to send a custom MAVLink message using the MavlinkDirect plugin. The receiving side must know the message definition; if it uses MAVSDK, it must load the same XML. Forwarding MAVSDK instances do not need to know about it.

```cpp
auto result = mavlink_direct.send_message(gas_sensor_message);
```

--------------------------------

### Info constructor usage example

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_info.html

Shows the typical way to create an Info plugin instance using a System reference.

```cpp
auto info = Info(system);
```

--------------------------------

### Create FollowMe plugin instance

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_follow_me.html

Example of creating a FollowMe plugin instance using a System object.

```cpp
auto follow_me = FollowMe(system);
```

--------------------------------

### Install MAVSDK on macOS via Homebrew

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/installation.html

Installs the MAVSDK library using Homebrew. Requires Homebrew to be installed first.

```bash
brew install mavsdk
```

--------------------------------

### Create FtpServer Instance

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_ftp_server.html

Example of how to typically create an FtpServer plugin instance.

```cpp
auto ftp_server = FtpServer(server_component);
```

--------------------------------

### Record Video

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/camera.html

Starts and stops video recording. The camera must be in Video mode before starting; the comment indicates flight operations can occur between start and stop.

```cpp
camera.set_mode(component_id, Camera::Mode::Video);
camera.start_video(component_id);
// ... fly around ...
camera.stop_video(component_id);
```

--------------------------------

### init

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_system.html

Initializes the system with the given system ID and component ID.

```APIDOC
## init

### Description
Initializes the system with the given system ID and component ID.

### Method
void init(uint32_t system_id, uint8_t component_id) const

### Parameters
- **system_id** (uint32_t) - The MAVLink system ID.
- **component_id** (uint8_t) - The MAVLink component ID.

### Returns
void
```

--------------------------------

### Install MAVSDK with pip

Source: https://mavsdk.mavlink.io/main/en/python/quickstart.html

Install the MAVSDK Python package from PyPI, ideally in a virtual environment. The package bundles the MAVSDK C++ library, so no additional installation is required.

```sh
pip install mavsdk
```

--------------------------------

### Build with locally installed MAVSDK

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/toolchain.html

Build commands for when MAVSDK is installed locally (e.g., extracted from mavsdk-windows-x64-release.zip or built from source). Use CMAKE_PREFIX_PATH to point to the local installation directory.

```bash
cmake -B build -DCMAKE_PREFIX_PATH=../mavsdk -S .
cmake --build build -j8
```

--------------------------------

### Create Action plugin: connect to system and instantiate Action

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/taking_off_landing.html

Create a connection to a system and then create an Action instance. The first block sets up a UDP connection and waits for the system to be discovered. The second block creates the Action object using the discovered system.

```cpp
#include <mavsdk/mavsdk.h>
Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
ConnectionResult conn_result = mavsdk.add_udp_connection();
// Wait for the system to connect via heartbeat
while (mavsdk.system().size() == 0) {
   sleep_for(seconds(1));
}
// System got discovered.
System system = mavsdk.systems()[0];
```

```cpp
#include <mavsdk/plugins/action/action.h>
auto action = Action{system};
```

--------------------------------

### Creating the plugin

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_component_metadata_server.html

Shows how to create a ComponentMetadataServer instance with a ServerComponent.

```cpp
auto component_metadata_server = ComponentMetadataServer(server_component);
```

--------------------------------

### VTOL Transition Example Output

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/transition_vtol_fixed_wing.html

