Auterion App SDK
Auterion SDK is a library that can be used by AuterionOS apps to communicate with the system.
Public Member Functions | List of all members
auterion::SystemState Class Reference
System State

Provides access to the system's state, including flight controller telemetry. More...

#include <auterion_sdk/system_state/system_state.hpp>

Public Member Functions

 SystemState (SDK &sdk)
 
Subscription< SubscriptionType::LOCAL_POSITION, LocalPosition > & localPosition () const
 
Subscription< SubscriptionType::GLOBAL_POSITION, GlobalPosition > & globalPosition () const
 
Subscription< SubscriptionType::ATTITUDE, Eigen::Quaternionf > & attitude () const
 
Subscription< SubscriptionType::ANGULAR_RATES, AngularRates > & angularRates () const
 
Subscription< SubscriptionType::ARMED, bool > & armed () const
 
Subscription< SubscriptionType::HOME_POSITION, HomePosition > & homePosition () const
 
Subscription< SubscriptionType::BATTERY, BatteryStatus > & battery () const
 
Subscription< SubscriptionType::VTOL_STATE, VtolState > & vtolState () const
 
Subscription< SubscriptionType::MANUAL_INPUT, ManualInput > & manualInput () const
 
Subscription< SubscriptionType::LAND_DETECTED, LandDetected > & landDetected () const
 
SystemState & subscribeLocalPosition (std::function< void(LocalPosition)> callback=nullptr)
 
SystemState & subscribeGlobalPosition (std::function< void(GlobalPosition)> callback=nullptr)
 
SystemState & subscribeAttitude (std::function< void(Eigen::Quaternionf)> callback=nullptr)
 
SystemState & subscribeAngularRates (std::function< void(AngularRates)> callback=nullptr)
 
SystemState & subscribeArmed (std::function< void(bool)> callback=nullptr)
 
SystemState & subscribeHomePosition (std::function< void(HomePosition)> callback=nullptr)
 
SystemState & subscribeBattery (std::function< void(BatteryStatus)> callback=nullptr)
 
SystemState & subscribeVtolState (std::function< void(VtolState)> callback=nullptr)
 
SystemState & subscribeManualInput (std::function< void(ManualInput)> callback=nullptr)
 
SystemState & subscribeLandDetected (std::function< void(LandDetected)> callback=nullptr)
 

Detailed Description

Provides access to the system's state, including flight controller telemetry.

Example usage:

To register a custom callback on the battery state:

auterion::SDK sdk;
auterion::SystemState system_state(sdk);
// Subscribe to battery status updates
system_state.subscribeBattery([](BatteryStatus status) {
std::cout << "Battery: " << status.percentage << "%" << std::endl;
});
auterion::SDK
SDK execution class. All callbacks are called on the same thread.
Definition: auterion.hpp:45
auterion::SystemState
Provides access to the system's state, including flight controller telemetry.
Definition: system_state.hpp:278

To query the latest known local position:

auterion::SDK sdk;
auterion::SystemState system_state(sdk);
// Activate subscription process without registering a callback
system_state.subscribeLocalPosition();
// Retrieve latest local position
auterion::LocalPosition local_position = system_state.localPosition().last();
auterion::LocalPosition
Represents local position, velocity, and acceleration in the ENU coordinate system.
Definition: system_state.hpp:62
The documentation for this class was generated from the following file: