PX4MavCtrlV4 Interface Documentation¶

Introduction¶

Overview: Provides various enumerations, utility classes, and core control classes required for offline control of PX4 flight controllers, enabling MAVLink communication integration with PX4 flight controllers under the RflySim platform.

This module serves as the core component of RflySimSDK responsible for PX4 drone communication and control. It adapts to the custom modes and offline control message formats of the PX4 flight controller based on the MAVLink protocol, supporting ID-based addressing and port-based identification for multi-drone scenarios. It conforms to the communication rules of the RflySim simulation platform, allowing target drones to be identified either by aircraft ID or via custom ports. This module is applicable to diverse scenarios such as offline trajectory planning, control algorithm development, and multi-drone cooperative mission simulation, providing a unified communication interface and parameter definition support for upper-layer control algorithms.

The module includes built-in mask generation classes for standard MAVLink offline messages, enumerations for flight controller custom modes, and key type definitions adapted to the platform's Redis communication mechanism, facilitating rapid alignment with PX4 flight controller control logic and eliminating the need for developers to manually handle low-level communication protocol details.

Quick Start¶

Minimal runnable example; copy and modify only the minimal required configuration to run.

from RflySimSDK.ctrl.PX4MavCtrlV4 import PX4MavCtrler
import time

# 1. Initialize the PX4 flight controller controller, using default local simulation environment settings with drone ID 1
mav_ctrl = PX4MavCtrler(ID=1, ip="127.0.0.1", Com="udp", port=0)

# 2. Send a global start signal to awaken all simulated drones
mav_ctrl.sendStartMsg(copterID=-1)

# 3. Wait for the start signal confirmation, blocking the program until preparation is complete
mav_ctrl.waitForStartMsg()

# 4. Example: take off, hover for 10 seconds, then exit
print("Drone started, beginning task execution")
# Add your control logic here, e.g., sending position control commands
time.sleep(10)
print("Task execution completed")

Environment and Dependencies¶

Python Environment: >= 3.8.10
Dependencies: copy, ctrl.DllSimCtrlAPI, ctrl.IpManager, math, numpy, os, platform, pymavlink, pymavlink.dialects.v20, socket, struct, sys, threading, time
Prerequisites: Before invoking this interface, ensure RflySimSDK environment configuration is completed and the corresponding modules are imported.

Core Interface Description¶

The module PX4MavCtrlV4.py includes configuration variables, helper functions, and core business classes.

Global Constants and Enumerations¶

This section lists all globally accessible constants and enumerations defined in the module.

Standalone Constants¶

None

Enumerations¶

`PX4_CUSTOM_MAIN_MODE`¶

Name	Type	Value	Description
`PX4_CUSTOM_MAIN_MODE_MANUAL`	`int`	`1`	-
`PX4_CUSTOM_MAIN_MODE_ALTCTL`	`int`	`2`	-
`PX4_CUSTOM_MAIN_MODE_POSCTL`	`int`	`3`	-
`PX4_CUSTOM_MAIN_MODE_AUTO`	`int`	`4`	-
`PX4_CUSTOM_MAIN_MODE_ACRO`	`int`	`5`	-
`PX4_CUSTOM_MAIN_MODE_OFFBOARD`	`int`	`6`	-
`PX4_CUSTOM_MAIN_MODE_STABILIZED`	`int`	`7`	-
`PX4_CUSTOM_MAIN_MODE_RATTITUDE`	`int`	`8`	-
`PX4_CUSTOM_MAIN_MODE_SIMPLE`	`int`	`9`	-

`PX4_CUSTOM_SUB_MODE_AUTO`¶

Name	Type	Value	Description
`PX4_CUSTOM_SUB_MODE_AUTO_READY`	`int`	`1`	-
`PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF`	`int`	`2`	-
`PX4_CUSTOM_SUB_MODE_AUTO_LOITER`	`int`	`3`	-
`PX4_CUSTOM_SUB_MODE_AUTO_MISSION`	`int`	`4`	-
`PX4_CUSTOM_SUB_MODE_AUTO_RTL`	`int`	`5`	-
`PX4_CUSTOM_SUB_MODE_AUTO_LAND`	`int`	`6`	-
`PX4_CUSTOM_SUB_MODE_AUTO_RTGS`	`int`	`7`	-
`PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET`	`int`	`8`	-
`PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND`	`int`	`9`	-

`APM_COPTER_MODE`¶

ArduCopter flight mode numbers, can be used with SendSetModeAPM() to switch APM multi-rotor modes.

Name	Type	Value	Description
`STABILIZE`	`int`	`0`	Stabilize mode
`ACRO`	`int`	`1`	Acro mode
`ALT_HOLD`	`int`	`2`	Altitude hold mode
`AUTO`	`int`	`3`	Auto mission mode
`GUIDED`	`int`	`4`	Guided mode
`LOITER`	`int`	`5`	Loiter mode
`RTL`	`int`	`6`	Return to launch mode
`LAND`	`int`	`9`	Land mode

`APM_PLANE_MODE`¶

ArduPlane flight mode numbers, can be used with SendSetModeAPM() to switch APM fixed-wing modes.

Name	Type	Value	Description
`MANUAL`	`int`	`0`	Manual mode
`STABILIZE`	`int`	`2`	Stabilize mode
`FBWA`	`int`	`5`	Fly-by-wire A mode
`FBWB`	`int`	`6`	Fly-by-wire B mode
`AUTO`	`int`	`10`	Auto mission mode
`RTL`	`int`	`11`	Return to launch mode
`LOITER`	`int`	`12`	Loiter mode
`GUIDED`	`int`	`15`	Guided mode
`QLOITER`	`int`	`19`	VTOL loiter mode

`APM_ROVER_MODE`¶

ArduRover flight mode numbers, can be used with SendSetModeAPM() to switch APM rover/boat modes.

Name	Type	Value	Description
`MANUAL`	`int`	`0`	Manual mode
`STEERING`	`int`	`3`	Steering assist mode
`HOLD`	`int`	`4`	Hold mode
`AUTO`	`int`	`10`	Auto mission mode
`RTL`	`int`	`11`	Return to launch mode
`GUIDED`	`int`	`15`	Guided mode

Global/Standalone Functions¶

None

`RedisKey` Class¶

Key type for Redis channels; using a type ID, the corresponding channel string name can be retrieved from RedisKey.

`GetRedisKey(port)`¶

Function Description: Retrieves the Redis channel key name corresponding to a given port number.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`port`	Any type	Yes	-	Port number

Return Value (Returns):

str: The Redis channel key name corresponding to the port

Exceptions (Raises):

None

Example:

from RflySimSDK.ctrl.PX4MavCtrlV4 import RedisKey
key = RedisKey.GetRedisKey(10000)

Class Variables¶

Variable Name	Type	Value	Description
`SIL`	`str`	`SIL`	Redis channel key for Software-in-the-Loop (SIL) simulation
`SIL_TRUE`	`str`	`SIL_TRUE`	Redis channel key for SIL mode of real UAV
`R3D`	`str`	`RFLYSIM_3D`	Redis channel key for RflySim 3D visualization
`SIL_RECV`	`str`	`SIL_RECV`	Redis channel key for SIL receive channel
`SIL_TRUE_RECV`	`str`	`SIL_TRUE_RECV`	Redis channel key for SIL receive channel of real UAV

`fifo` Class¶

First-In-First-Out (FIFO) queue for storing and accessing data elements in the order they were added.

`init()`¶

Function Description: Initializes an empty FIFO queue.
Parameters (Args):
None

Returns:
- An instance of the fifo class

Exceptions (Raises):
None

`write(data)`¶

Function Description: Appends a new data element to the end of the queue.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`data`	`Any`	Yes	-	Data element to be added to the queue

Returns:
- None

Exceptions (Raises):
None

`read()`¶

Function Description: Removes and returns the earliest-added data element from the front of the queue, following the FIFO principle.
Parameters (Args):
None

Returns:
- The earliest-added data element at the front of the queue; its type matches the original input type

Exceptions (Raises):
None

Example:

# Create a FIFO queue
queue = fifo()
# Write data
queue.write(10)
queue.write("test_data")
# Read data in the order it was written
first_data = queue.read()
second_data = queue.read()

`PosTypeMask` Class¶

Generates a type mask bitmap for PX4 offboard control messages, corresponding to the POSITION_TARGET_TYPEMASK definition in the MAVLink protocol. It specifies which control inputs should be ignored by the flight controller.

`init(ignore_all=False)`¶

Function Description: Initializes the mask object. By default, it configures the mask for velocity + yaw rate control mode. If ignore_all is set to True, all offboard control inputs will be ignored.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`ignore_all`	`bool`	No	`False`	If `True`, all offboard control inputs are ignored; if `False`, the default velocity + yaw rate control mode is used

Returns:
- An instance of the PosTypeMask class

Exceptions (Raises):
None

`mask()`¶

Function Description: Retrieves the computed final type mask value.
Parameters (Args):
None

Returns:
- int: The final offboard control type mask bitmap, ready to be used directly in generating MAVLink position control messages

Exceptions (Raises):
None

Example:

from RflySimSDK.ctrl import PosTypeMask
# Create a default mask object for velocity + yaw rate mode
mask_obj = PosTypeMask()
# Get the mask value
type_mask = mask_obj.mask()

# Create a mask object that ignores all control inputs
ignore_all_mask = PosTypeMask(ignore_all=True).mask()

`AttTypeMask` Class¶

【Reference: Previous English Translation】

PX4MavCtrlV4 Interface Documentation¶

Introduction¶

Overview: Provides various enumerations, utility classes, and core control classes required for offline control of PX4 flight controllers, enabling MAVLink communication integration with PX4 flight controllers under the RflySim platform.