Example terminal output from a debug build of the SDK when running the VTOL transition example. A release build omits the "Debug" messages.

```text
Waiting to discover system...
[10:24:42|Info ] New system on: 127.0.0.1:14557 (udp_connection.cpp:210)
[10:24:42|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2017-11-21/0 (mavlink_system.cpp:286)
[10:24:43|Debug] Discovered 4294967298 (mavlink_system.cpp:483)
Discovered system with UUID: 4294967298
Arming...
Taking off...
[10:24:44|Debug] MAVLink: info: ARMED by arm/disarm component command (mavlink_system.cpp:286)
[10:24:44|Debug] MAVLink: info: Using minimum takeoff altitude: 10.00 m (mavlink_system.cpp:286)
[10:24:44|Debug] MAVLink: info: Takeoff detected (mavlink_system.cpp:286)
[10:24:44|Debug] MAVLink: critical: Using minimum takeoff altitude: 10.00 m (mavlink_system.cpp:286)
Altitude: 0.079 m
Altitude: 0.507 m
...
Altitude: 10.254 m
Transition to fixedwing...
Altitude: 10.263 m
...
Altitude: 20.72 m
Altitude: 24.616 m
Altitude: 22.262 m
Transition back to multicopter...
Altitude: 17.083 m
...
Return to launch...
Altitude: 11.884 m
[10:25:09|Debug] MAVLink: info: RTL: climb to 518 m (29 m above home) (mavlink_system.cpp:286)
Altitude: 13.61 m
...
Altitude: 27.489 m
Altitude: 28.892 m
[10:25:18|Debug] MAVLink: info: RTL: return at 517 m (29 m above home) (mavlink_system.cpp:286)
Altitude: 29.326 m
Altitude: 29.33 m
...
Altitude: 29.323 m
Altitude: 29.357 m
Landing...
[10:25:29|Debug] MAVLink: info: Landing at current position (mavlink_system.cpp:286)
Altitude: 29.199 m
Altitude: 28.722 m
Altitude: 28.189 m
Altitude: 27.62 m
Finished...
```

--------------------------------

### Before: MAVSDK-Python arming and takeoff

Source: https://mavsdk.mavlink.io/main/en/python/migration.html

MAVSDK-Python example for arming and taking off before migrating. Uses System(), connect(), and plugin attributes like drone.action.

```python
import asyncio
from mavsdk import System


async def run():
    drone = System()
    await drone.connect(system_address="udpin://0.0.0.0:14540")

    async for state in drone.core.connection_state():
        if state.is_connected:
            break

    await drone.action.arm()
    await drone.action.takeoff()
    await asyncio.sleep(5)
    await drone.action.land()


asyncio.run(run())
```

--------------------------------

### init()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_system.html

Initializes the system. This method is not intended for direct application use.

```APIDOC
## init()

### Description
Initialize the system. This is not (and should not be) directly called by application code.

### Method
void mavsdk::System::init(uint32_t system_id, uint8_t component_id) const

### Parameters
- **system_id** (uint32_t) - System id.
- **component_id** (uint8_t) - Component id.

```

--------------------------------

### Create Winch plugin with System reference

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_winch.html

Example of creating a Winch plugin instance using the constructor that takes a System reference.

```cpp
auto winch = Winch(system);
```

--------------------------------

### Typical LogFiles plugin creation

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_log_files.html

Shows the typical way to create a LogFiles plugin instance for a specific system.

```cpp
auto log_files = LogFiles(system);
```

--------------------------------

### Create a connection to a system

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/follow_me.html

Basic code to create a MAVSDK connection and wait for a system to be discovered. This is the first step in creating a FollowMe plugin.

```cpp
#include <mavsdk/mavsdk.h>
Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
ConnectionResult conn_result = mavsdk.add_udp_connection();
// Wait for the system to connect via heartbeat
while (mavsdk.system().size() == 0) {
   sleep_for(seconds(1));
}
// System got discovered.
System system = mavsdk.systems()[0];

```

--------------------------------

### Install build dependencies on Ubuntu

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_linux.html

Installs the required build tools for Ubuntu: build-essential, cmake, git, and Python 3.

```bash
sudo apt-get update
sudo apt-get install build-essential cmake git python3 python3-pip
```

--------------------------------

### Create a connection to a system

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/missions.html

Sets up a MAVSDK instance and waits for a system to connect via heartbeat. This is the first step before creating a Mission plugin.

```cpp
#include <mavsdk/mavsdk.h>
Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
ConnectionResult conn_result = mavsdk.add_udp_connection();
// Wait for the system to connect via heartbeat
while (mavsdk.systems().size() == 0) {
   sleep_for(seconds(1));
}
// System got discovered.
System system = mavsdk.systems()[0];
```

--------------------------------

### Arm and take off with Action plugin

Source: https://mavsdk.mavlink.io/main/en/python/quickstart.html

Create an Action plugin for the drone and arm and take off. The drone should take off if everything is working.

```python
action = ActionAsync(drone)
await action.arm()
await action.takeoff()
```

--------------------------------

### subscribe_start_video()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_camera_server.html

Subscribes to start video requests. Each request received should be responded to using RespondStartVideo.

```cpp
StartVideoHandle mavsdk::CameraServer::subscribe_start_video(const StartVideoCallback &callback)
```

