API reference

The complete public API of nexus_uav. Everything documented here is importable directly from the top-level package, for example from nexus_uav import Sim, except PX4's own names, which sit in a namespace beside it, nexus_uav.px4. The _src layout is an implementation detail and isn't part of the public surface. Import from nexus_uav, never from nexus_uav._src.

• Simulation: Sim, the one entry to a run, which a script drives and indexes by path for any recorded history, the plant's bodies and joints among them.
• Components, registry, and peers: Component, the one contract every role fills, with Stage, Tick and Signal. Registry and register map a declaration to its class, and Peer is the contract a process the run starts fills.
• Signal types: SimTime, PoseTwist, the setpoint types and each shipped sensor's sample type, what a component's signals carry.
• Configuration: LaunchConfig for the launch configuration and Catalog for the vehicle and scene catalog.
• Estimator: the role that writes the estimate, the vehicle's pose and twist the guidance and the controllers read. Its shipped class is internal, as the guidance's are.
• Guidance: the role that turns a mission into a controller's setpoint, which a flight constructs and holds. Its classes are internal, so the page is the one exception to importing from nexus_uav.
• PX4: OffboardClient, the client a script opens on PX4's offboard link, and the mission plan types, imported from nexus_uav.px4.
• Logging: logger, the framework logger, which writes to the console and tees into the Rerun recording.