This module serves as the core component of RflySimSDK responsible for PX4 drone communication and control. It adapts to the custom modes and offline control message formats of the PX4 flight controller based on the MAVLink protocol, supporting ID-based addressing and port-based identification for multi-drone scenarios. It conforms to the communication rules of the RflySim simulation platform, allowing target drones to be identified either by aircraft ID or via custom ports. This module is applicable to diverse scenarios such as offline trajectory planning, control algorithm development, and multi-drone cooperative mission simulation, providing a unified communication interface and parameter definition support for upper-layer control algorithms.

The module includes built-in mask generation classes for standard MAVLink offline messages, enumerations for flight controller custom modes, and key type definitions adapted to the platform’s Redis communication mechanism, facilitating rapid alignment with PX4 flight controller control logic and eliminating the need for developers to manually handle low-level communication protocol details.

Quick Start¶

Minimal runnable example; copy and modify only the minimal required configuration to run.

from RflySimSDK.ctrl.PX4MavCtrlV4 import PX4MavCtrler
import time

# 1. Initialize the PX4 flight controller controller, using default local simulation environment settings with drone ID 1
mav_ctrl = PX4MavCtrler(ID=1, ip="127.0.0.1", Com="udp", port=0)

# 2. Send a global start signal to awaken all simulated drones
mav_ctrl.sendStartMsg(copterID=-1)

# 3. Wait for the start signal confirmation, blocking the program until preparation is complete
mav_ctrl.waitForStartMsg()

# 4. Example: take off, hover for 10 seconds, then exit
print("Drone started, beginning task execution")
# Add your control logic here, e.g., sending position control commands
time.sleep(10)
print("Task execution completed")

Environment and Dependencies¶

Python Environment: >= 3.8.10
Dependencies: copy, ctrl.DllSimCtrlAPI, ctrl.IpManager, math, numpy, os, platform, pymavlink, pymavlink.dialects.v20, socket, struct, sys, threading, time
Prerequisites: Before invoking this interface, ensure RflySimSDK environment configuration is completed and the corresponding modules are imported.

Core Interface Description¶

The module PX4MavCtrlV4.py includes configuration variables, helper functions, and core business classes.

Global Constants and Enumerations¶

This section lists all globally accessible constants and enumerations defined in the module.

Standalone Constants¶

None

Enumerations¶

`PX4_CUSTOM_MAIN_MODE`¶

Name	Type	Value	Description
`PX4_CUSTOM_MAIN_MODE_MANUAL`	`int`	`1`	-
`PX4_CUSTOM_MAIN_MODE_ALTCTL`	`int`	`2`	-
`PX4_CUSTOM_MAIN_MODE_POSCTL`	`int`	`3`	-
`PX4_CUSTOM_MAIN_MODE_AUTO`	`int`	`4`	-
`PX4_CUSTOM_MAIN_MODE_ACRO`	`int`	`5`	-
`PX4_CUSTOM_MAIN_MODE_OFFBOARD`	`int`	`6`	-
`PX4_CUSTOM_MAIN_MODE_STABILIZED`	`int`	`7`	-
`PX4_CUSTOM_MAIN_MODE_RATTITUDE`	`int`	`8`	-
`PX4_CUSTOM_MAIN_MODE_SIMPLE`	`int`	`9`	-

`PX4_CUSTOM_SUB_MODE_AUTO`¶

Name	Type	Value	Description
`PX4_CUSTOM_SUB_MODE_AUTO_READY`	`int`	`1`	-
`PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF`	`int`	`2`	-
`PX4_CUSTOM_SUB_MODE_AUTO_LOITER`	`int`	`3`	-
`PX4_CUSTOM_SUB_MODE_AUTO_MISSION`	`int`	`4`	-
`PX4_CUSTOM_SUB_MODE_AUTO_RTL`	`int`	`5`	-
`PX4_CUSTOM_SUB_MODE_AUTO_LAND`	`int`	`6`	-
`PX4_CUSTOM_SUB_MODE_AUTO_RTGS`	`int`	`7`	-
`PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET`	`int`	`8`	-
`PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND`	`int`	`9`	-

Global/Standalone Functions¶

None

`RedisKey` Class¶

Key type for Redis channels; using a type ID, the corresponding channel string name can be retrieved from RedisKey.

`GetRedisKey(port)`¶

Function Description: Retrieves the Redis channel key name corresponding to a given port number.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`port`	Any type	Yes	-	Port number

Return Value (Returns):

str: The Redis channel key name corresponding to the port

Exceptions (Raises):

None

Example:

from RflySimSDK.ctrl.PX4MavCtrlV4 import RedisKey
key = RedisKey.GetRedisKey(10000)

Class Variables¶

Variable Name	Type	Value	Description
`SIL`	`str`	`SIL`	Redis channel key for Software-in-the-Loop (SIL) simulation
`SIL_TRUE`	`str`	`SIL_TRUE`	Redis channel key for SIL mode of real UAV
`R3D`	`str`	`RFLYSIM_3D`	Redis channel key for RflySim 3D visualization
`SIL_RECV`	`str`	`SIL_RECV`	Redis channel key for SIL receive channel
`SIL_TRUE_RECV`	`str`	`SIL_TRUE_RECV`	Redis channel key for SIL receive channel of real UAV

`fifo` Class¶

First-In-First-Out (FIFO) queue for storing and accessing data elements in the order they were added.

`init()`¶

Function Description: Initializes an empty FIFO queue.
Parameters (Args):
None

Returns:
- An instance of the fifo class

Exceptions (Raises):
None

`write(data)`¶

Function Description: Appends a new data element to the end of the queue.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`data`	`Any`	Yes	-	Data element to be added to the queue

Returns:
- None

Exceptions (Raises):
None

`read()`¶

Function Description: Removes and returns the earliest-added data element from the front of the queue, following the FIFO principle.
Parameters (Args):
None

Returns:
- The earliest-added data element at the front of the queue; its type matches the original input type

Exceptions (Raises):
None

Example:

# Create a FIFO queue
queue = fifo()
# Write data
queue.write(10)
queue.write("test_data")
# Read data in the order it was written
first_data = queue.read()
second_data = queue.read()

`PosTypeMask` Class¶

Generates a type mask bitmap for PX4 offboard control messages, corresponding to the POSITION_TARGET_TYPEMASK definition in the MAVLink protocol. It specifies which control inputs should be ignored by the flight controller.

`init(ignore_all=False)`¶

Function Description: Initializes the mask object. By default, it configures the mask for velocity + yaw rate control mode. If ignore_all is set to True, all offboard control inputs will be ignored.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`ignore_all`	`bool`	No	`False`	If `True`, all offboard control inputs are ignored; if `False`, the default velocity + yaw rate control mode is used

Returns:
- An instance of the PosTypeMask class

Exceptions (Raises):
None

`mask()`¶

Function Description: Retrieves the computed final type mask value.
Parameters (Args):
None

Returns:
- int: The final offboard control type mask bitmap, ready to be used directly in generating MAVLink position control messages

Exceptions (Raises):
None

`AttTypeMask` Class¶

Generates a type mask bitmap for offboard control messages, corresponding to the ATTITUDE_TARGET_TYPEMASK definition in the MAVLink protocol. It is commonly used in PX4 drone offboard control scenarios to mark control quantities that should be ignored.

`init(ignore_all=False)`¶

Function Description: Initializes the mask object. By default, it configures the mask for attitude + throttle control mode. When ignore_all is set to True, all offboard control quantities will be ignored.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
`ignore_all`	`bool`	No	`False`	Whether to ignore all offboard control quantities; when set to True, all control bits are marked as ignored

Return Value (Returns):

AttTypeMask instance object

Exceptions (Raises): None

`mask()`¶

Function Description: Retrieves the computed final mask value, used for sending offboard control messages to the flight controller.
Parameters (Args): None
Return Value (Returns):

int: The computed control mask value

Exceptions (Raises): None

Example:

from RflySimSDK.ctrl import AttTypeMask
# Create a default attitude throttle mode mask
att_mask = AttTypeMask()
mask_val = att_mask.mask()
# Mask that ignores all control quantities
ignore_mask = AttTypeMask(ignore_all=True)
ignore_val = ignore_mask.mask()

`PX4ExtMsg` Class¶

This class is used to represent PX4 flight controller extension messages, serving as the base container class for PX4 extension message-related data in RflySimSDK.

`init()`¶

Function Description: Initializes a PX4ExtMsg class instance
Parameters (Args): No parameters
Return Value (Returns):

PX4ExtMsg instance object

Exceptions (Raises): None

`PX4MavCtrler` Class¶

Creates a MAVLink communication control instance for the PX4 flight controller, supporting multiple communication modes such as simulation, direct connection to real hardware, and serial connection.