--------------------------------

### Create Shell plugin instance

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_shell.html

Example of creating a Shell plugin instance for a specific system. This is the typical usage pattern for the constructor.

```cpp
auto shell = Shell(system);
```

--------------------------------

### Install build dependencies on Fedora

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/build_linux.html

Installs the required build tools for Fedora: Development Tools, Development Libraries, cmake, and git.

```bash
sudo dnf update
sudo dnf groupinstall "Development Tools" "Development Libraries"
sudo dnf install cmake git
```

--------------------------------

### Param constructor with System reference

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_param.html

Creates a Param plugin instance for a specific System, typically used as shown in the example.

```cpp
mavsdk::Param::Param(System &system)
```

--------------------------------

### ActionError example for rejected command

Source: https://mavsdk.mavlink.io/main/en/python/quickstart.html

Example of an exception raised when a command is rejected, such as arming before GPS fix. The vehicle refused the command.

```python
mavsdk.plugins.action.action.ActionError: COMMAND_DENIED; origin: arm(); params: ()
```

--------------------------------

### Constructor with System reference

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_mavlink_direct.html

Creates the plugin for a specific system using a System reference.

```cpp
mavsdk::MavlinkDirect::MavlinkDirect(System &system)
```

--------------------------------

### Run offboard velocity example

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/offboard_velocity.html

Command to run the offboard velocity example, connecting to a vehicle via UDP on port 14540.

```bash
$ ./offboard udpin://0.0.0.0:14540
```

--------------------------------

### init() pure virtual method

Source: https://mavsdk.mavlink.io/main/en/cpp/contributing/plugins.html

Called when a plugin is instantiated, which happens when a System is constructed (even if it is an empty dummy system). Use it for initialization steps that depend on the System, such as setting up callbacks with _parent (DeviceImpl).

```cpp
virtual void init() = 0
```

--------------------------------

### Configure cmake with local MAVSDK path

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/index.html

Configures the build when MAVSDK is installed locally (e.g., on Windows). Replace the placeholder with the actual installation path.

```sh
cmake -B build -DCMAKE_PREFIX_PATH=wherever_mavsdk_is_locally_installed
```

--------------------------------

### Typical ServerUtility creation

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_server_utility.html

Typical way to create a ServerUtility plugin instance. Used in the constructor documentation for both constructor overloads.

```cpp
auto server_utility = ServerUtility(system);
```

--------------------------------

### Start mavsdk_server with heartbeat watchdog timeout

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/heartbeat_watchdog.html

Command-line option to enable the watchdog when starting mavsdk_server for gRPC-based wrappers. The timeout value is in seconds; 0 disables it (default).

```bash
mavsdk_server --heartbeat-watchdog-timeout 2 udpin://0.0.0.0:14540
```

--------------------------------

### Mavsdk(Configuration configuration)

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_mavsdk.html

Constructor with configuration. Initializes a MAVSDK instance with the provided configuration.

```APIDOC
## Mavsdk(Configuration configuration)

### Description
Constructor with configuration. Initializes a MAVSDK instance with the provided configuration.

### Method
Constructor

### Signature
```cpp
mavsdk::Mavsdk::Mavsdk(Configuration configuration)
```

### Parameters
- **configuration** (Configuration) - Required - Configuration to use in MAVSDK instance.

### Return Value
None
```

