How to get MAV_AUTOPILOT?

QnFMMC7 · November 4, 2024, 10:28am

I am trying to implement support for both ArduPilot and PX4 using MAVSDK, and some parameters are different on those so I would like to know which autopilot is running currently. Ideally I would just get MAV_AUTOPILOT but haven’t found out how to get that

dakejahl · November 4, 2024, 5:00pm

System::autopilot_type()

github.com

mavlink/MAVSDK/blob/cebb708a42c82c283b08177468eecd4c03f8c1ef/src/mavsdk/core/include/mavsdk/system.h#L186


      
          /**
           * @brief Enable time synchronization using the TIMESYNC messages.
           */
          void enable_timesync();
          
          /**
           * @brief Get autopilot type.
           *
           * @return autopilot type discovered.
           */
          Autopilot autopilot_type() const;
          
          /**
           * @brief Copy constructor (object is not copyable).
           */
          System(const System&) = delete;
          
          /**
           * @brief Equality operator (object is not copyable).
           */
          const System& operator=(const System&) = delete;

See usage example here

github.com

ARK-Electronics/mavsdk-examples/blob/a1eb3910093383a5fb49228c33e5eab6448b2452/system_info/system_info.cpp#L94-L103


      
          switch (system.value()->autopilot_type()) {
              case Autopilot::Px4:
                  autopilot_type = "PX4";
                  break;
              case Autopilot::ArduPilot:
                  autopilot_type = "ArduPilot";
                  break;
              default:
                  break;
          }

QnFMMC7 · November 4, 2024, 6:13pm

Oh thank you that seems what I am looking for.

However I don’t think this is exposed in the MAVSDK-Java, I guess I should make an issue on the MAVSDK-Java repo. Unless I don’t know how to search haha