`init(ID=1, ip='127.0.0.1', Com='udp', port=0)`¶

Function Description: Initializes a PX4 flight controller MAVLink communication instance, configuring the corresponding communication mode and connection parameters based on the input parameters.
Parameters (Args):

Parameter Name	Type	Default Value	Description
ID	-	1	Aircraft ID or port number: `ID ≤ 10000` indicates the CopterID of the aircraft; `ID > 10000` indicates the communication port number `port` (a transitional definition for backward compatibility); in COM and Direct modes, it only represents the aircraft ID.
ip	str	127.0.0.1	Target IP address for data transmission: defaults to localhost `127.0.0.1`; for distributed simulation, specify a LAN IP or broadcast address `255.255.255.255`; in Redis mode, this is the server address.
Com	str	udp	Connection mode with the flight controller: `udp`: Default UDP mode; receives MAVLink messages forwarded by CopterSim, uses `port` for sending and `port+1` for receiving; `COMx`/`/dev/ttyxxx`: Serial port connection mode; on Windows, specifies COM port names; on Linux, specifies device paths, connecting to the flight controller via USB or telemetry module; `Direct`: UDP direct connection mode (real-machine mode); uses the same port for both sending and receiving; `redis`: Redis communication mode; exchanges data via a Redis server.
port	int	0	Port/baudrate configuration: UDP mode: `0` means automatically computing the port as `port = 20100 + CopterID * 2 - 2`; values greater than `0` force usage of the specified port; Serial mode: specifies the baud rate; `0` defaults to 57600; Direct mode: specifies the shared port number for sending and receiving; Redis mode: specifies the Redis server port; `0` defaults to the standard port `6379`.

Return Value (Returns): None
Exceptions (Raises): None

`fillList(data, inLen, fill="0")`¶

Function Description: Pads the input list to a specified length; if shorter, fills with the specified value.
Parameters (Args):

Parameter Name	Type	Required	Default Value	Description
data	Any	Yes	None	Input list to be processed
inLen	Any	Yes	None	Target length of the list
fill	Any	No	"0"	Value used for padding; defaults to `"0"`

Return Value (Returns): A list padded to length inLen
Exceptions (Raises): None

`sendStartMsg(copterID=-1)`¶

Function Description: Sends a start signal over the network for drones that have called waitForStartMsg() to receive and begin execution. When copterID = -1, all drones will start; when copterID > 0, only the drone with the specified ID will start.
Parameters (Args):

Parameter Name	Type	Required	Default Value	Description
copterID	Any	No	-1	ID of the drone(s) to start; default `-1` means starting all drones

Return Value (Returns): None
Exceptions (Raises): None

`waitForStartMsg()`¶

Function Description: Blocks program execution until a start signal from sendStartMsg() is received, after which execution continues.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`initPointMassModel(intAlt=0, intState=[0, 0, 0])`¶

Function Description: Initializes and starts the drone point-mass model for drone control. intAlt is the initial altitude (in meters) of the aircraft in the UE4 map, which can be obtained from CopterSim or UE4; intState contains the initial X position (meters), Y position (meters), and yaw angle (degrees) of the aircraft, consistent with the values displayed on the CopterSim interface.
Parameters (Args):

Parameter Name	Type	Required	Default Value	Description
intAlt	Any	No	0	Initial altitude in meters; default is `0`
intState	Any	No	[0, 0, 0]	Initial state `[X position, Y position, yaw angle]`; default is `[0, 0, 0]`

Return Value (Returns): None
Exceptions (Raises): None

`EndPointMassModel()`¶

Function Description: Stops the point-mass model execution.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`yawSat(yaw)`¶

Function Description: Saturates the input yaw angle to the range [-π, π].
Parameters (Args):

Parameter Name	Type	Required	Default Value	Description
yaw	Any	Yes	None	Input yaw angle in radians

Return Value (Returns): Yaw angle saturated within [-π, π]
Exceptions (Raises): None

`PointMassModelLoop()`¶

Function Description: Infinite loop function for the point-mass model, continuously updating the model state.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`sendUE4PosNew(copterID=1, vehicleType=3, PosE=[0, 0, 0], AngEuler=[0, 0, 0], VelE=[0, 0, 0], PWMs=[0] * 8, runnedTime=-1, windowID=-1)`¶

Function Description: Sends position and attitude information to RflySim3D to create a new 3D model or update the state of an existing model. The data is encapsulated and transmitted according to the RflySim3D-defined structure format.
Parameters (Args):

Parameter Name	Type	Required	Default Value	Description
copterID	Any	No	1	Drone ID; default value is 1
vehicleType	Any	No	3	Vehicle type; default value is 3
PosE	Any	No	[0, 0, 0]	Vehicle position in Earth-fixed NED frame, in meters; default value is [0, 0, 0]
AngEuler	Any	No	[0, 0, 0]	Vehicle roll, pitch, and yaw Euler angles, in radians; default value is [0, 0, 0]
VelE	Any	No	[0, 0, 0]	Vehicle velocity in Earth-fixed frame; default value is [0, 0, 0]
PWMs	Any	No	[0] * 8	PWM/speed information for 8 motors; default is all zeros
runnedTime	Any	No	-1	Current timestamp, in seconds; default value -1 indicates automatic use of the current time
windowID	Any	No	-1	Target RflySim3D window ID; default -1 indicates sending to all windows

Return Value (Returns): None
Exceptions (Raises): None

`InitTrueDataLoop()`¶

Function Description: Initializes the UDP real-data listening loop from CopterSim, receiving data via port series 30100.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`EndTrueDataLoop()`¶

Function Description: Ends the real-data reception mode and stops the real-data listening loop.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`SendOffAll(type_mask=PosTypeMask(), coordinate_frame=1, pos=[0, 0, 0], vel=[0, 0, 0], acc=[0, 0, 0], yaw=0, yawrate=0)`¶

Function Description: Sends position control commands to the PX4 flight controller via the MAVLink protocol.
Parameters (Args):

Parameter Name	Type	Required	Default Value	Description
type_mask	Any	No	PosTypeMask()	Position control type mask, used to enable/disable specific control inputs
coordinate_frame	Any	No	1	Coordinate frame ID; default value 1 indicates global frame
pos	Any	No	[0, 0, 0]	Desired position; default value is [0, 0, 0]
vel	Any	No	[0, 0, 0]	Desired velocity; default value is [0, 0, 0]
acc	Any	No	[0, 0, 0]	Desired acceleration; default value is [0, 0, 0]
yaw	Any	No	0	Desired yaw angle; default value is 0
yawrate	Any	No	0	Desired yaw rate; default value is 0

Return Value (Returns): None
Exceptions (Raises): None

`SendAttAll(type_mask=AttTypeMask(), q=[1, 0, 0, 0], body_rate=[0, 0, 0], thrust=0)`¶

Function Description: Sends attitude control commands to the PX4 flight controller via the MAVLink protocol.
Parameters (Args):

Parameter Name	Type	Required	Default Value	Description
type_mask	Any	No	AttTypeMask()	Attitude control type mask, used to enable/disable specific control inputs
q	Any	No	[1, 0, 0, 0]	Desired attitude quaternion; default is unit quaternion
body_rate	Any	No	[0, 0, 0]	Desired body angular rate; default value is [0, 0, 0]
thrust	Any	No	0	Desired thrust; default value is 0

Return Value (Returns): None
Exceptions (Raises): None

`InitMavLoop(UDPMode=2)`¶

Function Description: Initializes the MAVLink listening loop from CopterSim, supporting multiple working modes: 0 and 1 correspond to UDP_Full and UDP_Simple modes respectively, 2 and 3 correspond to MAVLink_Full and MAVLink_Simple modes respectively, 4 is MAVLink_NoSend mode, 5 is MAVLink_NoGPS mode, 6 is MAVLink_NoVision mode, with the default mode being 2 (MAVLink_Full mode). Parameters (Args):

Parameter Name	Type	Required	Default	Description
UDPMode	Any	No	2	Working mode number, default value is 2 (MAVLink_Full mode)

Return Value (Returns): None Exceptions (Raises): None

`endMavLoop()`¶

Function Description: Functionally identical to stopRun(), stops message listening from port 20100 or serial port. Parameters (Args): None Return Value (Returns): None Exceptions (Raises): None

`SendVisionPosition(x, y, z, yaw)`¶

Function Description: Sends the UAV position and yaw angle obtained from motion capture or visual measurement to the PX4 flight controller, used for visual odometry/motion capture positioning. Parameters (Args):

Parameter Name	Type	Required	Default	Description
x	Any	Yes	None	X-direction position from motion capture/visual measurement
y	Any	Yes	None	Y-direction position from motion capture/visual measurement
z	Any	Yes	None	Z-direction position from motion capture/visual measurement
yaw	Any	Yes	None	Yaw angle from motion capture/visual measurement

Return Value (Returns): None Exceptions (Raises): None

`SendHILGps(lat=40.1540302, lon=116.2593683, alt=50, vel=0, vn=0, ve=0, vd=0, cog=0, time_usec=-1, eph=0.3, epv=0.4, fix_type=3, satellites_visible=15)`¶

Function Description: Sends GPS information in Hardware-in-the-Loop (HIL) mode to PX4. Parameters (Args):

Parameter Name	Type	Required	Default	Description
lat	None	No	40.1540302	GPS latitude, in degrees
lon	None	No	116.2593683	GPS longitude, in degrees
alt	None	No	50	GPS altitude, in meters
vel	None	No	0	GPS ground speed, in m/s
vn	None	No	0	Northward velocity, in m/s
ve	None	No	0	Eastward velocity, in m/s
vd	None	No	0	Downward velocity, in m/s
cog	None	No	0	Course over ground, in degrees
time_usec	None	No	-1	Timestamp in microseconds; if -1, uses the current synchronized time
eph	None	No	0.3	Horizontal dilution of precision (HDOP)
epv	None	No	0.4	Vertical dilution of precision (VDOP)
fix_type	None	No	3	GPS fix type; 3 indicates 3D positioning
satellites_visible	None	No	15	Number of visible satellites

