From 1a25c9c4bd4076adaaaac466f534bc9311ce08c1 Mon Sep 17 00:00:00 2001
From: Hamish Willee <hamishwillee@gmail.com>
Date: Wed, 29 Jan 2025 11:09:49 +1100
Subject: [PATCH] Vitepress build (#2490)

* Add vitepress core info

* Add docs source

* Docs deploy workflow

* Add yarn.lock

* Package lock - required by CI

* CSS for front page colors

* REmove package lock file to try fix my build errors

* Add yarn to build too

* remove yarn invocation

* New package.json attempt

* Attempt with frozen yarn lockfile

* Build for branches

* Update .github/workflows/docs_deploy.yml

Co-authored-by: Julian Oes <julian@oes.ch>

* Move docs into docs-relative path

* Fix config - base path and edit links

* update .gitignore

* only build docs on branches, not tags

* Attempt fix deploy build to use relative path

* Try find the lockfile

* Fix build - correct caching

---------

Co-authored-by: Julian Oes <julian@oes.ch>
---
 .github/workflows/docs_deploy.yml             |   78 +
 .github/workflows/main.yml                    |    6 +-
 .gitignore                                    |    6 +
 docs/.vitepress/config.mjs                    |  203 +
 docs/.vitepress/get_sidebar.js                |  267 ++
 docs/.vitepress/theme/components/Redirect.vue |   19 +
 docs/.vitepress/theme/index.js                |   58 +
 docs/.vitepress/theme/style.css               |  213 +
 docs/assets/autogen/autogen_overview.png      |  Bin 0 -> 12435 bytes
 docs/assets/autogen/mavsdk_overview.png       |  Bin 0 -> 23297 bytes
 .../fly_mission/fly_mission_example_qgc.jpg   |  Bin 0 -> 201178 bytes
 .../fly_qgc_plan_mission_example_qgc.jpg      |  Bin 0 -> 60638 bytes
 .../follow_me/follow_me_example_qgc.jpg       |  Bin 0 -> 39010 bytes
 .../offboard_mode/qgc_offboard_velocity.png   |  Bin 0 -> 1225340 bytes
 ...transition_vtol_fixed_wing_example_qgc.png |  Bin 0 -> 934584 bytes
 .../python/quickstart/jmavsim_takeoff.png     |  Bin 0 -> 412476 bytes
 .../python/quickstart/mavsdk_pycharm.png      |  Bin 0 -> 32408 bytes
 docs/assets/site/favicon.png                  |  Bin 0 -> 431 bytes
 docs/assets/site/gitbook_toolbar.png          |  Bin 0 -> 2525 bytes
 docs/assets/site/gitbook_toolbar_bug.png      |  Bin 0 -> 3551 bytes
 docs/assets/site/gitbook_toolbar_edit.png     |  Bin 0 -> 3538 bytes
 docs/assets/site/github_edit.png              |  Bin 0 -> 28652 bytes
 docs/assets/site/logo_dronecode.png           |  Bin 0 -> 7965 bytes
 docs/assets/site/logo_linux_foundation.png    |  Bin 0 -> 6614 bytes
 docs/assets/site/sdk_logo_full.png            |  Bin 0 -> 12979 bytes
 docs/assets/site/slack.svg                    |   24 +
 docs/en/SUMMARY.md                            |  220 ++
 docs/en/cpp/api_changes.md                    |  181 +
 .../api_reference/classmavsdk_1_1_action.md   | 1017 +++++
 .../classmavsdk_1_1_action_server.md          |  631 +++
 .../classmavsdk_1_1_calibration.md            |  291 ++
 .../classmavsdk_1_1_callback_list.md          |    5 +
 .../classmavsdk_1_1_callback_list_impl.md     |    5 +
 .../api_reference/classmavsdk_1_1_camera.md   | 1141 ++++++
 .../classmavsdk_1_1_camera_server.md          |  958 +++++
 .../classmavsdk_1_1_component_information.md  |  213 +
 ...mavsdk_1_1_component_information_server.md |  202 +
 .../api_reference/classmavsdk_1_1_failure.md  |  206 +
 .../classmavsdk_1_1_fake_handle.md            |    5 +
 .../classmavsdk_1_1_follow_me.md              |  263 ++
 .../cpp/api_reference/classmavsdk_1_1_ftp.md  |  462 +++
 .../classmavsdk_1_1_ftp_server.md             |  141 +
 .../api_reference/classmavsdk_1_1_geofence.md |  236 ++
 .../api_reference/classmavsdk_1_1_gimbal.md   |  494 +++
 .../api_reference/classmavsdk_1_1_gripper.md  |  224 ++
 .../api_reference/classmavsdk_1_1_handle.md   |   32 +
 .../cpp/api_reference/classmavsdk_1_1_info.md |  224 ++
 .../classmavsdk_1_1_log_files.md              |  232 ++
 .../classmavsdk_1_1_manual_control.md         |  240 ++
 .../classmavsdk_1_1_mavlink_passthrough.md    |  399 ++
 .../api_reference/classmavsdk_1_1_mavsdk.md   |  619 +++
 ...lassmavsdk_1_1_mavsdk_1_1_configuration.md |  177 +
 .../api_reference/classmavsdk_1_1_mission.md  |  606 +++
 .../classmavsdk_1_1_mission_raw.md            |  673 ++++
 .../classmavsdk_1_1_mission_raw_server.md     |  352 ++
 .../api_reference/classmavsdk_1_1_mocap.md    |  221 ++
 .../api_reference/classmavsdk_1_1_offboard.md |  453 +++
 .../api_reference/classmavsdk_1_1_param.md    |  339 ++
 .../classmavsdk_1_1_param_server.md           |  445 +++
 .../classmavsdk_1_1_plugin_base.md            |   73 +
 .../cpp/api_reference/classmavsdk_1_1_rtk.md  |  163 +
 .../classmavsdk_1_1_server_component.md       |   45 +
 .../classmavsdk_1_1_server_plugin_base.md     |   73 +
 .../classmavsdk_1_1_server_utility.md         |  177 +
 .../api_reference/classmavsdk_1_1_shell.md    |  217 +
 .../api_reference/classmavsdk_1_1_system.md   |  386 ++
 .../classmavsdk_1_1_telemetry.md              | 3489 +++++++++++++++++
 .../classmavsdk_1_1_telemetry_server.md       |  539 +++
 .../classmavsdk_1_1_tracking_server.md        |  401 ++
 .../classmavsdk_1_1_transponder.md            |  291 ++
 .../cpp/api_reference/classmavsdk_1_1_tune.md |  211 +
 .../api_reference/classmavsdk_1_1_winch.md    |  598 +++
 ...1geometry_1_1_coordinate_transformation.md |  101 +
 docs/en/cpp/api_reference/index.md            |  194 +
 docs/en/cpp/api_reference/namespacemavsdk.md  |  155 +
 .../api_reference/struct_mavlink_address.md   |   39 +
 ...ction_server_1_1_allowable_flight_modes.md |   51 +
 ...mavsdk_1_1_action_server_1_1_arm_disarm.md |   39 +
 ...avsdk_1_1_calibration_1_1_progress_data.md |   66 +
 ...tructmavsdk_1_1_camera_1_1_capture_info.md |   99 +
 ...structmavsdk_1_1_camera_1_1_euler_angle.md |   57 +
 ...structmavsdk_1_1_camera_1_1_information.md |   99 +
 .../structmavsdk_1_1_camera_1_1_option.md     |   39 +
 .../structmavsdk_1_1_camera_1_1_position.md   |   63 +
 .../structmavsdk_1_1_camera_1_1_quaternion.md |   69 +
 .../structmavsdk_1_1_camera_1_1_setting.md    |   63 +
 ...ctmavsdk_1_1_camera_1_1_setting_options.md |   63 +
 .../structmavsdk_1_1_camera_1_1_status.md     |  174 +
 ...mavsdk_1_1_camera_1_1_video_stream_info.md |   85 +
 ...dk_1_1_camera_1_1_video_stream_settings.md |   99 +
 ...vsdk_1_1_camera_server_1_1_capture_info.md |   87 +
 ...dk_1_1_camera_server_1_1_capture_status.md |  113 +
 ...avsdk_1_1_camera_server_1_1_information.md |  147 +
 ...ctmavsdk_1_1_camera_server_1_1_position.md |   63 +
 ...mavsdk_1_1_camera_server_1_1_quaternion.md |   69 +
 ...1_camera_server_1_1_storage_information.md |  150 +
 ...k_1_1_camera_server_1_1_video_streaming.md |   39 +
 ...1_component_information_1_1_float_param.md |  123 +
 ...nent_information_1_1_float_param_update.md |   39 +
 ...nent_information_server_1_1_float_param.md |  123 +
 ...formation_server_1_1_float_param_update.md |   39 +
 .../structmavsdk_1_1_follow_me_1_1_config.md  |  109 +
 ...avsdk_1_1_follow_me_1_1_target_location.md |   87 +
 .../structmavsdk_1_1_ftp_1_1_progress_data.md |   39 +
 .../structmavsdk_1_1_geofence_1_1_circle.md   |   51 +
 ...ctmavsdk_1_1_geofence_1_1_geofence_data.md |   39 +
 .../structmavsdk_1_1_geofence_1_1_point.md    |   39 +
 .../structmavsdk_1_1_geofence_1_1_polygon.md  |   39 +
 ...uctmavsdk_1_1_gimbal_1_1_control_status.md |   75 +
 .../structmavsdk_1_1_info_1_1_flight_info.md  |   39 +
 ...tructmavsdk_1_1_info_1_1_identification.md |   39 +
 .../structmavsdk_1_1_info_1_1_product.md      |   63 +
 .../structmavsdk_1_1_info_1_1_version.md      |  184 +
 .../structmavsdk_1_1_log_files_1_1_entry.md   |   51 +
 ...tmavsdk_1_1_log_files_1_1_progress_data.md |   27 +
 ...1_1_mavlink_passthrough_1_1_command_int.md |  146 +
 ..._1_mavlink_passthrough_1_1_command_long.md |  135 +
 ...ructmavsdk_1_1_mission_1_1_mission_item.md |  228 ++
 ...ructmavsdk_1_1_mission_1_1_mission_plan.md |   27 +
 ...mavsdk_1_1_mission_1_1_mission_progress.md |   39 +
 ...uctmavsdk_1_1_mission_1_1_progress_data.md |   27 +
 ..._1_mission_1_1_progress_data_or_mission.md |   63 +
 ...1_1_mission_raw_1_1_mission_import_data.md |   51 +
 ...mavsdk_1_1_mission_raw_1_1_mission_item.md |  171 +
 ...dk_1_1_mission_raw_1_1_mission_progress.md |   39 +
 ...1_1_mission_raw_server_1_1_mission_item.md |  171 +
 ...1_1_mission_raw_server_1_1_mission_plan.md |   27 +
 ...mission_raw_server_1_1_mission_progress.md |   39 +
 .../structmavsdk_1_1_mocap_1_1_angle_body.md  |   51 +
 ...sdk_1_1_mocap_1_1_angular_velocity_body.md |   51 +
 ...k_1_1_mocap_1_1_attitude_position_mocap.md |   63 +
 .../structmavsdk_1_1_mocap_1_1_covariance.md  |   27 +
 .../structmavsdk_1_1_mocap_1_1_odometry.md    |  132 +
 ...tructmavsdk_1_1_mocap_1_1_position_body.md |   51 +
 .../structmavsdk_1_1_mocap_1_1_quaternion.md  |   69 +
 .../structmavsdk_1_1_mocap_1_1_speed_body.md  |   51 +
 ..._1_1_mocap_1_1_vision_position_estimate.md |   63 +
 ...avsdk_1_1_offboard_1_1_acceleration_ned.md |   51 +
 ...avsdk_1_1_offboard_1_1_actuator_control.md |   39 +
 ...1_1_offboard_1_1_actuator_control_group.md |   27 +
 .../structmavsdk_1_1_offboard_1_1_attitude.md |   63 +
 ...ctmavsdk_1_1_offboard_1_1_attitude_rate.md |   63 +
 ...dk_1_1_offboard_1_1_position_global_yaw.md |   97 +
 ...avsdk_1_1_offboard_1_1_position_ned_yaw.md |   63 +
 ...1_1_offboard_1_1_velocity_body_yawspeed.md |   63 +
 ...avsdk_1_1_offboard_1_1_velocity_ned_yaw.md |   63 +
 .../structmavsdk_1_1_param_1_1_all_params.md  |   51 +
 ...structmavsdk_1_1_param_1_1_custom_param.md |   39 +
 .../structmavsdk_1_1_param_1_1_float_param.md |   39 +
 .../structmavsdk_1_1_param_1_1_int_param.md   |   39 +
 ...tmavsdk_1_1_param_server_1_1_all_params.md |   51 +
 ...avsdk_1_1_param_server_1_1_custom_param.md |   39 +
 ...mavsdk_1_1_param_server_1_1_float_param.md |   39 +
 ...ctmavsdk_1_1_param_server_1_1_int_param.md |   39 +
 .../structmavsdk_1_1_rtk_1_1_rtcm_data.md     |   27 +
 ...mavsdk_1_1_system_1_1_autopilot_version.md |  114 +
 ...vsdk_1_1_telemetry_1_1_acceleration_frd.md |   51 +
 ...1_telemetry_1_1_actuator_control_target.md |   39 +
 ..._1_telemetry_1_1_actuator_output_status.md |   39 +
 ...structmavsdk_1_1_telemetry_1_1_altitude.md |   87 +
 ...1_1_telemetry_1_1_angular_velocity_body.md |   51 +
 ..._1_1_telemetry_1_1_angular_velocity_frd.md |   51 +
 .../structmavsdk_1_1_telemetry_1_1_battery.md |   87 +
 ...ructmavsdk_1_1_telemetry_1_1_covariance.md |   30 +
 ...avsdk_1_1_telemetry_1_1_distance_sensor.md |   63 +
 ...uctmavsdk_1_1_telemetry_1_1_euler_angle.md |   69 +
 ...sdk_1_1_telemetry_1_1_fixedwing_metrics.md |   51 +
 ...sdk_1_1_telemetry_1_1_gps_global_origin.md |   51 +
 ...structmavsdk_1_1_telemetry_1_1_gps_info.md |   39 +
 ...ctmavsdk_1_1_telemetry_1_1_ground_truth.md |   51 +
 .../structmavsdk_1_1_telemetry_1_1_heading.md |   27 +
 .../structmavsdk_1_1_telemetry_1_1_health.md  |   99 +
 .../structmavsdk_1_1_telemetry_1_1_imu.md     |   75 +
 ...dk_1_1_telemetry_1_1_magnetic_field_frd.md |   51 +
 ...structmavsdk_1_1_telemetry_1_1_odometry.md |  146 +
 ...structmavsdk_1_1_telemetry_1_1_position.md |   63 +
 ...tmavsdk_1_1_telemetry_1_1_position_body.md |   51 +
 ...ctmavsdk_1_1_telemetry_1_1_position_ned.md |   51 +
 ...1_1_telemetry_1_1_position_velocity_ned.md |   39 +
 ...ructmavsdk_1_1_telemetry_1_1_quaternion.md |   81 +
 .../structmavsdk_1_1_telemetry_1_1_raw_gps.md |  186 +
 ...tructmavsdk_1_1_telemetry_1_1_rc_status.md |   51 +
 ...avsdk_1_1_telemetry_1_1_scaled_pressure.md |   75 +
 ...uctmavsdk_1_1_telemetry_1_1_status_text.md |   39 +
 ...tmavsdk_1_1_telemetry_1_1_velocity_body.md |   51 +
 ...ctmavsdk_1_1_telemetry_1_1_velocity_ned.md |   51 +
 ...1_telemetry_server_1_1_acceleration_frd.md |   51 +
 ...etry_server_1_1_actuator_control_target.md |   39 +
 ...metry_server_1_1_actuator_output_status.md |   39 +
 ...emetry_server_1_1_angular_velocity_body.md |   51 +
 ...lemetry_server_1_1_angular_velocity_frd.md |   51 +
 ...mavsdk_1_1_telemetry_server_1_1_battery.md |   39 +
 ...sdk_1_1_telemetry_server_1_1_covariance.md |   30 +
 ..._1_telemetry_server_1_1_distance_sensor.md |   51 +
 ...dk_1_1_telemetry_server_1_1_euler_angle.md |   69 +
 ..._telemetry_server_1_1_fixedwing_metrics.md |   51 +
 ...avsdk_1_1_telemetry_server_1_1_gps_info.md |   39 +
 ...k_1_1_telemetry_server_1_1_ground_truth.md |   51 +
 ...mavsdk_1_1_telemetry_server_1_1_heading.md |   27 +
 ...ructmavsdk_1_1_telemetry_server_1_1_imu.md |   75 +
 ...telemetry_server_1_1_magnetic_field_frd.md |   51 +
 ...avsdk_1_1_telemetry_server_1_1_odometry.md |  146 +
 ...avsdk_1_1_telemetry_server_1_1_position.md |   63 +
 ..._1_1_telemetry_server_1_1_position_body.md |   51 +
 ...k_1_1_telemetry_server_1_1_position_ned.md |   51 +
 ...emetry_server_1_1_position_velocity_ned.md |   39 +
 ...sdk_1_1_telemetry_server_1_1_quaternion.md |   81 +
 ...mavsdk_1_1_telemetry_server_1_1_raw_gps.md |  186 +
 ...vsdk_1_1_telemetry_server_1_1_rc_status.md |   51 +
 ..._1_telemetry_server_1_1_scaled_pressure.md |   75 +
 ...dk_1_1_telemetry_server_1_1_status_text.md |   39 +
 ..._1_1_telemetry_server_1_1_velocity_body.md |   51 +
 ...k_1_1_telemetry_server_1_1_velocity_ned.md |   51 +
 ...sdk_1_1_tracking_server_1_1_track_point.md |   51 +
 ...1_1_tracking_server_1_1_track_rectangle.md |   63 +
 ...mavsdk_1_1_transponder_1_1_adsb_vehicle.md |  159 +
 ...uctmavsdk_1_1_tune_1_1_tune_description.md |   39 +
 .../structmavsdk_1_1_winch_1_1_status.md      |  111 +
 ...structmavsdk_1_1_winch_1_1_status_flags.md |  189 +
 ...te_transformation_1_1_global_coordinate.md |   39 +
 ...ate_transformation_1_1_local_coordinate.md |   39 +
 .../structmavsdk_1_1overloaded.md             |   17 +
 docs/en/cpp/contributing/autogen.md           |   64 +
 docs/en/cpp/contributing/documentation.md     |   64 +
 docs/en/cpp/contributing/faq.md               |   43 +
 docs/en/cpp/contributing/index.md             |    8 +
 docs/en/cpp/contributing/plugins.md           |  389 ++
 docs/en/cpp/contributing/release.md           |   55 +
 docs/en/cpp/examples/autopilot_server.md      |  256 ++
 docs/en/cpp/examples/fly_mission.md           |  101 +
 docs/en/cpp/examples/follow_me.md             |  114 +
 docs/en/cpp/examples/index.md                 |   98 +
 docs/en/cpp/examples/offboard_velocity.md     |   63 +
 docs/en/cpp/examples/takeoff_and_land.md      |   63 +
 .../examples/transition_vtol_fixed_wing.md    |   76 +
 docs/en/cpp/guide/build.md                    |  206 +
 docs/en/cpp/guide/build_docs.md               |   21 +
 docs/en/cpp/guide/build_mavsdk_server.md      |   82 +
 docs/en/cpp/guide/code_style.md               |   51 +
 docs/en/cpp/guide/connections.md              |  184 +
 docs/en/cpp/guide/dev_logging.md              |   42 +
 docs/en/cpp/guide/follow_me.md                |  114 +
 docs/en/cpp/guide/general_usage.md            |  117 +
 docs/en/cpp/guide/index.md                    |    3 +
 docs/en/cpp/guide/installation.md             |   36 +
 docs/en/cpp/guide/logging.md                  |   46 +
 docs/en/cpp/guide/missions.md                 |  265 ++
 docs/en/cpp/guide/offboard.md                 |  218 +
 docs/en/cpp/guide/system_information.md       |   64 +
 docs/en/cpp/guide/taking_off_landing.md       |  269 ++
 docs/en/cpp/guide/telemetry.md                |  225 ++
 docs/en/cpp/guide/test.md                     |   86 +
 docs/en/cpp/guide/toolchain.md                |  123 +
 docs/en/cpp/guide/using_plugins.md            |   27 +
 docs/en/cpp/guide/vtol.md                     |   39 +
 docs/en/cpp/index.md                          |   65 +
 docs/en/cpp/quickstart.md                     |  101 +
 docs/en/cpp/server_plugins.md                 |   29 +
 docs/en/cpp/troubleshooting.md                |   78 +
 docs/en/faq.md                                |  129 +
 docs/en/index.md                              |   88 +
 docs/en/python/index.md                       |    4 +
 docs/en/python/quickstart.md                  |  115 +
 docs/en/swift/index.md                        |    3 +
 docs/index.md                                 |   33 +
 docs/package.json                             |   24 +
 .../site/logo_mavsdk_header_darkmode.png      |  Bin 0 -> 18327 bytes
 .../site/logo_mavsdk_header_lightmode.png     |  Bin 0 -> 12979 bytes
 docs/scripts/gen_alt_sidebar.py               |   44 +
 docs/scripts/gen_sitemap.py                   |  132 +
 docs/yarn.lock                                | 1736 ++++++++
 271 files changed, 35991 insertions(+), 1 deletion(-)
 create mode 100644 .github/workflows/docs_deploy.yml
 create mode 100644 docs/.vitepress/config.mjs
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 create mode 100644 docs/assets/examples/offboard_mode/qgc_offboard_velocity.png
 create mode 100644 docs/assets/examples/transition_vtol_fixed_wing/transition_vtol_fixed_wing_example_qgc.png
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 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_calibration.md
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 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_callback_list_impl.md
 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_camera.md
 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_camera_server.md
 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_component_information.md
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 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_fake_handle.md
 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_follow_me.md
 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_ftp.md
 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_ftp_server.md
 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_geofence.md
 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_gimbal.md
 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_gripper.md
 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_handle.md
 create mode 100644 docs/en/cpp/api_reference/classmavsdk_1_1_info.md
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diff --git a/.github/workflows/docs_deploy.yml b/.github/workflows/docs_deploy.yml
new file mode 100644
index 0000000000..476e73e51d
--- /dev/null
+++ b/.github/workflows/docs_deploy.yml
@@ -0,0 +1,78 @@
+name: Docs
+
+on:
+  push:
+    branches:
+      - main
+      - 'v*'
+    #tags:
+    #  - 'v*'
+    paths:
+      - 'docs/**'
+  pull_request:
+    paths:
+      - 'docs/**'
+
+  workflow_dispatch:
+
+env:
+  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
+
+jobs:
+  build:
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          # Specify the path to lock file for correct caching
+          cache-dependency-path: ./docs/yarn.lock
+
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --cwd ./docs
+
+      - name: Build with VitePress
+        working-directory: ./docs
+        run: |
+          npm run docs:build
+          touch .vitepress/dist/.nojekyll
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: mavsdk_docs_build
+          path: docs/.vitepress/dist/
+          retention-days: 1
+
+  deploy:
+    if: ${{ github.event_name == 'push' || github.event_name == 'workflow_dispatch' || (github.event_name == 'pull_request' && github.event.pull_request.merged) }}
+    needs: build
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: mavsdk_docs_build
+          path: ~/_book
+
+      - name: Deploy
+        env:
+          GIT_USER: ${{ secrets.PX4BUILDBOT_USER }}
+          GIT_PASS: ${{ secrets.PX4BUILDBOT_PASS }}
+        run: |
+          git clone https://${{ secrets.PX4BUILDBOT_USER }}:${{ secrets.PX4BUILDBOT_ACCESSTOKEN }}@github.com/mavlink/mavsdk.mavlink.io.git
+          rm -rf mavsdk.mavlink.io/${{ env.BRANCH_NAME }}
+          mkdir -p mavsdk.mavlink.io/${{ env.BRANCH_NAME }}
+          cp -r ~/_book/* mavsdk.mavlink.io/${{ env.BRANCH_NAME }}/
+          cd mavsdk.mavlink.io
+          git config user.email "bot@px4.io"
+          git config user.name "PX4BuildBot"
+          git add ${{ env.BRANCH_NAME }}
+          git commit -a -m "MAVSDK docs build update `date`"
+          git push origin master
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index e8be5edb5c..51c86451ad 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -6,10 +6,14 @@ on:
     - 'main'
     tags:
     - 'v*'
+    paths-ignore:
+    - 'docs/**'
   pull_request:
     branches:
     - '*'
-
+    paths-ignore:
+    - 'docs/**'
+    - '.github/workflows/docs_deploy.yml'
 
