> ## Documentation Index > Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt > Use this file to discover all available pages before exploring further. # MultirotorClient ## \_\_init\_\_ No description provided! All multirotor methods accept an optional `robot_name`. When not supplied, AirGen targets the first configured robot (alphabetical order). ## takeoffAsync Takeoff robot to 3m above ground. Robot should not be moving when this API is used. It also clears any prior collision information by calling simGetCollisionInfo() Timeout for the robot to reach desired altitude Name of the robot to send this command to future. call .join() to wait for method to finish. ## landAsync Land the robot Timeout for the robot to land Name of the robot to send this command to future. call .join() to wait for method to finish. ## goHomeAsync Return robot to Home i.e. Launch location Timeout for the robot to reach desired altitude Name of the robot to send this command to future. call .join() to wait for method to finish. ## moveByVelocityBodyFrameAsync No description provided! desired velocity in the X axis of the robot's local NED frame. desired velocity in the Y axis of the robot's local NED frame. desired velocity in the Z axis of the robot's local NED frame. Desired amount of time (seconds), to send this command for drivetrain yaw\_mode Name of the multirotor to send this command to future. call .join() to wait for method to finish. ## moveByVelocityZBodyFrameAsync No description provided! desired velocity in the X axis of the robot's local NED frame desired velocity in the Y axis of the robot's local NED frame desired Z value (in local NED frame of the robot) Desired amount of time (seconds), to send this command for drivetrain yaw\_mode Name of the multirotor to send this command to future. call .join() to wait for method to finish. ## moveByAngleZAsync No description provided! ## moveByAngleThrottleAsync No description provided! ## moveByVelocityAsync No description provided! desired velocity in world (NED) X axis desired velocity in world (NED) Y axis desired velocity in world (NED) Z axis Desired amount of time (seconds), to send this command for drivetrain yaw\_mode Name of the multirotor to send this command to future. call .join() to wait for method to finish. ## moveByVelocityZAsync Move by velocity components with specified yaw control. *description* *description* *description* *description* *description*. Defaults to DrivetrainType.MaxDegreeOfFreedom. *description*. Defaults to YawMode(). *description*. Defaults to "". *description* ## moveOnPathAsync Give a list of 3D points (local NED), and the drone will move along that path at the specified velocity *description* *description* *description*. Defaults to 3e38. *description*. Defaults to DrivetrainType.MaxDegreeOfFreedom. *description*. Defaults to YawMode(). *description*. Defaults to -1. *description*. Defaults to 1. *description*. Defaults to "". *description* ## moveOnGPSPathAsync Give a list of LLA geopoints, and the drone will move along that path at the specified velocity *description* *description* *description*. Defaults to 3e38. *description*. Defaults to DrivetrainType.MaxDegreeOfFreedom. *description*. Defaults to YawMode(). *description*. Defaults to -1. *description*. Defaults to 1. *description*. Defaults to "". *description* ## moveToPositionAsync move the drone directly towards to a desired position (local NED) if possible *description* *description* *description* *description* *description*. Defaults to 3e38. *description*. Defaults to DrivetrainType.MaxDegreeOfFreedom. *description*. Defaults to YawMode(). *description*. Defaults to -1. *description*. Defaults to 1. *description*. Defaults to "". *description* ## moveToGPSAsync No description provided! ## moveToZAsync No description provided! ## moveByManualAsync * Read current RC state and use it to control the robots. Parameters sets up the constraints on velocity and minimum altitude while flying. If RC state is detected to violate these constraints then that RC state would be ignored. max velocity allowed in x direction max velocity allowed in y direction max velocity allowed in z direction min z allowed for robot position after this duration robot would switch back to non-manual mode [DrivetrainType](/simulation/airgen/reference/datatypes#drivetraintype): when ForwardOnly, robot rotates itself so that its front is always facing the direction of travel. If MaxDegreeOfFreedom then it doesn't do that (crab-like movement) [YawMode](/simulation/airgen/reference/datatypes#yawmode): Specifies if robot should face at given angle (is\_rate=False) or should be rotating around its axis at given rate (is\_rate=True) Name of the multirotor to send this command to future. call .join() to wait for method to finish. ## rotateToYawAsync No