Return Value (Returns): None Exceptions (Raises): None

`SendRedisData(key, buf)`¶

Function Description: Sends specified data via Redis. Parameters (Args):

Parameter Name	Type	Required	Default	Description
key	None	Yes	None	Redis key name for the data
buf	None	Yes	None	Data buffer to be sent

Return Value (Returns): None Exceptions (Raises): None

`SendBuf(buf)`¶

Function Description: Sends a data buffer to PX4. Parameters (Args):

Parameter Name	Type	Required	Default	Description
buf	None	Yes	None	Byte data buffer to be sent

Return Value (Returns): None Exceptions (Raises): None

`SendBufTrue(buf, port=None)`¶

Function Description: Sends a complete data buffer via a specified port. Parameters (Args):

Parameter Name	Type	Required	Default	Description
buf	None	Yes	None	Byte data buffer to be sent
port	None	No	None	Target port number; if None, uses the default port

Return Value (Returns): None Exceptions (Raises): None

`sat(inPwm=0, thres=1)`¶

Function Description: Applies saturation limiting to the input value; if the input exceeds the threshold range, it is clamped within the threshold bounds. Parameters (Args):

Parameter Name	Type	Required	Default	Description
inPwm	None	No	0	Input value to be saturated
thres	None	No	1	Saturation threshold; maximum absolute value allowed

Return Value (Returns): Saturated input value Exceptions (Raises): None

`SendMavCmdLong(command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0)`¶

Function Description: Sends a COMMAND_LONG type MAVLink command to PX4. For MAVLink command definitions, refer to the official documentation: https://mavlink.io/en/messages/common.html#COMMAND_LONG and https://mavlink.io/en/messages/common.html#MAV_CMD Parameters (Args):

Parameter Name	Type	Required	Default	Description
command	None	Yes	None	MAVLink command ID, corresponding to a MAV_CMD enum value
param1	None	No	0	Command parameter 1
param2	None	No	0	Command parameter 2
param3	None	No	0	Command parameter 3
param4	None	No	0	Command parameter 4
param5	None	No	0	Command parameter 5
param6	None	No	0	Command parameter 6
param7	None	No	0	Command parameter 7

Return Value (Returns): None Exceptions (Raises): None

`SendMavCmdLongNEW(command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0, target_system=None, target_component=1, confirmation=0, force_send=False)`¶

Function Description: Sends a MAVLink COMMAND_LONG command to PX4. PX4 converts the COMMAND_LONG into a uORB vehicle_command and logs it to ULog. For MAVLink command definitions, refer to the official documentation: COMMAND_LONG and MAV_CMD. Parameters (Args):

Parameter Name	Type	Required	Default	Description
command	None	Yes	None	MAVLink command ID, corresponding to a `MAV_CMD` enum value
param1	None	No	0	Command parameter 1
param2	None	No	0	Command parameter 2
param3	None	No	0	Command parameter 3
param4	None	No	0	Command parameter 4
param5	None	No	0	Command parameter 5
param6	None	No	0	Command parameter 6
param7	None	No	0	Command parameter 7
target_system	None	No	None	Target system ID; uses the default target system if `None`
target_component	None	No	1	Target component ID
confirmation	None	No	0	Confirmation sequence number, used for command acknowledgment
force_send	bool	No	False	Whether to force sending the command even if not connected

Return Value (Returns): None Exceptions (Raises): None

`SendFaultEvent(fault_id, params=None, action=1, seq=0, vehicle_id=None, sim_id=0, command=MAV_CMD_USER_1)`¶

Function Description: Sends fault event information for recording fault injection in simulations. Parameters (Args):

Parameter Name	Type	Required	Default	Description
fault_id	int	Yes	None	Fault ID, identifying the fault type
params	None	No	None	Fault parameter information
action	int	No	1	Fault action: 1 for injecting a fault, 0 for clearing a fault
seq	int	No	0	Fault event sequence number
vehicle_id	int	No	None	Target UAV ID; uses the current UAV ID if `None`
sim_id	int	No	0	Simulation ID, used to distinguish between multi-vehicle simulations
command	int	No	MAV_CMD_USER_1	MAVLink command ID used; defaults to `MAV_CMD_USER_1`

Return Value (Returns): None Exceptions (Raises): None

`ClearFault(fault_id, seq=0, vehicle_id=None, sim_id=0, command=MAV_CMD_USER_1)`¶

Function Description: Clears/ends a specified fault. Writes a record with action=0, facilitating post-processing to define the fault time window. Parameters (Args):

Parameter Name	Type	Required	Default	Description
fault_id	int	Yes	None	Fault ID to be cleared
seq	int	No	0	Fault event sequence number
vehicle_id	int	No	None	Target UAV ID; uses the current UAV ID if `None`
sim_id	int	No	0	Simulation ID, used to distinguish between multi-vehicle simulations
command	int	No	MAV_CMD_USER_1	MAVLink command ID used; defaults to `MAV_CMD_USER_1`

Return Value (Returns): None Exceptions (Raises): None

`SendQgcCmdLong(command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0)`¶

Function Description: Sends a COMMAND_LONG command to the QGroundControl ground station. Parameters (Args):

Parameter Name	Type	Required	Default	Description
command	None	Yes	None	MAVLink command ID, corresponding to a MAV_CMD enum value
param1	None	No	0	Command parameter 1
param2	None	No	0	Command parameter 2
param3	None	No	0	Command parameter 3
param4	None	No	0	Command parameter 4
param5	None	No	0	Command parameter 5
param6	None	No	0	Command parameter 6
param7	None	No	0	Command parameter 7

Return Value (Returns): None
Exceptions (Raises): None

`sendMavOffboardCmd(type_mask, coordinate_frame, x, y, z, vx, vy, vz, afx, afy, afz, yaw, yaw_rate)`¶

Function Description: Sends an offboard control command to PX4, corresponding to the MAVLink SET_POSITION_TARGET_LOCAL_NED message. For message definitions, refer to: https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED
Arguments (Args):

Parameter Name	Type	Required	Default	Description
type_mask	None	Yes	None	Offboard control type mask, indicating which control inputs are active
coordinate_frame	None	Yes	None	Coordinate frame, typically LOCAL_NED
x	None	Yes	None	X-direction position/velocity/acceleration command, determined by type_mask
y	None	Yes	None	Y-direction position/velocity/acceleration command, determined by type_mask
z	None	Yes	None	Z-direction position/velocity/acceleration command, determined by type_mask
vx	None	Yes	None	X-direction velocity command, determined by type_mask
vy	None	Yes	None	Y-direction velocity command, determined by type_mask
vz	None	Yes	None	Z-direction velocity command, determined by type_mask
afx	None	Yes	None	X-direction acceleration command, determined by type_mask
afy	None	Yes	None	Y-direction acceleration command, determined by type_mask
afz	None	Yes	None	Z-direction acceleration command, determined by type_mask
yaw	None	Yes	None	Yaw angle command
yaw_rate	None	Yes	None	Yaw rate command

Return Value (Returns): None
Exceptions (Raises): None

`TypeMask(EnList)`¶

Function Description: Generates the type_mask bitmap for offboard control messages based on the required active control inputs. For bitmap definitions, refer to: https://mavlink.io/en/messages/common.html#POSITION_TARGET_TYPEMASK
Arguments (Args):

Parameter Name	Type	Required	Default	Description
EnList	None	Yes	None	List of control inputs to be enabled; contains the names of the active control quantities

Return Value (Returns): The computed type_mask bitmap
Exceptions (Raises): None

`sendMavOffboardAPI(type_mask=0, coordinate_frame=0, pos=[0, 0, 0], vel=[0, 0, 0], acc=[0, 0, 0], yaw=0, yawrate=0)`¶

Function Description: Encapsulated offboard control API that sends offboard control commands to PX4, corresponding to the MAVLink SET_POSITION_TARGET_LOCAL_NED message. For message definitions, refer to: https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED
Arguments (Args):

Parameter Name	Type	Required	Default	Description
type_mask	None	No	0	Offboard control type mask, indicating which control inputs are active
coordinate_frame	None	No	0	Coordinate frame, defaults to LOCAL_NED
pos	None	No	[0, 0, 0]	Position command, formatted as [x, y, z]
vel	None	No	[0, 0, 0]	Velocity command, formatted as [vx, vy, vz]
acc	None	No	[0, 0, 0]	Acceleration command, formatted as [afx, afy, afz]
yaw	None	No	0	Yaw angle command
yawrate	None	No	0	Yaw rate command

Return Value (Returns): None
Exceptions (Raises): None

`sendUDPSimpData(ctrlMode, ctrls)`¶

Function Description: Sends simplified control data via UDP
Arguments (Args):

Parameter Name	Type	Required	Default	Description
ctrlMode	None	Yes	None	Control mode
ctrls	None	Yes	None	Array of control inputs

Return Value (Returns): None
Exceptions (Raises): None

`sendPX4UorbRflyCtrl(data=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], modes=1, flags=1)`¶

Function Description: Sends Rfly-customized PX4 uORB control messages
Arguments (Args):

Parameter Name	Type	Required	Default	Description
data	None	No	[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]	16-dimensional control data array
modes	None	No	1	Control mode identifier
flags	None	No	1	Control flags

