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51 lines
1.6 KiB
C++
51 lines
1.6 KiB
C++
#include <mavsdk/mavsdk.h>
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#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
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#include <iostream>
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#include <chrono>
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#include <thread>
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using namespace mavsdk;
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using std::chrono::seconds;
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using std::this_thread::sleep_for;
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int main(int argc, char** argv)
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{
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if (argc != 2) {
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std::cerr << "Usage: " << argv[0] << " <connection_url>\n";
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return 1;
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}
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Mavsdk mavsdk;
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ConnectionResult connection_result = mavsdk.add_any_connection(argv[1]);
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if (connection_result != ConnectionResult::Success) {
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std::cerr << "Connection failed: " << connection_result << '\n';
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return 1;
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}
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auto system = mavsdk.systems().at(0);
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// Instantiate mavlink_passthrough plugin.
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auto mavlink_passthrough = MavlinkPassthrough{system};
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mavlink_message_t message;
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mavlink_command_long_t command;
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command.target_system = system->get_system_id();
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command.target_component = MAV_COMP_ID_AUTOPILOT1;
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command.command = MAV_CMD_DO_SET_MODE;
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command.param1 = 4;
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mavlink_msg_command_long_encode(mavlink_passthrough.get_our_sysid(),
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mavlink_passthrough.get_our_compid(),
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&message,
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&command);
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mavlink_passthrough.send_message(message);
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// Wait for the flight mode to change.
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sleep_for(seconds(1));
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// Check the current flight mode.
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const Telemetry::FlightMode mode_result = system->telemetry().flight_mode();
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std::cout << "Current Flight Mode: " << mode_result << '\n';
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return 0;
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} |