 jobs:
   coverage:
diff --git a/.gitignore b/.gitignore
index 46ea4c11d9..8e8acf4f14 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,3 +26,9 @@ cmake-build-*
 # mavlink repo to generate mavlink-headers
 mavlink
 mavlink-headers
+
+
+# vitepress - Docs guide
+docs/node_modules/
+docs/.vitepress/cache/
+docs/.vitepress/dist/
\ No newline at end of file
diff --git a/docs/.vitepress/config.mjs b/docs/.vitepress/config.mjs
new file mode 100644
index 0000000000..4440ad03f6
--- /dev/null
+++ b/docs/.vitepress/config.mjs
@@ -0,0 +1,203 @@
+import { defineConfig } from "vitepress";
+const getSidebar = require("./get_sidebar.js");
+
+// Tabs: https://github.com/Red-Asuka/vitepress-plugin-tabs
+import tabsPlugin from "@red-asuka/vitepress-plugin-tabs";
+
+// https://vitepress.dev/reference/site-config
+export default defineConfig({
+  title: "MAVSDK Guide",
+  description: "MAVSDK Guide",
+  base: process.env.BRANCH_NAME ? "/" + process.env.BRANCH_NAME + "/" : "",
+  srcExclude: [
+    "de/**/*.md",
+    "ja/**/*.md",
+    "ru/**/*.md",
+    "tr/**/*.md",
+    "ko/**/*.md",
+    "zh/**/*.md",
+    "uk/**/*.md",
+    "**/_*.md", //Remove source docs that start with "_" (included/not rendered)
+    "README.md", //Remove README.md in root directory
+  ],
+  ignoreDeadLinks: true,
+  markdown: {
+    math: true,
+    config: (md) => {
+      // use more markdown-it plugins!
+      tabsPlugin(md); //https://github.com/Red-Asuka/vitepress-plugin-tabs
+    },
+  },
+  locales: {
+    en: {
+      label: "English",
+      // other locale specific properties...
+      themeConfig: {
+        sidebar: getSidebar.sidebar("en"),
+
+        editLink: {
+          pattern: ({ filePath, frontmatter }) => {
+            if (frontmatter.newEditLink) {
+              //newEditLink defines a frontmatter key you can use to append a path to main
+              return `https://github.com/mavlink/MAVSDK/edit/main/docs/${frontmatter.newEditLink}`;
+            } else {
+              return `https://github.com/mavlink/MAVSDK/edit/main/docs/${filePath}`;
+            }
+          },
+          text: "Edit on GitHub",
+        },
+      },
+    },
+
+    /*
+    zh: {
+      label: "中文 (Chinese)",
+      lang: "zh-CN", // optional, will be added  as `lang` attribute on `html` tag
+      themeConfig: {
+        sidebar: getSidebar.sidebar("zh"),
+      },
+      // other locale specific properties...
+    },
+    ko: {
+      label: "한국어 (Korean)",
+      lang: "ko-KR", // optional, will be added  as `lang` attribute on `html` tag
+      themeConfig: {
+        sidebar: getSidebar.sidebar("ko"),
+      },
+
+      // other locale specific properties...
+    },
+    */
+  },
+
+  //
+
+  themeConfig: {
+    // https://vitepress.dev/reference/default-theme-config
+    siteTitle: false,
+    logo: {
+      light: "/site/logo_mavsdk_header_lightmode.png",
+      dark: "/site/logo_mavsdk_header_darkmode.png",
+      alt: "",
+    },
+    sidebar: getSidebar.sidebar("en"),
+    externalLinkIcon: true,
+
+    editLink: {
+      pattern: "https://crowdin.com/project/mavsdk",
+      text: "Edit translation on Crowdin",
+    },
+
+    search: {
+      provider: "local",
+    },
+
+    nav: [
+      {
+        text: "MAVSDK",
+        items: [
+          {
+            text: "Website",
+            link: "https://dronecode.org/sdk/",
+            ariaLabel: "MAVSDK website link",
+          },
+          {
+            text: "Source Code",
+            link: "https://github.com/mavlink/MAVSDK",
+          },
+        ],
+      },
+      {
+        text: "Dronecode",
+        items: [
+          {
+            text: "PX4",
+            link: "https://px4.io/",
+          },
+          {
+            text: "QGroundControl",
+            link: "http://qgroundcontrol.com/",
+          },
+          {
+            text: "MAVLINK",
+            link: "https://mavlink.io/en/",
+          },
+          {
+            text: "PX4 Guide",
+            link: "https://docs.px4.io/main/en/index.html",
+          },
+          {
+            text: "QGroundControl Guide",
+            link: "https://docs.qgroundcontrol.com/master/en/qgc-user-guide/",
+          },
+          {
+            text: "Dronecode Camera Manager",
+            link: "https://camera-manager.dronecode.org/en/",
+          },
+        ],
+      },
+      {
+        text: "Support",
+        link: "https://discuss.px4.io/c/mavsdk/19",
+      },
+      {
+        text: "Version",
+        items: [
+          {
+            text: "main",
+            link: "https://mavsdk.mavlink.io/main/en/cpp/api_changes.html",
+          },
+          {
+            text: "v2",
+            link: "https://mavsdk.mavlink.io/v2.0/en/cpp/api_changes.html",
+          },
+          {
+            text: "v1.4",
+            link: "https://mavsdk.mavlink.io/v1.4/en/cpp/api_changes.html",
+          },
+        ],
+      },
+    ],
+
+    socialLinks: [
+      { icon: "github", link: "https://github.com/mavlink/MAVSDK" },
+    ],
+  },
+
+  head: [
+    ["link", { rel: "icon", href: "/en/favicon.ico" }],
+    [
+      "script",
+      {
+        async: "",
+        src: "https://www.googletagmanager.com/gtag/js?id=G-91EWVWRQ93",
+      },
+    ],
+    [
+      "script",
+      {},
+      `window.dataLayer = window.dataLayer || [];
+      function gtag(){dataLayer.push(arguments);}
+      gtag('js', new Date());
+      gtag('config', 'G-91EWVWRQ93');`,
+    ],
+  ],
+
+  async transformPageData(pageData, { siteConfig }) {
+    //Logs every page loaded on build. Good way to catch errors not caught by other things.
+    console.log(pageData.filePath);
+
+    // Global variables as frontmatter
+    pageData.frontmatter.github_branch ??= process.env.BRANCH_NAME
+      ? process.env.BRANCH_NAME
+      : "main";
+  },
+
+  vue: {
+    template: {
+      compilerOptions: {
+        isCustomElement: (tag) => tag === "lite-youtube",
+      },
+    },
+  },
+});
diff --git a/docs/.vitepress/get_sidebar.js b/docs/.vitepress/get_sidebar.js
new file mode 100644
index 0000000000..2115881f80
--- /dev/null
+++ b/docs/.vitepress/get_sidebar.js
@@ -0,0 +1,267 @@
+// .vuepress/get_sidebar.js
+
+import path from "path";
+import fs from "fs";
+import readline from "readline";
+
+function getEntryArray(parent) {
+  let returnEntryArray = null;
+  //console.log("getEntryArray(): parent");
+  //console.log(parent);
+  //Gets returns the child array
+  //if (parent === "undefined") {
+  //  return [];
+  //}
+
+  if (Array.isArray(parent)) {
+    //This parent is an array, so return it (it is the sidebar top level)
+    returnEntryArray = parent;
+    //console.log("isArray");
+  }
+  parent.items = parent?.items ? parent.items : [];
+  //console.log("isNotArray");
+  //console.log("returnEntryArray:");
+  returnEntryArray = parent.items;
+  //console.log(returnEntryArray);
+  return returnEntryArray;
+}
+
+function parseGitbookSidebarToVuepress(sidebarContent, lang) {
+  const lines = sidebarContent.split("\n");
+
+  const newSidebar = [];
+
+  let first_iteration = true;
+  let indent_divider = 0;
+
+  const parents = [];
+  //console.log("parents - empty after creaton");
+  //console.log(parents);
+
+  const topLevelParent = {
+    title: "DUMMY",
+    path: "DUMMY",
+    //level: "0",
+    //items: [],
+  };
+  topLevelParent.items = [];
+  //console.log("topLevelParent - empty after creaton");
+  //console.log(topLevelParent);
+
+  parents.push(topLevelParent); // So last item is always the sidebar
+  //console.log("parents after pushing topLevelParent:");
+  //console.log(parents);
+
+  let current_parent;
+
+  let lastlevel = 0;
+  let last_item;
+
+  //let currentSection;
+  //let currentLevel = 0;
+
+  lines.forEach((line) => {
+    if (line.startsWith("#") || line.trim() === "") {
+      // Ignore lines that start with "#" or are empty
+      // Note, we should perhaps create sections for these. TBD.
+      return;
+    }
+
+    //console.log("DEBUG: Line: " + line);
+
+    let regex = /(\s*?)[\*-]\s\[(.*?)\]\((.*?)\)/g;
+
+    let indent_level = "";
+    let link_title = "";
+    let link_url = "";
+    let link_path = "";
+
+    try {
+      //console.log(`DEBUG: Lastitem at start:  ${JSON.stringify(last_item)}`);
+      let match = regex.exec(line);
+      //console.log('0: '+ match[0])
+      indent_level = match[1].length;
+      link_title = match[2];
+      link_url = match[3].trim();
+      link_path = link_url;
+    } catch (err) {
+      //Just skip empty lines that don't match
+      console.log(err);
+      console.log("DEBUG: Couldn't match line, skip line using return");
+      return;
+    }
+
+    try {
+      /*
+      if (link_url.endsWith("README.md")) {
+        link_url = link_url.replace("README.md", "");
+      }
+      */
+      if (link_url.endsWith(".md")) {
+        link_url = link_url.replace(".md", ".html");
+        //link_path = link_path.replace(".md", ".html");
+      }
+
+      if (!link_url.startsWith("http")) {
+        if (lang) {
+          link_url = `/${lang}/${link_url}`;
+        } else {
+          link_url = `/${link_url}`;
+        }
+      }
+
+      //Tidy up some of the title escaping that isn't used by VuePress
+      link_title = link_title.replace("\\(", "(");
+      link_title = link_title.replace("\\)", ")");
+      link_title = link_title.replace("\\_", "_");
+
+      //set indent_divider level (easier to think in levels, numbers of zero prefixes)
+      if ((indent_divider == 0) & (indent_level > 0.0)) {
+        indent_divider = indent_level;
+      }
+      if (indent_divider > 0) {
+        indent_level = indent_level / indent_divider;
+      }
+
+      let entry = {
+        text: link_title,
+        link: link_url,
+        //collapsed: true,
+        //link_path,
+        //level: indent_level,
+        //collapsible: true,
+      };
+      //console.log("entry:");
+      //console.log(entry);
+
+      //console.log("parents:");
+      //console.log(parents);
+      //console.log("current_parent - before pop");
+      //console.log(current_parent);
+      current_parent = parents.pop();
+      //console.log("current_parent - after pop");
+      //console.log(current_parent);
+
+      //console.log(`XX ST: indent: ${indent_level} lastlevel: ${lastlevel}`);
+      if (indent_level == lastlevel) {
+        //console.log(`XX EQ:`);
+        //console.log(current_parent);
+        const parentArray = getEntryArray(current_parent);
+        parentArray.push(entry);
+        //console.log("current_parent after pushing last entry");
+        //console.log(current_parent);
+
+        //console.log("eq parents before pushing back current parent");
+        //console.log(parents);
+        parents.push(current_parent);
+        //console.log("EQ parents after pushing current parent");
+        //console.log(parents);
+
+        //console.log("XX EQ3");
+      } else if (indent_level > lastlevel) {
+        //console.log("XX NEST");
+        //console.log(
+        //  `  DEBUG:NEST: lastlev: ${lastlevel}/indent lev: ${indent_level}`
+        // );
+        // This is a child of the last element added to current parent
+
+        //console.log(current_parent);
+        //console.log("NEST: current_parent - after pop");
+        //console.log("NEST: parents before");
+        //console.log(parents);
+
+        const parentArray = getEntryArray(current_parent);
+
+        //console.log(
+        //  "parentArray - we want to add entry to last entry in this array."
+        //);
+        //console.log(parentArray);
+
+        //Get the last element
+        //console.log(`how many elements in array ${parentArray.length}`);
+        //
+        const lastElement = parentArray.pop();
+        lastElement.collapsed = true;
+        //console.log(`NEST: last element in array:`);
+        //console.log(lastElement);
+        const lastElementArray = getEntryArray(lastElement);
+        //console.log(`NEST: last element array:`);
+        lastElementArray.push(entry);
+        //console.log(`NEST: last element after pushing event:`);
+        //console.log(lastElement);
+        // Push the last element back on to the parentArray
+        parentArray.push(lastElement);
+        //push current parent onto the parents array
+        parents.push(current_parent);
+        // push the element we just edited back onto the array so it can be current parent.
+        parents.push(lastElement);
+        //console.log("NEST: parents after");
+        //console.log(parents);
+      } else if (indent_level < lastlevel) {
+        // gone up a level
+        //console.log(`XX UP`);
+        while (indent_level < lastlevel--) {
+          //console.log(`pop ${lastlevel}`);
+          //Here we have no item. Group has finished (with a group)
+          //So add the current parent (finished) to its parent.
+          //console.log('DEBUG: Gone UP from level: '+ indent_level + ' TO: ' + lastlevel)
+
+          current_parent = parents.pop();
+        }
+        const parentArray = getEntryArray(current_parent);
+        parentArray.push(entry);
+        //console.log("current_parent after pushing last entry");
+        //console.log(current_parent);
+
+        //console.log("eq parents before pushing back current parent");
+        //console.log(parents);
+        parents.push(current_parent);
+      }
+
+      //console.log("AFTER ADDING Entry:");
+      //console.log("entry:");
+      //console.log(entry);
+      //console.log("parents:");
+      //console.log(parents);
+    } catch (err) {
+      console.log(err);
+      console.log(` DEBUG SOME ACTUAL PROBLEMXX2: ${err}`);
+    }
+
+    //last_item = entry;
+
+    lastlevel = indent_level; //reset
+    //console.log(`END OF ONE LINE:${indent_level} lastlevel: ${lastlevel}`);
+    //console.log("PARENTS");
+    //console.log(JSON.stringify(parents));
+  });
+
+  //all lines done
+  //console.log("All lines done parents:");
+  //console.log(JSON.stringify(parents));
+
+  //console.log("topLevelParent");
+  //console.log(topLevelParent);
+  return topLevelParent.items;
+}
+
+module.exports = {
+  sidebar: function (lang) {
+    const summaryfile_path = path.resolve(__dirname, "..", lang, "SUMMARY.md");
+    //console.log("DEBUG: summaryfile_path: " + summaryfile_path);
+    let data = "";
+
+    try {
+      // read contents of the file
+      data = fs.readFileSync(summaryfile_path, "UTF-8");
+    } catch (err) {
+      console.log(`DEBUG: ${lang} - SIDEBAR  DEFINITION NOT FOUND`);
+    }
+
+    const module_sidebar = parseGitbookSidebarToVuepress(data, lang);
+    //console.log(`DEBUG: Before`);
+    //console.log(`DEBUG: ${JSON.stringify(module_sidebar)}`);
+    //console.log(`DEBUG: After`);
+    return module_sidebar;
+  },
+};
diff --git a/docs/.vitepress/theme/components/Redirect.vue b/docs/.vitepress/theme/components/Redirect.vue
new file mode 100644
index 0000000000..3b847adc65
--- /dev/null
+++ b/docs/.vitepress/theme/components/Redirect.vue
@@ -0,0 +1,19 @@
+<template>
+</template>
+
+
+<script>
+    /** Redirects to the given 'to' url, which is relative to the current location. Originates from https://github.com/vuejs/vuepress/issues/239#issuecomment-632567115 */
+    export default {
+        name: 'Redirect',
+        props: {
+            to: {
+                type: String,
+                required: true
+            }
+        },
+        beforeMount() {
+            document.location.replace(this.to);
+        }
+    }
+</script>
\ No newline at end of file
diff --git a/docs/.vitepress/theme/index.js b/docs/.vitepress/theme/index.js
new file mode 100644
index 0000000000..6747f4a083
--- /dev/null
+++ b/docs/.vitepress/theme/index.js
@@ -0,0 +1,58 @@
+// https://vitepress.dev/guide/custom-theme
+import { h } from "vue";
+
+import DefaultTheme from "vitepress/theme";
+import "./style.css";
+
+// To support medium-zoom - like setup()
+import { onMounted, watch, nextTick } from "vue";
+import { useRoute } from "vitepress";
+import mediumZoom from "medium-zoom";
+
+// For https://www.npmjs.com/package/lite-youtube-embed
+import { inBrowser } from "vitepress";
+import "lite-youtube-embed/src/lite-yt-embed.css";
+if (inBrowser) {
+  // @ts-ignore
+  import("lite-youtube-embed");
+}
+
+// Support redirect plugin
+import Redirect from "./components/Redirect.vue";
+
+// Tabs: https://github.com/Red-Asuka/vitepress-plugin-tabs
+import { Tab, Tabs } from "vue3-tabs-component";
+import "@red-asuka/vitepress-plugin-tabs/dist/style.css";
+
+/** @type {import('vitepress').Theme} */
+export default {
+  extends: DefaultTheme,
+  Layout: () => {
+    return h(DefaultTheme.Layout, null, {
+      // https://vitepress.dev/guide/extending-default-theme#layout-slots
+    });
+  },
+  enhanceApp({ app, router, siteData }) {
+    app.component("Redirect", Redirect); //Redirect plugin
+    //Tabs: https://github.com/Red-Asuka/vitepress-plugin-tabs
+    app.component("Tab", Tab);
+    app.component("Tabs", Tabs);
+  },
+
+  // to support medium zoom: https://github.com/vuejs/vitepress/issues/854
+  setup() {
+    const route = useRoute();
+    const initZoom = () => {
+      //mediumZoom("[data-zoomable]", { background: "var(--vp-c-bg)" });
+      mediumZoom(".main img", { background: "var(--vp-c-bg)" });
+    };
+    onMounted(() => {
+      initZoom();
+    });
+    watch(
+      () => route.path,
+      () => nextTick(() => initZoom())
+    );
+  },
+  //end to support medium zoom
+};
diff --git a/docs/.vitepress/theme/style.css b/docs/.vitepress/theme/style.css
new file mode 100644
index 0000000000..5df1208b7a
--- /dev/null
+++ b/docs/.vitepress/theme/style.css
@@ -0,0 +1,213 @@
+/**
+ * Customize default theme styling by overriding CSS variables:
+ * https://github.com/vuejs/vitepress/blob/main/src/client/theme-default/styles/vars.css
+ */
+
+/**
+ * Colors
+ *
+ * Each colors have exact same color scale system with 3 levels of solid
+ * colors with different brightness, and 1 soft color.
+ *
+ * - `XXX-1`: The most solid color used mainly for colored text. It must
+ *   satisfy the contrast ratio against when used on top of `XXX-soft`.
+ *
+ * - `XXX-2`: The color used mainly for hover state of the button.
+ *
+ * - `XXX-3`: The color for solid background, such as bg color of the button.
+ *   It must satisfy the contrast ratio with pure white (#ffffff) text on
+ *   top of it.
+ *
+ * - `XXX-soft`: The color used for subtle background such as custom container
+ *   or badges. It must satisfy the contrast ratio when putting `XXX-1` colors
+ *   on top of it.
+ *
+ *   The soft color must be semi transparent alpha channel. This is crucial
+ *   because it allows adding multiple "soft" colors on top of each other
+ *   to create a accent, such as when having inline code block inside
+ *   custom containers.
+ *
+ * - `default`: The color used purely for subtle indication without any
+ *   special meanings attched to it such as bg color for menu hover state.
+ *
+ * - `brand`: Used for primary brand colors, such as link text, button with
+ *   brand theme, etc.
+ *
+ * - `tip`: Used to indicate useful information. The default theme uses the
+ *   brand color for this by default.
+ *
+ * - `warning`: Used to indicate warning to the users. Used in custom
+ *   container, badges, etc.
+ *
+ * - `danger`: Used to show error, or dangerous message to the users. Used
+ *   in custom container, badges, etc.
+ * -------------------------------------------------------------------------- */
+
+
+
+
+:root {
+  --vp-c-default-1: var(--vp-c-gray-1);
+  --vp-c-default-2: var(--vp-c-gray-2);
+  --vp-c-default-3: var(--vp-c-gray-3);
+  --vp-c-default-soft: var(--vp-c-gray-soft);
+
+  --vp-c-brand-1: var(--vp-c-indigo-1);
+  --vp-c-brand-2: var(--vp-c-indigo-2);
+  --vp-c-brand-3: var(--vp-c-indigo-3);
+  --vp-c-brand-soft: var(--vp-c-indigo-soft);
+
+  --vp-c-tip-1: var(--vp-c-brand-1);
+  --vp-c-tip-2: var(--vp-c-brand-2);
+  --vp-c-tip-3: var(--vp-c-brand-3);
+  --vp-c-tip-soft: var(--vp-c-brand-soft);
+
+  --vp-c-warning-1: var(--vp-c-yellow-1);
+  --vp-c-warning-2: var(--vp-c-yellow-2);
+  --vp-c-warning-3: var(--vp-c-yellow-3);
+  --vp-c-warning-soft: var(--vp-c-yellow-soft);
+
+  --vp-c-danger-1: var(--vp-c-red-1);
+  --vp-c-danger-2: var(--vp-c-red-2);
+  --vp-c-danger-3: var(--vp-c-red-3);
+  --vp-c-danger-soft: var(--vp-c-red-soft);
+}
+
+/**
+ * Component: Button
+ * -------------------------------------------------------------------------- */
+
+:root {
+  --vp-button-brand-border: transparent;
+  --vp-button-brand-text: var(--vp-c-white);
+  --vp-button-brand-bg: var(--vp-c-brand-3);
+  --vp-button-brand-hover-border: transparent;
+  --vp-button-brand-hover-text: var(--vp-c-white);
+  --vp-button-brand-hover-bg: var(--vp-c-brand-2);
+  --vp-button-brand-active-border: transparent;
+  --vp-button-brand-active-text: var(--vp-c-white);
+  --vp-button-brand-active-bg: var(--vp-c-brand-1);
+}
+
+/**
+ * Component: Home
+ * -------------------------------------------------------------------------- */
+
+:root {
+  --vp-home-hero-name-color: transparent;
+  --vp-home-hero-name-background: -webkit-linear-gradient(
+    120deg,
+    #f46522 30%,
+    #f46522
+  );
+
+  --vp-home-hero-image-background-image: linear-gradient(
+    -45deg,
+    white 50%,
+    white 50%
+  );
+  --vp-home-hero-image-filter: blur(44px);
+}
+
+@media (min-width: 640px) {
+  :root {
+    --vp-home-hero-image-filter: blur(56px);
+  }
+}
+
+@media (min-width: 960px) {
+  :root {
+    --vp-home-hero-image-filter: blur(68px);
+  }
+}
+
+/**
+ * Component: Custom Block
+ * -------------------------------------------------------------------------- */
+
+:root {
+  --vp-custom-block-tip-border: transparent;
+  --vp-custom-block-tip-text: var(--vp-c-text-1);
+  --vp-custom-block-tip-bg: var(--vp-c-brand-soft);
+  --vp-custom-block-tip-code-bg: var(--vp-c-brand-soft);
+}
+
+/**
+ * Component: Algolia
+ * -------------------------------------------------------------------------- */
+
+.DocSearch {
+  --docsearch-primary-color: var(--vp-c-brand-1) !important;
+}
+
+/**
+ * Component: Medium Zoom: https://github.com/vuejs/vitepress/issues/854
+ * -------------------------------------------------------------------------- */
+
+.medium-zoom-overlay {
+  z-index: 20;
+}
+
+.medium-zoom-image {
+  z-index: 21;
+}
+
+/**
+ * Override styles as needed
+ * -------------------------------------------------------------------------- */
+
+.vp-doc img {
+  display: inline; /* block by default set by vitepress */
+}
+
+/* Make content area a little wider to improve tables */
+.content-container {
+  max-width: 100% !important;
+}
+@media (min-width: 1280px) {
+  .content {
+    min-width: 940px !important;
+  }
+}
+
+/* Make page width larger  */
+@media (min-width: 1440px) {
+  .VPSidebar {
+    padding-left: 32px !important;
+    width: var(--vp-sidebar-width) !important;
+  }
+  .VPContent.has-sidebar {
+    padding-left: var(--vp-sidebar-width) !important;
+    padding-right: 0 !important;
+  }
+
+  .VPNavBar.has-sidebar .title {
+    padding-left: 32px !important;
+  }
+
+  .VPNavBar.has-sidebar .content {
+    padding-left: var(--vp-sidebar-width) !important;
+    padding-right: 32px !important;
+  }
+
+  /* Very hacky */
+  .VPNavBar.has-sidebar #local-search {
+    z-index: 10;
+  }
+
+}
+
+
+
+/* Make content area a little wider to improve tables
+- Disabled version, that is OK but not quite as good as one above */
+/*
+.content-container {
+  max-width: 100% !important;
+}
+@media (min-width: 1280px) {
+  .content {
+    min-width: 940px !important;
+  }
+}
+*/
\ No newline at end of file
diff --git a/docs/assets/autogen/autogen_overview.png b/docs/assets/autogen/autogen_overview.png
new file mode 100644
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diff --git a/docs/assets/examples/fly_qgc_mission/fly_qgc_plan_mission_example_qgc.jpg b/docs/assets/examples/fly_qgc_mission/fly_qgc_plan_mission_example_qgc.jpg
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diff --git a/docs/assets/examples/transition_vtol_fixed_wing/transition_vtol_fixed_wing_example_qgc.png b/docs/assets/examples/transition_vtol_fixed_wing/transition_vtol_fixed_wing_example_qgc.png
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diff --git a/docs/assets/site/slack.svg b/docs/assets/site/slack.svg
new file mode 100644
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+++ b/docs/assets/site/slack.svg
@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+
diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md
new file mode 100644
index 0000000000..43d27797f5
--- /dev/null
+++ b/docs/en/SUMMARY.md
@@ -0,0 +1,220 @@
+# Summary
+
+* [Introduction](index.md)
+* [C++](cpp/index.md)
+    * [QuickStart](cpp/quickstart.md)
+    * [Guide](cpp/guide/index.md)
+        * [Installation](cpp/guide/installation.md)
+        * [Usage/Paradigms](cpp/guide/general_usage.md)
+        * [Connecting to Systems (Vehicles)](cpp/guide/connections.md)
+        * [Managing Systems](cpp/guide/using_plugins.md)
+        * [System Information](cpp/guide/system_information.md)
+        * [Telemetry](cpp/guide/telemetry.md)
+        * [Actions - Take Off, Arm, ...](cpp/guide/taking_off_landing.md)
+        * [Missions](cpp/guide/missions.md)
+        * [Offboard Control](cpp/guide/offboard.md)
+        * [Follow Me](cpp/guide/follow_me.md)
+        * [VTOL Support](cpp/guide/vtol.md)
+        * [Building C++ Apps](cpp/guide/toolchain.md)
+        * [Logging](cpp/guide/logging.md)
+        * [Plugin/Test Logging](cpp/guide/dev_logging.md)
+        * [Testing](cpp/guide/test.md)
+        * [Building library from Source](cpp/guide/build.md)
+        * [Building mavsdk_server from Source](cpp/guide/build_mavsdk_server.md)
+        * [Generate API docs from Source](cpp/guide/build_docs.md)
+        * [Coding Style](cpp/guide/code_style.md)
+    * [Examples](cpp/examples/index.md)
+        * [Takeoff and Land](cpp/examples/takeoff_and_land.md)
+        * [Fly Mission](cpp/examples/fly_mission.md)
+        * [Offboard Mode - Velocity Control](cpp/examples/offboard_velocity.md)
+        * [Follow Me Mode](cpp/examples/follow_me.md)
+        * [VTOL Transitions](cpp/examples/transition_vtol_fixed_wing.md)
+        * [Autopilot Server](cpp/examples/autopilot_server.md)
+    * [Server plugins](cpp/server_plugins.md)
+    * [API Changes](cpp/api_changes.md)
+    * [API Reference](cpp/api_reference/index.md)
+        * [class Action](cpp/api_reference/classmavsdk_1_1_action.md)
+        * [class ActionServer](cpp/api_reference/classmavsdk_1_1_action_server.md)
+          * [struct AllowableFlightModes](cpp/api_reference/structmavsdk_1_1_action_server_1_1_allowable_flight_modes.md)
+          * [struct ArmDisarm](cpp/api_reference/structmavsdk_1_1_action_server_1_1_arm_disarm.md)
+        * [class Calibration](cpp/api_reference/classmavsdk_1_1_calibration.md)
+            * [struct ProgressData](cpp/api_reference/structmavsdk_1_1_calibration_1_1_progress_data.md)
+        * [class Camera](cpp/api_reference/classmavsdk_1_1_camera.md)
+            * [struct Information](cpp/api_reference/structmavsdk_1_1_camera_1_1_information.md)
+            * [struct CaptureInfo](cpp/api_reference/structmavsdk_1_1_camera_1_1_capture_info.md)
+            * [struct Position](cpp/api_reference/structmavsdk_1_1_camera_1_1_position.md)
+            * [struct Quaternion](cpp/api_reference/structmavsdk_1_1_camera_1_1_quaternion.md)
+            * [struct EulerAngle](cpp/api_reference/structmavsdk_1_1_camera_1_1_euler_angle.md)
+            * [struct Status](cpp/api_reference/structmavsdk_1_1_camera_1_1_status.md)
+            * [struct VideoStreamInfo](cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_info.md)
+            * [struct VideoStreamSettings](cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_settings.md)
+            * [struct Option](cpp/api_reference/structmavsdk_1_1_camera_1_1_option.md)
+            * [struct Setting](cpp/api_reference/structmavsdk_1_1_camera_1_1_setting.md)
+            * [struct SettingOptions](cpp/api_reference/structmavsdk_1_1_camera_1_1_setting_options.md)
+            * [class CameraServer](cpp/api_reference/classmavsdk_1_1_camera_server.md)
+              * [struct CaptureInfo](cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_info.md)
+              * [struct Information](cpp/api_reference/structmavsdk_1_1_camera_server_1_1_information.md)
+              * [struct Position](cpp/api_reference/structmavsdk_1_1_camera_server_1_1_position.md)
+              * [struct Quaternion](cpp/api_reference/structmavsdk_1_1_camera_server_1_1_quaternion.md)
+            * [class ComponentInformation](cpp/api_reference/classmavsdk_1_1_component_information.md)
+              * [struct FloatParam](cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param.md)
+              * [struct FloatParamUpdate](cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param_update.md)
+            * [class ComponentInformationServer](cpp/api_reference/classmavsdk_1_1_component_information_server.md)
+              * [struct FloatParam](cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param.md)
+              * [struct FloatParamUpdate](cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param_update.md)