Return Value (Returns): None
Exceptions (Raises): None

`SendVelNED(vx, vy, vz, yawrate=math.nan)`¶

Function Description: Sends target drone velocity (m/s) and yaw rate (rad/s) in the geographic North-East-Down (NED) coordinate frame to PX4. Note: when the drone ascends, vz < 0.
Arguments (Args):

Parameter Name	Type	Required	Default	Description
vx	float	Yes	math.nan	North-direction velocity in NED frame; NaN indicates this axis is not controlled
vy	float	Yes	math.nan	East-direction velocity in NED frame; NaN indicates this axis is not controlled
vz	float	Yes	math.nan	Down-direction velocity in NED frame; NaN indicates this axis is not controlled
yawrate	float	No	math.nan	Target yaw rate; NaN indicates yaw rate is not controlled

Return Value (Returns): None
Exceptions (Raises): None

`SendVelNEDNoYaw(vx, vy, vz)`¶

Function Description: Sends the target drone velocity in the geographic North-East-Down (NED) coordinate system (unit: m/s) to PX4, without controlling yaw. When the drone flies upward, vz < 0.
Arguments (Args):

Parameter Name	Type	Required	Default	Description
vx	float	Yes	None	Northward velocity in NED frame; NaN indicates no control for this axis
vy	float	Yes	None	Eastward velocity in NED frame; NaN indicates no control for this axis
vz	float	Yes	None	Downward velocity in NED frame; NaN indicates no control for this axis

Return Value (Returns): None
Exceptions (Raises): None

`SendVelFRD(vx, vy, vz, yawrate=math.nan)`¶

Function Description: Sends the target drone velocity in the body Front-Right-Down (FRD) coordinate system (unit: m/s) to PX4, and controls yaw angular rate (unit: rad/s). When the drone flies upward, vz < 0.
Arguments (Args):

Parameter Name	Type	Required	Default	Description
vx	float	Yes	math.nan	Forward velocity in FRD frame; NaN indicates no control for this axis
vy	float	Yes	math.nan	Rightward velocity in FRD frame; NaN indicates no control for this axis
vz	float	Yes	math.nan	Downward velocity in FRD frame; NaN indicates no control for this axis
yawrate	float	No	math.nan	Target yaw angular rate; NaN indicates no yaw rate control

Return Value (Returns): None
Exceptions (Raises): None

`SendAttPX4(att=[0, 0, 0, 0], thrust=0.5, CtrlFlag=0, AltFlg=0)`¶

Function Description: Sends the target drone attitude in the body Front-Right-Down (FRD) coordinate system to PX4.
Arguments (Args):

Parameter Name	Type	Required	Default	Description
att	list/array	No	[0, 0, 0, 0]	Target attitude quaternion, format: [w, x, y, z]
thrust	float	No	0.5	Thrust value, typically in range [0, 1]
CtrlFlag	int	No	0	Control flag; 0 indicates default control mode
AltFlg	int	No	0	Altitude control flag; 0 indicates default altitude control

Return Value (Returns): None
Exceptions (Raises): None

`EulerToQuat(Euler)`¶

Function Description: Converts Euler angles to a quaternion.
Arguments (Args):

Parameter Name	Type	Required	Default	Description
Euler	list/array	Yes	None	Input Euler angles, format: [roll, pitch, yaw] (unit: rad)

Return Value (Returns): Quaternion array, format: [w, x, y, z]
Exceptions (Raises): None

`SendAccPX4(afx=math.nan, afy=math.nan, afz=math.nan, yawValue=math.nan, yawType=0, frameType=0)`¶

Function Description: Sends target acceleration (unit: m/s²) to PX4.
Arguments (Args):

Parameter Name	Type	Required	Default	Description
afx	float	No	math.nan	X-axis target acceleration; NaN indicates this axis is not controlled
afy	float	No	math.nan	Y-axis target acceleration; NaN indicates this axis is not controlled
afz	float	No	math.nan	Z-axis target acceleration; NaN indicates this axis is not controlled
yawValue	float	No	math.nan	Target yaw value; determined by yawType whether it is yaw angle or yaw rate
yawType	int	No	0	Yaw control type: 0 means yawValue is yaw angle; 1 means yawValue is yaw rate
frameType	int	No	0	Coordinate frame type: 0 means NED geographic frame; 1 means FRD body frame

Return Value (Returns): None
Exceptions (Raises): None

`SendVelNoYaw(vx=math.nan, vy=math.nan, vz=math.nan)`¶

Function Description: Sends the target drone velocity in the body Front-Right-Down (FRD) coordinate system (unit: m/s) to PX4, without controlling yaw rate. When the drone flies upward, vz < 0.
Arguments (Args):

Parameter Name	Type	Required	Default	Description
vx	float	No	math.nan	Forward velocity in FRD frame; NaN indicates this axis is not controlled
vy	float	No	math.nan	Rightward velocity in FRD frame; NaN indicates this axis is not controlled
vz	float	No	math.nan	Downward velocity in FRD frame; NaN indicates this axis is not controlled

Return Value (Returns): None
Exceptions (Raises): None

`SendPosNED(x=math.nan, y=math.nan, z=math.nan, yaw=math.nan)`¶

Function Description: Sends target drone position (unit: m) in the geographic North-East-Down (NED) coordinate system to PX4, and controls yaw angle (unit: rad). When the drone is flying above ground, z < 0.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
x	float	No	math.nan	Northward position in NED frame; NaN indicates this axis is not controlled
y	float	No	math.nan	Eastward position in NED frame; NaN indicates this axis is not controlled
z	float	No	math.nan	Downward position in NED frame; NaN indicates this axis is not controlled
yaw	float	No	math.nan	Target yaw angle; NaN indicates yaw is not controlled

Return Value (Returns): None
Exceptions (Raises): None

`SendVelYawAlt(vel=10, yaw=6.28, alt=-100)`¶

Function Description: Sends velocity, yaw angle, and altitude setpoints to PX4. When the drone is flying above ground, the altitude corresponds to the NED z-coordinate satisfying z < 0.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
vel	float	No	10	Target forward speed magnitude
yaw	float	No	6.28	Target yaw angle (unit: rad)
alt	float	No	-100	Target altitude (NED z-coordinate, unit: m)

Return Value (Returns): None
Exceptions (Raises): None

`SendPosGlobal(lat=0, lon=0, alt=0, yawValue=0, yawType=0)`¶

Function Description: Sends target drone position in the global latitude, longitude, and altitude coordinate system to PX4, and controls yaw. When the drone is flying above ground, z < 0.
Parameters (Args):

Parameter Name	Type	Required	Description
lat	float	No	Target latitude (unit: degrees)
lon	float	No	Target longitude (unit: degrees)
alt	float	No	Target altitude (unit: m)
yawValue	float	No	Target yaw value, in rad; determined by `yawType` as yaw angle or yaw rate
yawType	int	No	Yaw control type: 0 means `yawValue` is yaw angle; 1 means `yawValue` is yaw rate

Return Value (Returns): None
Exceptions (Raises): None

`SendPosNEDNoYaw(x=math.nan, y=math.nan, z=math.nan)`¶

Function Description: Sends target drone position (unit: m) in the geographic North-East-Down (NED) coordinate system to PX4, without yaw control. When the drone is flying above ground, z < 0.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
x	float	No	math.nan	Northward position in NED frame; NaN indicates this axis is not controlled
y	float	No	math.nan	Eastward position in NED frame; NaN indicates this axis is not controlled
z	float	No	math.nan	Downward position in NED frame; NaN indicates this axis is not controlled

Return Value (Returns): None
Exceptions (Raises): None

`SendPosFRD(x=math.nan, y=math.nan, z=math.nan, yaw=math.nan)`¶

Function Description: Sends target drone position (unit: m) in the body Front-Right-Down (FRD) coordinate system to PX4, and controls yaw angle (unit: rad). When the drone is flying above ground, z < 0.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
x	float	No	math.nan	Forward position in FRD frame; NaN indicates this axis is not controlled
y	float	No	math.nan	Rightward position in FRD frame; NaN indicates this axis is not controlled
z	float	No	math.nan	Downward position in FRD frame; NaN indicates this axis is not controlled
yaw	float	No	math.nan	Target yaw angle; NaN indicates yaw is not controlled

Return Value (Returns): None
Exceptions (Raises): None

`SendPosFRDNoYaw(x=math.nan, y=math.nan, z=math.nan)`¶

Function Description: Sends target drone position (unit: m) in the body Front-Right-Down (FRD) coordinate system to PX4, without yaw control. When the drone is flying above ground, z < 0.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
x	float	No	math.nan	Forward position in FRD frame; NaN indicates this axis is not controlled
y	float	No	math.nan	Rightward position in FRD frame; NaN indicates this axis is not controlled
z	float	No	math.nan	Downward position in FRD frame; NaN indicates this axis is not controlled

Return Value (Returns): None
Exceptions (Raises): None

`SendPosNEDExt(x=math.nan, y=math.nan, z=math.nan, mode=3, isNED=True)`¶

Function Description: Sends extended-format target drone position (unit: m) to PX4. When the drone is flying above ground, z < 0.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
x	float	No	math.nan	Target x-axis position; NaN indicates this axis is not controlled
y	float	No	math.nan	Target y-axis position; NaN indicates this axis is not controlled
z	float	No	math.nan	Target z-axis position; NaN indicates this axis is not controlled
mode	int	No	3	Control mode, corresponding to PX4 position control mask
isNED	bool	No	True	True indicates input is in NED geographic frame; False indicates FRD body frame