description provided! ## rotateByYawRateAsync No description provided! ## hoverAsync No description provided! ## moveByRC No description provided! ## moveByMotorPWMsAsync * Directly control the motors using PWM values PWM value for the front right motor (between 0.0 to 1.0) PWM value for the rear left motor (between 0.0 to 1.0) PWM value for the front left motor (between 0.0 to 1.0) PWM value for the rear right motor (between 0.0 to 1.0) Desired amount of time (seconds), to send this command for Name of the multirotor to send this command to future. call .join() to wait for method to finish. ## moveByRollPitchYawZAsync * z is given in local NED frame of the robot. * Roll angle, pitch angle, and yaw angle set points are given in **radians**, in the body frame. * The body frame follows the Front Left Up (FLU) convention, and right-handedness. * Frame Convention: * X axis is along the **Front** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **roll** angle. \| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w\.r.t. our FLU body frame. * Y axis is along the **Left** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **pitch** angle. \| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w\.r.t. our FLU body frame. * Z axis is along the **Up** direction. \| Clockwise rotation about this axis defines a positive **yaw** angle. \| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane. Desired roll angle, in radians. Desired pitch angle, in radians. Desired yaw angle, in radians. Desired Z value (in local NED frame of the robot) Desired amount of time (seconds), to send this command for Name of the multirotor to send this command to future. call .join() to wait for method to finish. ## moveByRollPitchYawThrottleAsync * Desired throttle is between 0.0 to 1.0 * Roll angle, pitch angle, and yaw angle are given in **degrees** when using PX4 and in **radians** when using SimpleFlight, in the body frame. * The body frame follows the Front Left Up (FLU) convention, and right-handedness. * Frame Convention: * X axis is along the **Front** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **roll** angle. \| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w\.r.t. our FLU body frame. * Y axis is along the **Left** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **pitch** angle. \| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w\.r.t. our FLU body frame. * Z axis is along the **Up** direction. \| Clockwise rotation about this axis defines a positive **yaw** angle. \| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane. Desired roll angle. Desired pitch angle. Desired yaw angle. Desired throttle (between 0.0 to 1.0) Desired amount of time (seconds), to send this command for Name of the multirotor to send this command to future. call .join() to wait for method to finish. ## moveByRollPitchYawrateThrottleAsync * Desired throttle is between 0.0 to 1.0 * Roll angle, pitch angle, and yaw rate set points are given in **radians**, in the body frame. * The body frame follows the Front Left Up (FLU) convention, and right-handedness. * Frame Convention: * X axis is along the **Front** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **roll** angle. \| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w\.r.t. our FLU body frame. * Y axis is along the **Left** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **pitch** angle. \| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w\.r.t. our FLU body frame. * Z axis is along the **Up** direction. \| Clockwise rotation about this axis defines a positive **yaw** angle. \| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane. Desired roll angle, in radians. Desired pitch angle, in radians. Desired yaw rate, in radian per second. Desired throttle (between 0.0 to 1.0) Desired amount of time (seconds), to send this command for Name of the multirotor to send this command to future. call .join() to wait for method to finish. ## moveByRollPitchYawrateZAsync * z is given in local NED frame of the robot. * Roll angle, pitch angle, and yaw rate set points are given in **radians**, in the body frame. * The body frame follows the Front Left Up (FLU) convention, and right-handedness. * Frame Convention: * X axis is along the **Front** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **roll** angle. \| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w\.r.t. our FLU body frame. * Y axis is along the **Left** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **pitch** angle. \| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w\.r.t. our FLU body frame. * Z axis is along the **Up** direction. \| Clockwise rotation about this axis defines a positive **yaw** angle. \| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane. Desired roll angle, in radians. Desired pitch angle, in radians. Desired yaw rate, in