+        * [class Failure](cpp/api_reference/classmavsdk_1_1_failure.md)
+        * [class FollowMe](cpp/api_reference/classmavsdk_1_1_follow_me.md)
+            * [struct Config](cpp/api_reference/structmavsdk_1_1_follow_me_1_1_config.md)
+            * [struct TargetLocation](cpp/api_reference/structmavsdk_1_1_follow_me_1_1_target_location.md)
+        * [class Ftp](cpp/api_reference/classmavsdk_1_1_ftp.md)
+        * [class Geofence](cpp/api_reference/classmavsdk_1_1_geofence.md)
+            * [struct Polygon](cpp/api_reference/structmavsdk_1_1_geofence_1_1_polygon.md)
+            * [struct Point](cpp/api_reference/structmavsdk_1_1_geofence_1_1_point.md)
+            * [struct ProgressData](cpp/api_reference/structmavsdk_1_1_ftp_1_1_progress_data.md)
+        * [class geometry::CoordinateTransformation](cpp/api_reference/classmavsdk_1_1geometry_1_1_coordinate_transformation.md)
+            * [struct GlobalCoordinate](cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md)
+            * [struct LocalCoordinate](cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.md)
+        * [class Gimbal](cpp/api_reference/classmavsdk_1_1_gimbal.md)
+            * [struct ControlStatus](cpp/api_reference/structmavsdk_1_1_gimbal_1_1_control_status.md)
+        * [class Info](cpp/api_reference/classmavsdk_1_1_info.md)
+            * [struct FlightInfo](cpp/api_reference/structmavsdk_1_1_info_1_1_flight_info.md)
+            * [struct Identification](cpp/api_reference/structmavsdk_1_1_info_1_1_identification.md)
+            * [struct Product](cpp/api_reference/structmavsdk_1_1_info_1_1_product.md)
+            * [struct Version](cpp/api_reference/structmavsdk_1_1_info_1_1_version.md)
+        * [class LogFiles](cpp/api_reference/classmavsdk_1_1_log_files.md)
+            * [struct Entry](cpp/api_reference/structmavsdk_1_1_log_files_1_1_entry.md)
+            * [struct ProgressData](cpp/api_reference/structmavsdk_1_1_log_files_1_1_progress_data.md)
+        * [class ManualControl](cpp/api_reference/classmavsdk_1_1_manual_control.md)
+        * [class MavlinkPassthrough](cpp/api_reference/classmavsdk_1_1_mavlink_passthrough.md)
+            * [struct CommandInt](cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_int.md)
+            * [struct CommandLong](cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_long.md)
+        * [class Mavsdk](cpp/api_reference/classmavsdk_1_1_mavsdk.md)
+            * [class Mavsdk::Configuration](cpp/api_reference/classmavsdk_1_1_mavsdk_1_1_configuration.md)
+        * [class Mission](cpp/api_reference/classmavsdk_1_1_mission.md)
+            * [struct MissionItem](cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_item.md)
+            * [struct MissionPlan](cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_plan.md)
+            * [struct MissionProgress](cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_progress.md)
+            * [struct ProgressData](cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data.md)
+            * [struct ProgressDataOrMission](cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data_or_mission.md)
+        * [class MissionRaw](cpp/api_reference/classmavsdk_1_1_mission_raw.md)
+            * [struct MissionImportData](cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_import_data.md)
+            * [struct MissionItem](cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_item.md)
+            * [struct MissionProgress](cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_progress.md)
+        * [class MissionRawServer](cpp/api_reference/classmavsdk_1_1_mission_raw_server.md)
+            * [struct MissionItem](cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_item.md)
+            * [struct MissionPlan](cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md)
+            * [struct MissionProgress](cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_progress.md)
+        * [class Mocap](cpp/api_reference/classmavsdk_1_1_mocap.md)
+            * [struct AngleBody](cpp/api_reference/structmavsdk_1_1_mocap_1_1_angle_body.md)
+            * [struct AngularVelocityBody](cpp/api_reference/structmavsdk_1_1_mocap_1_1_angular_velocity_body.md)
+            * [struct AttitudePositionMocap](cpp/api_reference/structmavsdk_1_1_mocap_1_1_attitude_position_mocap.md)
+            * [struct Covariance](cpp/api_reference/structmavsdk_1_1_mocap_1_1_covariance.md)
+            * [struct Odometry](cpp/api_reference/structmavsdk_1_1_mocap_1_1_odometry.md)
+            * [struct PositionBody](cpp/api_reference/structmavsdk_1_1_mocap_1_1_position_body.md)
+            * [struct Quaternion](cpp/api_reference/structmavsdk_1_1_mocap_1_1_quaternion.md)
+            * [struct SpeedBody](cpp/api_reference/structmavsdk_1_1_mocap_1_1_speed_body.md)
+            * [struct VisionPositionEstimate](cpp/api_reference/structmavsdk_1_1_mocap_1_1_vision_position_estimate.md)
+        * [class Offboard](cpp/api_reference/classmavsdk_1_1_offboard.md)
+            * [struct AccelerationNed](cpp/api_reference/structmavsdk_1_1_offboard_1_1_acceleration_ned.md)
+            * [struct ActuatorControl](cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control.md)
+            * [struct ActuatorControlGroup](cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control_group.md)
+            * [struct Attitude](cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude.md)
+            * [struct AttitudeRate](cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude_rate.md)
+            * [struct VelocityBodyYawspeed](cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed.md)
+            * [struct VelocityNedYaw](cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md)
+            * [struct PositionNedYaw](cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_ned_yaw.md)
+            * [struct PositionGlobalYaw](cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_global_yaw.md)
+        * [class Param](cpp/api_reference/classmavsdk_1_1_param.md)
+            * [struct AllParams](cpp/api_reference/structmavsdk_1_1_param_1_1_all_params.md)
+            * [struct CustomParam](cpp/api_reference/structmavsdk_1_1_param_1_1_custom_param.md)
+            * [struct FloatParam](cpp/api_reference/structmavsdk_1_1_param_1_1_float_param.md)
+            * [struct IntParam](cpp/api_reference/structmavsdk_1_1_param_1_1_int_param.md)
+        * [class ParamServer](cpp/api_reference/classmavsdk_1_1_param_server.md)
+            * [struct AllParams](cpp/api_reference/structmavsdk_1_1_param_server_1_1_all_params.md)
+            * [struct CustomParam](cpp/api_reference/structmavsdk_1_1_param_server_1_1_custom_param.md)
+            * [struct FloatParam](cpp/api_reference/structmavsdk_1_1_param_server_1_1_float_param.md)
+            * [struct IntParam](cpp/api_reference/structmavsdk_1_1_param_server_1_1_int_param.md)
+            * [class Rtk](cpp/api_reference/classmavsdk_1_1_rtk.md)
+              * [struct RtcmData](cpp/api_reference/structmavsdk_1_1_rtk_1_1_rtcm_data.md)
+        * [class ServerUtility](cpp/api_reference/classmavsdk_1_1_server_utility.md)
+        * [class Shell](cpp/api_reference/classmavsdk_1_1_shell.md)
+        * [class System](cpp/api_reference/classmavsdk_1_1_system.md)
+            * [struct AutopilotVersion](cpp/api_reference/structmavsdk_1_1_system_1_1_autopilot_version.md)
+        * [class Telemetry](cpp/api_reference/classmavsdk_1_1_telemetry.md)
+            * [struct AccelerationFrd](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_acceleration_frd.md)
+            * [struct ActuatorControlTarget](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_control_target.md)
+            * [struct ActuatorOutputStatus](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_output_status.md)
+            * [struct AngularVelocityBody](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md)
+            * [struct AngularVelocityNed](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_frd.md)
+            * [struct Battery](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_battery.md)
+            * [struct Covariance](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_covariance.md)
+            * [struct DistanceSensor](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_distance_sensor.md)
+            * [struct EulerAngle](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_euler_angle.md)
+            * [struct FixedwingMetrics](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md)
+            * [struct GpsInfo](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_info.md)
+            * [struct GpsGlobalOrigin](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_global_origin.md)
+            * [struct GroundTruth](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_ground_truth.md)
+            * [struct Heading](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_heading.md)
+            * [struct Health](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_health.md)
+            * [struct Imu](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_imu.md)
+            * [struct MagneticFieldFrd](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_magnetic_field_frd.md)
+            * [struct Odometry](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_odometry.md)
+            * [struct Position](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position.md)
+            * [struct PositionBody](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_body.md)
+            * [struct PositionNed](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_ned.md)
+            * [struct VelocityNed](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_ned.md)
+            * [struct VelocityBody](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_body.md)
+            * [struct PositionVelocityNed](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md)
+            * [struct Quaternion](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_quaternion.md)
+	        * [struct RawGps](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_raw_gps.md)
+            * [struct RcStatus](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_rc_status.md)
+	        * [struct ScaledPressure](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_scaled_pressure.md)
+            * [struct StatusText](cpp/api_reference/structmavsdk_1_1_telemetry_1_1_status_text.md)
+        * [class TelemetryServer](cpp/api_reference/classmavsdk_1_1_telemetry_server.md)
+            * [struct AccelerationFrd](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_acceleration_frd.md)
+            * [struct ActuatorControlTarget](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_control_target.md)
+            * [struct ActuatorOutputStatus](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_output_status.md)
+            * [struct AngularVelocityBody](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body.md)
+            * [struct AngularVelocityFrd](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd.md)
+            * [struct Battery](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_battery.md)
+            * [struct Covariance](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_covariance.md)
+            * [struct DistanceSensor](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_distance_sensor.md)
+            * [struct EulerAngle](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_euler_angle.md)
+            * [struct FixedwingMetrics](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics.md)
+            * [struct GpsInfo](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_gps_info.md)
+            * [struct GroundTruth](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_ground_truth.md)
+            * [struct Heading](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_heading.md)
+            * [struct Imu](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_imu.md)
+            * [struct MagneticFieldFrd](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd.md)
+            * [struct Odometry](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_odometry.md)
+            * [struct Position](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position.md)
+            * [struct PositionBody](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_body.md)
+            * [struct PositionNed](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_ned.md)
+            * [struct PositionVelocityNed](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned.md)
+            * [struct Quaternion](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_quaternion.md)
+            * [struct RawGps](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_raw_gps.md)
+            * [struct RcStatus](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_rc_status.md)
+            * [struct ScaledPressure](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_scaled_pressure.md)
+            * [struct StatusText](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_status_text.md)
+            * [struct VelocityBody](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_body.md)
+            * [struct VelocityNed](cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_ned.md)
+        * [class TrackingServer](cpp/api_reference/classmavsdk_1_1_tracking_server.md)
+            * [struct Point](cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_point.md)
+            * [struct Rectangle](cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_rectangle.md)
+        * [class Transponder](cpp/api_reference/classmavsdk_1_1_transponder.md)
+            * [struct AdsbVehicle](cpp/api_reference/structmavsdk_1_1_transponder_1_1_adsb_vehicle.md)
+        * [class Tune](cpp/api_reference/classmavsdk_1_1_tune.md)
+            * [struct TuneDescription](cpp/api_reference/structmavsdk_1_1_tune_1_1_tune_description.md)
+        * [class PluginBase](cpp/api_reference/classmavsdk_1_1_plugin_base.md)
+        * [class Overloaded](cpp/api_reference/structmavsdk_1_1overloaded.md)
+        * [namespace mavsdk (globals)](cpp/api_reference/namespacemavsdk.md)
+    * [Troubleshooting](cpp/troubleshooting.md)
+    * [Contributing](cpp/contributing/index.md)
+        * [Autogeneration](cpp/contributing/autogen.md)
+        * [Writing Plugins](cpp/contributing/plugins.md)
+        * [Documentation](cpp/contributing/documentation.md)
+        * [Release process](cpp/contributing/release.md)
+* [iOS/Swift](swift/index.md)
+* [Python](python/index.md)
+    * [QuickStart](python/quickstart.md)
+* [FAQ](faq.md)
diff --git a/docs/en/cpp/api_changes.md b/docs/en/cpp/api_changes.md
new file mode 100644
index 0000000000..474a0e5456
--- /dev/null
+++ b/docs/en/cpp/api_changes.md
@@ -0,0 +1,181 @@
+# API Changes
+
+This page tracks changes between versions.
+
+It covers both breaking (incompatible) and non-breaking changes.
+
+## Semantic Versioning
+
+MAVSDK follows [semver/Semantic Versioning](https://semver.org/) conventions where as possible.
+
+The version number has the format: **major.minor.patch**.
+Individual parts of the number are iterated when the:
+
+- **major**: API is changed, or functionality is removed.
+- **minor**: API is extended, functionality is added.
+- **patch**: API is not changed, functionality is not changed, but a bug is fixed.
+
+This means that breaking changes to the API result in a bump of the major version number (e.g. 1.4.3 to 2.0.0).
+
+> **note**: bumping of the major version is unrelated to the stability of the library. E.g. v2.0.0 is not by definition more stable than v1.4.18. It just means that the API has changed with v2. As development is carried on, stability is likely increasing whenever the minor or patch versions increase as incremental fixes are added.
+
+## v2
+
+### Mavsdk configuration
+
+The `Mavsdk` class no longer assumes the configuration of a ground station by default but instead a configuration needs to be passed as a constructor argument.
+
+The configuration argument sets the identification, so the MAVLink `MAV_TYPE` and MAVLink component ID (also called compid) of the Mavsdk instance itself, so the source and not the target that you're connecting to.
+
+Old instantiation:
+```
+Mavsdk mavsdk;
+```
+
+New instantiation:
+```
+Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
+```
+
+**Note:**
+It is still possible to change the configuration later (although not recommended) using `Mavsdk::set_configuration(...)`.
+
+**Rationale:**
+
+The reasons behind this change is to make users aware of this configuration and not assume any default. The problem with a ground station default is that it can be potentially dangerous without the user being aware. We are aware that this makes the API more cumbersome and verbose to use but the goal of Mavsdk is always to erro on the side of safety.
+
+For instance, in the case where MAVSDK is used on the companion computer, the autopilot would assume that it is connected to a ground station at all time, even if the real ground station was lost.
+
+Also, having to set the default makes it less likely to misconfigure the overall integration and end up with several components that conflict.
+
+**Note:**
+It is also possible to set the sysid/compid directly, just check out the API of [Mavsdk::Configuration](cpp/api_reference/classmavsdk_1_1_mavsdk_1_1_configuration.md).
+
+
+### Subscription API
+
+The subscription API (also called async functions) has changed:
+
+Old:
+
+```
+// Subscribe
+telemetry.subscribe_position([](Telemetry::Position position) {
+    std::cout << "Altitude: " << position.relative_altitude_m << " m\n";
+});
+
+// Unsubscribe again
+telemetry.subscribe_position(nullptr);
+```
+
+New:
+
+```
+// Subscribe
+auto handle = telemetry.subscribe_position([](Telemetry::Position position) {
+    std::cout << "Altitude: " << position.relative_altitude_m << " m\n";
+});
+
+// Unsubscribe again
+telemetry.unsubscribe_position(handle);
+```
+
+**Rationale:**
+MAVSDK subscriptions had the drawback that there could only be one subscription per API. So subsequent subscribers would overwrite previous subscribers. With the new API there can be more than one subscriber per API, and each can unsubscribe using their own handle.
+
+
+### Server component plugins
+
+A lost of work has gone into Mavsdk v2 to support "server" components. These are components that typically run on the drone, e.g. a companion computer or a camera.
+
+Server component plugins are all plugins that end in `_server`. They don't need a `System` to be instantiated as they are "connected to and don't care who connects to them".
+
+For instance a camera server plugin can be used as follows:
+
+```
+Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::Camera}};
+auto camera_server = mavsdk::CameraServer{mavsdk.server_component()};
+```
+
+It's also possible to add more than one MAVLink component to one MAVSDK instance, e.g. a gimbal could be added like this:
+
+
+### Connecting to first autopilot system
+
+Discovering vehicles/systems required quite a bit of boilerplate code in the past. This has been simplified using a `Mavsdk::first_autopilot(double timeout_s)` method.
+
+Old discovering of first autopilot:
+
+```
+std::cout << "Waiting to discover system...\n";
+auto prom = std::promise<std::shared_ptr<System>>{};
+auto fut = prom.get_future();
+
+// We wait for new systems to be discovered, once we find one that has an
+// autopilot, we decide to use it.
+mavsdk.subscribe_on_new_system([&mavsdk, &prom]() {
+    auto system = mavsdk.systems().back();
+
+    if (system->has_autopilot()) {
+        std::cout << "Discovered autopilot\n";
+
+        // Unsubscribe again as we only want to find one system.
+        mavsdk.subscribe_on_new_system(nullptr);
+        prom.set_value(system);
+    }
+});
+
+// We usually receive heartbeats at 1Hz, therefore we should find a
+// system after around 3 seconds max, surely.
+if (fut.wait_for(seconds(3)) == std::future_status::timeout) {
+    std::cerr << "No autopilot found.\n";
+    return {};
+}
+
+// Get discovered system now.
+auto system = fut.get();
+```
+
+New simplified way:
+
+```
+auto system = mavsdk.first_autopilot(3.0);
+```
+
+## v1
+
+### Linking
+
+With version 1, we introduce bigger changes in the way the MAVSDK library is linked to. Essentially, the library is no longer split up in multiple library files, one for the core (e.g. `mavsdk.so`) and one each for every plugin (e.g. `mavsdk_action.so`) and instead everything is merged into one library file (usually `mavsdk.so`).
+
+This means that linking in cmake gets easier.
+
+Previously, this was required:
+```
+target_link_libraries(my_executable
+    MAVSDK::mavsdk_action
+    MAVSDK::mavsdk_mission
+    MAVSDK::mavsdk_telemetry
+    MAVSDK::mavsdk
+)
+```
+
+Now, this is all that is needed:
+```
+target_link_libraries(my_executable
+    MAVSDK::mavsdk
+)
+```
+
+#### Rationale
+
+**Why were the "plugins" split up in the first place?**
+
+- The plugins were split because they were supposed to be extendable plugins. However, the last few years have shown that this is not really required, as there were no requests or contributions for it.
+- Also, having a real plugin architecture is not always easy. For instance, loading plugins at runtime with `dlopen` [is not possible](https://github.com/bpowers/musl/blob/master/src/ldso/dlopen.c) when the library is compiled with [musl](https://www.musl-libc.org/). (We use musl to compile `mavsdk_server` statically without dependencies, so that it can be shipped with PyPi and runs on any Linux distribution and version as well as cross-compiled on armv6/7/8).
+
+**What are the advantages of the change?**
+
+- Having one library to link to is easier and more inline with other libraries. When more functionality is needed, CMakeLists.txt doesn't need to be changed every time.
+- Having only one library makes it easier to check for ABI breaks.
+- The file overhead for every plugin is actually very small, so the overhead should be negligible.
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_action.md b/docs/en/cpp/api_reference/classmavsdk_1_1_action.md
new file mode 100644
index 0000000000..ade97af305
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_action.md
@@ -0,0 +1,1017 @@
+# mavsdk::Action Class Reference
+`#include: action.h`
+
+----
+
+
+Enable simple actions such as arming, taking off, and landing. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [OrbitYawBehavior](#classmavsdk_1_1_action_1ad9dd7c5e85dda1ae188df75998375c92) | Yaw behaviour during orbit flight.
+enum [Result](#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | Possible results returned for action requests.
+std::function< void([Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51))> [ResultCallback](#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) | Callback type for asynchronous [Action](classmavsdk_1_1_action.md) calls.
+std::function< void([Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51), float)> [GetTakeoffAltitudeCallback](#classmavsdk_1_1_action_1ad1ae6edb8ea375a3472ef14313b591e2) | Callback type for get_takeoff_altitude_async.
+std::function< void([Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51), float)> [GetMaximumSpeedCallback](#classmavsdk_1_1_action_1a6993096d3e1424a817ad58ce8217a73c) | Callback type for get_maximum_speed_async.
+std::function< void([Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51), float)> [GetReturnToLaunchAltitudeCallback](#classmavsdk_1_1_action_1af28acf6f7cff11f3c583761edb7d7415) | Callback type for get_return_to_launch_altitude_async.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Action](#classmavsdk_1_1_action_1a5e2a4d65f85d821be691a837453e56ee) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Action](#classmavsdk_1_1_action_1a4359d18e02bca100175cd00fab814550) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Action](#classmavsdk_1_1_action_1a99352fe4e83e4b721d5c5b5942beb76f) () override | Destructor (internal use only).
+&nbsp; | [Action](#classmavsdk_1_1_action_1a99fc1d6fc90af15a93bb270b0279a095) (const [Action](classmavsdk_1_1_action.md) & other) | Copy constructor.
+void | [arm_async](#classmavsdk_1_1_action_1a570a3799ca5dbbf8aab30ce465687796) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to arm the drone.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [arm](#classmavsdk_1_1_action_1a3ee123973982842f46a9f8b6cb952566) () const | Send command to arm the drone.
+void | [disarm_async](#classmavsdk_1_1_action_1a3107f7f5a2f4a478024667f187f8f2aa) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to disarm the drone.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [disarm](#classmavsdk_1_1_action_1a44c61110965bcdd3dfb90a08d3c6b6b9) () const | Send command to disarm the drone.
+void | [takeoff_async](#classmavsdk_1_1_action_1ab658d938970326db41709d83e02b41e6) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to take off and hover.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [takeoff](#classmavsdk_1_1_action_1a0121d39baf922b1d88283230207ab5d0) () const | Send command to take off and hover.
+void | [land_async](#classmavsdk_1_1_action_1a89d146a766d49f1c706c66a3e2b9252d) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to land at the current position.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [land](#classmavsdk_1_1_action_1af6429e1bdb2875deebfe98ed53da3d41) () const | Send command to land at the current position.
+void | [reboot_async](#classmavsdk_1_1_action_1a32cfcc71a00afc28f43d2a22c319618c) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to reboot the drone components.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [reboot](#classmavsdk_1_1_action_1a7f1e1911ca234e5572b3162a45d83c5d) () const | Send command to reboot the drone components.
+void | [shutdown_async](#classmavsdk_1_1_action_1a1658a5499c61c46340428bb819453615) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to shut down the drone components.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [shutdown](#classmavsdk_1_1_action_1a44522a60732d3968831f0cf6097c5360) () const | Send command to shut down the drone components.
+void | [terminate_async](#classmavsdk_1_1_action_1a47536c4a4bc8367ccd30a92eb09781c5) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to terminate the drone.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [terminate](#classmavsdk_1_1_action_1a4183edd722a8a60d281c882a90723b99) () const | Send command to terminate the drone.
+void | [kill_async](#classmavsdk_1_1_action_1a78c1f15c3b190ba94793045621819e69) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to kill the drone.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [kill](#classmavsdk_1_1_action_1af40fc1ddf588b3796134a9303ebc3667) () const | Send command to kill the drone.
+void | [return_to_launch_async](#classmavsdk_1_1_action_1abe5bd426de588b246644ee3ddb12517d) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to return to the launch (takeoff) position and land.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [return_to_launch](#classmavsdk_1_1_action_1afd7c225df0495b0947f00e7d2dd64877) () const | Send command to return to the launch (takeoff) position and land.
+void | [goto_location_async](#classmavsdk_1_1_action_1a6fd615e5571d6e7e3c53a79d2160ffc5) (double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg, const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to move the vehicle to a specific global position.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [goto_location](#classmavsdk_1_1_action_1afb3546fa994357e491816f2032716818) (double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg)const | Send command to move the vehicle to a specific global position.
+void | [do_orbit_async](#classmavsdk_1_1_action_1aac9a2ac57a6e8f734b25c2e6dc0729ba) (float radius_m, float velocity_ms, [OrbitYawBehavior](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1ad9dd7c5e85dda1ae188df75998375c92) yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m, const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command do orbit to the drone.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [do_orbit](#classmavsdk_1_1_action_1ac7447a86016bee3576643563079288b9) (float radius_m, float velocity_ms, [OrbitYawBehavior](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1ad9dd7c5e85dda1ae188df75998375c92) yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m)const | Send command do orbit to the drone.
+void | [hold_async](#classmavsdk_1_1_action_1aad198c883e7ace1cf4556c3b15bd8ad8) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to hold position (a.k.a. "Loiter").
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [hold](#classmavsdk_1_1_action_1a3440724492453e88d2399be7bae6e7c4) () const | Send command to hold position (a.k.a. "Loiter").
+void | [set_actuator_async](#classmavsdk_1_1_action_1a2206033eb3469d2ae81b9cf994bfda98) (int32_t index, float value, const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to set the value of an actuator.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [set_actuator](#classmavsdk_1_1_action_1ad30beac27f05c62dcf6a3d0928b86e4c) (int32_t index, float value)const | Send command to set the value of an actuator.