Return Value (Returns): None
Exceptions (Raises): None

`enFixedWRWTO()`¶

Function Description: Sends a command to enable fixed-wing aircraft runway takeoff mode.
Parameters (Args): No parameters
Return Value (Returns): None
Exceptions (Raises): None

`SendCruiseSpeed(Speed=0)`¶

Function Description: Sends a command to modify the aircraft's cruise speed, in m/s.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
Speed	None	No	0	Target cruise speed to be set

Return Value (Returns): None
Exceptions (Raises): None

`SendCopterSpeed(Speed=0)`¶

Function Description: Sends a command to set the maximum speed for a multi-rotor aircraft.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
Speed	None	No	0	Maximum speed to be set for the multi-rotor

Return Value (Returns): None
Exceptions (Raises): None

`SendGroundSpeed(Speed=0)`¶

Function Description: Sends a command to modify the aircraft's ground speed, in m/s.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
Speed	None	No	0	Target ground speed to be set

Return Value (Returns): None
Exceptions (Raises): None

`SendCruiseRadius(rad=0)`¶

Function Description: Sends a command to modify the aircraft's cruise turning radius, in meters.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
rad	None	No	0	Target cruise turning radius to be set

Return Value (Returns): None
Exceptions (Raises): None

`sendTakeoffMode(alt=0)`¶

Function Description: Sends a command to control the aircraft's takeoff.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
alt	None	No	0	Target takeoff altitude

Return Value (Returns): None
Exceptions (Raises): None

`initOffboard()`¶

Function Description: Sends a command to put the PX4 flight controller into Offboard mode and starts sending Offboard messages at 30 Hz.
Parameters (Args): No parameters
Return Value (Returns): None
Exceptions (Raises): None

`initOffboardAcc()`¶

Function Description: Sends a command to put the PX4 flight controller into Offboard mode and starts sending Offboard messages at 30 Hz (acceleration control type).
Parameters (Args): No parameters
Return Value (Returns): None
Exceptions (Raises): None

`initOffboardAtt()`¶

Function Description: Sends a command to put the PX4 flight controller into Offboard mode and starts sending Offboard messages at 30 Hz (attitude control type).
Parameters (Args): No parameters
Return Value (Returns): None
Exceptions (Raises): None

`initOffboard2()`¶

Function Description: Sends a command to put the PX4 flight controller into Offboard mode and starts sending Offboard messages at 30 Hz (extended version).
Parameters (Args): No parameters
Return Value (Returns): None
Exceptions (Raises): None

`sendMavTakeOff(xM=0, yM=0, zM=0, YawRad=0, PitchRad=0)`¶

Function Description: Sends a command to control the aircraft to take off to a specified target position in the local coordinate system, in meters.
Parameters (Args):

Parameter Name	Type	Required	Description
xM	None	No	Target X-coordinate
yM	None	No	Target Y-coordinate
zM	None	No	Target Z-coordinate
YawRad	None	No	Target yaw angle, in radians
PitchRad	None	No	Target pitch angle, in radians

Return Value (Returns): None
Exceptions (Raises): None

`sendMavTakeOffLocal(xM=0, yM=0, zM=0, YawRad=0, PitchRad=0, AscendRate=2)`¶

Function Description: Sends a command to control the aircraft to take off to a specified target position in the local coordinate system, in meters.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
xM	None	No	0	Target X-coordinate
yM	None	No	0	Target Y-coordinate
zM	None	No	0	Target Z-coordinate
YawRad	None	No	0	Target yaw angle, in radians
PitchRad	None	No	0	Target pitch angle, in radians
AscendRate	None	No	2	Takeoff climb rate

Return Value (Returns): None
Exceptions (Raises): None

`sendMavTakeOffGPS(lat=None, lon=None, alt=None, yawDeg=0, pitchDeg=15)`¶

Function Description: Sends a command to control the aircraft to take off to a specified target position in the global coordinate system, with coordinates in degrees.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
lat	None	No	None	Target latitude, in degrees
lon	None	No	None	Target longitude, in degrees
alt	None	No	None	Target altitude above sea level, in meters
yawDeg	None	No	0	Target yaw angle, in degrees
pitchDeg	None	No	15	Target pitch angle, in degrees

Return Value (Returns): None
Exceptions (Raises): None

`sendMavLand(xM=None, yM=None, zM=None)`¶

Function Description: Sends a command to control the aircraft to land at a specified target position in the local coordinate system, with units in meters (m).
Parameters (Args):

Parameter Name	Type	Required	Default	Description
xM	None	No	None	Target X-coordinate
yM	None	No	None	Target Y-coordinate
zM	None	No	None	Target Z-coordinate

Return Value (Returns): None
Exceptions (Raises): None

`sendMavLandGPS(lat=None, lon=None, alt=None)`¶

Function Description: Sends a command to control the aircraft to land at a specified target position in the global coordinate system, with coordinates in degrees.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
lat	None	No	None	Target latitude, in degrees
lon	None	No	None	Target longitude, in degrees
alt	None	No	None	Target altitude above sea level, in meters

Return Value (Returns): None
Exceptions (Raises): None

`endOffboard()`¶

Function Description: Sends a command to instruct the PX4 flight controller to exit Offboard mode and stops the Offboard message transmission loop.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`sendMavSetParam(param_id, param_value, param_type)`¶

Function Description: Sends a command to PX4 to modify a specified parameter using the MAVLink PARAM_SET message. Parameter lists can be viewed in QGroundControl.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
param_id	Any	Yes	None	Identifier/name of the target parameter
param_value	Any	Yes	None	Target value for the parameter
param_type	Any	Yes	None	MAVLink type of the parameter

Return Value (Returns): None
Exceptions (Raises): None

`SendHILCtrlMsg(ctrls=[0] * 16, idx=0, flags=1)`¶

Function Description: Sends the HIL_ACTUATOR_CONTROLS command to PX4; this message is converted into the uORB message rfly_ctrl.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
ctrls	Any	No	[0] * 16	16-dimensional control input array
idx	Any	No	0	Control group index
flags	Any	No	1	Message flags

Return Value (Returns): None
Exceptions (Raises): None

`SendHILCtrlMsg1()`¶

Function Description: Sends a DEBUG_VECT debug vector message to PX4; this message is converted into the uORB message rfly_ctrl.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`SendMavArm(isArm=1)`¶

Function Description: Sends a command to PX4 to arm or disarm the UAV.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
isArm	Any	No	1	1 indicates arming, 0 indicates disarming

Return Value (Returns): None
Exceptions (Raises): None

`initRCSendLoop(Hz=30)`¶

Function Description: Initializes the RC PWM transmission loop and sets the transmission frequency.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
Hz	Any	No	30	RC signal transmission frequency, in Hz

Return Value (Returns): None
Exceptions (Raises): None

`endRCSendLoop()`¶

Function Description: Terminates the RC PWM transmission loop.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`RcSendLoop()`¶

Function Description: Execution function for the RC PWM transmission loop; continuously transmits the configured PWM values.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`SendRCPwms(Pwms)`¶

Function Description: Sets the PWM values to be transmitted for the RC channels.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
Pwms	Any	Yes	None	Array of PWM values for each channel

Return Value (Returns): None
Exceptions (Raises): None

`SendRcOverride(ch1=1500, ch2=1500, ch3=1100, ch4=1500, ch5=1100, ch6=1100, ch7=1500, ch8=1500)`¶

Function Description: Sends a MAVLink command to PX4 to override the original RC channel signals using the RC_CHANNELS_OVERRIDE message.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
ch1	Any	No	1500	PWM value for channel 1, range: 1000–2000
ch2	Any	No	1500	PWM value for channel 2, range: 1000–2000
ch3	Any	No	1100	PWM value for channel 3, range: 1000–2000
ch4	Any	No	1500	PWM value for channel 4, range: 1000–2000
ch5	Any	No	1100	PWM value for channel 5, range: 1000–2000
ch6	Any	No	1100	PWM value for channel 6, range: 1000–2000
ch7	Any	No	1500	PWM value for channel 7, range: 1000–2000
ch8	Any	No	1500	PWM value for channel 8, range: 1000–2000

Return Value (Returns): None
Exceptions (Raises): None

`sendMavManualCtrl(x=0, y=0, z=0, r=0)`¶

Function Description: Sends a MAVLink command to PX4 to override manual control signals using the MANUAL_CONTROL message.
Parameters (Args):

Parameter Name	Type	Required	Description
x	Any	No	Control input along the X-axis, range: -1000–1000
y	Any	No	Control input along the Y-axis, range: -1000–1000
z	Any	No	Control input along the Z-axis, range: -1000–1000
r	Any	No	Yaw-axis control input, range: -1000–1000

Return Value (Returns): None
Exceptions (Raises): None

`SendSetMode(mainmode, cusmode=0)`¶

Function Description: Sends a MAVLink command to PX4 to change the flight mode using the MAV_CMD_DO_SET_MODE message.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
mainmode	Any	Yes	None	Main mode identifier
cusmode	Any	No	0	Custom sub-mode identifier; defaults to 0

Return Value (Returns): None
Exceptions (Raises): None

`stopRun()`¶

Function Description: Stops the MAVLink listening loop started by InitMavLoop(), equivalent to endMavLoop().
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`getTrueDataMsg()`¶

Function Description: Starts a loop to continuously listen for real simulation data from port 30100.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`getPX4DataMsg()`¶

Function Description: Starts a loop to continuously listen for PX4 data from port 40100.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`setMsgDict(stName)`¶

