LLUAV SDK API Reference

Common Constructor Options

All three language implementations accept the following configuration parameters:

Option	Python	C++	JS	Default
`host`	`str`	`std::string`	`string`	`"localhost"`
`port`	`int`	`int`	`number`	`53001`
`password`	`str\\|None`	`std::string`	`string\\|null`	`None/""`
`timeout`	`float` (seconds)	`std::chrono::milliseconds`	`number` (ms)	`10s`
`auto_reconnect`	`bool`	`bool`	`boolean`	`True`
`reconnect_interval`	`float` (seconds)	`std::chrono::milliseconds`	`number` (ms)	`1s`
`max_reconnect_interval`	`float` (seconds)	`std::chrono::milliseconds`	`number` (ms)	`30s`
`max_retries`	`int`	`int`	`number`	`3`
`heartbeat_interval`	`float` (seconds)	`std::chrono::milliseconds`	`number` (ms)	`5s`
`heartbeat_cmd`	`str`	`std::string`	`string`	`"state"`

Connection Management

`connect()` / `connect()` / `connect()`

Establish the WebSocket connection, start background worker threads/tasks, and automatically log in if a password is configured.

Returns: None (Py sync), awaitable None (Py async / C++ void / JS Promise)

Raises: - LLUAVConnectionError — if the initial connection or login fails.

`disconnect()` / `disconnect()` / `disconnect()`

Gracefully close the connection, stop all background threads/tasks, and cancel/reject any pending commands in the queue.

Returns: None / void / Promise<void>

`is_connected()` / `is_connected()` / `isConnected()`

Check whether the WebSocket is currently open and ready.

Returns: bool

Core Send API

`send_cmd(cmd, args, timeout, block)` / `send_cmd(cmd, args, timeout)` / `sendCmd(cmd, args, options)`

The fundamental API used by all high-level methods. Enqueues a command and waits for the JSON response.

Parameters: - cmd (str) — Command name, e.g. "takeoff". - args (str, optional) — Command arguments string. Default "". - timeout — Override the default timeout for this specific command. - block (Python sync only) — If True, blocks until response. If False, returns a concurrent.futures.Future.

Returns: - Python sync: dict if block=True, else Future[dict]. - Python async: dict. - C++: nlohmann::json. - JS: Promise<object>.

Raises: - LLUAVConnectionError — not connected and reconnect failed or disabled. - LLUAVCommandError — server returned ret != 0, or command timed out / exceeded max retries.

Periodic Task API

`add_periodic_task(name, interval, cmd, args)` / `add_periodic_task(name, interval, cmd, args)` / `addPeriodicTask(name, intervalSec, cmd, args)`

Parameters: - name — Unique task identifier. - interval — Interval in seconds. - cmd — Command name. - args — Command arguments (optional).

Behavior: - Tasks are enqueued into the same FIFO queue as user commands, so they never interrupt an in-flight command on the wire. - If the queue is backed up, the task may be delayed but will never be dropped.

`remove_periodic_task(name)` / `remove_periodic_task(name)` / `removePeriodicTask(name)`

Unregister a previously added periodic task.

Authentication

`login(password)`

Explicitly authenticate with the given password. Usually not needed if password was provided to the constructor (auto-login handles it).

Parameters: - password — The login password string.

`admin_lock()` / `admin_unlock()`

Enable or disable admin lock mode. Requires admin privileges (password "1025").

State & Telemetry

Method	Args	Description
`get_state()`	—	Full FSM state JSON
`get_param(name)`	`name` (optional)	All params, or specific param by name
`get_version()`	—	Firmware version info
`get_sysinfo()`	—	Uptime, RAM, CPU load
`get_disk_usage()`	—	Available disk space (MB)
`get_statics()`	—	Comm stats, ROS record stats, node uptime
`get_machine_id()`	—	Unique hardware ID
`get_hud1()`	—	Submap info + UAV ENU pose + volume estimate
`get_lidar_pose()`	—	Lidar pose in ENU degrees
`get_apron_state()`	—	Charging pad status and comm stats
`get_mavlink_msgs()`	—	MAVLink message reception counts
`get_submap_info()`	—	Submap keyframe info
`show_setpoint()`	—	Current setpoint
`show_ap_guid2()`	—	AP GUID2
`show_msg(count)`	`count` (default -1)	Recent log messages

Flight Control

Method	Args	Description
`takeoff()`	—	Command takeoff
`land()`	—	Emergency land
`rtl()`	—	Return to launch
`mission_rtl()`	—	Mission RTL
`tether_land()`	—	Tethered landing
`set_sp_ned(x, y, z, yaw)`	4 floats	Set NED setpoint (meters, radians)
`relocate_pos(x, y, z, yaw)`	4 floats	Relocate position (requires map_locate)
`tunnel_fly(enable)`	`bool`	Enable/disable tunnel fly
`disarm()`	—	Force disarm
`sleep()`	—	Enter sleep mode
`wakeup()`	—	Wake from sleep
`auto_sleep_enable(enable)`	`bool`	Enable auto-sleep
`zyhk(heights, land_x, land_y, land_yaw)`	`list<float>`, floats	Multi-height hover mission

Mission Management

Method	Args	Description
`mission(ext_id, path_or_json)`	`int`, `str`	Submit mission with external ID
`start_plan(plan_str)`	`str`	Start a flight plan
`unlock_plan()`	—	Clear plan execution lock
`mission_wp_list()`	—	Get mission waypoint list
`mission_wp_exec(ext_id, wp_ids)`	`int`, `str`	Execute comma-separated waypoint IDs
`ai1_mission(task_id, mission_file)`	`str`, `str`	Submit AI1 mission
`obs_mission(enable)`	`bool`	Toggle obstacle mission live
`dump_mission_result(ext_id)`	`int` (optional)	Dump result by ext ID
`dump_mission_list()`	—	Dump short mission list
`abort_report(abort_id)`	`int` (default -1)	Finish/abort mission report
`set_taskname(name)`	`str`	Set task name

Map Management

Method	Args	Description
`save_map(path)`	`str`	Save current map
`set_map_locate(enable)`	`bool`	Enable/disable map localization
`set_map_path(path)`	`str`	Set localization map path
`list_maps()`	—	List saved maps
`rm_map(name)`	`str`	Remove a saved map

Camera & Recording

Method	Args	Description
`capture()`	—	Capture single photo (RGB + IR)
`snapshot()`	—	System snapshot
`record_toggle()`	—	Toggle video recording
`savebag(start)`	`bool`	Start/stop ROS bag recording
`siyi_reboot()`	—	Reboot SIYI camera/gimbal
`siyi_format()`	—	Format SIYI SD card
`siyi_center()`	—	Center SIYI gimbal
`siyi_init()`	—	Initialize SIYI (close HDMI)
`siyi_downvideo(vid)`	`int` (default -1)	Download latest video
`siyi_sync()`	—	Trigger SIYI sync

LED Control

Method	Args	Description
`led_on()` / `led_off()`	—	Turn LED on/off
`led_enable()` / `led_disable()`	—	Enable/disable LED control
`led_pwm(pwm)`	`int`	Set LED PWM
`led_blink()`	—	Start LED blinking

Parameter Management

Method	Args	Description
`set_param(name, value)`	`str`, value	Set parameter
`get_param_value(name)`	`str`	Get single parameter
`reset_params()`	—	Reset all to defaults
`save_params(force)`	`bool`	Save persistently
`change_password(new_password)`	`str`	Change WS password

Apron (Charging Pad)

Method	Args	Description
`set_apron_vol(voltage)`	`float`	Set charging voltage
`set_apron_amp(amperage)`	`float`	Set charging amperage

System Management

Method	Args	Description
`reboot_node()`	—	Reboot flight control node
`reboot_ap()`	—	Reboot autopilot
`reboot_system()`	—	Reboot onboard computer
`poweroff_system()`	—	Power off onboard computer
`prepare_poweroff()`	—	Flush logs before poweroff
`reboot_dlo()`	—	Reboot DLO
`restart_dlo()`	—	Restart DLO pipeline
`kill_livox(script)`	`str` (optional)	Kill Livox driver

Lidar & Perception

Method	Args	Description
`lidar_onoff(on)`	`bool`	Turn lidar on/off
`lidar_warn()`	—	Get lidar warning zones
`utg_get()`	—	Trigger UTG thickness read
`utg_set(speed)`	`int`	Set UTG sonic speed

Other

Method	Args	Description
`grabber_ctrl(pwm)`	`int`	Control grabber PWM
`ara8_center()`	—	Set ARA8 to center
`ara8_pitch(angle)`	`int`	Set ARA8 pitch angle
`cv_test()`	—	Trigger CV test
`preflight_check()`	—	Run preflight checks
`preflight_enable(enable)`	`bool`	Enable preflight before takeoff
`clear_bags(min_gb)`	`int` (default -1)	Clear old bag files
`clear_images(min_gb)`	`int` (default -1)	Clear old images
`list_imagedir(size)`	`int` (default -1)	List image directories
`rm_imagedir(name)`	`str`	Remove image directory
`test_wp(x, y, z)`	3 floats	Test waypoint reachability
`test_wp_list(file_path)`	`str`	Test waypoint list from file
`save_msg()`	—	Save messages to log
`bms_setpower(on)`	`bool`	Set BMS power
`bms_setcharge(on)`	`bool`	Set BMS charge
`help()`	—	List available commands