+void | [transition_to_fixedwing_async](#classmavsdk_1_1_action_1aa56181441cd64e092a8fb91a38c7c9fd) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to transition the drone to fixedwing.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [transition_to_fixedwing](#classmavsdk_1_1_action_1a8d5cf999a48ea3859ec75db27cf4fbda) () const | Send command to transition the drone to fixedwing.
+void | [transition_to_multicopter_async](#classmavsdk_1_1_action_1a8c109076641b5c9aa6dd78ea8b913529) (const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Send command to transition the drone to multicopter.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [transition_to_multicopter](#classmavsdk_1_1_action_1aac94bfb8613a8e9869e3620b3dc9bb8e) () const | Send command to transition the drone to multicopter.
+void | [get_takeoff_altitude_async](#classmavsdk_1_1_action_1a0a600e6ef75a69341d8b21243e7b1a71) (const [GetTakeoffAltitudeCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1ad1ae6edb8ea375a3472ef14313b591e2) callback) | Get the takeoff altitude (in meters above ground).
+std::pair< [Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51), float > | [get_takeoff_altitude](#classmavsdk_1_1_action_1a85df48432c5ed2c6e23831409139ed39) () const | Get the takeoff altitude (in meters above ground).
+void | [set_takeoff_altitude_async](#classmavsdk_1_1_action_1a9027c3e5f9eaf37cdfe8c426727c7693) (float altitude, const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Set takeoff altitude (in meters above ground).
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [set_takeoff_altitude](#classmavsdk_1_1_action_1ace2188fe367b3bb10b17b89c88d1f952) (float altitude)const | Set takeoff altitude (in meters above ground).
+void | [get_maximum_speed_async](#classmavsdk_1_1_action_1a30aada232be0f805950a78e2005ade75) (const [GetMaximumSpeedCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a6993096d3e1424a817ad58ce8217a73c) callback) | Get the vehicle maximum speed (in metres/second).
+std::pair< [Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51), float > | [get_maximum_speed](#classmavsdk_1_1_action_1a128bf73fe8d0d359f36a3a9a327799ee) () const | Get the vehicle maximum speed (in metres/second).
+void | [set_maximum_speed_async](#classmavsdk_1_1_action_1abc99f14481f0d961228c6535da9017a6) (float speed, const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Set vehicle maximum speed (in metres/second).
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [set_maximum_speed](#classmavsdk_1_1_action_1a5fccee1636215bccf8d77d9dca15134e) (float speed)const | Set vehicle maximum speed (in metres/second).
+void | [get_return_to_launch_altitude_async](#classmavsdk_1_1_action_1aa19935b55d80f63e06397b3ea4b51c22) (const [GetReturnToLaunchAltitudeCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1af28acf6f7cff11f3c583761edb7d7415) callback) | Get the return to launch minimum return altitude (in meters).
+std::pair< [Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51), float > | [get_return_to_launch_altitude](#classmavsdk_1_1_action_1aeffd084ea51c8a784e28b44b859b6586) () const | Get the return to launch minimum return altitude (in meters).
+void | [set_return_to_launch_altitude_async](#classmavsdk_1_1_action_1acdc4360c21ec82c57125023c552b3410) (float relative_altitude_m, const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Set the return to launch minimum return altitude (in meters).
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [set_return_to_launch_altitude](#classmavsdk_1_1_action_1a5b05e84d35fad5b0ba2837aae1b3686e) (float relative_altitude_m)const | Set the return to launch minimum return altitude (in meters).
+void | [set_current_speed_async](#classmavsdk_1_1_action_1afd210be0eba436c81da79107562a0b6c) (float speed_m_s, const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) callback) | Set current speed.
+[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) | [set_current_speed](#classmavsdk_1_1_action_1af3b74cf3912411d9476b6eeac0984afb) (float speed_m_s)const | Set current speed.
+const [Action](classmavsdk_1_1_action.md) & | [operator=](#classmavsdk_1_1_action_1a1ff7e178b7ededc41bd9ccab0ca07457) (const [Action](classmavsdk_1_1_action.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Action() {#classmavsdk_1_1_action_1a5e2a4d65f85d821be691a837453e56ee}
+```cpp
+mavsdk::Action::Action(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto action = Action(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Action() {#classmavsdk_1_1_action_1a4359d18e02bca100175cd00fab814550}
+```cpp
+mavsdk::Action::Action(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto action = Action(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Action() {#classmavsdk_1_1_action_1a99352fe4e83e4b721d5c5b5942beb76f}
+```cpp
+mavsdk::Action::~Action() override
+```
+
+
+Destructor (internal use only).
+
+
+### Action() {#classmavsdk_1_1_action_1a99fc1d6fc90af15a93bb270b0279a095}
+```cpp
+mavsdk::Action::Action(const Action &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Action](classmavsdk_1_1_action.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd}
+
+```cpp
+using mavsdk::Action::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Action](classmavsdk_1_1_action.md) calls.
+
+
+### typedef GetTakeoffAltitudeCallback {#classmavsdk_1_1_action_1ad1ae6edb8ea375a3472ef14313b591e2}
+
+```cpp
+using mavsdk::Action::GetTakeoffAltitudeCallback =  std::function<void(Result, float)>
+```
+
+
+Callback type for get_takeoff_altitude_async.
+
+
+### typedef GetMaximumSpeedCallback {#classmavsdk_1_1_action_1a6993096d3e1424a817ad58ce8217a73c}
+
+```cpp
+using mavsdk::Action::GetMaximumSpeedCallback =  std::function<void(Result, float)>
+```
+
+
+Callback type for get_maximum_speed_async.
+
+
+### typedef GetReturnToLaunchAltitudeCallback {#classmavsdk_1_1_action_1af28acf6f7cff11f3c583761edb7d7415}
+
+```cpp
+using mavsdk::Action::GetReturnToLaunchAltitudeCallback =  std::function<void(Result, float)>
+```
+
+
+Callback type for get_return_to_launch_altitude_async.
+
+
+## Member Enumeration Documentation
+
+
+### enum OrbitYawBehavior {#classmavsdk_1_1_action_1ad9dd7c5e85dda1ae188df75998375c92}
+
+
+Yaw behaviour during orbit flight.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_action_1ad9dd7c5e85dda1ae188df75998375c92a79d1fbff30d2eff041b71752c0bd3f49"></span> `HoldFrontToCircleCenter` | Vehicle front points to the center (default). 
+<span id="classmavsdk_1_1_action_1ad9dd7c5e85dda1ae188df75998375c92afe072bbce18b07f94697b52cbe918cf5"></span> `HoldInitialHeading` | Vehicle front holds heading when message received. 
+<span id="classmavsdk_1_1_action_1ad9dd7c5e85dda1ae188df75998375c92a3cbc75230c11ca34e25123273980f413"></span> `Uncontrolled` | Yaw uncontrolled. 
+<span id="classmavsdk_1_1_action_1ad9dd7c5e85dda1ae188df75998375c92a03aac6c04bac9cc0876336d842763dd0"></span> `HoldFrontTangentToCircle` | Vehicle front follows flight path (tangential to circle). 
+<span id="classmavsdk_1_1_action_1ad9dd7c5e85dda1ae188df75998375c92ac48baeef91367bc4132d164d920ff697"></span> `RcControlled` | Yaw controlled by RC input. 
+
+### enum Result {#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51}
+
+
+Possible results returned for action requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request was successful. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51a3398e12855176d55f43d53e04f472c8a"></span> `CommandDenied` | Command refused by vehicle. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51a2dfd6d9491cefa8820ce47f77471e5e3"></span> `CommandDeniedLandedStateUnknown` | Command refused because landed state is unknown. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51a73d9a6e3b34d98fa3c4fac08f3434a9a"></span> `CommandDeniedNotLanded` | Command refused because vehicle not landed. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51a7006c2f81a7a1a65a23cfc16b0326336"></span> `VtolTransitionSupportUnknown` | Hybrid/VTOL transition support is unknown. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51a5039f02d708e3874858b22610ed63d1e"></span> `NoVtolTransitionSupport` | Vehicle does not support hybrid/VTOL transitions. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51a189976b733e988a6903e4d19d8cd2fea"></span> `ParameterError` | Error getting or setting parameter. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51ab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | [Action](classmavsdk_1_1_action.md) not supported. 
+<span id="classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51ad7c8c85bf79bbe1b7188497c32c3b0ca"></span> `Failed` | [Action](classmavsdk_1_1_action.md) failed. 
+
+## Member Function Documentation
+
+
+### arm_async() {#classmavsdk_1_1_action_1a570a3799ca5dbbf8aab30ce465687796}
+```cpp
+void mavsdk::Action::arm_async(const ResultCallback callback)
+```
+
+
+Send command to arm the drone.
+
+Arming a drone normally causes motors to spin at idle. Before arming take all safety precautions and stand clear of the drone!
+
+
+This function is non-blocking. See 'arm' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### arm() {#classmavsdk_1_1_action_1a3ee123973982842f46a9f8b6cb952566}
+```cpp
+Result mavsdk::Action::arm() const
+```
+
+
+Send command to arm the drone.
+
+Arming a drone normally causes motors to spin at idle. Before arming take all safety precautions and stand clear of the drone!
+
+
+This function is blocking. See 'arm_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### disarm_async() {#classmavsdk_1_1_action_1a3107f7f5a2f4a478024667f187f8f2aa}
+```cpp
+void mavsdk::Action::disarm_async(const ResultCallback callback)
+```
+
+
+Send command to disarm the drone.
+
+This will disarm a drone that considers itself landed. If flying, the drone should reject the disarm command. Disarming means that all motors will stop.
+
+
+This function is non-blocking. See 'disarm' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### disarm() {#classmavsdk_1_1_action_1a44c61110965bcdd3dfb90a08d3c6b6b9}
+```cpp
+Result mavsdk::Action::disarm() const
+```
+
+
+Send command to disarm the drone.
+
+This will disarm a drone that considers itself landed. If flying, the drone should reject the disarm command. Disarming means that all motors will stop.
+
+
+This function is blocking. See 'disarm_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### takeoff_async() {#classmavsdk_1_1_action_1ab658d938970326db41709d83e02b41e6}
+```cpp
+void mavsdk::Action::takeoff_async(const ResultCallback callback)
+```
+
+
+Send command to take off and hover.
+
+This switches the drone into position control mode and commands it to take off and hover at the takeoff altitude.
+
+
+Note that the vehicle must be armed before it can take off.
+
+
+This function is non-blocking. See 'takeoff' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### takeoff() {#classmavsdk_1_1_action_1a0121d39baf922b1d88283230207ab5d0}
+```cpp
+Result mavsdk::Action::takeoff() const
+```
+
+
+Send command to take off and hover.
+
+This switches the drone into position control mode and commands it to take off and hover at the takeoff altitude.
+
+
+Note that the vehicle must be armed before it can take off.
+
+
+This function is blocking. See 'takeoff_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### land_async() {#classmavsdk_1_1_action_1a89d146a766d49f1c706c66a3e2b9252d}
+```cpp
+void mavsdk::Action::land_async(const ResultCallback callback)
+```
+
+
+Send command to land at the current position.
+
+This switches the drone to 'Land' flight mode.
+
+
+This function is non-blocking. See 'land' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### land() {#classmavsdk_1_1_action_1af6429e1bdb2875deebfe98ed53da3d41}
+```cpp
+Result mavsdk::Action::land() const
+```
+
+
+Send command to land at the current position.
+
+This switches the drone to 'Land' flight mode.
+
+
+This function is blocking. See 'land_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### reboot_async() {#classmavsdk_1_1_action_1a32cfcc71a00afc28f43d2a22c319618c}
+```cpp
+void mavsdk::Action::reboot_async(const ResultCallback callback)
+```
+
+
+Send command to reboot the drone components.
+
+This will reboot the autopilot, companion computer, camera and gimbal.
+
+
+This function is non-blocking. See 'reboot' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### reboot() {#classmavsdk_1_1_action_1a7f1e1911ca234e5572b3162a45d83c5d}
+```cpp
+Result mavsdk::Action::reboot() const
+```
+
+
+Send command to reboot the drone components.
+
+This will reboot the autopilot, companion computer, camera and gimbal.
+
+
+This function is blocking. See 'reboot_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### shutdown_async() {#classmavsdk_1_1_action_1a1658a5499c61c46340428bb819453615}
+```cpp
+void mavsdk::Action::shutdown_async(const ResultCallback callback)
+```
+
+
+Send command to shut down the drone components.
+
+This will shut down the autopilot, onboard computer, camera and gimbal. This command should only be used when the autopilot is disarmed and autopilots commonly reject it if they are not already ready to shut down.
+
+
+This function is non-blocking. See 'shutdown' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### shutdown() {#classmavsdk_1_1_action_1a44522a60732d3968831f0cf6097c5360}
+```cpp
+Result mavsdk::Action::shutdown() const
+```
+
+
+Send command to shut down the drone components.
+
+This will shut down the autopilot, onboard computer, camera and gimbal. This command should only be used when the autopilot is disarmed and autopilots commonly reject it if they are not already ready to shut down.
+
+
+This function is blocking. See 'shutdown_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### terminate_async() {#classmavsdk_1_1_action_1a47536c4a4bc8367ccd30a92eb09781c5}
+```cpp
+void mavsdk::Action::terminate_async(const ResultCallback callback)
+```
+
+
+Send command to terminate the drone.
+
+This will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).
+
+
+This function is non-blocking. See 'terminate' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### terminate() {#classmavsdk_1_1_action_1a4183edd722a8a60d281c882a90723b99}
+```cpp
+Result mavsdk::Action::terminate() const
+```
+
+
+Send command to terminate the drone.
+
+This will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).
+
+
+This function is blocking. See 'terminate_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### kill_async() {#classmavsdk_1_1_action_1a78c1f15c3b190ba94793045621819e69}
+```cpp
+void mavsdk::Action::kill_async(const ResultCallback callback)
+```
+
+
+Send command to kill the drone.
+
+This will disarm a drone irrespective of whether it is landed or flying. Note that the drone will fall out of the sky if this command is used while flying.
+
+
+This function is non-blocking. See 'kill' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### kill() {#classmavsdk_1_1_action_1af40fc1ddf588b3796134a9303ebc3667}
+```cpp
+Result mavsdk::Action::kill() const
+```
+
+
+Send command to kill the drone.
+
+This will disarm a drone irrespective of whether it is landed or flying. Note that the drone will fall out of the sky if this command is used while flying.
+
+
+This function is blocking. See 'kill_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### return_to_launch_async() {#classmavsdk_1_1_action_1abe5bd426de588b246644ee3ddb12517d}
+```cpp
+void mavsdk::Action::return_to_launch_async(const ResultCallback callback)
+```
+
+
+Send command to return to the launch (takeoff) position and land.
+
+This switches the drone into [Return mode](https://docs.px4.io/master/en/flight_modes/return.html) which generally means it will rise up to a certain altitude to clear any obstacles before heading back to the launch (takeoff) position and land there.
+
+
+This function is non-blocking. See 'return_to_launch' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### return_to_launch() {#classmavsdk_1_1_action_1afd7c225df0495b0947f00e7d2dd64877}
+```cpp
+Result mavsdk::Action::return_to_launch() const
+```
+
+
+Send command to return to the launch (takeoff) position and land.
+
+This switches the drone into [Return mode](https://docs.px4.io/master/en/flight_modes/return.html) which generally means it will rise up to a certain altitude to clear any obstacles before heading back to the launch (takeoff) position and land there.
+
+
+This function is blocking. See 'return_to_launch_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### goto_location_async() {#classmavsdk_1_1_action_1a6fd615e5571d6e7e3c53a79d2160ffc5}
+```cpp
+void mavsdk::Action::goto_location_async(double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg, const ResultCallback callback)
+```
+
+
+Send command to move the vehicle to a specific global position.
+
+The latitude and longitude are given in degrees (WGS84 frame) and the altitude in meters AMSL (above mean sea level).
+
+
+The yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).
+
+
+This function is non-blocking. See 'goto_location' for the blocking counterpart.
+
+**Parameters**
+
+* double **latitude_deg** - 
+* double **longitude_deg** - 
+* float **absolute_altitude_m** - 
+* float **yaw_deg** - 
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### goto_location() {#classmavsdk_1_1_action_1afb3546fa994357e491816f2032716818}
+```cpp
+Result mavsdk::Action::goto_location(double latitude_deg, double longitude_deg, float absolute_altitude_m, float yaw_deg) const
+```
+
+
+Send command to move the vehicle to a specific global position.
+
+The latitude and longitude are given in degrees (WGS84 frame) and the altitude in meters AMSL (above mean sea level).
+
+
+The yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).
+
+
+This function is blocking. See 'goto_location_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **latitude_deg** - 
+* double **longitude_deg** - 
+* float **absolute_altitude_m** - 
+* float **yaw_deg** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### do_orbit_async() {#classmavsdk_1_1_action_1aac9a2ac57a6e8f734b25c2e6dc0729ba}
+```cpp
+void mavsdk::Action::do_orbit_async(float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m, const ResultCallback callback)
+```
+
+
+Send command do orbit to the drone.
+
+This will run the orbit routine with the given parameters.
+
+
+This function is non-blocking. See 'do_orbit' for the blocking counterpart.
+
+**Parameters**
+
+* float **radius_m** - 
+* float **velocity_ms** - 
+* [OrbitYawBehavior](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1ad9dd7c5e85dda1ae188df75998375c92) **yaw_behavior** - 
+* double **latitude_deg** - 
+* double **longitude_deg** - 
+* double **absolute_altitude_m** - 
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### do_orbit() {#classmavsdk_1_1_action_1ac7447a86016bee3576643563079288b9}
+```cpp
+Result mavsdk::Action::do_orbit(float radius_m, float velocity_ms, OrbitYawBehavior yaw_behavior, double latitude_deg, double longitude_deg, double absolute_altitude_m) const
+```
+
+
+Send command do orbit to the drone.
+
+This will run the orbit routine with the given parameters.
+
+
+This function is blocking. See 'do_orbit_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* float **radius_m** - 
+* float **velocity_ms** - 
+* [OrbitYawBehavior](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1ad9dd7c5e85dda1ae188df75998375c92) **yaw_behavior** - 
+* double **latitude_deg** - 
+* double **longitude_deg** - 
+* double **absolute_altitude_m** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### hold_async() {#classmavsdk_1_1_action_1aad198c883e7ace1cf4556c3b15bd8ad8}
+```cpp
+void mavsdk::Action::hold_async(const ResultCallback callback)
+```
+
+
+Send command to hold position (a.k.a. "Loiter").
+
+Sends a command to drone to change to Hold flight mode, causing the vehicle to stop and maintain its current GPS position and altitude.
+
+
+Note: this command is specific to the PX4 Autopilot flight stack as it implies a change to a PX4-specific mode.
+
+
+This function is non-blocking. See 'hold' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### hold() {#classmavsdk_1_1_action_1a3440724492453e88d2399be7bae6e7c4}
+```cpp
+Result mavsdk::Action::hold() const
+```
+
+
+Send command to hold position (a.k.a. "Loiter").
+
+Sends a command to drone to change to Hold flight mode, causing the vehicle to stop and maintain its current GPS position and altitude.
+
+
+Note: this command is specific to the PX4 Autopilot flight stack as it implies a change to a PX4-specific mode.
+
+
+This function is blocking. See 'hold_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### set_actuator_async() {#classmavsdk_1_1_action_1a2206033eb3469d2ae81b9cf994bfda98}
+```cpp
+void mavsdk::Action::set_actuator_async(int32_t index, float value, const ResultCallback callback)
+```
+
+
+Send command to set the value of an actuator.
+
+This function is non-blocking. See 'set_actuator' for the blocking counterpart.
+
+**Parameters**
+
+* int32_t **index** - 
+* float **value** - 
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### set_actuator() {#classmavsdk_1_1_action_1ad30beac27f05c62dcf6a3d0928b86e4c}
+```cpp
+Result mavsdk::Action::set_actuator(int32_t index, float value) const
+```
+
+
+Send command to set the value of an actuator.
+
+This function is blocking. See 'set_actuator_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* int32_t **index** - 
+* float **value** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### transition_to_fixedwing_async() {#classmavsdk_1_1_action_1aa56181441cd64e092a8fb91a38c7c9fd}
+```cpp
+void mavsdk::Action::transition_to_fixedwing_async(const ResultCallback callback)
+```
+
+
+Send command to transition the drone to fixedwing.
+
+The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in fixedwing mode.
+
+
+This function is non-blocking. See 'transition_to_fixedwing' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### transition_to_fixedwing() {#classmavsdk_1_1_action_1a8d5cf999a48ea3859ec75db27cf4fbda}
+```cpp
+Result mavsdk::Action::transition_to_fixedwing() const
+```
+
+
+Send command to transition the drone to fixedwing.
+
+The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in fixedwing mode.
+
+
+This function is blocking. See 'transition_to_fixedwing_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### transition_to_multicopter_async() {#classmavsdk_1_1_action_1a8c109076641b5c9aa6dd78ea8b913529}
+```cpp
+void mavsdk::Action::transition_to_multicopter_async(const ResultCallback callback)
+```
+
+
+Send command to transition the drone to multicopter.
+
+The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in multicopter mode.
+
+
+This function is non-blocking. See 'transition_to_multicopter' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### transition_to_multicopter() {#classmavsdk_1_1_action_1aac94bfb8613a8e9869e3620b3dc9bb8e}
+```cpp
+Result mavsdk::Action::transition_to_multicopter() const
+```
+
+
+Send command to transition the drone to multicopter.
+
+The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail). The command will succeed if called when the vehicle is already in multicopter mode.
+
+
+This function is blocking. See 'transition_to_multicopter_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### get_takeoff_altitude_async() {#classmavsdk_1_1_action_1a0a600e6ef75a69341d8b21243e7b1a71}
+```cpp
+void mavsdk::Action::get_takeoff_altitude_async(const GetTakeoffAltitudeCallback callback)
+```
+
+
+Get the takeoff altitude (in meters above ground).
+
+This function is non-blocking. See 'get_takeoff_altitude' for the blocking counterpart.
+
+**Parameters**
+
+* const [GetTakeoffAltitudeCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1ad1ae6edb8ea375a3472ef14313b591e2) **callback** - 
+
+### get_takeoff_altitude() {#classmavsdk_1_1_action_1a85df48432c5ed2c6e23831409139ed39}
+```cpp
+std::pair<Result, float> mavsdk::Action::get_takeoff_altitude() const
+```
+
+
+Get the takeoff altitude (in meters above ground).
+
+This function is blocking. See 'get_takeoff_altitude_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51), float > - Result of request.
+
+### set_takeoff_altitude_async() {#classmavsdk_1_1_action_1a9027c3e5f9eaf37cdfe8c426727c7693}
+```cpp
+void mavsdk::Action::set_takeoff_altitude_async(float altitude, const ResultCallback callback)
+```
+
+
+Set takeoff altitude (in meters above ground).
+
+This function is non-blocking. See 'set_takeoff_altitude' for the blocking counterpart.
+
+**Parameters**
+
+* float **altitude** - 
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### set_takeoff_altitude() {#classmavsdk_1_1_action_1ace2188fe367b3bb10b17b89c88d1f952}
+```cpp
+Result mavsdk::Action::set_takeoff_altitude(float altitude) const
+```
+
+
+Set takeoff altitude (in meters above ground).
+
+This function is blocking. See 'set_takeoff_altitude_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* float **altitude** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### get_maximum_speed_async() {#classmavsdk_1_1_action_1a30aada232be0f805950a78e2005ade75}
+```cpp
+void mavsdk::Action::get_maximum_speed_async(const GetMaximumSpeedCallback callback)
+```
+
+
+Get the vehicle maximum speed (in metres/second).
+
+This function is non-blocking. See 'get_maximum_speed' for the blocking counterpart.
+
+**Parameters**
+
+* const [GetMaximumSpeedCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a6993096d3e1424a817ad58ce8217a73c) **callback** - 
+
+### get_maximum_speed() {#classmavsdk_1_1_action_1a128bf73fe8d0d359f36a3a9a327799ee}
+```cpp
+std::pair<Result, float> mavsdk::Action::get_maximum_speed() const
+```
+
+
+Get the vehicle maximum speed (in metres/second).
+
+This function is blocking. See 'get_maximum_speed_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51), float > - Result of request.
+
+### set_maximum_speed_async() {#classmavsdk_1_1_action_1abc99f14481f0d961228c6535da9017a6}
+```cpp
+void mavsdk::Action::set_maximum_speed_async(float speed, const ResultCallback callback)
+```
+
+
+Set vehicle maximum speed (in metres/second).
+
+This function is non-blocking. See 'set_maximum_speed' for the blocking counterpart.
+
+**Parameters**
+
+* float **speed** - 
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### set_maximum_speed() {#classmavsdk_1_1_action_1a5fccee1636215bccf8d77d9dca15134e}
+```cpp
+Result mavsdk::Action::set_maximum_speed(float speed) const
+```
+
+
+Set vehicle maximum speed (in metres/second).
+
+This function is blocking. See 'set_maximum_speed_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* float **speed** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### get_return_to_launch_altitude_async() {#classmavsdk_1_1_action_1aa19935b55d80f63e06397b3ea4b51c22}
+```cpp
+void mavsdk::Action::get_return_to_launch_altitude_async(const GetReturnToLaunchAltitudeCallback callback)
+```
+
+
+Get the return to launch minimum return altitude (in meters).
+
+This function is non-blocking. See 'get_return_to_launch_altitude' for the blocking counterpart.
+
+**Parameters**
+
+* const [GetReturnToLaunchAltitudeCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1af28acf6f7cff11f3c583761edb7d7415) **callback** - 
+
+### get_return_to_launch_altitude() {#classmavsdk_1_1_action_1aeffd084ea51c8a784e28b44b859b6586}
+```cpp
+std::pair<Result, float> mavsdk::Action::get_return_to_launch_altitude() const
+```
+
+
+Get the return to launch minimum return altitude (in meters).
+
+This function is blocking. See 'get_return_to_launch_altitude_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51), float > - Result of request.
+
+### set_return_to_launch_altitude_async() {#classmavsdk_1_1_action_1acdc4360c21ec82c57125023c552b3410}
+```cpp
+void mavsdk::Action::set_return_to_launch_altitude_async(float relative_altitude_m, const ResultCallback callback)
+```
+
+
+Set the return to launch minimum return altitude (in meters).
+
+This function is non-blocking. See 'set_return_to_launch_altitude' for the blocking counterpart.
+
+**Parameters**
+
+* float **relative_altitude_m** - 
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### set_return_to_launch_altitude() {#classmavsdk_1_1_action_1a5b05e84d35fad5b0ba2837aae1b3686e}
+```cpp
+Result mavsdk::Action::set_return_to_launch_altitude(float relative_altitude_m) const
+```
+
+
+Set the return to launch minimum return altitude (in meters).
+
+This function is blocking. See 'set_return_to_launch_altitude_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* float **relative_altitude_m** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### set_current_speed_async() {#classmavsdk_1_1_action_1afd210be0eba436c81da79107562a0b6c}
+```cpp
+void mavsdk::Action::set_current_speed_async(float speed_m_s, const ResultCallback callback)
+```
+
+
+Set current speed.
+
+This will set the speed during a mission, reposition, and similar. It is ephemeral, so not stored on the drone and does not survive a reboot.
+
+
+This function is non-blocking. See 'set_current_speed' for the blocking counterpart.
+
+**Parameters**
+
+* float **speed_m_s** - 
+* const [ResultCallback](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a70a7b6e742d0c86728dc2e1827dacccd) **callback** - 