Function Description: Sets the message dictionary-related identifier.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
stName	Any	Yes	None	Message dictionary name identifier

Return Value (Returns): None
Exceptions (Raises): None

`netForwardData()`¶

Function Description: Forwards data over the network.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`GetUDPRedisBuf(sock)`¶

Function Description: Retrieves UDP forwarding buffer data.
Parameters (Args):

Parameter Name	Type	Required	Default	Description
sock	None	Yes	None	UDP socket object

Return Value (Returns): None
Exceptions (Raises): None

`getMavMsg()`¶

Function Description: Starts a loop to listen for MAVLink data from the 20100 series ports or serial port.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`OffboardSendMode()`¶

Function Description: Sets the offboard mode transmission.
Parameters (Args): None
Return Value (Returns): None
Exceptions (Raises): None

`sendRebootPix(copterID, delay=-1)`¶

Function Description: Sends a restart simulation message to the PX4 flight controller of the specified drone ID. Parameters (Args):

Parameter Name	Type	Required	Default	Description
copterID	None	Yes	None	Target drone ID
delay	None	No	-1	Restart delay in seconds

Return Value (Returns): None Exceptions (Raises): None

`sendCustomData(CopterID, data=[0] * 16, checksum=123456, port=50000, IP=127.0.0.1)`¶

Function Description: Sends a 16-dimensional custom message to the specified IP and port. Parameters (Args):

Parameter Name	Type	Required	Default	Description
CopterID	None	Yes	None	Target drone ID
data	None	No	[0] * 16	Data array of 16 elements to be sent
checksum	None	No	123456	Data checksum
port	None	No	50000	Target port number
IP	None	No	127.0.0.1	Target IP address

Return Value (Returns): None Exceptions (Raises): None

`setGPSOriLLA(LonLatAlt)`¶

Function Description: Sets the initial GPS latitude, longitude, and altitude. Parameters (Args):

Parameter Name	Type	Required	Default	Description
LonLatAlt	None	Yes	None	Initial latitude, longitude, and altitude array, formatted as [longitude, latitude, altitude]

Return Value (Returns): None Exceptions (Raises): None

`sendSILIntFloat(inSILInts=[0] * 8, inSILFLoats=[0] * 20, copterID=-1)`¶

Function Description: Sends SIL integer and floating-point data to the PX4 flight controller. Parameters (Args):

Parameter Name	Type	Required	Default	Description
inSILInts	None	No	[0] * 8	Array of 8 integers to be sent
inSILFLoats	None	No	[0] * 20	Array of 20 floating-point numbers to be sent
copterID	None	No	-1	Target drone ID; -1 indicates broadcasting to all drones

Return Value (Returns): None Exceptions (Raises): None

`InitDllLogLoop(copterID=-1)`¶

Function Description: Initializes a DLL log data receiving thread, listening for the DLL model output data outCopterStruct of the specified aircraft. This interface is used to read 32-dimensional double log data exported by the integrated model or custom DLL.

The listening port rule is 30100 + CopterID * 2 - 1, i.e., when CopterID=1, it listens on 30101; when CopterID=2, it listens on 30103.

Data Protocol:

struct outCopterStruct {
    int checksum;       // 1234567890
    int CopterID;
    double data[32];
};  // Total 264 bytes, corresponding to Python unpack format "ii32d"

Parameters (Args):

Parameter Name	Type	Required	Default	Description
`copterID`	`int`	No	`-1`	Target aircraft ID. When `-1`, uses the aircraft ID of the current controller object

Return Value (Returns): None

Exceptions (Raises): None

Port Occupancy

InitDllLogLoop() uses the 30101/30103/... truth data output series ports and cannot be used simultaneously with InitTrueDataLoop() to listen to the same port for the same aircraft. If a truth data return thread has already been started, first confirm the data source and port allocation.

`EndDllLogLoop()`¶

Function Description: Stops the DLL log receiving thread started by InitDllLogLoop() and closes the corresponding UDP socket.

Parameters (Args): None

Return Value (Returns): None

Exceptions (Raises): None

`getDllLogData()`¶

Function Description: Thread-safely retrieves a copy of the latest DLL model output data outCopterStruct.data.

Parameters (Args): None

Return Value (Returns):

list[float]: A copy of the 32-element double data array. Returns a list of all zeros if no data has been received yet.

Exceptions (Raises): None

Example:

from RflySimSDK.ctrl.PX4MavCtrlV4 import PX4MavCtrler
import time

mav = PX4MavCtrler(1)
mav.InitDllLogLoop()
time.sleep(1)
data = mav.getDllLogData()
print(data)
mav.EndDllLogLoop()

`SendSetModeAPM(apm_mode_number)`¶

Function Description: Directly switches the flight mode according to the ArduPilot mode number, used for APM real hardware or ArduPilot simulation control. Mode numbers can be selected from APM_COPTER_MODE, APM_PLANE_MODE, APM_ROVER_MODE.

The internal implementation sends the command via MAVLink MAV_CMD_DO_SET_MODE, with base_mode using MAV_MODE_FLAG_CUSTOM_MODE_ENABLED.

Parameters (Args):

Parameter Name	Type	Required	Default	Description
`apm_mode_number`	`int`	Yes	-	ArduPilot flight mode number

Return Value (Returns): None

Exceptions (Raises): None

Example:

from RflySimSDK.ctrl.PX4MavCtrlV4 import PX4MavCtrler, APM_COPTER_MODE

mav = PX4MavCtrler(1)
mav.SendSetModeAPM(APM_COPTER_MODE.GUIDED)

Advanced Usage Example¶

Demonstrates complex composite scenarios (e.g., multi-agent collaboration, asynchronous control, batch operations)

This example implements a composite scenario combining point-mass model collaborative simulation for multi-drone swarms with asynchronous real-time pose and frequency data feedback. FIFO queues are used to enable inter-thread communication of control commands and state data, while PX4 custom flight modes support multi-drone collaborative missions.

import RflySimSDK.ctrl as rfc
import threading
import time

# Initialize a list of controller objects for 5 drones
px4_ctrl_list = [rfc.PX4MavCtrler() for _ in range(5)]
# Initialize an asynchronous communication FIFO queue
data_fifo = rfc.fifo()
# Start true data feedback threads for all drones
for ctrl in px4_ctrl_list:
    ctrl.InitTrueDataLoop()
# Batch-initialize point-mass simulation models
for ctrl in px4_ctrl_list:
    ctrl.initPointMassModel()

# Define thread function for asynchronous pose data reading
def async_read_true_data():
    while True:
        # Read latest multi-drone pose data from FIFO
        all_pos_data = data_fifo.read()
        if all_pos_data:
            # Batch-send pose data to simulation visualization endpoint
            for idx, pos_data in enumerate(all_pos_data):
                px4_ctrl_list[idx].sendUE4PosNew(pos_data, rfc.PosTypeMask.mask(), rfc.AttTypeMask.mask())
        time.sleep(0.01)

# Start asynchronous thread for data feedback processing
read_thread = threading.Thread(target=async_read_true_data, daemon=True)
read_thread.start()

# Main loop runs point-mass model control to achieve swarm cooperative path following
try:
    while True:
        for ctrl in px4_ctrl_list:
            ctrl.PointMassModelLoop(rfc.PX4_CUSTOM_MAIN_MODE, rfc.PX4_CUSTOM_SUB_MODE_AUTO)
            # Apply yaw rate saturation constraint
            ctrl.yawSat(max_yaw_rate=30.0)
        time.sleep(0.01)
finally:
    # Upon termination, batch-stop all threads and models
    for ctrl in px4_ctrl_list:
        ctrl.EndPointMassModel()
        ctrl.EndTrueDataLoop()

Notes and Pitfall Avoidance Guide¶

Point Mass Model Start/Stop Pairing: initPointMassModel and EndPointMassModel must be called in pairs. If only initialization is performed without termination, the background simulation thread will continue to occupy resources, leading to abnormal model states during subsequent simulation startups. Similarly, InitTrueDataLoop and EndTrueDataLoop must also be managed in pairs for proper lifecycle control.
FIFO Queue Read/Write Permission Matching: In multi-threaded collaboration scenarios, FIFO queue read and write operations must be performed by different threads. Avoid performing consecutive read and write operations within the same thread, as this may cause data blocking or erroneous empty reads, thereby affecting the real-time performance of the control chain.
Custom Flight Mode Parameter Matching: When calling PointMassModelLoop or similar functions that require custom flight mode parameters, you must use the PX4_CUSTOM_MAIN_MODE and PX4_CUSTOM_SUB_MODE_AUTO type parameters provided by this module. Passing arbitrary integer values will cause the PX4 flight controller to fail to recognize the control commands, triggering mode-switching failures.
Redis Key Retrieval Must Match Aircraft ID: When calling RedisKey.GetRedisKey to obtain the state storage key, the correct ID corresponding to the drone number must be provided. An incorrect ID will result in reading state data from another drone, causing crosstalk issues in cluster control.

