arch_nav::ArchNavApi¶

Header: include/arch_nav/arch_nav_api.hpp

Purpose¶

User-facing API for commanding operations and querying state.

All operation methods are asynchronous.

Operations¶

CommandResponse takeoff(double height, ReferenceFrame frame = LOCAL_NED);
CommandResponse land();
CommandResponse waypoint_following(std::vector<Waypoint>, ReferenceFrame frame = GLOBAL_WGS84);
CommandResponse trajectory_execution(std::vector<TrajectoryPoint>, ReferenceFrame frame = LOCAL_NED);
void cancel_operation();

Vehicle commands¶

CommandResponse arm();
CommandResponse disarm();

Read-only state¶

OperationStatus operation_status() const;
const OperationReport* last_operation_report() const;
GlobalPosition global_position() const;
Kinematics kinematics() const;
VehicleStatus vehicle_status() const;

Event callbacks¶

void on_operation_complete(std::function<void(const OperationReport&)>);
void on_operation_progress(std::function<void(const OperationReport&)>);