+
+### set_current_speed() {#classmavsdk_1_1_action_1af3b74cf3912411d9476b6eeac0984afb}
+```cpp
+Result mavsdk::Action::set_current_speed(float speed_m_s) const
+```
+
+
+Set current speed.
+
+This will set the speed during a mission, reposition, and similar. It is ephemeral, so not stored on the drone and does not survive a reboot.
+
+
+This function is blocking. See 'set_current_speed_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* float **speed_m_s** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action.md#classmavsdk_1_1_action_1adc2e13257ef13de0e7610cf879a0ec51) - Result of request.
+
+### operator=() {#classmavsdk_1_1_action_1a1ff7e178b7ededc41bd9ccab0ca07457}
+```cpp
+const Action& mavsdk::Action::operator=(const Action &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Action](classmavsdk_1_1_action.md)&  - 
+
+**Returns**
+
+&emsp;const [Action](classmavsdk_1_1_action.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_action_server.md b/docs/en/cpp/api_reference/classmavsdk_1_1_action_server.md
new file mode 100644
index 0000000000..91a56963fe
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_action_server.md
@@ -0,0 +1,631 @@
+# mavsdk::ActionServer Class Reference
+`#include: action_server.h`
+
+----
+
+
+Provide vehicle actions (as a server) such as arming, taking off, and landing. 
+
+
+## Data Structures
+
+
+struct [AllowableFlightModes](structmavsdk_1_1_action_server_1_1_allowable_flight_modes.md)
+
+struct [ArmDisarm](structmavsdk_1_1_action_server_1_1_arm_disarm.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [FlightMode](#classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8) | Flight modes.
+enum [Result](#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8) | Possible results returned for action requests.
+std::function< void([Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8))> [ResultCallback](#classmavsdk_1_1_action_server_1affc7fcdc5f60e367bb9032b938223b95) | Callback type for asynchronous [ActionServer](classmavsdk_1_1_action_server.md) calls.
+std::function< void([Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), [ArmDisarm](structmavsdk_1_1_action_server_1_1_arm_disarm.md))> [ArmDisarmCallback](#classmavsdk_1_1_action_server_1a8ef1c6ec94f6bf5173d208be15b14910) | Callback type for subscribe_arm_disarm.
+[Handle](classmavsdk_1_1_handle.md)< [Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), [ArmDisarm](structmavsdk_1_1_action_server_1_1_arm_disarm.md) > [ArmDisarmHandle](#classmavsdk_1_1_action_server_1a5974c4b3e20da3418f9ca2b9de92157b) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_arm_disarm.
+std::function< void([Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), [FlightMode](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8))> [FlightModeChangeCallback](#classmavsdk_1_1_action_server_1a58a1284a240908bf4d9dd998d5939f6f) | Callback type for subscribe_flight_mode_change.
+[Handle](classmavsdk_1_1_handle.md)< [Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), [FlightMode](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8) > [FlightModeChangeHandle](#classmavsdk_1_1_action_server_1aa9746c14f9f1d65ee548ab97b433da2f) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_flight_mode_change.
+std::function< void([Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), bool)> [TakeoffCallback](#classmavsdk_1_1_action_server_1a23074d52d687eff2c4fc0184ac1b61fd) | Callback type for subscribe_takeoff.
+[Handle](classmavsdk_1_1_handle.md)< [Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), bool > [TakeoffHandle](#classmavsdk_1_1_action_server_1aea7eff252335602cd3785a6551c6ba64) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_takeoff.
+std::function< void([Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), bool)> [LandCallback](#classmavsdk_1_1_action_server_1af2eb6d32c9f903a6e9f773ddf2acf4a0) | Callback type for subscribe_land.
+[Handle](classmavsdk_1_1_handle.md)< [Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), bool > [LandHandle](#classmavsdk_1_1_action_server_1ae7c1a7d2a06cc045c9e0f29422f16278) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_land.
+std::function< void([Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), bool)> [RebootCallback](#classmavsdk_1_1_action_server_1a8b2ad3a5fc6a5ac256e21b60043093bd) | Callback type for subscribe_reboot.
+[Handle](classmavsdk_1_1_handle.md)< [Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), bool > [RebootHandle](#classmavsdk_1_1_action_server_1ab1544cd3b8ae97dcb37af0ff7320f29a) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_reboot.
+std::function< void([Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), bool)> [ShutdownCallback](#classmavsdk_1_1_action_server_1aaa5057d10ec2b242c4a35fec46e5602a) | Callback type for subscribe_shutdown.
+[Handle](classmavsdk_1_1_handle.md)< [Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), bool > [ShutdownHandle](#classmavsdk_1_1_action_server_1a7604a04e4ccf230a321593aaec209375) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_shutdown.
+std::function< void([Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), bool)> [TerminateCallback](#classmavsdk_1_1_action_server_1a5eb879b36b5efc4f14bed82ed7655384) | Callback type for subscribe_terminate.
+[Handle](classmavsdk_1_1_handle.md)< [Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8), bool > [TerminateHandle](#classmavsdk_1_1_action_server_1a5ee91dbf03cfc2f19b0cdd3aee6e4214) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_terminate.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [ActionServer](#classmavsdk_1_1_action_server_1aa7a3da260716d5dc7857b26b40d45299) (std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > server_component) | Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+&nbsp; | [~ActionServer](#classmavsdk_1_1_action_server_1a1ddccf377314e9fffee6ab56edaf2b17) () override | Destructor (internal use only).
+&nbsp; | [ActionServer](#classmavsdk_1_1_action_server_1a42228e948d6a50b42ac8e506dc9d094c) (const [ActionServer](classmavsdk_1_1_action_server.md) & other) | Copy constructor.
+[ArmDisarmHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a5974c4b3e20da3418f9ca2b9de92157b) | [subscribe_arm_disarm](#classmavsdk_1_1_action_server_1a898cccbbf0fbb8e50c2d7ec75dd12164) (const [ArmDisarmCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a8ef1c6ec94f6bf5173d208be15b14910) & callback) | Subscribe to ARM/DISARM commands.
+void | [unsubscribe_arm_disarm](#classmavsdk_1_1_action_server_1adef1a0b5964278a9188ffaf17d7cc1ed) ([ArmDisarmHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a5974c4b3e20da3418f9ca2b9de92157b) handle) | Unsubscribe from subscribe_arm_disarm.
+[FlightModeChangeHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aa9746c14f9f1d65ee548ab97b433da2f) | [subscribe_flight_mode_change](#classmavsdk_1_1_action_server_1a4f66d83144feb3657bc50316339f1a63) (const [FlightModeChangeCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a58a1284a240908bf4d9dd998d5939f6f) & callback) | Subscribe to DO_SET_MODE.
+void | [unsubscribe_flight_mode_change](#classmavsdk_1_1_action_server_1acafa3948ad27afc697926f267a5a92d4) ([FlightModeChangeHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aa9746c14f9f1d65ee548ab97b433da2f) handle) | Unsubscribe from subscribe_flight_mode_change.
+[TakeoffHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aea7eff252335602cd3785a6551c6ba64) | [subscribe_takeoff](#classmavsdk_1_1_action_server_1ab289bc925bf87ecc67a16ae0f4356015) (const [TakeoffCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a23074d52d687eff2c4fc0184ac1b61fd) & callback) | Subscribe to takeoff command.
+void | [unsubscribe_takeoff](#classmavsdk_1_1_action_server_1ace083efcfa2323f3fa19bc65e373ff6f) ([TakeoffHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aea7eff252335602cd3785a6551c6ba64) handle) | Unsubscribe from subscribe_takeoff.
+[LandHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1ae7c1a7d2a06cc045c9e0f29422f16278) | [subscribe_land](#classmavsdk_1_1_action_server_1ac3d8a43058e281f49e2352dad9faf44a) (const [LandCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1af2eb6d32c9f903a6e9f773ddf2acf4a0) & callback) | Subscribe to land command.
+void | [unsubscribe_land](#classmavsdk_1_1_action_server_1aecda6dc238780a1ae269b4f60815acf0) ([LandHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1ae7c1a7d2a06cc045c9e0f29422f16278) handle) | Unsubscribe from subscribe_land.
+[RebootHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1ab1544cd3b8ae97dcb37af0ff7320f29a) | [subscribe_reboot](#classmavsdk_1_1_action_server_1ae4ea60fe031763a284e596bb3b805d97) (const [RebootCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a8b2ad3a5fc6a5ac256e21b60043093bd) & callback) | Subscribe to reboot command.
+void | [unsubscribe_reboot](#classmavsdk_1_1_action_server_1a57fe5c92cb5448e6982ae6f62c13d2ba) ([RebootHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1ab1544cd3b8ae97dcb37af0ff7320f29a) handle) | Unsubscribe from subscribe_reboot.
+[ShutdownHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a7604a04e4ccf230a321593aaec209375) | [subscribe_shutdown](#classmavsdk_1_1_action_server_1ad30e10cb343d65e52efa2bfb71a52abf) (const [ShutdownCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aaa5057d10ec2b242c4a35fec46e5602a) & callback) | Subscribe to shutdown command.
+void | [unsubscribe_shutdown](#classmavsdk_1_1_action_server_1a87dfe8c81f23f5e183f15bdbaf2645d2) ([ShutdownHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a7604a04e4ccf230a321593aaec209375) handle) | Unsubscribe from subscribe_shutdown.
+[TerminateHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a5ee91dbf03cfc2f19b0cdd3aee6e4214) | [subscribe_terminate](#classmavsdk_1_1_action_server_1ac332d0380be93c58208c8be626d6d797) (const [TerminateCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a5eb879b36b5efc4f14bed82ed7655384) & callback) | Subscribe to terminate command.
+void | [unsubscribe_terminate](#classmavsdk_1_1_action_server_1a3e236694f1f0beae030021b1b1d42633) ([TerminateHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a5ee91dbf03cfc2f19b0cdd3aee6e4214) handle) | Unsubscribe from subscribe_terminate.
+[Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8) | [set_allow_takeoff](#classmavsdk_1_1_action_server_1a250a8a8d1aed87d7c4125c6cfe797250) (bool allow_takeoff)const | Can the vehicle takeoff.
+[Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8) | [set_armable](#classmavsdk_1_1_action_server_1ab5b21457f69f9f315d54dbc06e745a7a) (bool armable, bool force_armable)const | Can the vehicle arm when requested.
+[Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8) | [set_disarmable](#classmavsdk_1_1_action_server_1afae1336100d7a91a4f4521cee56a1ecb) (bool disarmable, bool force_disarmable)const | Can the vehicle disarm when requested.
+[Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8) | [set_allowable_flight_modes](#classmavsdk_1_1_action_server_1a3041d1b923a3b01021433ad43ab93b3a) ([AllowableFlightModes](structmavsdk_1_1_action_server_1_1_allowable_flight_modes.md) flight_modes)const | Set which modes the vehicle can transition to (Manual always allowed)
+[ActionServer::AllowableFlightModes](structmavsdk_1_1_action_server_1_1_allowable_flight_modes.md) | [get_allowable_flight_modes](#classmavsdk_1_1_action_server_1a0960a6ec243823729a418a3c68feaf2a) () const | Get which modes the vehicle can transition to (Manual always allowed)
+const [ActionServer](classmavsdk_1_1_action_server.md) & | [operator=](#classmavsdk_1_1_action_server_1a86d8bb24723ad8222669aec1f5c523ca) (const [ActionServer](classmavsdk_1_1_action_server.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### ActionServer() {#classmavsdk_1_1_action_server_1aa7a3da260716d5dc7857b26b40d45299}
+```cpp
+mavsdk::ActionServer::ActionServer(std::shared_ptr< ServerComponent > server_component)
+```
+
+
+Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto action_server = ActionServer(server_component);
+```
+
+**Parameters**
+
+* std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > **server_component** - The [ServerComponent](classmavsdk_1_1_server_component.md) instance associated with this server plugin.
+
+### ~ActionServer() {#classmavsdk_1_1_action_server_1a1ddccf377314e9fffee6ab56edaf2b17}
+```cpp
+mavsdk::ActionServer::~ActionServer() override
+```
+
+
+Destructor (internal use only).
+
+
+### ActionServer() {#classmavsdk_1_1_action_server_1a42228e948d6a50b42ac8e506dc9d094c}
+```cpp
+mavsdk::ActionServer::ActionServer(const ActionServer &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [ActionServer](classmavsdk_1_1_action_server.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_action_server_1affc7fcdc5f60e367bb9032b938223b95}
+
+```cpp
+using mavsdk::ActionServer::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [ActionServer](classmavsdk_1_1_action_server.md) calls.
+
+
+### typedef ArmDisarmCallback {#classmavsdk_1_1_action_server_1a8ef1c6ec94f6bf5173d208be15b14910}
+
+```cpp
+using mavsdk::ActionServer::ArmDisarmCallback =  std::function<void(Result, ArmDisarm)>
+```
+
+
+Callback type for subscribe_arm_disarm.
+
+
+### typedef ArmDisarmHandle {#classmavsdk_1_1_action_server_1a5974c4b3e20da3418f9ca2b9de92157b}
+
+```cpp
+using mavsdk::ActionServer::ArmDisarmHandle =  Handle<Result, ArmDisarm>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_arm_disarm.
+
+
+### typedef FlightModeChangeCallback {#classmavsdk_1_1_action_server_1a58a1284a240908bf4d9dd998d5939f6f}
+
+```cpp
+using mavsdk::ActionServer::FlightModeChangeCallback =  std::function<void(Result, FlightMode)>
+```
+
+
+Callback type for subscribe_flight_mode_change.
+
+
+### typedef FlightModeChangeHandle {#classmavsdk_1_1_action_server_1aa9746c14f9f1d65ee548ab97b433da2f}
+
+```cpp
+using mavsdk::ActionServer::FlightModeChangeHandle =  Handle<Result, FlightMode>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_flight_mode_change.
+
+
+### typedef TakeoffCallback {#classmavsdk_1_1_action_server_1a23074d52d687eff2c4fc0184ac1b61fd}
+
+```cpp
+using mavsdk::ActionServer::TakeoffCallback =  std::function<void(Result, bool)>
+```
+
+
+Callback type for subscribe_takeoff.
+
+
+### typedef TakeoffHandle {#classmavsdk_1_1_action_server_1aea7eff252335602cd3785a6551c6ba64}
+
+```cpp
+using mavsdk::ActionServer::TakeoffHandle =  Handle<Result, bool>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_takeoff.
+
+
+### typedef LandCallback {#classmavsdk_1_1_action_server_1af2eb6d32c9f903a6e9f773ddf2acf4a0}
+
+```cpp
+using mavsdk::ActionServer::LandCallback =  std::function<void(Result, bool)>
+```
+
+
+Callback type for subscribe_land.
+
+
+### typedef LandHandle {#classmavsdk_1_1_action_server_1ae7c1a7d2a06cc045c9e0f29422f16278}
+
+```cpp
+using mavsdk::ActionServer::LandHandle =  Handle<Result, bool>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_land.
+
+
+### typedef RebootCallback {#classmavsdk_1_1_action_server_1a8b2ad3a5fc6a5ac256e21b60043093bd}
+
+```cpp
+using mavsdk::ActionServer::RebootCallback =  std::function<void(Result, bool)>
+```
+
+
+Callback type for subscribe_reboot.
+
+
+### typedef RebootHandle {#classmavsdk_1_1_action_server_1ab1544cd3b8ae97dcb37af0ff7320f29a}
+
+```cpp
+using mavsdk::ActionServer::RebootHandle =  Handle<Result, bool>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_reboot.
+
+
+### typedef ShutdownCallback {#classmavsdk_1_1_action_server_1aaa5057d10ec2b242c4a35fec46e5602a}
+
+```cpp
+using mavsdk::ActionServer::ShutdownCallback =  std::function<void(Result, bool)>
+```
+
+
+Callback type for subscribe_shutdown.
+
+
+### typedef ShutdownHandle {#classmavsdk_1_1_action_server_1a7604a04e4ccf230a321593aaec209375}
+
+```cpp
+using mavsdk::ActionServer::ShutdownHandle =  Handle<Result, bool>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_shutdown.
+
+
+### typedef TerminateCallback {#classmavsdk_1_1_action_server_1a5eb879b36b5efc4f14bed82ed7655384}
+
+```cpp
+using mavsdk::ActionServer::TerminateCallback =  std::function<void(Result, bool)>
+```
+
+
+Callback type for subscribe_terminate.
+
+
+### typedef TerminateHandle {#classmavsdk_1_1_action_server_1a5ee91dbf03cfc2f19b0cdd3aee6e4214}
+
+```cpp
+using mavsdk::ActionServer::TerminateHandle =  Handle<Result, bool>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_terminate.
+
+
+## Member Enumeration Documentation
+
+
+### enum FlightMode {#classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8}
+
+
+Flight modes.
+
+For more information about flight modes, check out [https://docs.px4.io/master/en/config/flight_mode.html](https://docs.px4.io/master/en/config/flight_mode.html).
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Mode not known. 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8ae7d31fc0602fb2ede144d18cdffd816b"></span> `Ready` | Armed and ready to take off. 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8a56373a80447c41b9a29e500e62d6884e"></span> `Takeoff` | Taking off. 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8abcd8db575b47c838e5d551e3973db4ac"></span> `Hold` | Holding (hovering in place (or circling for fixed-wing vehicles). 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8a70d529695c253d17e992cb9265abc57f"></span> `Mission` | In mission. 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8a146115c3278581584dcbaac1a77a2588"></span> `ReturnToLaunch` | Returning to launch position (then landing). 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8a512ef7c688a2c8572d5e16f44e17e869"></span> `Land` | Landing. 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8abb085f1e0d3843dda2a4c70437ad1410"></span> `Offboard` | In 'offboard' mode. 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8a08bb3de7dafcf47f05b8c5a9dc0983c0"></span> `FollowMe` | In 'follow-me' mode. 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8ae1ba155a9f2e8c3be94020eef32a0301"></span> `Manual` | In 'Manual' mode. 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8aa7a697581399b9be37a545416d4cd2d9"></span> `Altctl` | In 'Altitude Control' mode. 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8a46780e4f8c113481c868da4dd16fcd41"></span> `Posctl` | In 'Position Control' mode. 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8ae10e0f017fee32a9bb2fa9fae53afd70"></span> `Acro` | In 'Acro' mode. 
+<span id="classmavsdk_1_1_action_server_1aee12027f5d9380f2c13fa7813c6ae1d8afda22026db89cdc5e88b262ad9424b41"></span> `Stabilized` | In 'Stabilize' mode. 
+
+### enum Result {#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8}
+
+
+Possible results returned for action requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request was successful. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8a3398e12855176d55f43d53e04f472c8a"></span> `CommandDenied` | Command refused by vehicle. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8a2dfd6d9491cefa8820ce47f77471e5e3"></span> `CommandDeniedLandedStateUnknown` | Command refused because landed state is unknown. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8a73d9a6e3b34d98fa3c4fac08f3434a9a"></span> `CommandDeniedNotLanded` | Command refused because vehicle not landed. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8a7006c2f81a7a1a65a23cfc16b0326336"></span> `VtolTransitionSupportUnknown` | Hybrid/VTOL transition support is unknown. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8a5039f02d708e3874858b22610ed63d1e"></span> `NoVtolTransitionSupport` | Vehicle does not support hybrid/VTOL transitions. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8a189976b733e988a6903e4d19d8cd2fea"></span> `ParameterError` | Error getting or setting parameter. 
+<span id="classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8a10ac3d04253ef7e1ddc73e6091c0cd55"></span> `Next` | Intermediate message showing progress or instructions on the next steps. 
+
+## Member Function Documentation
+
+
+### subscribe_arm_disarm() {#classmavsdk_1_1_action_server_1a898cccbbf0fbb8e50c2d7ec75dd12164}
+```cpp
+ArmDisarmHandle mavsdk::ActionServer::subscribe_arm_disarm(const ArmDisarmCallback &callback)
+```
+
+
+Subscribe to ARM/DISARM commands.
+
+
+**Parameters**
+
+* const [ArmDisarmCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a8ef1c6ec94f6bf5173d208be15b14910)& **callback** - 
+
+**Returns**
+
+&emsp;[ArmDisarmHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a5974c4b3e20da3418f9ca2b9de92157b) - 
+
+### unsubscribe_arm_disarm() {#classmavsdk_1_1_action_server_1adef1a0b5964278a9188ffaf17d7cc1ed}
+```cpp
+void mavsdk::ActionServer::unsubscribe_arm_disarm(ArmDisarmHandle handle)
+```
+
+
+Unsubscribe from subscribe_arm_disarm.
+
+
+**Parameters**
+
+* [ArmDisarmHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a5974c4b3e20da3418f9ca2b9de92157b) **handle** - 
+
+### subscribe_flight_mode_change() {#classmavsdk_1_1_action_server_1a4f66d83144feb3657bc50316339f1a63}
+```cpp
+FlightModeChangeHandle mavsdk::ActionServer::subscribe_flight_mode_change(const FlightModeChangeCallback &callback)
+```
+
+
+Subscribe to DO_SET_MODE.
+
+
+**Parameters**
+
+* const [FlightModeChangeCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a58a1284a240908bf4d9dd998d5939f6f)& **callback** - 
+
+**Returns**
+
+&emsp;[FlightModeChangeHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aa9746c14f9f1d65ee548ab97b433da2f) - 
+
+### unsubscribe_flight_mode_change() {#classmavsdk_1_1_action_server_1acafa3948ad27afc697926f267a5a92d4}
+```cpp
+void mavsdk::ActionServer::unsubscribe_flight_mode_change(FlightModeChangeHandle handle)
+```
+
+
+Unsubscribe from subscribe_flight_mode_change.
+
+
+**Parameters**
+
+* [FlightModeChangeHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aa9746c14f9f1d65ee548ab97b433da2f) **handle** - 
+
+### subscribe_takeoff() {#classmavsdk_1_1_action_server_1ab289bc925bf87ecc67a16ae0f4356015}
+```cpp
+TakeoffHandle mavsdk::ActionServer::subscribe_takeoff(const TakeoffCallback &callback)
+```
+
+
+Subscribe to takeoff command.
+
+
+**Parameters**
+
+* const [TakeoffCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a23074d52d687eff2c4fc0184ac1b61fd)& **callback** - 
+
+**Returns**
+
+&emsp;[TakeoffHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aea7eff252335602cd3785a6551c6ba64) - 
+
+### unsubscribe_takeoff() {#classmavsdk_1_1_action_server_1ace083efcfa2323f3fa19bc65e373ff6f}
+```cpp
+void mavsdk::ActionServer::unsubscribe_takeoff(TakeoffHandle handle)
+```
+
+
+Unsubscribe from subscribe_takeoff.
+
+
+**Parameters**
+
+* [TakeoffHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aea7eff252335602cd3785a6551c6ba64) **handle** - 
+
+### subscribe_land() {#classmavsdk_1_1_action_server_1ac3d8a43058e281f49e2352dad9faf44a}
+```cpp
+LandHandle mavsdk::ActionServer::subscribe_land(const LandCallback &callback)
+```
+
+
+Subscribe to land command.
+
+
+**Parameters**
+
+* const [LandCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1af2eb6d32c9f903a6e9f773ddf2acf4a0)& **callback** - 
+
+**Returns**
+
+&emsp;[LandHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1ae7c1a7d2a06cc045c9e0f29422f16278) - 
+
+### unsubscribe_land() {#classmavsdk_1_1_action_server_1aecda6dc238780a1ae269b4f60815acf0}
+```cpp
+void mavsdk::ActionServer::unsubscribe_land(LandHandle handle)
+```
+
+
+Unsubscribe from subscribe_land.
+
+
+**Parameters**
+
+* [LandHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1ae7c1a7d2a06cc045c9e0f29422f16278) **handle** - 
+
+### subscribe_reboot() {#classmavsdk_1_1_action_server_1ae4ea60fe031763a284e596bb3b805d97}
+```cpp
+RebootHandle mavsdk::ActionServer::subscribe_reboot(const RebootCallback &callback)
+```
+
+
+Subscribe to reboot command.
+
+
+**Parameters**
+
+* const [RebootCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a8b2ad3a5fc6a5ac256e21b60043093bd)& **callback** - 
+
+**Returns**
+
+&emsp;[RebootHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1ab1544cd3b8ae97dcb37af0ff7320f29a) - 
+
+### unsubscribe_reboot() {#classmavsdk_1_1_action_server_1a57fe5c92cb5448e6982ae6f62c13d2ba}
+```cpp
+void mavsdk::ActionServer::unsubscribe_reboot(RebootHandle handle)
+```
+
+
+Unsubscribe from subscribe_reboot.
+
+
+**Parameters**
+
+* [RebootHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1ab1544cd3b8ae97dcb37af0ff7320f29a) **handle** - 
+
+### subscribe_shutdown() {#classmavsdk_1_1_action_server_1ad30e10cb343d65e52efa2bfb71a52abf}
+```cpp
+ShutdownHandle mavsdk::ActionServer::subscribe_shutdown(const ShutdownCallback &callback)
+```
+
+
+Subscribe to shutdown command.
+
+
+**Parameters**
+
+* const [ShutdownCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1aaa5057d10ec2b242c4a35fec46e5602a)& **callback** - 
+
+**Returns**
+
+&emsp;[ShutdownHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a7604a04e4ccf230a321593aaec209375) - 
+
+### unsubscribe_shutdown() {#classmavsdk_1_1_action_server_1a87dfe8c81f23f5e183f15bdbaf2645d2}
+```cpp
+void mavsdk::ActionServer::unsubscribe_shutdown(ShutdownHandle handle)
+```
+
+
+Unsubscribe from subscribe_shutdown.
+
+
+**Parameters**
+
+* [ShutdownHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a7604a04e4ccf230a321593aaec209375) **handle** - 
+
+### subscribe_terminate() {#classmavsdk_1_1_action_server_1ac332d0380be93c58208c8be626d6d797}
+```cpp
+TerminateHandle mavsdk::ActionServer::subscribe_terminate(const TerminateCallback &callback)
+```
+
+
+Subscribe to terminate command.
+
+
+**Parameters**
+
+* const [TerminateCallback](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a5eb879b36b5efc4f14bed82ed7655384)& **callback** - 
+
+**Returns**
+
+&emsp;[TerminateHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a5ee91dbf03cfc2f19b0cdd3aee6e4214) - 
+
+### unsubscribe_terminate() {#classmavsdk_1_1_action_server_1a3e236694f1f0beae030021b1b1d42633}
+```cpp
+void mavsdk::ActionServer::unsubscribe_terminate(TerminateHandle handle)
+```
+
+
+Unsubscribe from subscribe_terminate.
+
+
+**Parameters**
+
+* [TerminateHandle](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a5ee91dbf03cfc2f19b0cdd3aee6e4214) **handle** - 
+
+### set_allow_takeoff() {#classmavsdk_1_1_action_server_1a250a8a8d1aed87d7c4125c6cfe797250}
+```cpp
+Result mavsdk::ActionServer::set_allow_takeoff(bool allow_takeoff) const
+```
+
+
+Can the vehicle takeoff.
+
+This function is blocking.
+
+**Parameters**
+
+* bool **allow_takeoff** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8) - Result of request.
+
+### set_armable() {#classmavsdk_1_1_action_server_1ab5b21457f69f9f315d54dbc06e745a7a}
+```cpp
+Result mavsdk::ActionServer::set_armable(bool armable, bool force_armable) const
+```
+
+
+Can the vehicle arm when requested.
+
+This function is blocking.
+
+**Parameters**
+
+* bool **armable** - 
+* bool **force_armable** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8) - Result of request.
+
+### set_disarmable() {#classmavsdk_1_1_action_server_1afae1336100d7a91a4f4521cee56a1ecb}
+```cpp
+Result mavsdk::ActionServer::set_disarmable(bool disarmable, bool force_disarmable) const
+```
+
+
+Can the vehicle disarm when requested.
+
+This function is blocking.
+
+**Parameters**
+
+* bool **disarmable** - 
+* bool **force_disarmable** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8) - Result of request.
+
+### set_allowable_flight_modes() {#classmavsdk_1_1_action_server_1a3041d1b923a3b01021433ad43ab93b3a}
+```cpp
+Result mavsdk::ActionServer::set_allowable_flight_modes(AllowableFlightModes flight_modes) const
+```
+
+
+Set which modes the vehicle can transition to (Manual always allowed)
+
+This function is blocking.
+
+**Parameters**
+
+* [AllowableFlightModes](structmavsdk_1_1_action_server_1_1_allowable_flight_modes.md) **flight_modes** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_action_server.md#classmavsdk_1_1_action_server_1a4a8eb4fe9d098a5b7891232fc5bf32f8) - Result of request.
+
+### get_allowable_flight_modes() {#classmavsdk_1_1_action_server_1a0960a6ec243823729a418a3c68feaf2a}
+```cpp
+ActionServer::AllowableFlightModes mavsdk::ActionServer::get_allowable_flight_modes() const
+```
+
+
+Get which modes the vehicle can transition to (Manual always allowed)
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[ActionServer::AllowableFlightModes](structmavsdk_1_1_action_server_1_1_allowable_flight_modes.md) - Result of request.
+
+### operator=() {#classmavsdk_1_1_action_server_1a86d8bb24723ad8222669aec1f5c523ca}
+```cpp
+const ActionServer& mavsdk::ActionServer::operator=(const ActionServer &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [ActionServer](classmavsdk_1_1_action_server.md)&  - 
+
+**Returns**
+
+&emsp;const [ActionServer](classmavsdk_1_1_action_server.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_calibration.md b/docs/en/cpp/api_reference/classmavsdk_1_1_calibration.md
new file mode 100644
index 0000000000..9b349c3237
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_calibration.md
@@ -0,0 +1,291 @@
+# mavsdk::Calibration Class Reference
+`#include: calibration.h`
+
+----
+
+
+Enable to calibrate sensors of a drone such as gyro, accelerometer, and magnetometer. 
+
+
+## Data Structures
+
+
+struct [ProgressData](structmavsdk_1_1_calibration_1_1_progress_data.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1) | Possible results returned for calibration commands.