--------------------------------

### Fly Mission Example Terminal Output

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/fly_mission.html

Expected output from running the example, showing discovery, mission upload, arming, mission execution, pause/resume, RTL, and disarming.

```text
Waiting to discover system...
[09:36:08|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)
[09:36:08|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:292)
[09:36:08|Debug] Component Autopilot added. (system_impl.cpp:339)
[09:36:08|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-07-09/1 (system_impl.cpp:277)
[09:36:09|Debug] Found 1 component(s). (system_impl.cpp:466)
[09:36:09|Debug] Discovered 4294967298 (system_impl.cpp:468)
Discovered system with UUID: 4294967298
Waiting for system to be ready
System ready
Creating and uploading mission
Uploading mission...
[09:36:10|Debug] Send mission item 0 (mission_impl.cpp:898)
[09:36:10|Debug] Send mission item 1 (mission_impl.cpp:898)
...
[09:36:10|Debug] Send mission item 19 (mission_impl.cpp:898)
[09:36:10|Debug] Send mission item 20 (mission_impl.cpp:898)
[09:36:10|Debug] Send mission item 21 (mission_impl.cpp:898)
[09:36:10|Debug] Send mission item 22 (mission_impl.cpp:898)
[09:36:10|Info ] Mission accepted (mission_impl.cpp:163)
Mission uploaded.
Arming...
[09:36:10|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:277)
Armed.
Starting mission.
Started mission.
Mission status update: 0 / 6
[09:36:10|Debug] MAVLink: info: Executing Mission (system_impl.cpp:277)
[09:36:10|Debug] MAVLink: info: Takeoff to 10.0 meters above home. (system_impl.cpp:277)
[09:36:10|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:277)
Mission status update: 0 / 6
Mission status update: 0 / 6
Mission status update: 1 / 6
...
Mission status update: 1 / 6
Mission status update: 2 / 6
Mission status update: 2 / 6
Pausing mission...
Mission paused.
[09:36:28|Debug] MAVLink: critical: MANUAL CONTROL LOST (at t=41381ms) (system_impl.cpp:277)
[09:36:28|Debug] MAVLink: info: MANUAL CONTROL REGAINED after 541ms (system_impl.cpp:277)
Resuming mission...
Resumed mission.
Mission status update: 2 / 6
...
Mission status update: 2 / 6
Mission status update: 3 / 6
...
Mission status update: 3 / 6
Mission status update: Mission status update: 44 / 6 / 6

Mission status update: 4 / 6
...
Mission status update: 4 / 6
Mission status update: 5 / 6
...
Mission status update: 5 / 6
[09:37:00|Debug] MAVLink: info: Mission finished, loitering. (system_impl.cpp:277)
Mission status update: 6 / 6
Commanding RTL...
Commanded RTL.
[09:37:01|Debug] MAVLink: info: RTL HOME activated (system_impl.cpp:277)
[09:37:01|Debug] MAVLink: info: RTL: climb to 518 m (31 m above home) (system_impl.cpp:277)
[09:37:09|Debug] MAVLink: info: RTL: return at 518 m (31 m above home) (system_impl.cpp:277)
[09:37:16|Debug] MAVLink: info: RTL: descend to 493 m (5 m above home) (system_impl.cpp:277)
[09:37:41|Debug] MAVLink: info: RTL: loiter 5.0s (system_impl.cpp:277)
[09:37:46|Debug] MAVLink: info: RTL: land at home (system_impl.cpp:277)
[09:37:56|Debug] MAVLink: info: Landing detected (system_impl.cpp:277)
[09:37:59|Debug] MAVLink: info: DISARMED by auto disarm on land (system_impl.cpp:277)
Mission status update: 6 / 6
Disarmed, exiting.
```

--------------------------------

### Set and Get Heartbeat Timeout

Source: https://mavsdk.mavlink.io/main/en/cpp/guide/general_usage.html

Set the heartbeat timeout on the Mavsdk object. The default is 3 seconds. Also demonstrates getting the current heartbeat timeout value.

```cpp
mavsdk.set_heartbeat_timeout_s(5.0); // allow up to 5 seconds between heartbeats
double current = mavsdk.get_heartbeat_timeout_s();
```

--------------------------------

### set_config() method

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_follow_me.html

Apply configuration by sending it to the system. This function is blocking.

```cpp
Result mavsdk::FollowMe::set_config(Config config) const
```

--------------------------------

### Example terminal output for offboard velocity

Source: https://mavsdk.mavlink.io/main/en/cpp/examples/offboard_velocity.html

Example terminal output from a debug build of the SDK, showing the sequence of NED and body frame velocity commands and the final landing.

```text
Wait for system to connect via heartbeat
[12:53:03|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)
[12:53:03|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:286)
[12:53:03|Debug] Component Autopilot added. (mavlink_system.cpp:349)
[12:53:03|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-05-23/0 (mavlink_system.cpp:286)
[12:53:04|Debug] Found 1 component(s). (mavlink_system.cpp:481)
[12:53:04|Debug] Discovered 4294967298 (mavlink_system.cpp:483)
Waiting for system to be ready
System is ready
Armed
[12:53:05|Debug] MAVLink: info: ARMED by arm/disarm component command (mavlink_system.cpp:286)
In Air...
[12:53:05|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (mavlink_system.cpp:286)
[12:53:05|Debug] MAVLink: info: Takeoff detected (mavlink_system.cpp:286)
[12:53:05|Debug] MAVLink: critical: Using minimum takeoff altitude: 2.50 m (mavlink_system.cpp:286)
[NED] Offboard started
[NED] Turn to face East
[NED] Go North and back South
[NED] Turn to face West
[NED] Go up 2 m/s, turn to face South
[NED] Go down 1 m/s, turn to face North
[NED] Offboard stopped
[BODY] Offboard started
[BODY] Turn clock-wise and climb
[BODY] Turn back anti-clockwise
[BODY] Wait for a bit
[BODY] Fly a circle
[BODY] Wait for a bit
[BODY] Fly a circle sideways
[BODY] Wait for a bit
[BODY] Offboard stopped
[12:54:29|Debug] MAVLink: info: Landing at current position (mavlink_system.cpp:286)
Landed
```

--------------------------------

### Configure build with BUILD_MAVSDK_SERVER=ON

Source: https://mavsdk.mavlink.io/main/en/cpp/contributing/plugins.html

Configures the build with the MAVSDK server enabled, preparing the tools required for generating plugin files.

```bash
cmake -DBUILD_MAVSDK_SERVER=ON -B build/default -S .
```

--------------------------------

### get_all_params

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_param.html

Get all parameters.

```APIDOC
## get_all_params

### Description
Get all parameters.

### Method
SDK Method

### Signature
`Param::AllParams get_all_params() const`

### Return Value
- **Param::AllParams** - All parameters.

```

--------------------------------

### start_video()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_camera.html

Start a video recording. Blocking; see 'start_video_async' for the non-blocking counterpart. Returns Result of request.

```cpp
Result mavsdk::Camera::start_video(int32_t component_id) const
```

--------------------------------

### start_mission_async

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_mission_raw.html

Start the mission asynchronously.

```APIDOC
## start_mission_async

### Description
Start the mission asynchronously.

### Method
void

### Signature
```cpp
void start_mission_async(const ResultCallback callback)
```

### Parameters
- **callback** (const ResultCallback) - Required - Callback to receive the result.
```

--------------------------------

### Create Mocap plugin instance

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_mocap.html

Example of creating a Mocap plugin instance. The system parameter is the specific system associated with this plugin.

```cpp
auto mocap = Mocap(system);
```

--------------------------------

### vehicle_type()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_system.html

Get vehicle type.

```APIDOC
## vehicle_type()

### Description
Get vehicle type.

### Method
Vehicle mavsdk::System::vehicle_type() const

### Returns
- **Vehicle** - vehicle type discovered.

```

--------------------------------

### autopilot_type()

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_system.html

Get autopilot type.

```APIDOC
## autopilot_type()

### Description
Get autopilot type.

### Method
Autopilot mavsdk::System::autopilot_type() const

### Returns
- **Autopilot** - autopilot type discovered.

```

--------------------------------

### vehicle_type

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_system.html

Gets the vehicle type.

```APIDOC
## vehicle_type

### Description
Gets the vehicle type.

### Method
Vehicle vehicle_type() const

### Parameters
None

### Returns
Vehicle - The vehicle type.
```

--------------------------------

### typedef StartVideoHandle

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_camera_server.html

Handle type for subscribe_start_video.

```APIDOC
## typedef StartVideoHandle

### Description
Handle type for subscribe_start_video.

### Definition
```cpp
using mavsdk::CameraServer::StartVideoHandle = Handle<int32_t>;
```
```

--------------------------------

### autopilot_type

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_system.html

Gets the autopilot type.

```APIDOC
## autopilot_type

### Description
Gets the autopilot type.

### Method
Autopilot autopilot_type() const

### Parameters
None

### Returns
Autopilot - The autopilot type.
```

--------------------------------

### get_param_custom

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_param.html

Get a custom parameter.

```APIDOC
## get_param_custom

### Description
Get a custom parameter.

### Method
SDK Method

### Signature
`std::pair<Result, std::string> get_param_custom(std::string name) const`

### Parameters
- **name** (std::string) - Required - The name of the parameter.

### Return Value
- **Result** - The result of the request.
- **std::string** - The value of the parameter.

```

--------------------------------

### Info constructor with System reference

Source: https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_info.html

Creates an Info plugin instance for a specific System, passed by reference. Typically used as shown in the example.

```cpp
mavsdk::Info::Info(System &system)
```
Tokens:
Raw