Can not create an "offboard" plugin as a private class attribute

MAVSDK
1

Hi,

I want to write a generic C++ class which utilizes MavSdk C++ API. The user will not deal with details of MavSdk C++ API and just call generic methods. I followed the guidelines and examined the example code but I got stuck at some point.

I have an “Initialize()” method which makes the connection with the PX4, then discovers system and return system object". I can keep the “System” object as a private class attribute, so I can use the same system object anywhere within the class. I want to do the same with “telemetry”, “action” and “offboard” plugins but could not manage it.

I want to keep private variables for each of these plugins. Declare them at header file and initialize them in the “Initialize()” method just after initializing “system” object.

For example:

  • I define “std::shared_ptr systemObj” in class header.
  • I define “mavsdk::Offboard myOffboardObj” in class header.
  • Later, in Initilize() method, after filling the “systemObj” as following in the class implementation.
    this->system = this->mavsdkObj.systems().at(0);
  • I can create a plugin as “Offboard tempOffboard = Offboard{this->system};”
  • But i can not fill “myOffboardObj” the same way as:
    myOffboardObj = Offboard{this->system};
    The compiler says "Overload resolution selected deleted operator ‘=’ "

Can anyone help me about this issue?
Thanks in advance.

2

Hard to give proper answer with bullet point like this rather than code. But if that can helps, this is how I initialize an Offboard variable in my code;

std::shared_ptr<mavsdk::Offboard> offboard; // MAVSDK plugin to send offboard command
offboard = std::make_shared<mavsdk::Offboard>(system);

the system is a std::shared_ptr<mavsdk::System> system

3

@Katawan
Sorry for the style of code, i will try to change it with real code.
Thanks for your answer. When I did it the way you offered, my problem was solved.
Thank you so much for saving me a lot of time