+std::function< void([Result](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1))> [ResultCallback](#classmavsdk_1_1_calibration_1a566676d5803020cfda7a4a9d9f4a0161) | Callback type for asynchronous [Calibration](classmavsdk_1_1_calibration.md) calls.
+std::function< void([Result](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1), [ProgressData](structmavsdk_1_1_calibration_1_1_progress_data.md))> [CalibrateGyroCallback](#classmavsdk_1_1_calibration_1a79bbabba5b60188b0afd8b3667c182b8) | Callback type for calibrate_gyro_async.
+std::function< void([Result](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1), [ProgressData](structmavsdk_1_1_calibration_1_1_progress_data.md))> [CalibrateAccelerometerCallback](#classmavsdk_1_1_calibration_1a46f81dd310e70251240c619b5299d026) | Callback type for calibrate_accelerometer_async.
+std::function< void([Result](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1), [ProgressData](structmavsdk_1_1_calibration_1_1_progress_data.md))> [CalibrateMagnetometerCallback](#classmavsdk_1_1_calibration_1a0b61d29092a8fc8407b0c0c13c825438) | Callback type for calibrate_magnetometer_async.
+std::function< void([Result](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1), [ProgressData](structmavsdk_1_1_calibration_1_1_progress_data.md))> [CalibrateLevelHorizonCallback](#classmavsdk_1_1_calibration_1a397475f5df5fd0e1a181437d4e146aa4) | Callback type for calibrate_level_horizon_async.
+std::function< void([Result](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1), [ProgressData](structmavsdk_1_1_calibration_1_1_progress_data.md))> [CalibrateGimbalAccelerometerCallback](#classmavsdk_1_1_calibration_1aa254e3a18042794e182fc7f3685aad01) | Callback type for calibrate_gimbal_accelerometer_async.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Calibration](#classmavsdk_1_1_calibration_1ac86c794a9ca1043e21b501218346f2b1) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Calibration](#classmavsdk_1_1_calibration_1a22b833023e256511495918cf9e78cb87) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Calibration](#classmavsdk_1_1_calibration_1a10bc64254ae667f563484020ed5f7861) () override | Destructor (internal use only).
+&nbsp; | [Calibration](#classmavsdk_1_1_calibration_1a90c300742cbb2e29594c294b2ca6ef0e) (const [Calibration](classmavsdk_1_1_calibration.md) & other) | Copy constructor.
+void | [calibrate_gyro_async](#classmavsdk_1_1_calibration_1aa270d72a3dd0126b9c712f2467d105cb) (const [CalibrateGyroCallback](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a79bbabba5b60188b0afd8b3667c182b8) & callback) | Perform gyro calibration.
+void | [calibrate_accelerometer_async](#classmavsdk_1_1_calibration_1a45fb6549dc486110359b532177c9bddc) (const [CalibrateAccelerometerCallback](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a46f81dd310e70251240c619b5299d026) & callback) | Perform accelerometer calibration.
+void | [calibrate_magnetometer_async](#classmavsdk_1_1_calibration_1aa8a04e0f687a9d2aa7fe9a2346a233fa) (const [CalibrateMagnetometerCallback](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a0b61d29092a8fc8407b0c0c13c825438) & callback) | Perform magnetometer calibration.
+void | [calibrate_level_horizon_async](#classmavsdk_1_1_calibration_1a77dd4e73da90801d63da973e1736628d) (const [CalibrateLevelHorizonCallback](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a397475f5df5fd0e1a181437d4e146aa4) & callback) | Perform board level horizon calibration.
+void | [calibrate_gimbal_accelerometer_async](#classmavsdk_1_1_calibration_1a9b95e383527253c17cd0990653682cd6) (const [CalibrateGimbalAccelerometerCallback](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1aa254e3a18042794e182fc7f3685aad01) & callback) | Perform gimbal accelerometer calibration.
+[Result](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1) | [cancel](#classmavsdk_1_1_calibration_1ae26f45164d36576d56a186ee69e32ffb) () const | Cancel ongoing calibration process.
+const [Calibration](classmavsdk_1_1_calibration.md) & | [operator=](#classmavsdk_1_1_calibration_1ada12d974bb516745ea67f94c72abf59b) (const [Calibration](classmavsdk_1_1_calibration.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Calibration() {#classmavsdk_1_1_calibration_1ac86c794a9ca1043e21b501218346f2b1}
+```cpp
+mavsdk::Calibration::Calibration(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto calibration = Calibration(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Calibration() {#classmavsdk_1_1_calibration_1a22b833023e256511495918cf9e78cb87}
+```cpp
+mavsdk::Calibration::Calibration(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto calibration = Calibration(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Calibration() {#classmavsdk_1_1_calibration_1a10bc64254ae667f563484020ed5f7861}
+```cpp
+mavsdk::Calibration::~Calibration() override
+```
+
+
+Destructor (internal use only).
+
+
+### Calibration() {#classmavsdk_1_1_calibration_1a90c300742cbb2e29594c294b2ca6ef0e}
+```cpp
+mavsdk::Calibration::Calibration(const Calibration &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Calibration](classmavsdk_1_1_calibration.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_calibration_1a566676d5803020cfda7a4a9d9f4a0161}
+
+```cpp
+using mavsdk::Calibration::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Calibration](classmavsdk_1_1_calibration.md) calls.
+
+
+### typedef CalibrateGyroCallback {#classmavsdk_1_1_calibration_1a79bbabba5b60188b0afd8b3667c182b8}
+
+```cpp
+using mavsdk::Calibration::CalibrateGyroCallback =  std::function<void(Result, ProgressData)>
+```
+
+
+Callback type for calibrate_gyro_async.
+
+
+### typedef CalibrateAccelerometerCallback {#classmavsdk_1_1_calibration_1a46f81dd310e70251240c619b5299d026}
+
+```cpp
+using mavsdk::Calibration::CalibrateAccelerometerCallback =  std::function<void(Result, ProgressData)>
+```
+
+
+Callback type for calibrate_accelerometer_async.
+
+
+### typedef CalibrateMagnetometerCallback {#classmavsdk_1_1_calibration_1a0b61d29092a8fc8407b0c0c13c825438}
+
+```cpp
+using mavsdk::Calibration::CalibrateMagnetometerCallback =  std::function<void(Result, ProgressData)>
+```
+
+
+Callback type for calibrate_magnetometer_async.
+
+
+### typedef CalibrateLevelHorizonCallback {#classmavsdk_1_1_calibration_1a397475f5df5fd0e1a181437d4e146aa4}
+
+```cpp
+using mavsdk::Calibration::CalibrateLevelHorizonCallback =  std::function<void(Result, ProgressData)>
+```
+
+
+Callback type for calibrate_level_horizon_async.
+
+
+### typedef CalibrateGimbalAccelerometerCallback {#classmavsdk_1_1_calibration_1aa254e3a18042794e182fc7f3685aad01}
+
+```cpp
+using mavsdk::Calibration::CalibrateGimbalAccelerometerCallback =  std::function<void(Result, ProgressData)>
+```
+
+
+Callback type for calibrate_gimbal_accelerometer_async.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1}
+
+
+Possible results returned for calibration commands.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | The calibration succeeded. 
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1a10ac3d04253ef7e1ddc73e6091c0cd55"></span> `Next` | Intermediate message showing progress or instructions on the next steps. 
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1ad7c8c85bf79bbe1b7188497c32c3b0ca"></span> `Failed` | [Calibration](classmavsdk_1_1_calibration.md) failed. 
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1a3398e12855176d55f43d53e04f472c8a"></span> `CommandDenied` | Command refused by vehicle. 
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Command timed out. 
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1aa149e85a44aeec9140e92733d9ed694e"></span> `Cancelled` | [Calibration](classmavsdk_1_1_calibration.md) process was cancelled. 
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1a6d653ef81fcbd6909f17f5f91778b159"></span> `FailedArmed` | [Calibration](classmavsdk_1_1_calibration.md) process failed since the vehicle is armed. 
+<span id="classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1ab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | Functionality not supported. 
+
+## Member Function Documentation
+
+
+### calibrate_gyro_async() {#classmavsdk_1_1_calibration_1aa270d72a3dd0126b9c712f2467d105cb}
+```cpp
+void mavsdk::Calibration::calibrate_gyro_async(const CalibrateGyroCallback &callback)
+```
+
+
+Perform gyro calibration.
+
+
+**Parameters**
+
+* const [CalibrateGyroCallback](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a79bbabba5b60188b0afd8b3667c182b8)& **callback** - 
+
+### calibrate_accelerometer_async() {#classmavsdk_1_1_calibration_1a45fb6549dc486110359b532177c9bddc}
+```cpp
+void mavsdk::Calibration::calibrate_accelerometer_async(const CalibrateAccelerometerCallback &callback)
+```
+
+
+Perform accelerometer calibration.
+
+
+**Parameters**
+
+* const [CalibrateAccelerometerCallback](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a46f81dd310e70251240c619b5299d026)& **callback** - 
+
+### calibrate_magnetometer_async() {#classmavsdk_1_1_calibration_1aa8a04e0f687a9d2aa7fe9a2346a233fa}
+```cpp
+void mavsdk::Calibration::calibrate_magnetometer_async(const CalibrateMagnetometerCallback &callback)
+```
+
+
+Perform magnetometer calibration.
+
+
+**Parameters**
+
+* const [CalibrateMagnetometerCallback](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a0b61d29092a8fc8407b0c0c13c825438)& **callback** - 
+
+### calibrate_level_horizon_async() {#classmavsdk_1_1_calibration_1a77dd4e73da90801d63da973e1736628d}
+```cpp
+void mavsdk::Calibration::calibrate_level_horizon_async(const CalibrateLevelHorizonCallback &callback)
+```
+
+
+Perform board level horizon calibration.
+
+
+**Parameters**
+
+* const [CalibrateLevelHorizonCallback](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a397475f5df5fd0e1a181437d4e146aa4)& **callback** - 
+
+### calibrate_gimbal_accelerometer_async() {#classmavsdk_1_1_calibration_1a9b95e383527253c17cd0990653682cd6}
+```cpp
+void mavsdk::Calibration::calibrate_gimbal_accelerometer_async(const CalibrateGimbalAccelerometerCallback &callback)
+```
+
+
+Perform gimbal accelerometer calibration.
+
+
+**Parameters**
+
+* const [CalibrateGimbalAccelerometerCallback](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1aa254e3a18042794e182fc7f3685aad01)& **callback** - 
+
+### cancel() {#classmavsdk_1_1_calibration_1ae26f45164d36576d56a186ee69e32ffb}
+```cpp
+Result mavsdk::Calibration::cancel() const
+```
+
+
+Cancel ongoing calibration process.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_calibration.md#classmavsdk_1_1_calibration_1a6e1ce7a3a07eb098edc06821d23a8ec1) - Result of request.
+
+### operator=() {#classmavsdk_1_1_calibration_1ada12d974bb516745ea67f94c72abf59b}
+```cpp
+const Calibration& mavsdk::Calibration::operator=(const Calibration &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Calibration](classmavsdk_1_1_calibration.md)&  - 
+
+**Returns**
+
+&emsp;const [Calibration](classmavsdk_1_1_calibration.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_callback_list.md b/docs/en/cpp/api_reference/classmavsdk_1_1_callback_list.md
new file mode 100644
index 0000000000..4bb6abfe73
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_callback_list.md
@@ -0,0 +1,5 @@
+# mavsdk::CallbackList Class Reference
+`#include: UNKNOWN`
+
+----
+
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_callback_list_impl.md b/docs/en/cpp/api_reference/classmavsdk_1_1_callback_list_impl.md
new file mode 100644
index 0000000000..f08af866f6
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_callback_list_impl.md
@@ -0,0 +1,5 @@
+# mavsdk::CallbackListImpl Class Reference
+`#include: UNKNOWN`
+
+----
+
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_camera.md b/docs/en/cpp/api_reference/classmavsdk_1_1_camera.md
new file mode 100644
index 0000000000..32db3fc53b
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_camera.md
@@ -0,0 +1,1141 @@
+# mavsdk::Camera Class Reference
+`#include: camera.h`
+
+----
+
+
+Can be used to manage cameras that implement the MAVLink [Camera](classmavsdk_1_1_camera.md) Protocol: [https://mavlink.io/en/protocol/camera.html](https://mavlink.io/en/protocol/camera.html). 
+
+
+Currently only a single camera is supported. When multiple cameras are supported the plugin will need to be instantiated separately for every camera and the camera selected using `select_camera`. 
+
+
+## Data Structures
+
+
+struct [CaptureInfo](structmavsdk_1_1_camera_1_1_capture_info.md)
+
+struct [EulerAngle](structmavsdk_1_1_camera_1_1_euler_angle.md)
+
+struct [Information](structmavsdk_1_1_camera_1_1_information.md)
+
+struct [Option](structmavsdk_1_1_camera_1_1_option.md)
+
+struct [Position](structmavsdk_1_1_camera_1_1_position.md)
+
+struct [Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md)
+
+struct [Setting](structmavsdk_1_1_camera_1_1_setting.md)
+
+struct [SettingOptions](structmavsdk_1_1_camera_1_1_setting_options.md)
+
+struct [Status](structmavsdk_1_1_camera_1_1_status.md)
+
+struct [VideoStreamInfo](structmavsdk_1_1_camera_1_1_video_stream_info.md)
+
+struct [VideoStreamSettings](structmavsdk_1_1_camera_1_1_video_stream_settings.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Mode](#classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65) | [Camera](classmavsdk_1_1_camera.md) mode type.
+enum [PhotosRange](#classmavsdk_1_1_camera_1a1211ea6664aa9c1d4ef4aede363c7c22) | Photos range type.
+enum [Result](#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | Possible results returned for camera commands.
+std::function< void([Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf))> [ResultCallback](#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) | Callback type for asynchronous [Camera](classmavsdk_1_1_camera.md) calls.
+std::function< void([Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf), std::vector< [CaptureInfo](structmavsdk_1_1_camera_1_1_capture_info.md) >)> [ListPhotosCallback](#classmavsdk_1_1_camera_1a23240233586f7673c3a1b48f07623fe4) | Callback type for list_photos_async.
+std::function< void([Mode](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65))> [ModeCallback](#classmavsdk_1_1_camera_1a33a7257ab95d9277b786e6de86604931) | Callback type for subscribe_mode.
+[Handle](classmavsdk_1_1_handle.md)< [Mode](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65) > [ModeHandle](#classmavsdk_1_1_camera_1ac6759725ac9696f9572b05524fde2354) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_mode.
+std::function< void([Information](structmavsdk_1_1_camera_1_1_information.md))> [InformationCallback](#classmavsdk_1_1_camera_1af13455249eebaf152a71d59e32fcbf65) | Callback type for subscribe_information.
+[Handle](classmavsdk_1_1_handle.md)< [Information](structmavsdk_1_1_camera_1_1_information.md) > [InformationHandle](#classmavsdk_1_1_camera_1a0dcacb795da7de566fb6dce091ca4605) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_information.
+std::function< void([VideoStreamInfo](structmavsdk_1_1_camera_1_1_video_stream_info.md))> [VideoStreamInfoCallback](#classmavsdk_1_1_camera_1acd9baf073b816e46c22dbd6b599ece66) | Callback type for subscribe_video_stream_info.
+[Handle](classmavsdk_1_1_handle.md)< [VideoStreamInfo](structmavsdk_1_1_camera_1_1_video_stream_info.md) > [VideoStreamInfoHandle](#classmavsdk_1_1_camera_1aebf91f740cc85682c6b7a0955635f848) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_video_stream_info.
+std::function< void([CaptureInfo](structmavsdk_1_1_camera_1_1_capture_info.md))> [CaptureInfoCallback](#classmavsdk_1_1_camera_1a9bf5c20ea0b03ab019057829d1a3441e) | Callback type for subscribe_capture_info.
+[Handle](classmavsdk_1_1_handle.md)< [CaptureInfo](structmavsdk_1_1_camera_1_1_capture_info.md) > [CaptureInfoHandle](#classmavsdk_1_1_camera_1a789f1fccde8eb44bc07694751b3a1b40) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_capture_info.
+std::function< void([Status](structmavsdk_1_1_camera_1_1_status.md))> [StatusCallback](#classmavsdk_1_1_camera_1aea925914ce854b81b67e3213840c97ad) | Callback type for subscribe_status.
+[Handle](classmavsdk_1_1_handle.md)< [Status](structmavsdk_1_1_camera_1_1_status.md) > [StatusHandle](#classmavsdk_1_1_camera_1a902bc3a824040a37714bb2c1c41a9601) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_status.
+std::function< void(std::vector< [Setting](structmavsdk_1_1_camera_1_1_setting.md) >)> [CurrentSettingsCallback](#classmavsdk_1_1_camera_1a77484487381b2579460c36d97d367fe6) | Callback type for subscribe_current_settings.
+[Handle](classmavsdk_1_1_handle.md)< std::vector< [Setting](structmavsdk_1_1_camera_1_1_setting.md) > > [CurrentSettingsHandle](#classmavsdk_1_1_camera_1a19960e47f1c2b3fb5117ba2f7f3cfbe6) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_current_settings.
+std::function< void(std::vector< [SettingOptions](structmavsdk_1_1_camera_1_1_setting_options.md) >)> [PossibleSettingOptionsCallback](#classmavsdk_1_1_camera_1a78e25614c29cd8bc1bbf26adcf417c2a) | Callback type for subscribe_possible_setting_options.
+[Handle](classmavsdk_1_1_handle.md)< std::vector< [SettingOptions](structmavsdk_1_1_camera_1_1_setting_options.md) > > [PossibleSettingOptionsHandle](#classmavsdk_1_1_camera_1a1144be14cd9f15724397ad6b5253b8a9) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_possible_setting_options.
+std::function< void([Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf), [Setting](structmavsdk_1_1_camera_1_1_setting.md))> [GetSettingCallback](#classmavsdk_1_1_camera_1ac233f5688f0b7f1e712bb31dfaeadd85) | Callback type for get_setting_async.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Camera](#classmavsdk_1_1_camera_1a186a2853440c879b99ed7e4a726969e9) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Camera](#classmavsdk_1_1_camera_1aecd55dc849bbb967a6b9dcfd36cc075e) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Camera](#classmavsdk_1_1_camera_1afc23a58baf97868b1d9a9b983d7c2087) () override | Destructor (internal use only).
+&nbsp; | [Camera](#classmavsdk_1_1_camera_1a1b83c38c360d70b56222a94999d862fd) (const [Camera](classmavsdk_1_1_camera.md) & other) | Copy constructor.
+void | [prepare_async](#classmavsdk_1_1_camera_1aba33f1f8302259a7d51a09b60ea29cbf) (const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) callback) | Prepare the camera plugin (e.g. download the camera definition, etc).
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [prepare](#classmavsdk_1_1_camera_1af263d3ea4e24da262f935c56fb578444) () const | Prepare the camera plugin (e.g. download the camera definition, etc).
+void | [take_photo_async](#classmavsdk_1_1_camera_1a343217bf38cc71cd258c7e81626dccb5) (const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) callback) | Take one photo.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [take_photo](#classmavsdk_1_1_camera_1a44b86cfda6262652a1796661e595003c) () const | Take one photo.
+void | [start_photo_interval_async](#classmavsdk_1_1_camera_1ae583f83e163e2b33a8dc4a6fcfebbac6) (float interval_s, const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) callback) | Start photo timelapse with a given interval.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [start_photo_interval](#classmavsdk_1_1_camera_1adfa32eb338aabf19675a1218fc28d8bc) (float interval_s)const | Start photo timelapse with a given interval.
+void | [stop_photo_interval_async](#classmavsdk_1_1_camera_1a540d94eb58efe02fdd3659994c778203) (const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) callback) | Stop a running photo timelapse.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [stop_photo_interval](#classmavsdk_1_1_camera_1a287fa0fd3fcda1dee2cf40ad041d524a) () const | Stop a running photo timelapse.
+void | [start_video_async](#classmavsdk_1_1_camera_1a2d5dff782ea3f8346bc53560be368531) (const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) callback) | Start a video recording.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [start_video](#classmavsdk_1_1_camera_1ac64e77dee9f5ff9b5c84100d8f007670) () const | Start a video recording.
+void | [stop_video_async](#classmavsdk_1_1_camera_1a77d1b1a201164023c5eef3c91cdd4e54) (const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) callback) | Stop a running video recording.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [stop_video](#classmavsdk_1_1_camera_1a6062ac1907bd10944d2ddb9655943ddc) () const | Stop a running video recording.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [start_video_streaming](#classmavsdk_1_1_camera_1a6e062242a02389e2fc839f5e9ec03d7d) (int32_t stream_id)const | Start video streaming.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [stop_video_streaming](#classmavsdk_1_1_camera_1ae495e8c52984ad76b27b72fc58987d9d) (int32_t stream_id)const | Stop current video streaming.
+void | [set_mode_async](#classmavsdk_1_1_camera_1a76d98d04885d38d0438da7c8696ef6ab) ([Mode](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65) mode, const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) callback) | Set camera mode.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [set_mode](#classmavsdk_1_1_camera_1a249755db2eaa8fd3d202ac01ca52448d) ([Mode](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65) mode)const | Set camera mode.
+void | [list_photos_async](#classmavsdk_1_1_camera_1aec1edfe505476d437d45ec2f0deec924) ([PhotosRange](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a1211ea6664aa9c1d4ef4aede363c7c22) photos_range, const [ListPhotosCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a23240233586f7673c3a1b48f07623fe4) callback) | List photos available on the camera.
+std::pair< [Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf), std::vector< [Camera::CaptureInfo](structmavsdk_1_1_camera_1_1_capture_info.md) > > | [list_photos](#classmavsdk_1_1_camera_1a49dc17b74047049c386d88cd365de868) ([PhotosRange](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a1211ea6664aa9c1d4ef4aede363c7c22) photos_range)const | List photos available on the camera.
+[ModeHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1ac6759725ac9696f9572b05524fde2354) | [subscribe_mode](#classmavsdk_1_1_camera_1a1963bfcfcc8c9e96451648f96fd618cd) (const [ModeCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a33a7257ab95d9277b786e6de86604931) & callback) | Subscribe to camera mode updates.
+void | [unsubscribe_mode](#classmavsdk_1_1_camera_1ab9437b41565d8957050e09cf4143f5d1) ([ModeHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1ac6759725ac9696f9572b05524fde2354) handle) | Unsubscribe from subscribe_mode.
+[Mode](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65) | [mode](#classmavsdk_1_1_camera_1a222bce91e70d1ca53bcf5d885bacd418) () const | Poll for 'Mode' (blocking).
+[InformationHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a0dcacb795da7de566fb6dce091ca4605) | [subscribe_information](#classmavsdk_1_1_camera_1af4b5c713813df8c407a09963295c33a2) (const [InformationCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1af13455249eebaf152a71d59e32fcbf65) & callback) | Subscribe to camera information updates.
+void | [unsubscribe_information](#classmavsdk_1_1_camera_1a90b70deaf25dff027714afb856653ea5) ([InformationHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a0dcacb795da7de566fb6dce091ca4605) handle) | Unsubscribe from subscribe_information.
+[Information](structmavsdk_1_1_camera_1_1_information.md) | [information](#classmavsdk_1_1_camera_1a7feb16f3d913b91d05efc803ce4e396b) () const | Poll for '[Information](structmavsdk_1_1_camera_1_1_information.md)' (blocking).
+[VideoStreamInfoHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1aebf91f740cc85682c6b7a0955635f848) | [subscribe_video_stream_info](#classmavsdk_1_1_camera_1a4dcf0ebeb1f9f5e5b2b71f59c9b7eeb9) (const [VideoStreamInfoCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1acd9baf073b816e46c22dbd6b599ece66) & callback) | Subscribe to video stream info updates.
+void | [unsubscribe_video_stream_info](#classmavsdk_1_1_camera_1abc370783800fb90dda20d2843f990036) ([VideoStreamInfoHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1aebf91f740cc85682c6b7a0955635f848) handle) | Unsubscribe from subscribe_video_stream_info.
+[VideoStreamInfo](structmavsdk_1_1_camera_1_1_video_stream_info.md) | [video_stream_info](#classmavsdk_1_1_camera_1ad466621feff2d4f0f11124a36dda656c) () const | Poll for '[VideoStreamInfo](structmavsdk_1_1_camera_1_1_video_stream_info.md)' (blocking).
+[CaptureInfoHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a789f1fccde8eb44bc07694751b3a1b40) | [subscribe_capture_info](#classmavsdk_1_1_camera_1a8822ab1d802984a1acc9b53cd9810e8f) (const [CaptureInfoCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a9bf5c20ea0b03ab019057829d1a3441e) & callback) | Subscribe to capture info updates.
+void | [unsubscribe_capture_info](#classmavsdk_1_1_camera_1a9b7f729dfa30a6cb0d041533bd272793) ([CaptureInfoHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a789f1fccde8eb44bc07694751b3a1b40) handle) | Unsubscribe from subscribe_capture_info.
+[StatusHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a902bc3a824040a37714bb2c1c41a9601) | [subscribe_status](#classmavsdk_1_1_camera_1a1bf71cdb27a9b8d3fefe15463c9b9bf1) (const [StatusCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1aea925914ce854b81b67e3213840c97ad) & callback) | Subscribe to camera status updates.
+void | [unsubscribe_status](#classmavsdk_1_1_camera_1a402cf21219f9b303fca0a269dab15b63) ([StatusHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a902bc3a824040a37714bb2c1c41a9601) handle) | Unsubscribe from subscribe_status.
+[Status](structmavsdk_1_1_camera_1_1_status.md) | [status](#classmavsdk_1_1_camera_1a0bb78c2b665c28b314f00f11a0f676b1) () const | Poll for '[Status](structmavsdk_1_1_camera_1_1_status.md)' (blocking).
+[CurrentSettingsHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a19960e47f1c2b3fb5117ba2f7f3cfbe6) | [subscribe_current_settings](#classmavsdk_1_1_camera_1a906c431b63dde866b691ab4c839858ff) (const [CurrentSettingsCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a77484487381b2579460c36d97d367fe6) & callback) | Get the list of current camera settings.
+void | [unsubscribe_current_settings](#classmavsdk_1_1_camera_1a117e76672b39c9cd751fa64a42741c17) ([CurrentSettingsHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a19960e47f1c2b3fb5117ba2f7f3cfbe6) handle) | Unsubscribe from subscribe_current_settings.
+[PossibleSettingOptionsHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a1144be14cd9f15724397ad6b5253b8a9) | [subscribe_possible_setting_options](#classmavsdk_1_1_camera_1aef7c545aaa05e36b212255120557967b) (const [PossibleSettingOptionsCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a78e25614c29cd8bc1bbf26adcf417c2a) & callback) | Get the list of settings that can be changed.
+void | [unsubscribe_possible_setting_options](#classmavsdk_1_1_camera_1a191cc00bb6b1c834fc93b19f4bff1c29) ([PossibleSettingOptionsHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a1144be14cd9f15724397ad6b5253b8a9) handle) | Unsubscribe from subscribe_possible_setting_options.
+std::vector< [SettingOptions](structmavsdk_1_1_camera_1_1_setting_options.md) > | [possible_setting_options](#classmavsdk_1_1_camera_1a5416dc30ec436707420db715ee56ce08) () const | Poll for 'std::vector< SettingOptions >' (blocking).
+void | [set_setting_async](#classmavsdk_1_1_camera_1aace1d6ffd86a6fdf30b3466c8522feba) ([Setting](structmavsdk_1_1_camera_1_1_setting.md) setting, const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) callback) | Set a setting to some value.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [set_setting](#classmavsdk_1_1_camera_1aa4b1293d8c6332293cccde87ec79f64a) ([Setting](structmavsdk_1_1_camera_1_1_setting.md) setting)const | Set a setting to some value.
+void | [get_setting_async](#classmavsdk_1_1_camera_1a6b2e4e9b5b304aff313e4f988aa6ba86) ([Setting](structmavsdk_1_1_camera_1_1_setting.md) setting, const [GetSettingCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1ac233f5688f0b7f1e712bb31dfaeadd85) callback) | Get a setting.
+std::pair< [Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf), [Camera::Setting](structmavsdk_1_1_camera_1_1_setting.md) > | [get_setting](#classmavsdk_1_1_camera_1ae88917857b666dc7cfd0d84b3ad29d9c) ([Setting](structmavsdk_1_1_camera_1_1_setting.md) setting)const | Get a setting.
+void | [format_storage_async](#classmavsdk_1_1_camera_1afd1074b185776167e7355438ac69d955) (int32_t storage_id, const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) callback) | Format storage (e.g. SD card) in camera.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [format_storage](#classmavsdk_1_1_camera_1a942f9bad2e2bede982d404ce552090a5) (int32_t storage_id)const | Format storage (e.g. SD card) in camera.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [select_camera](#classmavsdk_1_1_camera_1ab3348f98003f71f2399dd15505effae3) (int32_t camera_id)const | Select current camera .
+void | [reset_settings_async](#classmavsdk_1_1_camera_1ab2316e20104a5efa94bf2719dc3dd994) (const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) callback) | Reset all settings in camera.
+[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) | [reset_settings](#classmavsdk_1_1_camera_1a49c84f20f1100848e3951f5e14b569dc) () const | Reset all settings in camera.
+const [Camera](classmavsdk_1_1_camera.md) & | [operator=](#classmavsdk_1_1_camera_1aeff295155b6a665f5c942e473f1fe894) (const [Camera](classmavsdk_1_1_camera.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Camera() {#classmavsdk_1_1_camera_1a186a2853440c879b99ed7e4a726969e9}
+```cpp
+mavsdk::Camera::Camera(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto camera = Camera(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Camera() {#classmavsdk_1_1_camera_1aecd55dc849bbb967a6b9dcfd36cc075e}
+```cpp
+mavsdk::Camera::Camera(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto camera = Camera(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Camera() {#classmavsdk_1_1_camera_1afc23a58baf97868b1d9a9b983d7c2087}
+```cpp
+mavsdk::Camera::~Camera() override
+```
+
+
+Destructor (internal use only).
+
+
+### Camera() {#classmavsdk_1_1_camera_1a1b83c38c360d70b56222a94999d862fd}
+```cpp
+mavsdk::Camera::Camera(const Camera &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Camera](classmavsdk_1_1_camera.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f}
+
+```cpp
+using mavsdk::Camera::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Camera](classmavsdk_1_1_camera.md) calls.
+
+
+### typedef ListPhotosCallback {#classmavsdk_1_1_camera_1a23240233586f7673c3a1b48f07623fe4}
+
+```cpp
+using mavsdk::Camera::ListPhotosCallback =  std::function<void(Result, std::vector<CaptureInfo>)>
+```
+
+
+Callback type for list_photos_async.
+
+
+### typedef ModeCallback {#classmavsdk_1_1_camera_1a33a7257ab95d9277b786e6de86604931}
+
+```cpp
+using mavsdk::Camera::ModeCallback =  std::function<void(Mode)>
+```
+
+
+Callback type for subscribe_mode.
+
+
+### typedef ModeHandle {#classmavsdk_1_1_camera_1ac6759725ac9696f9572b05524fde2354}
+
+```cpp
+using mavsdk::Camera::ModeHandle =  Handle<Mode>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_mode.
+
+
+### typedef InformationCallback {#classmavsdk_1_1_camera_1af13455249eebaf152a71d59e32fcbf65}
+
+```cpp
+using mavsdk::Camera::InformationCallback =  std::function<void(Information)>
+```
+
+
+Callback type for subscribe_information.
+
+
+### typedef InformationHandle {#classmavsdk_1_1_camera_1a0dcacb795da7de566fb6dce091ca4605}
+
+```cpp
+using mavsdk::Camera::InformationHandle =  Handle<Information>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_information.
+
+
+### typedef VideoStreamInfoCallback {#classmavsdk_1_1_camera_1acd9baf073b816e46c22dbd6b599ece66}
+
+```cpp
+using mavsdk::Camera::VideoStreamInfoCallback =  std::function<void(VideoStreamInfo)>
+```
+
+
+Callback type for subscribe_video_stream_info.
+
+
+### typedef VideoStreamInfoHandle {#classmavsdk_1_1_camera_1aebf91f740cc85682c6b7a0955635f848}
+
+```cpp
+using mavsdk::Camera::VideoStreamInfoHandle =  Handle<VideoStreamInfo>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_video_stream_info.
+
+
+### typedef CaptureInfoCallback {#classmavsdk_1_1_camera_1a9bf5c20ea0b03ab019057829d1a3441e}
+
+```cpp
+using mavsdk::Camera::CaptureInfoCallback =  std::function<void(CaptureInfo)>
+```
+
+
+Callback type for subscribe_capture_info.
+
+
+### typedef CaptureInfoHandle {#classmavsdk_1_1_camera_1a789f1fccde8eb44bc07694751b3a1b40}
+
+```cpp
+using mavsdk::Camera::CaptureInfoHandle =  Handle<CaptureInfo>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_capture_info.
+
+
+### typedef StatusCallback {#classmavsdk_1_1_camera_1aea925914ce854b81b67e3213840c97ad}
+
+```cpp
+using mavsdk::Camera::StatusCallback =  std::function<void(Status)>
+```
+
+
+Callback type for subscribe_status.
+
+
+### typedef StatusHandle {#classmavsdk_1_1_camera_1a902bc3a824040a37714bb2c1c41a9601}
+
+```cpp
+using mavsdk::Camera::StatusHandle =  Handle<Status>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_status.
+
+
+### typedef CurrentSettingsCallback {#classmavsdk_1_1_camera_1a77484487381b2579460c36d97d367fe6}
+
+```cpp
+using mavsdk::Camera::CurrentSettingsCallback =  std::function<void(std::vector<Setting>)>
+```
+
+
+Callback type for subscribe_current_settings.
+
+
+### typedef CurrentSettingsHandle {#classmavsdk_1_1_camera_1a19960e47f1c2b3fb5117ba2f7f3cfbe6}
+
+```cpp
+using mavsdk::Camera::CurrentSettingsHandle =  Handle<std::vector<Setting> >
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_current_settings.
+
+
+### typedef PossibleSettingOptionsCallback {#classmavsdk_1_1_camera_1a78e25614c29cd8bc1bbf26adcf417c2a}
+
+```cpp
+using mavsdk::Camera::PossibleSettingOptionsCallback =  std::function<void(std::vector<SettingOptions>)>
+```
+
+
+Callback type for subscribe_possible_setting_options.
+
+
+### typedef PossibleSettingOptionsHandle {#classmavsdk_1_1_camera_1a1144be14cd9f15724397ad6b5253b8a9}
+
+```cpp
+using mavsdk::Camera::PossibleSettingOptionsHandle =  Handle<std::vector<SettingOptions> >
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_possible_setting_options.
+
+
+### typedef GetSettingCallback {#classmavsdk_1_1_camera_1ac233f5688f0b7f1e712bb31dfaeadd85}
+
+```cpp
+using mavsdk::Camera::GetSettingCallback =  std::function<void(Result, Setting)>
+```
+
+
+Callback type for get_setting_async.
+
+
+## Member Enumeration Documentation
+
+
+### enum Mode {#classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65}
+
+
+[Camera](classmavsdk_1_1_camera.md) mode type.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown. 
+<span id="classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65ac03d53b70feba4ea842510abecd6c45e"></span> `Photo` | Photo mode. 
+<span id="classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65a34e2d1989a1dbf75cd631596133ee5ee"></span> `Video` | Video mode. 
+
+### enum PhotosRange {#classmavsdk_1_1_camera_1a1211ea6664aa9c1d4ef4aede363c7c22}
+
+
+Photos range type.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_camera_1a1211ea6664aa9c1d4ef4aede363c7c22ab1c94ca2fbc3e78fc30069c8d0f01680"></span> `All` | All the photos present on the camera. 
+<span id="classmavsdk_1_1_camera_1a1211ea6664aa9c1d4ef4aede363c7c22a1d4c76f33a690094071f239ada313ceb"></span> `SinceConnection` | Photos taken since MAVSDK got connected. 
+
+### enum Result {#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf}
+
+
+Possible results returned for camera commands.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcfa88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcfa505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Command executed successfully. 
+<span id="classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcfa12d868c18cb29bf58f02b504be9033fd"></span> `InProgress` | Command in progress. 
+<span id="classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcfad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | [Camera](classmavsdk_1_1_camera.md) is busy and rejected command. 
+<span id="classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcfa58d036b9b7f0e7eb38cfb90f1cc70a73"></span> `Denied` | [Camera](classmavsdk_1_1_camera.md) denied the command. 
+<span id="classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcfa902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | An error has occurred while executing the command. 
+<span id="classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcfac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Command timed out. 
+<span id="classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcfa5a738160747f39c20e9f65416931c974"></span> `WrongArgument` | Command has wrong argument(s). 
+<span id="classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcfa1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+<span id="classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcfacb4221c88cb5b30c3380aad8569a80c1"></span> `ProtocolUnsupported` | Definition file protocol not supported. 
+
+## Member Function Documentation
+
+
+### prepare_async() {#classmavsdk_1_1_camera_1aba33f1f8302259a7d51a09b60ea29cbf}
+```cpp
+void mavsdk::Camera::prepare_async(const ResultCallback callback)
+```
+
+
+Prepare the camera plugin (e.g. download the camera definition, etc).
+
+This function is non-blocking. See 'prepare' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) **callback** - 
+
+### prepare() {#classmavsdk_1_1_camera_1af263d3ea4e24da262f935c56fb578444}
+```cpp
+Result mavsdk::Camera::prepare() const
+```
+
+
+Prepare the camera plugin (e.g. download the camera definition, etc).
+
+This function is blocking. See 'prepare_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### take_photo_async() {#classmavsdk_1_1_camera_1a343217bf38cc71cd258c7e81626dccb5}
+```cpp
+void mavsdk::Camera::take_photo_async(const ResultCallback callback)
+```
+
+
+Take one photo.
+
+This function is non-blocking. See 'take_photo' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) **callback** - 
+
+### take_photo() {#classmavsdk_1_1_camera_1a44b86cfda6262652a1796661e595003c}
+```cpp
+Result mavsdk::Camera::take_photo() const
+```
+
+
+Take one photo.
+
+This function is blocking. See 'take_photo_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### start_photo_interval_async() {#classmavsdk_1_1_camera_1ae583f83e163e2b33a8dc4a6fcfebbac6}
+```cpp
+void mavsdk::Camera::start_photo_interval_async(float interval_s, const ResultCallback callback)
+```
+
+
+Start photo timelapse with a given interval.
+
+This function is non-blocking. See 'start_photo_interval' for the blocking counterpart.
+
+**Parameters**
+
+* float **interval_s** - 
+* const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) **callback** - 
+
+### start_photo_interval() {#classmavsdk_1_1_camera_1adfa32eb338aabf19675a1218fc28d8bc}
+```cpp
+Result mavsdk::Camera::start_photo_interval(float interval_s) const
+```
+
+
+Start photo timelapse with a given interval.
+
+This function is blocking. See 'start_photo_interval_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* float **interval_s** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### stop_photo_interval_async() {#classmavsdk_1_1_camera_1a540d94eb58efe02fdd3659994c778203}
+```cpp
+void mavsdk::Camera::stop_photo_interval_async(const ResultCallback callback)
+```
+
+
+Stop a running photo timelapse.
+
+This function is non-blocking. See 'stop_photo_interval' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) **callback** - 
+
+### stop_photo_interval() {#classmavsdk_1_1_camera_1a287fa0fd3fcda1dee2cf40ad041d524a}
+```cpp
+Result mavsdk::Camera::stop_photo_interval() const
+```
+
+
+Stop a running photo timelapse.
+
+This function is blocking. See 'stop_photo_interval_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### start_video_async() {#classmavsdk_1_1_camera_1a2d5dff782ea3f8346bc53560be368531}
+```cpp
+void mavsdk::Camera::start_video_async(const ResultCallback callback)
+```
+
+
+Start a video recording.
+
+This function is non-blocking. See 'start_video' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) **callback** - 
+
+### start_video() {#classmavsdk_1_1_camera_1ac64e77dee9f5ff9b5c84100d8f007670}
+```cpp
+Result mavsdk::Camera::start_video() const
+```
+
+
+Start a video recording.
+
+This function is blocking. See 'start_video_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### stop_video_async() {#classmavsdk_1_1_camera_1a77d1b1a201164023c5eef3c91cdd4e54}
+```cpp
+void mavsdk::Camera::stop_video_async(const ResultCallback callback)
+```
+
+
+Stop a running video recording.
+
+This function is non-blocking. See 'stop_video' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) **callback** - 
+
+### stop_video() {#classmavsdk_1_1_camera_1a6062ac1907bd10944d2ddb9655943ddc}
+```cpp
+Result mavsdk::Camera::stop_video() const
+```
+
+
+Stop a running video recording.
+
+This function is blocking. See 'stop_video_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### start_video_streaming() {#classmavsdk_1_1_camera_1a6e062242a02389e2fc839f5e9ec03d7d}
+```cpp
+Result mavsdk::Camera::start_video_streaming(int32_t stream_id) const
+```
+
+
+Start video streaming.
+
+This function is blocking.
+
+**Parameters**
+
+* int32_t **stream_id** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### stop_video_streaming() {#classmavsdk_1_1_camera_1ae495e8c52984ad76b27b72fc58987d9d}
+```cpp
+Result mavsdk::Camera::stop_video_streaming(int32_t stream_id) const
+```
+
+
+Stop current video streaming.
+
+This function is blocking.
+
+**Parameters**
+
+* int32_t **stream_id** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### set_mode_async() {#classmavsdk_1_1_camera_1a76d98d04885d38d0438da7c8696ef6ab}
+```cpp
+void mavsdk::Camera::set_mode_async(Mode mode, const ResultCallback callback)
+```
+
+
+Set camera mode.
+
+This function is non-blocking. See 'set_mode' for the blocking counterpart.
+
+**Parameters**
+
+* [Mode](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65) **mode** - 
+* const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) **callback** - 
+
+### set_mode() {#classmavsdk_1_1_camera_1a249755db2eaa8fd3d202ac01ca52448d}
+```cpp
+Result mavsdk::Camera::set_mode(Mode mode) const
+```
+
+
+Set camera mode.
+
+This function is blocking. See 'set_mode_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* [Mode](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65) **mode** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### list_photos_async() {#classmavsdk_1_1_camera_1aec1edfe505476d437d45ec2f0deec924}
+```cpp
+void mavsdk::Camera::list_photos_async(PhotosRange photos_range, const ListPhotosCallback callback)
+```
+
+
+List photos available on the camera.
+
+This function is non-blocking. See 'list_photos' for the blocking counterpart.
+
+**Parameters**
+
+* [PhotosRange](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a1211ea6664aa9c1d4ef4aede363c7c22) **photos_range** - 
+* const [ListPhotosCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a23240233586f7673c3a1b48f07623fe4) **callback** - 
+
+### list_photos() {#classmavsdk_1_1_camera_1a49dc17b74047049c386d88cd365de868}
+```cpp
+std::pair<Result, std::vector<Camera::CaptureInfo> > mavsdk::Camera::list_photos(PhotosRange photos_range) const
+```
+
+
+List photos available on the camera.
+
+This function is blocking. See 'list_photos_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* [PhotosRange](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a1211ea6664aa9c1d4ef4aede363c7c22) **photos_range** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf), std::vector< [Camera::CaptureInfo](structmavsdk_1_1_camera_1_1_capture_info.md) > > - Result of request.
+
+### subscribe_mode() {#classmavsdk_1_1_camera_1a1963bfcfcc8c9e96451648f96fd618cd}
+```cpp
+ModeHandle mavsdk::Camera::subscribe_mode(const ModeCallback &callback)
+```
+
+
+Subscribe to camera mode updates.
+
+
+**Parameters**
+
+* const [ModeCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a33a7257ab95d9277b786e6de86604931)& **callback** - 
+
+**Returns**
+
+&emsp;[ModeHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1ac6759725ac9696f9572b05524fde2354) - 
+
+### unsubscribe_mode() {#classmavsdk_1_1_camera_1ab9437b41565d8957050e09cf4143f5d1}
+```cpp
+void mavsdk::Camera::unsubscribe_mode(ModeHandle handle)
+```
+
+
+Unsubscribe from subscribe_mode.
+
+
+**Parameters**
+
+* [ModeHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1ac6759725ac9696f9572b05524fde2354) **handle** - 
+
+### mode() {#classmavsdk_1_1_camera_1a222bce91e70d1ca53bcf5d885bacd418}
+```cpp
+Mode mavsdk::Camera::mode() const
+```
+
+
+Poll for 'Mode' (blocking).
+
+
+**Returns**
+
+&emsp;[Mode](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a02bb5ce37d125ba4c65d43f172cc2d65) - One Mode update.
+
+### subscribe_information() {#classmavsdk_1_1_camera_1af4b5c713813df8c407a09963295c33a2}
+```cpp
+InformationHandle mavsdk::Camera::subscribe_information(const InformationCallback &callback)
+```
+
+
+Subscribe to camera information updates.
+
+
+**Parameters**
+
+* const [InformationCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1af13455249eebaf152a71d59e32fcbf65)& **callback** - 
+
+**Returns**
+
+&emsp;[InformationHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a0dcacb795da7de566fb6dce091ca4605) - 
+
+### unsubscribe_information() {#classmavsdk_1_1_camera_1a90b70deaf25dff027714afb856653ea5}
+```cpp
+void mavsdk::Camera::unsubscribe_information(InformationHandle handle)
+```
+
+
+Unsubscribe from subscribe_information.
+
+
+**Parameters**
+
+* [InformationHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a0dcacb795da7de566fb6dce091ca4605) **handle** - 
+
+### information() {#classmavsdk_1_1_camera_1a7feb16f3d913b91d05efc803ce4e396b}
+```cpp
+Information mavsdk::Camera::information() const
+```
+
+
+Poll for '[Information](structmavsdk_1_1_camera_1_1_information.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Information](structmavsdk_1_1_camera_1_1_information.md) - One [Information](structmavsdk_1_1_camera_1_1_information.md) update.
+
+### subscribe_video_stream_info() {#classmavsdk_1_1_camera_1a4dcf0ebeb1f9f5e5b2b71f59c9b7eeb9}
+```cpp
+VideoStreamInfoHandle mavsdk::Camera::subscribe_video_stream_info(const VideoStreamInfoCallback &callback)
+```
+
+
+Subscribe to video stream info updates.
+
+
+**Parameters**
+
+* const [VideoStreamInfoCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1acd9baf073b816e46c22dbd6b599ece66)& **callback** - 
+
+**Returns**
+
+&emsp;[VideoStreamInfoHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1aebf91f740cc85682c6b7a0955635f848) - 
+
+### unsubscribe_video_stream_info() {#classmavsdk_1_1_camera_1abc370783800fb90dda20d2843f990036}
+```cpp
+void mavsdk::Camera::unsubscribe_video_stream_info(VideoStreamInfoHandle handle)
+```
+
+
+Unsubscribe from subscribe_video_stream_info.
+
+
+**Parameters**
+
+* [VideoStreamInfoHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1aebf91f740cc85682c6b7a0955635f848) **handle** - 
+
+### video_stream_info() {#classmavsdk_1_1_camera_1ad466621feff2d4f0f11124a36dda656c}
+```cpp
+VideoStreamInfo mavsdk::Camera::video_stream_info() const
+```
+
+
+Poll for '[VideoStreamInfo](structmavsdk_1_1_camera_1_1_video_stream_info.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[VideoStreamInfo](structmavsdk_1_1_camera_1_1_video_stream_info.md) - One [VideoStreamInfo](structmavsdk_1_1_camera_1_1_video_stream_info.md) update.
+
+### subscribe_capture_info() {#classmavsdk_1_1_camera_1a8822ab1d802984a1acc9b53cd9810e8f}
+```cpp
+CaptureInfoHandle mavsdk::Camera::subscribe_capture_info(const CaptureInfoCallback &callback)
+```
+
+
+Subscribe to capture info updates.
+
+
+**Parameters**
+
+* const [CaptureInfoCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a9bf5c20ea0b03ab019057829d1a3441e)& **callback** - 
+
+**Returns**
+
+&emsp;[CaptureInfoHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a789f1fccde8eb44bc07694751b3a1b40) - 
+
+### unsubscribe_capture_info() {#classmavsdk_1_1_camera_1a9b7f729dfa30a6cb0d041533bd272793}
+```cpp
+void mavsdk::Camera::unsubscribe_capture_info(CaptureInfoHandle handle)
+```
+
+
+Unsubscribe from subscribe_capture_info.
+
+
+**Parameters**
+
+* [CaptureInfoHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a789f1fccde8eb44bc07694751b3a1b40) **handle** - 
+
+### subscribe_status() {#classmavsdk_1_1_camera_1a1bf71cdb27a9b8d3fefe15463c9b9bf1}
+```cpp
+StatusHandle mavsdk::Camera::subscribe_status(const StatusCallback &callback)
+```
+
+
+Subscribe to camera status updates.
+
+
+**Parameters**
+
+* const [StatusCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1aea925914ce854b81b67e3213840c97ad)& **callback** - 
+
+**Returns**
+
+&emsp;[StatusHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a902bc3a824040a37714bb2c1c41a9601) - 
+
+### unsubscribe_status() {#classmavsdk_1_1_camera_1a402cf21219f9b303fca0a269dab15b63}
+```cpp
+void mavsdk::Camera::unsubscribe_status(StatusHandle handle)
+```
+
+
+Unsubscribe from subscribe_status.
+
+
+**Parameters**
+
+* [StatusHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a902bc3a824040a37714bb2c1c41a9601) **handle** - 
+
+### status() {#classmavsdk_1_1_camera_1a0bb78c2b665c28b314f00f11a0f676b1}
+```cpp
+Status mavsdk::Camera::status() const
+```
+
+
+Poll for '[Status](structmavsdk_1_1_camera_1_1_status.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Status](structmavsdk_1_1_camera_1_1_status.md) - One [Status](structmavsdk_1_1_camera_1_1_status.md) update.
+
+### subscribe_current_settings() {#classmavsdk_1_1_camera_1a906c431b63dde866b691ab4c839858ff}
+```cpp
+CurrentSettingsHandle mavsdk::Camera::subscribe_current_settings(const CurrentSettingsCallback &callback)
+```
+
+
+Get the list of current camera settings.
+
+
+**Parameters**
+
+* const [CurrentSettingsCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a77484487381b2579460c36d97d367fe6)& **callback** - 
+
+**Returns**
+
+&emsp;[CurrentSettingsHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a19960e47f1c2b3fb5117ba2f7f3cfbe6) - 
+
+### unsubscribe_current_settings() {#classmavsdk_1_1_camera_1a117e76672b39c9cd751fa64a42741c17}
+```cpp
+void mavsdk::Camera::unsubscribe_current_settings(CurrentSettingsHandle handle)
+```
+
+
+Unsubscribe from subscribe_current_settings.
+
+
+**Parameters**
+
+* [CurrentSettingsHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a19960e47f1c2b3fb5117ba2f7f3cfbe6) **handle** - 
+
+### subscribe_possible_setting_options() {#classmavsdk_1_1_camera_1aef7c545aaa05e36b212255120557967b}
+```cpp
+PossibleSettingOptionsHandle mavsdk::Camera::subscribe_possible_setting_options(const PossibleSettingOptionsCallback &callback)
+```
+
+
+Get the list of settings that can be changed.
+
+
+**Parameters**
+
+* const [PossibleSettingOptionsCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a78e25614c29cd8bc1bbf26adcf417c2a)& **callback** - 
+
+**Returns**
+
+&emsp;[PossibleSettingOptionsHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a1144be14cd9f15724397ad6b5253b8a9) - 
+
+### unsubscribe_possible_setting_options() {#classmavsdk_1_1_camera_1a191cc00bb6b1c834fc93b19f4bff1c29}
+```cpp
+void mavsdk::Camera::unsubscribe_possible_setting_options(PossibleSettingOptionsHandle handle)
+```
+
+
+Unsubscribe from subscribe_possible_setting_options.
+
+
+**Parameters**
+
+* [PossibleSettingOptionsHandle](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a1144be14cd9f15724397ad6b5253b8a9) **handle** - 
+
+### possible_setting_options() {#classmavsdk_1_1_camera_1a5416dc30ec436707420db715ee56ce08}
+```cpp
+std::vector<SettingOptions> mavsdk::Camera::possible_setting_options() const
+```
+
+
+Poll for 'std::vector< SettingOptions >' (blocking).
+
+
+**Returns**
+
+&emsp;std::vector< [SettingOptions](structmavsdk_1_1_camera_1_1_setting_options.md) > - One std::vector< SettingOptions > update.
+
+### set_setting_async() {#classmavsdk_1_1_camera_1aace1d6ffd86a6fdf30b3466c8522feba}
+```cpp
+void mavsdk::Camera::set_setting_async(Setting setting, const ResultCallback callback)
+```
+
+
+Set a setting to some value.
+
+Only setting_id of setting and option_id of option needs to be set.
+
+
+This function is non-blocking. See 'set_setting' for the blocking counterpart.
+
+**Parameters**
+
+* [Setting](structmavsdk_1_1_camera_1_1_setting.md) **setting** - 
+* const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) **callback** - 
+
+### set_setting() {#classmavsdk_1_1_camera_1aa4b1293d8c6332293cccde87ec79f64a}
+```cpp
+Result mavsdk::Camera::set_setting(Setting setting) const
+```
+
+
+Set a setting to some value.
+
+Only setting_id of setting and option_id of option needs to be set.
+
+
+This function is blocking. See 'set_setting_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* [Setting](structmavsdk_1_1_camera_1_1_setting.md) **setting** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### get_setting_async() {#classmavsdk_1_1_camera_1a6b2e4e9b5b304aff313e4f988aa6ba86}
+```cpp
+void mavsdk::Camera::get_setting_async(Setting setting, const GetSettingCallback callback)
+```
+
+
+Get a setting.
+
+Only setting_id of setting needs to be set.
+
+
+This function is non-blocking. See 'get_setting' for the blocking counterpart.
+
+**Parameters**
+
+* [Setting](structmavsdk_1_1_camera_1_1_setting.md) **setting** - 
+* const [GetSettingCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1ac233f5688f0b7f1e712bb31dfaeadd85) **callback** - 
+
+### get_setting() {#classmavsdk_1_1_camera_1ae88917857b666dc7cfd0d84b3ad29d9c}
+```cpp
+std::pair<Result, Camera::Setting> mavsdk::Camera::get_setting(Setting setting) const
+```
+
+
+Get a setting.
+
+Only setting_id of setting needs to be set.
+
+
+This function is blocking. See 'get_setting_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* [Setting](structmavsdk_1_1_camera_1_1_setting.md) **setting** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf), [Camera::Setting](structmavsdk_1_1_camera_1_1_setting.md) > - Result of request.
+
+### format_storage_async() {#classmavsdk_1_1_camera_1afd1074b185776167e7355438ac69d955}
+```cpp
+void mavsdk::Camera::format_storage_async(int32_t storage_id, const ResultCallback callback)
+```
+
+
+Format storage (e.g. SD card) in camera.
+
+This will delete all content of the camera storage!
+
+
+This function is non-blocking. See 'format_storage' for the blocking counterpart.
+
+**Parameters**
+
+* int32_t **storage_id** - 
+* const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) **callback** - 
+
+### format_storage() {#classmavsdk_1_1_camera_1a942f9bad2e2bede982d404ce552090a5}
+```cpp
+Result mavsdk::Camera::format_storage(int32_t storage_id) const
+```
+
+
+Format storage (e.g. SD card) in camera.
+
+This will delete all content of the camera storage!
+
+
+This function is blocking. See 'format_storage_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* int32_t **storage_id** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### select_camera() {#classmavsdk_1_1_camera_1ab3348f98003f71f2399dd15505effae3}
+```cpp
+Result mavsdk::Camera::select_camera(int32_t camera_id) const
+```
+
+
+Select current camera .
+
+Bind the plugin instance to a specific camera_id
+
+
+This function is blocking.
+
+**Parameters**
+
+* int32_t **camera_id** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### reset_settings_async() {#classmavsdk_1_1_camera_1ab2316e20104a5efa94bf2719dc3dd994}
+```cpp
+void mavsdk::Camera::reset_settings_async(const ResultCallback callback)
+```
+
+
+Reset all settings in camera.
+
+This will reset all camera settings to default value
+
+
+This function is non-blocking. See 'reset_settings' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a8d6d59cd8d0a3584ef60b16255b6301f) **callback** - 
+
+### reset_settings() {#classmavsdk_1_1_camera_1a49c84f20f1100848e3951f5e14b569dc}
+```cpp
+Result mavsdk::Camera::reset_settings() const
+```
+
+
+Reset all settings in camera.
+
+This will reset all camera settings to default value
+
+
+This function is blocking. See 'reset_settings_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera.md#classmavsdk_1_1_camera_1a2a84df3938372f4f302576227b308bcf) - Result of request.
+
+### operator=() {#classmavsdk_1_1_camera_1aeff295155b6a665f5c942e473f1fe894}
+```cpp
+const Camera& mavsdk::Camera::operator=(const Camera &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Camera](classmavsdk_1_1_camera.md)&  - 
+
+**Returns**
+
+&emsp;const [Camera](classmavsdk_1_1_camera.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_camera_server.md b/docs/en/cpp/api_reference/classmavsdk_1_1_camera_server.md
new file mode 100644
index 0000000000..f6c943481e
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_camera_server.md
@@ -0,0 +1,958 @@
+# mavsdk::CameraServer Class Reference
+`#include: camera_server.h`
+
+----
+
+
+Provides handling of camera trigger commands. 
+
+
+## Data Structures
+
+
+struct [CaptureInfo](structmavsdk_1_1_camera_server_1_1_capture_info.md)
+
+struct [CaptureStatus](structmavsdk_1_1_camera_server_1_1_capture_status.md)
+
+struct [Information](structmavsdk_1_1_camera_server_1_1_information.md)
+
+struct [Position](structmavsdk_1_1_camera_server_1_1_position.md)
+
+struct [Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md)
+
+struct [StorageInformation](structmavsdk_1_1_camera_server_1_1_storage_information.md)
+
+struct [VideoStreaming](structmavsdk_1_1_camera_server_1_1_video_streaming.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [CameraFeedback](#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) | Possible feedback results for camera respond command.
+enum [Mode](#classmavsdk_1_1_camera_server_1acf066a6b06ea67f66e59263a15869155) | [Camera](classmavsdk_1_1_camera.md) mode type.
+enum [Result](#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | Possible results returned for action requests.
+std::function< void([Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d))> [ResultCallback](#classmavsdk_1_1_camera_server_1a06aae7383f055f54a659cfce45432207) | Callback type for asynchronous [CameraServer](classmavsdk_1_1_camera_server.md) calls.
+std::function< void(int32_t)> [TakePhotoCallback](#classmavsdk_1_1_camera_server_1a947529ac03c8dfac60c7c798db60a2d0) | Callback type for subscribe_take_photo.
+[Handle](classmavsdk_1_1_handle.md)< int32_t > [TakePhotoHandle](#classmavsdk_1_1_camera_server_1a2c79367a301d3b3093963222ac2cccbe) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_take_photo.
+std::function< void(int32_t)> [StartVideoCallback](#classmavsdk_1_1_camera_server_1a01810f7bdc3ab4a59c633c7e11d02d0f) | Callback type for subscribe_start_video.