radian per second. Desired Z value (in local NED frame of the robot) Desired amount of time (seconds), to send this command for Name of the multirotor to send this command to future. call .join() to wait for method to finish. ## moveByAngleRatesZAsync * z is given in local NED frame of the robot. * Roll rate, pitch rate, and yaw rate set points are given in **radians**, in the body frame. * The body frame follows the Front Left Up (FLU) convention, and right-handedness. * Frame Convention: * X axis is along the **Front** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **roll** angle. \| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w\.r.t. our FLU body frame. * Y axis is along the **Left** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **pitch** angle. \| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w\.r.t. our FLU body frame. * Z axis is along the **Up** direction. \| Clockwise rotation about this axis defines a positive **yaw** angle. \| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane. Desired roll rate, in radians / second Desired pitch rate, in radians / second Desired yaw rate, in radians / second Desired Z value (in local NED frame of the robot) Desired amount of time (seconds), to send this command for Name of the multirotor to send this command to future. call .join() to wait for method to finish. ## moveByAngleRatesThrottleAsync * Desired throttle is between 0.0 to 1.0 * Roll rate, pitch rate, and yaw rate set points are given in **radians**, in the body frame. * The body frame follows the Front Left Up (FLU) convention, and right-handedness. * Frame Convention: * X axis is along the **Front** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **roll** angle. \| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w\.r.t. our FLU body frame. * Y axis is along the **Left** direction of the quadrotor. \| Clockwise rotation about this axis defines a positive **pitch** angle. \| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w\.r.t. our FLU body frame. * Z axis is along the **Up** direction. \| Clockwise rotation about this axis defines a positive **yaw** angle. \| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane. Desired roll rate, in radians / second Desired pitch rate, in radians / second Desired yaw rate, in radians / second Desired throttle (between 0.0 to 1.0) Desired amount of time (seconds), to send this command for Name of the multirotor to send this command to future. call .join() to wait for method to finish. ## setNacellesRotation Set the rotation of all the Nacelles Pitch angle in degrees. Speed at which the angles update. Whether we sweep to the target rotation, and stopping short of the target if blocked by something. Robot to get the state of. ## setAngleRateControllerGains * Modifying these gains will have an affect on *ALL* move\*() APIs. This is because any velocity setpoint is converted to an angle level setpoint which is tracked with an angle level controllers. That angle level setpoint is itself tracked with and angle rate controller. * This function should only be called if the default angle rate control PID gains need to be modified. angle\_rate\_gains Name of the multirotor to send this command to ## setAngleLevelControllerGains * Sets angle level controller gains (used by any API setting angle references - for ex: moveByRollPitchYawZAsync(), moveByRollPitchYawThrottleAsync(), etc) * Modifying these gains will also affect the behaviour of moveByVelocityAsync() API. This is because the airgen flight controller will track velocity setpoints by converting them to angle set points. * This function should only be called if the default angle level control PID gains need to be modified. * Passing AngleLevelControllerGains() sets gains to default airgen values. angle\_level\_gains Name of the multirotor to send this command to ## setVelocityControllerGains * Sets velocity controller gains for moveByVelocityAsync(). * This function should only be called if the default velocity control PID gains need to be modified. * Passing VelocityControllerGains() sets gains to default airgen values. velocity\_gains Name of the multirotor to send this command to ## setPositionControllerGains Sets position controller gains for moveByPositionAsync. This function should only be called if the default position control PID gains need to be modified. position\_gains Name of the multirotor to send this command to ## getMultirotorState The position inside the returned MultirotorState is in the frame of the robot's starting point Robot to get the state of MultirotorState ## getRotorStates Used to obtain the current state of all a multirotor's rotors. The state includes the speeds, thrusts and torques for all rotors. Robot to get the rotor state of Containing a timestamp and the speed, thrust and torque of all rotors.