Changelog¶

2026-03-03: feat: SDK adds IP handling mechanism for compatibility with local-to-cloud migration
2025-09-19: Compatibility with WSL2
2025-09-19: Recovery mechanism for multicast failure scenarios
2025-09-11: fix: Added support for port reuse on Linux
2025-08-20: fix: Added timestamp retrieval for fault injection
2025-08-07: fix: Resolved bug where the mavlink port variable was ineffective in direct mode when connecting to real hardware
2024-12-18: fix: Added a custom message sending interface
2024-11-22: fix
2024-11-22: fix: Updated API documentation page
2024-10-23: fix: Updated sendHIL interface
2024-09-09: feat: Added interface for externally sending GPS messages
2024-08-30: fix: Removed integrated model control-related interfaces, moved elsewhere
2024-08-28: fix: Disabled channel control by default
2024-08-14: fix: Updated HTML version of API documentation
2024-07-29: fix: Maintained backward compatibility

PX4MavCtrlV4 Interface Documentation¶

Introduction¶

Quick Start¶

Environment and Dependencies¶

Core Interface Description¶

Global Constants and Enumerations¶

Standalone Constants¶

Enumerations¶

PX4_CUSTOM_MAIN_MODE¶

PX4_CUSTOM_SUB_MODE_AUTO¶

APM_COPTER_MODE¶

APM_PLANE_MODE¶

APM_ROVER_MODE¶

Global/Standalone Functions¶

RedisKey Class¶

GetRedisKey(port)¶

Class Variables¶

fifo Class¶

__init__()¶

write(data)¶

read()¶

PosTypeMask Class¶

__init__(ignore_all=False)¶

mask()¶

AttTypeMask Class¶

PX4MavCtrlV4 Interface Documentation¶

Introduction¶

Quick Start¶

Environment and Dependencies¶

Core Interface Description¶

Global Constants and Enumerations¶

Standalone Constants¶

Enumerations¶

PX4_CUSTOM_MAIN_MODE¶

PX4_CUSTOM_SUB_MODE_AUTO¶

Global/Standalone Functions¶

RedisKey Class¶

GetRedisKey(port)¶

Class Variables¶

fifo Class¶

__init__()¶

write(data)¶

read()¶

PosTypeMask Class¶

__init__(ignore_all=False)¶

mask()¶

AttTypeMask Class¶

__init__(ignore_all=False)¶

mask()¶

PX4ExtMsg Class¶

__init__()¶

PX4MavCtrler Class¶

__init__(ID=1, ip='127.0.0.1', Com='udp', port=0)¶

fillList(data, inLen, fill="0")¶

sendStartMsg(copterID=-1)¶

waitForStartMsg()¶

initPointMassModel(intAlt=0, intState=[0, 0, 0])¶

EndPointMassModel()¶

yawSat(yaw)¶

PointMassModelLoop()¶

sendUE4PosNew(copterID=1, vehicleType=3, PosE=[0, 0, 0], AngEuler=[0, 0, 0], VelE=[0, 0, 0], PWMs=[0] * 8, runnedTime=-1, windowID=-1)¶

InitTrueDataLoop()¶

EndTrueDataLoop()¶

SendOffAll(type_mask=PosTypeMask(), coordinate_frame=1, pos=[0, 0, 0], vel=[0, 0, 0], acc=[0, 0, 0], yaw=0, yawrate=0)¶

SendAttAll(type_mask=AttTypeMask(), q=[1, 0, 0, 0], body_rate=[0, 0, 0], thrust=0)¶

InitMavLoop(UDPMode=2)¶

endMavLoop()¶

SendVisionPosition(x, y, z, yaw)¶

SendHILGps(lat=40.1540302, lon=116.2593683, alt=50, vel=0, vn=0, ve=0, vd=0, cog=0, time_usec=-1, eph=0.3, epv=0.4, fix_type=3, satellites_visible=15)¶

SendRedisData(key, buf)¶

SendBuf(buf)¶

SendBufTrue(buf, port=None)¶

sat(inPwm=0, thres=1)¶

SendMavCmdLong(command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0)¶

SendMavCmdLongNEW(command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0, target_system=None, target_component=1, confirmation=0, force_send=False)¶

SendFaultEvent(fault_id, params=None, action=1, seq=0, vehicle_id=None, sim_id=0, command=MAV_CMD_USER_1)¶

ClearFault(fault_id, seq=0, vehicle_id=None, sim_id=0, command=MAV_CMD_USER_1)¶

SendQgcCmdLong(command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0)¶

sendMavOffboardCmd(type_mask, coordinate_frame, x, y, z, vx, vy, vz, afx, afy, afz, yaw, yaw_rate)¶

TypeMask(EnList)¶

`PX4_CUSTOM_MAIN_MODE`¶

`PX4_CUSTOM_SUB_MODE_AUTO`¶

`APM_COPTER_MODE`¶

`APM_PLANE_MODE`¶

`APM_ROVER_MODE`¶

`RedisKey` Class¶

`GetRedisKey(port)`¶

`fifo` Class¶

`init()`¶

`write(data)`¶

`read()`¶

`PosTypeMask` Class¶

`init(ignore_all=False)`¶

`mask()`¶

`AttTypeMask` Class¶

`PX4_CUSTOM_MAIN_MODE`¶

`PX4_CUSTOM_SUB_MODE_AUTO`¶

`RedisKey` Class¶

`GetRedisKey(port)`¶

`fifo` Class¶

`init()`¶

`write(data)`¶

`read()`¶

`PosTypeMask` Class¶

`init(ignore_all=False)`¶

`mask()`¶

`AttTypeMask` Class¶

`init(ignore_all=False)`¶

`mask()`¶

`PX4ExtMsg` Class¶

`init()`¶

`PX4MavCtrler` Class¶

`init(ID=1, ip='127.0.0.1', Com='udp', port=0)`¶

`fillList(data, inLen, fill="0")`¶

`sendStartMsg(copterID=-1)`¶

`waitForStartMsg()`¶

`initPointMassModel(intAlt=0, intState=[0, 0, 0])`¶

`EndPointMassModel()`¶

`yawSat(yaw)`¶

`PointMassModelLoop()`¶

`sendUE4PosNew(copterID=1, vehicleType=3, PosE=[0, 0, 0], AngEuler=[0, 0, 0], VelE=[0, 0, 0], PWMs=[0] * 8, runnedTime=-1, windowID=-1)`¶

`InitTrueDataLoop()`¶

`EndTrueDataLoop()`¶

`SendOffAll(type_mask=PosTypeMask(), coordinate_frame=1, pos=[0, 0, 0], vel=[0, 0, 0], acc=[0, 0, 0], yaw=0, yawrate=0)`¶

`SendAttAll(type_mask=AttTypeMask(), q=[1, 0, 0, 0], body_rate=[0, 0, 0], thrust=0)`¶

`InitMavLoop(UDPMode=2)`¶

`endMavLoop()`¶

`SendVisionPosition(x, y, z, yaw)`¶

`SendHILGps(lat=40.1540302, lon=116.2593683, alt=50, vel=0, vn=0, ve=0, vd=0, cog=0, time_usec=-1, eph=0.3, epv=0.4, fix_type=3, satellites_visible=15)`¶

`SendRedisData(key, buf)`¶

`SendBuf(buf)`¶

`SendBufTrue(buf, port=None)`¶

`sat(inPwm=0, thres=1)`¶

`SendMavCmdLong(command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0)`¶

`SendMavCmdLongNEW(command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0, target_system=None, target_component=1, confirmation=0, force_send=False)`¶

`SendFaultEvent(fault_id, params=None, action=1, seq=0, vehicle_id=None, sim_id=0, command=MAV_CMD_USER_1)`¶

`ClearFault(fault_id, seq=0, vehicle_id=None, sim_id=0, command=MAV_CMD_USER_1)`¶

`SendQgcCmdLong(command, param1=0, param2=0, param3=0, param4=0, param5=0, param6=0, param7=0)`¶

`sendMavOffboardCmd(type_mask, coordinate_frame, x, y, z, vx, vy, vz, afx, afy, afz, yaw, yaw_rate)`¶

`TypeMask(EnList)`¶

`sendMavOffboardAPI(type_mask=0, coordinate_frame=0, pos=[0, 0, 0], vel=[0, 0, 0], acc=[0, 0, 0], yaw=0, yawrate=0)`¶

`sendUDPSimpData(ctrlMode, ctrls)`¶

`sendPX4UorbRflyCtrl(data=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], modes=1, flags=1)`¶

`SendVelNED(vx, vy, vz, yawrate=math.nan)`¶

`SendVelNEDNoYaw(vx, vy, vz)`¶

`SendVelFRD(vx, vy, vz, yawrate=math.nan)`¶

`SendAttPX4(att=[0, 0, 0, 0], thrust=0.5, CtrlFlag=0, AltFlg=0)`¶

`EulerToQuat(Euler)`¶

`SendAccPX4(afx=math.nan, afy=math.nan, afz=math.nan, yawValue=math.nan, yawType=0, frameType=0)`¶

`SendVelNoYaw(vx=math.nan, vy=math.nan, vz=math.nan)`¶

`SendPosNED(x=math.nan, y=math.nan, z=math.nan, yaw=math.nan)`¶

`SendVelYawAlt(vel=10, yaw=6.28, alt=-100)`¶

`SendPosGlobal(lat=0, lon=0, alt=0, yawValue=0, yawType=0)`¶

`SendPosNEDNoYaw(x=math.nan, y=math.nan, z=math.nan)`¶

`SendPosFRD(x=math.nan, y=math.nan, z=math.nan, yaw=math.nan)`¶

`SendPosFRDNoYaw(x=math.nan, y=math.nan, z=math.nan)`¶

`SendPosNEDExt(x=math.nan, y=math.nan, z=math.nan, mode=3, isNED=True)`¶

`enFixedWRWTO()`¶

`SendCruiseSpeed(Speed=0)`¶

`SendCopterSpeed(Speed=0)`¶