+[Handle](classmavsdk_1_1_handle.md)< int32_t > [StartVideoHandle](#classmavsdk_1_1_camera_server_1a2ec6dce94dfca9b5d102306df53072a1) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_start_video.
+std::function< void(int32_t)> [StopVideoCallback](#classmavsdk_1_1_camera_server_1a37a4bd54432b5ffa866edd6cd9310c7f) | Callback type for subscribe_stop_video.
+[Handle](classmavsdk_1_1_handle.md)< int32_t > [StopVideoHandle](#classmavsdk_1_1_camera_server_1a7ca737d29d078f98770b7e2de6a93e8c) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_stop_video.
+std::function< void(int32_t)> [StartVideoStreamingCallback](#classmavsdk_1_1_camera_server_1ae67fa13502562dea8c3e955213cd14b9) | Callback type for subscribe_start_video_streaming.
+[Handle](classmavsdk_1_1_handle.md)< int32_t > [StartVideoStreamingHandle](#classmavsdk_1_1_camera_server_1ae6c608c1345fa1e1111c7bb2ed56cb85) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_start_video_streaming.
+std::function< void(int32_t)> [StopVideoStreamingCallback](#classmavsdk_1_1_camera_server_1a111ed05ec69596127b9ac197c8fa2940) | Callback type for subscribe_stop_video_streaming.
+[Handle](classmavsdk_1_1_handle.md)< int32_t > [StopVideoStreamingHandle](#classmavsdk_1_1_camera_server_1a2b1a56ba4c349a59c3c62fccc5d249ea) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_stop_video_streaming.
+std::function< void([Mode](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1acf066a6b06ea67f66e59263a15869155))> [SetModeCallback](#classmavsdk_1_1_camera_server_1a0e023e2c618adcb2ad75527353dc8acd) | Callback type for subscribe_set_mode.
+[Handle](classmavsdk_1_1_handle.md)< [Mode](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1acf066a6b06ea67f66e59263a15869155) > [SetModeHandle](#classmavsdk_1_1_camera_server_1ae73af6f5c0e21e1ad89b75706f2d782c) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_set_mode.
+std::function< void(int32_t)> [StorageInformationCallback](#classmavsdk_1_1_camera_server_1ac5ad2dd65155ce1e7a6c0ebd2f0d20cf) | Callback type for subscribe_storage_information.
+[Handle](classmavsdk_1_1_handle.md)< int32_t > [StorageInformationHandle](#classmavsdk_1_1_camera_server_1a20edc2d4386999873dcbf74eafba6966) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_storage_information.
+std::function< void(int32_t)> [CaptureStatusCallback](#classmavsdk_1_1_camera_server_1af288de066938d13c02b4f1364cd66403) | Callback type for subscribe_capture_status.
+[Handle](classmavsdk_1_1_handle.md)< int32_t > [CaptureStatusHandle](#classmavsdk_1_1_camera_server_1af67bf159a7f2173364182bff2cdd56bd) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_capture_status.
+std::function< void(int32_t)> [FormatStorageCallback](#classmavsdk_1_1_camera_server_1a6242b427d4f29202ef931e8c6a7bdc46) | Callback type for subscribe_format_storage.
+[Handle](classmavsdk_1_1_handle.md)< int32_t > [FormatStorageHandle](#classmavsdk_1_1_camera_server_1a71b5531c91f7fba1c74296e55ecd3f45) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_format_storage.
+std::function< void(int32_t)> [ResetSettingsCallback](#classmavsdk_1_1_camera_server_1ac88b7c640c76e5ff2bdc9afb243ceac2) | Callback type for subscribe_reset_settings.
+[Handle](classmavsdk_1_1_handle.md)< int32_t > [ResetSettingsHandle](#classmavsdk_1_1_camera_server_1aec973cf0e67863272e63e12902094f25) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_reset_settings.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [CameraServer](#classmavsdk_1_1_camera_server_1ac8575ed408d1c5f317aeec458402ccc3) (std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > server_component) | Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+&nbsp; | [~CameraServer](#classmavsdk_1_1_camera_server_1a6e387b798274d5e4dadb01499d91daff) () override | Destructor (internal use only).
+&nbsp; | [CameraServer](#classmavsdk_1_1_camera_server_1acf1f1fcd248cf4942cd061a2345c89b9) (const [CameraServer](classmavsdk_1_1_camera_server.md) & other) | Copy constructor.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [set_information](#classmavsdk_1_1_camera_server_1a81b6b957f11cc8764ea5bddfae88fc64) ([Information](structmavsdk_1_1_camera_server_1_1_information.md) information)const | Sets the camera information. This must be called as soon as the camera server is created.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [set_video_streaming](#classmavsdk_1_1_camera_server_1a8de695275fc2bee579005b4638250bb1) ([VideoStreaming](structmavsdk_1_1_camera_server_1_1_video_streaming.md) video_streaming)const | Sets video streaming settings.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [set_in_progress](#classmavsdk_1_1_camera_server_1a9f4c5012412b889017c9f47d01044651) (bool in_progress)const | Sets image capture in progress status flags. This should be set to true when the camera is busy taking a photo and false when it is done.
+[TakePhotoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2c79367a301d3b3093963222ac2cccbe) | [subscribe_take_photo](#classmavsdk_1_1_camera_server_1a8a982fbf278d1521f6f80a7527f5f85c) (const [TakePhotoCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a947529ac03c8dfac60c7c798db60a2d0) & callback) | Subscribe to image capture requests. Each request received should respond to using RespondTakePhoto.
+void | [unsubscribe_take_photo](#classmavsdk_1_1_camera_server_1a9b6c0b59f8990b4259b9a2fa134228c9) ([TakePhotoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2c79367a301d3b3093963222ac2cccbe) handle) | Unsubscribe from subscribe_take_photo.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [respond_take_photo](#classmavsdk_1_1_camera_server_1aef1d7b26221a1e98b9d6ff099a6f1299) ([CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) take_photo_feedback, [CaptureInfo](structmavsdk_1_1_camera_server_1_1_capture_info.md) capture_info)const | Respond to an image capture request from SubscribeTakePhoto.
+[StartVideoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2ec6dce94dfca9b5d102306df53072a1) | [subscribe_start_video](#classmavsdk_1_1_camera_server_1a11e48131fac66f1f54a7f433a18cb000) (const [StartVideoCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a01810f7bdc3ab4a59c633c7e11d02d0f) & callback) | Subscribe to start video requests. Each request received should respond to using RespondStartVideo.
+void | [unsubscribe_start_video](#classmavsdk_1_1_camera_server_1a408195cfa869e1146c054320c8bf74c2) ([StartVideoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2ec6dce94dfca9b5d102306df53072a1) handle) | Unsubscribe from subscribe_start_video.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [respond_start_video](#classmavsdk_1_1_camera_server_1aae8ca562aed415a803e5cf116d3860ab) ([CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) start_video_feedback)const | Subscribe to stop video requests. Each request received should respond using StopVideoResponse.
+[StopVideoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a7ca737d29d078f98770b7e2de6a93e8c) | [subscribe_stop_video](#classmavsdk_1_1_camera_server_1a1f9bf41790c13bfac00e83a07a0aabc2) (const [StopVideoCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a37a4bd54432b5ffa866edd6cd9310c7f) & callback) | Subscribe to stop video requests. Each request received should response to using RespondStopVideo.
+void | [unsubscribe_stop_video](#classmavsdk_1_1_camera_server_1a46087c9b9131d5b56c937a7a0f9b82cd) ([StopVideoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a7ca737d29d078f98770b7e2de6a93e8c) handle) | Unsubscribe from subscribe_stop_video.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [respond_stop_video](#classmavsdk_1_1_camera_server_1a72504e0a97587dbd4e92cbdf2aedd36f) ([CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) stop_video_feedback)const | Respond to stop video request from SubscribeStopVideo.
+[StartVideoStreamingHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ae6c608c1345fa1e1111c7bb2ed56cb85) | [subscribe_start_video_streaming](#classmavsdk_1_1_camera_server_1a7528dfe116272cdef1584c0709e9d554) (const [StartVideoStreamingCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ae67fa13502562dea8c3e955213cd14b9) & callback) | Subscribe to start video streaming requests. Each request received should response to using RespondStartVideoStreaming.
+void | [unsubscribe_start_video_streaming](#classmavsdk_1_1_camera_server_1a0e85bc6405cb04be6d14e385b5c9b6f0) ([StartVideoStreamingHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ae6c608c1345fa1e1111c7bb2ed56cb85) handle) | Unsubscribe from subscribe_start_video_streaming.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [respond_start_video_streaming](#classmavsdk_1_1_camera_server_1a32bf585f316c0990fd3c792930eb430c) ([CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) start_video_streaming_feedback)const | Respond to start video streaming from SubscribeStartVideoStreaming.
+[StopVideoStreamingHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2b1a56ba4c349a59c3c62fccc5d249ea) | [subscribe_stop_video_streaming](#classmavsdk_1_1_camera_server_1aed9dd6e4e5d4b9aa24254933cfdb68d6) (const [StopVideoStreamingCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a111ed05ec69596127b9ac197c8fa2940) & callback) | Subscribe to stop video streaming requests. Each request received should response to using RespondStopVideoStreaming.
+void | [unsubscribe_stop_video_streaming](#classmavsdk_1_1_camera_server_1a0ae66e34730d2a9ebea39bff190b432c) ([StopVideoStreamingHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2b1a56ba4c349a59c3c62fccc5d249ea) handle) | Unsubscribe from subscribe_stop_video_streaming.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [respond_stop_video_streaming](#classmavsdk_1_1_camera_server_1a8a452852fd4ba6a97ab7613dfbe3d3d5) ([CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) stop_video_streaming_feedback)const | Respond to stop video streaming from SubscribeStopVideoStreaming.
+[SetModeHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ae73af6f5c0e21e1ad89b75706f2d782c) | [subscribe_set_mode](#classmavsdk_1_1_camera_server_1a7aefc230a1c9688c6ffce0563970363d) (const [SetModeCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a0e023e2c618adcb2ad75527353dc8acd) & callback) | Subscribe to set camera mode requests. Each request received should response to using RespondSetMode.
+void | [unsubscribe_set_mode](#classmavsdk_1_1_camera_server_1a4ebe9158300707532374492e664911b7) ([SetModeHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ae73af6f5c0e21e1ad89b75706f2d782c) handle) | Unsubscribe from subscribe_set_mode.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [respond_set_mode](#classmavsdk_1_1_camera_server_1add075055b138c38ef17502ef049b2508) ([CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) set_mode_feedback)const | Respond to set camera mode from SubscribeSetMode.
+[StorageInformationHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a20edc2d4386999873dcbf74eafba6966) | [subscribe_storage_information](#classmavsdk_1_1_camera_server_1a05fbd42c88962fccad1b2a31810dade7) (const [StorageInformationCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ac5ad2dd65155ce1e7a6c0ebd2f0d20cf) & callback) | Subscribe to camera storage information requests. Each request received should response to using RespondStorageInformation.
+void | [unsubscribe_storage_information](#classmavsdk_1_1_camera_server_1afe6fbc5c8f5f39f204c2d6c57ac5161d) ([StorageInformationHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a20edc2d4386999873dcbf74eafba6966) handle) | Unsubscribe from subscribe_storage_information.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [respond_storage_information](#classmavsdk_1_1_camera_server_1a6dee290ca68414ee8ff9744e261b5ac3) ([CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) storage_information_feedback, [StorageInformation](structmavsdk_1_1_camera_server_1_1_storage_information.md) storage_information)const | Respond to camera storage information from SubscribeStorageInformation.
+[CaptureStatusHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1af67bf159a7f2173364182bff2cdd56bd) | [subscribe_capture_status](#classmavsdk_1_1_camera_server_1a783ac1e37cf9be240e660fe3ba4eced9) (const [CaptureStatusCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1af288de066938d13c02b4f1364cd66403) & callback) | Subscribe to camera capture status requests. Each request received should response to using RespondCaptureStatus.
+void | [unsubscribe_capture_status](#classmavsdk_1_1_camera_server_1af26523420d48b629f1758da304c9d156) ([CaptureStatusHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1af67bf159a7f2173364182bff2cdd56bd) handle) | Unsubscribe from subscribe_capture_status.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [respond_capture_status](#classmavsdk_1_1_camera_server_1ae091608e278807026e114d257d25407a) ([CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) capture_status_feedback, [CaptureStatus](structmavsdk_1_1_camera_server_1_1_capture_status.md) capture_status)const | Respond to camera capture status from SubscribeCaptureStatus.
+[FormatStorageHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a71b5531c91f7fba1c74296e55ecd3f45) | [subscribe_format_storage](#classmavsdk_1_1_camera_server_1ab788a20175966f8d5ddab973f176a3b4) (const [FormatStorageCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a6242b427d4f29202ef931e8c6a7bdc46) & callback) | Subscribe to format storage requests. Each request received should response to using RespondFormatStorage.
+void | [unsubscribe_format_storage](#classmavsdk_1_1_camera_server_1a9b51f14ffa8c65518d59a5fed406be0c) ([FormatStorageHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a71b5531c91f7fba1c74296e55ecd3f45) handle) | Unsubscribe from subscribe_format_storage.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [respond_format_storage](#classmavsdk_1_1_camera_server_1a18bb9a800df91f74efa0a35eb5218a14) ([CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) format_storage_feedback)const | Respond to format storage from SubscribeFormatStorage.
+[ResetSettingsHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aec973cf0e67863272e63e12902094f25) | [subscribe_reset_settings](#classmavsdk_1_1_camera_server_1ab1022684bc503e1d6294495de8c68165) (const [ResetSettingsCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ac88b7c640c76e5ff2bdc9afb243ceac2) & callback) | Subscribe to reset settings requests. Each request received should response to using RespondResetSettings.
+void | [unsubscribe_reset_settings](#classmavsdk_1_1_camera_server_1a09c70966fa6f98215c11d8257d1b9608) ([ResetSettingsHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aec973cf0e67863272e63e12902094f25) handle) | Unsubscribe from subscribe_reset_settings.
+[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) | [respond_reset_settings](#classmavsdk_1_1_camera_server_1a1d7b2793d899c9052038f4e9569eb32b) ([CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) reset_settings_feedback)const | Respond to reset settings from SubscribeResetSettings.
+const [CameraServer](classmavsdk_1_1_camera_server.md) & | [operator=](#classmavsdk_1_1_camera_server_1a08a928060071a9a9e4d321403f7d446a) (const [CameraServer](classmavsdk_1_1_camera_server.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### CameraServer() {#classmavsdk_1_1_camera_server_1ac8575ed408d1c5f317aeec458402ccc3}
+```cpp
+mavsdk::CameraServer::CameraServer(std::shared_ptr< ServerComponent > server_component)
+```
+
+
+Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto camera_server = CameraServer(server_component);
+```
+
+**Parameters**
+
+* std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > **server_component** - The [ServerComponent](classmavsdk_1_1_server_component.md) instance associated with this server plugin.
+
+### ~CameraServer() {#classmavsdk_1_1_camera_server_1a6e387b798274d5e4dadb01499d91daff}
+```cpp
+mavsdk::CameraServer::~CameraServer() override
+```
+
+
+Destructor (internal use only).
+
+
+### CameraServer() {#classmavsdk_1_1_camera_server_1acf1f1fcd248cf4942cd061a2345c89b9}
+```cpp
+mavsdk::CameraServer::CameraServer(const CameraServer &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [CameraServer](classmavsdk_1_1_camera_server.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_camera_server_1a06aae7383f055f54a659cfce45432207}
+
+```cpp
+using mavsdk::CameraServer::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [CameraServer](classmavsdk_1_1_camera_server.md) calls.
+
+
+### typedef TakePhotoCallback {#classmavsdk_1_1_camera_server_1a947529ac03c8dfac60c7c798db60a2d0}
+
+```cpp
+using mavsdk::CameraServer::TakePhotoCallback =  std::function<void(int32_t)>
+```
+
+
+Callback type for subscribe_take_photo.
+
+
+### typedef TakePhotoHandle {#classmavsdk_1_1_camera_server_1a2c79367a301d3b3093963222ac2cccbe}
+
+```cpp
+using mavsdk::CameraServer::TakePhotoHandle =  Handle<int32_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_take_photo.
+
+
+### typedef StartVideoCallback {#classmavsdk_1_1_camera_server_1a01810f7bdc3ab4a59c633c7e11d02d0f}
+
+```cpp
+using mavsdk::CameraServer::StartVideoCallback =  std::function<void(int32_t)>
+```
+
+
+Callback type for subscribe_start_video.
+
+
+### typedef StartVideoHandle {#classmavsdk_1_1_camera_server_1a2ec6dce94dfca9b5d102306df53072a1}
+
+```cpp
+using mavsdk::CameraServer::StartVideoHandle =  Handle<int32_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_start_video.
+
+
+### typedef StopVideoCallback {#classmavsdk_1_1_camera_server_1a37a4bd54432b5ffa866edd6cd9310c7f}
+
+```cpp
+using mavsdk::CameraServer::StopVideoCallback =  std::function<void(int32_t)>
+```
+
+
+Callback type for subscribe_stop_video.
+
+
+### typedef StopVideoHandle {#classmavsdk_1_1_camera_server_1a7ca737d29d078f98770b7e2de6a93e8c}
+
+```cpp
+using mavsdk::CameraServer::StopVideoHandle =  Handle<int32_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_stop_video.
+
+
+### typedef StartVideoStreamingCallback {#classmavsdk_1_1_camera_server_1ae67fa13502562dea8c3e955213cd14b9}
+
+```cpp
+using mavsdk::CameraServer::StartVideoStreamingCallback =  std::function<void(int32_t)>
+```
+
+
+Callback type for subscribe_start_video_streaming.
+
+
+### typedef StartVideoStreamingHandle {#classmavsdk_1_1_camera_server_1ae6c608c1345fa1e1111c7bb2ed56cb85}
+
+```cpp
+using mavsdk::CameraServer::StartVideoStreamingHandle =  Handle<int32_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_start_video_streaming.
+
+
+### typedef StopVideoStreamingCallback {#classmavsdk_1_1_camera_server_1a111ed05ec69596127b9ac197c8fa2940}
+
+```cpp
+using mavsdk::CameraServer::StopVideoStreamingCallback =  std::function<void(int32_t)>
+```
+
+
+Callback type for subscribe_stop_video_streaming.
+
+
+### typedef StopVideoStreamingHandle {#classmavsdk_1_1_camera_server_1a2b1a56ba4c349a59c3c62fccc5d249ea}
+
+```cpp
+using mavsdk::CameraServer::StopVideoStreamingHandle =  Handle<int32_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_stop_video_streaming.
+
+
+### typedef SetModeCallback {#classmavsdk_1_1_camera_server_1a0e023e2c618adcb2ad75527353dc8acd}
+
+```cpp
+using mavsdk::CameraServer::SetModeCallback =  std::function<void(Mode)>
+```
+
+
+Callback type for subscribe_set_mode.
+
+
+### typedef SetModeHandle {#classmavsdk_1_1_camera_server_1ae73af6f5c0e21e1ad89b75706f2d782c}
+
+```cpp
+using mavsdk::CameraServer::SetModeHandle =  Handle<Mode>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_set_mode.
+
+
+### typedef StorageInformationCallback {#classmavsdk_1_1_camera_server_1ac5ad2dd65155ce1e7a6c0ebd2f0d20cf}
+
+```cpp
+using mavsdk::CameraServer::StorageInformationCallback =  std::function<void(int32_t)>
+```
+
+
+Callback type for subscribe_storage_information.
+
+
+### typedef StorageInformationHandle {#classmavsdk_1_1_camera_server_1a20edc2d4386999873dcbf74eafba6966}
+
+```cpp
+using mavsdk::CameraServer::StorageInformationHandle =  Handle<int32_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_storage_information.
+
+
+### typedef CaptureStatusCallback {#classmavsdk_1_1_camera_server_1af288de066938d13c02b4f1364cd66403}
+
+```cpp
+using mavsdk::CameraServer::CaptureStatusCallback =  std::function<void(int32_t)>
+```
+
+
+Callback type for subscribe_capture_status.
+
+
+### typedef CaptureStatusHandle {#classmavsdk_1_1_camera_server_1af67bf159a7f2173364182bff2cdd56bd}
+
+```cpp
+using mavsdk::CameraServer::CaptureStatusHandle =  Handle<int32_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_capture_status.
+
+
+### typedef FormatStorageCallback {#classmavsdk_1_1_camera_server_1a6242b427d4f29202ef931e8c6a7bdc46}
+
+```cpp
+using mavsdk::CameraServer::FormatStorageCallback =  std::function<void(int32_t)>
+```
+
+
+Callback type for subscribe_format_storage.
+
+
+### typedef FormatStorageHandle {#classmavsdk_1_1_camera_server_1a71b5531c91f7fba1c74296e55ecd3f45}
+
+```cpp
+using mavsdk::CameraServer::FormatStorageHandle =  Handle<int32_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_format_storage.
+
+
+### typedef ResetSettingsCallback {#classmavsdk_1_1_camera_server_1ac88b7c640c76e5ff2bdc9afb243ceac2}
+
+```cpp
+using mavsdk::CameraServer::ResetSettingsCallback =  std::function<void(int32_t)>
+```
+
+
+Callback type for subscribe_reset_settings.
+
+
+### typedef ResetSettingsHandle {#classmavsdk_1_1_camera_server_1aec973cf0e67863272e63e12902094f25}
+
+```cpp
+using mavsdk::CameraServer::ResetSettingsHandle =  Handle<int32_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_reset_settings.
+
+
+## Member Enumeration Documentation
+
+
+### enum CameraFeedback {#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72}
+
+
+Possible feedback results for camera respond command.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown. 
+<span id="classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72aa60852f204ed8028c1c58808b746d115"></span> `Ok` | Ok. 
+<span id="classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Busy. 
+<span id="classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72ad7c8c85bf79bbe1b7188497c32c3b0ca"></span> `Failed` | Failed. 
+
+### enum Mode {#classmavsdk_1_1_camera_server_1acf066a6b06ea67f66e59263a15869155}
+
+
+[Camera](classmavsdk_1_1_camera.md) mode type.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_camera_server_1acf066a6b06ea67f66e59263a15869155a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown mode. 
+<span id="classmavsdk_1_1_camera_server_1acf066a6b06ea67f66e59263a15869155ac03d53b70feba4ea842510abecd6c45e"></span> `Photo` | Photo mode. 
+<span id="classmavsdk_1_1_camera_server_1acf066a6b06ea67f66e59263a15869155a34e2d1989a1dbf75cd631596133ee5ee"></span> `Video` | Video mode. 
+
+### enum Result {#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d}
+
+
+Possible results returned for action requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8da88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8da505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Command executed successfully. 
+<span id="classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8da12d868c18cb29bf58f02b504be9033fd"></span> `InProgress` | Command in progress. 
+<span id="classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8dad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | [Camera](classmavsdk_1_1_camera.md) is busy and rejected command. 
+<span id="classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8da58d036b9b7f0e7eb38cfb90f1cc70a73"></span> `Denied` | [Camera](classmavsdk_1_1_camera.md) denied the command. 
+<span id="classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8da902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | An error has occurred while executing the command. 
+<span id="classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8dac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Command timed out. 
+<span id="classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8da5a738160747f39c20e9f65416931c974"></span> `WrongArgument` | Command has wrong argument(s). 
+<span id="classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8da1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+
+## Member Function Documentation
+
+
+### set_information() {#classmavsdk_1_1_camera_server_1a81b6b957f11cc8764ea5bddfae88fc64}
+```cpp
+Result mavsdk::CameraServer::set_information(Information information) const
+```
+
+
+Sets the camera information. This must be called as soon as the camera server is created.
+
+This function is blocking.
+
+**Parameters**
+
+* [Information](structmavsdk_1_1_camera_server_1_1_information.md) **information** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### set_video_streaming() {#classmavsdk_1_1_camera_server_1a8de695275fc2bee579005b4638250bb1}
+```cpp
+Result mavsdk::CameraServer::set_video_streaming(VideoStreaming video_streaming) const
+```
+
+
+Sets video streaming settings.
+
+This function is blocking.
+
+**Parameters**
+
+* [VideoStreaming](structmavsdk_1_1_camera_server_1_1_video_streaming.md) **video_streaming** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### set_in_progress() {#classmavsdk_1_1_camera_server_1a9f4c5012412b889017c9f47d01044651}
+```cpp
+Result mavsdk::CameraServer::set_in_progress(bool in_progress) const
+```
+
+
+Sets image capture in progress status flags. This should be set to true when the camera is busy taking a photo and false when it is done.
+
+This function is blocking.
+
+**Parameters**
+
+* bool **in_progress** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### subscribe_take_photo() {#classmavsdk_1_1_camera_server_1a8a982fbf278d1521f6f80a7527f5f85c}
+```cpp
+TakePhotoHandle mavsdk::CameraServer::subscribe_take_photo(const TakePhotoCallback &callback)
+```
+
+
+Subscribe to image capture requests. Each request received should respond to using RespondTakePhoto.
+
+
+**Parameters**
+
+* const [TakePhotoCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a947529ac03c8dfac60c7c798db60a2d0)& **callback** - 
+
+**Returns**
+
+&emsp;[TakePhotoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2c79367a301d3b3093963222ac2cccbe) - 
+
+### unsubscribe_take_photo() {#classmavsdk_1_1_camera_server_1a9b6c0b59f8990b4259b9a2fa134228c9}
+```cpp
+void mavsdk::CameraServer::unsubscribe_take_photo(TakePhotoHandle handle)
+```
+
+
+Unsubscribe from subscribe_take_photo.
+
+
+**Parameters**
+
+* [TakePhotoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2c79367a301d3b3093963222ac2cccbe) **handle** - 
+
+### respond_take_photo() {#classmavsdk_1_1_camera_server_1aef1d7b26221a1e98b9d6ff099a6f1299}
+```cpp
+Result mavsdk::CameraServer::respond_take_photo(CameraFeedback take_photo_feedback, CaptureInfo capture_info) const
+```
+
+
+Respond to an image capture request from SubscribeTakePhoto.
+
+This function is blocking.
+
+**Parameters**
+
+* [CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) **take_photo_feedback** - 
+* [CaptureInfo](structmavsdk_1_1_camera_server_1_1_capture_info.md) **capture_info** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### subscribe_start_video() {#classmavsdk_1_1_camera_server_1a11e48131fac66f1f54a7f433a18cb000}
+```cpp
+StartVideoHandle mavsdk::CameraServer::subscribe_start_video(const StartVideoCallback &callback)
+```
+
+
+Subscribe to start video requests. Each request received should respond to using RespondStartVideo.
+
+
+**Parameters**
+
+* const [StartVideoCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a01810f7bdc3ab4a59c633c7e11d02d0f)& **callback** - 
+
+**Returns**
+
+&emsp;[StartVideoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2ec6dce94dfca9b5d102306df53072a1) - 
+
+### unsubscribe_start_video() {#classmavsdk_1_1_camera_server_1a408195cfa869e1146c054320c8bf74c2}
+```cpp
+void mavsdk::CameraServer::unsubscribe_start_video(StartVideoHandle handle)
+```
+
+
+Unsubscribe from subscribe_start_video.
+
+
+**Parameters**
+
+* [StartVideoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2ec6dce94dfca9b5d102306df53072a1) **handle** - 
+
+### respond_start_video() {#classmavsdk_1_1_camera_server_1aae8ca562aed415a803e5cf116d3860ab}
+```cpp
+Result mavsdk::CameraServer::respond_start_video(CameraFeedback start_video_feedback) const
+```
+
+
+Subscribe to stop video requests. Each request received should respond using StopVideoResponse.
+
+This function is blocking.
+
+**Parameters**
+
+* [CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) **start_video_feedback** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### subscribe_stop_video() {#classmavsdk_1_1_camera_server_1a1f9bf41790c13bfac00e83a07a0aabc2}
+```cpp
+StopVideoHandle mavsdk::CameraServer::subscribe_stop_video(const StopVideoCallback &callback)
+```
+
+
+Subscribe to stop video requests. Each request received should response to using RespondStopVideo.
+
+
+**Parameters**
+
+* const [StopVideoCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a37a4bd54432b5ffa866edd6cd9310c7f)& **callback** - 
+
+**Returns**
+
+&emsp;[StopVideoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a7ca737d29d078f98770b7e2de6a93e8c) - 
+
+### unsubscribe_stop_video() {#classmavsdk_1_1_camera_server_1a46087c9b9131d5b56c937a7a0f9b82cd}
+```cpp
+void mavsdk::CameraServer::unsubscribe_stop_video(StopVideoHandle handle)
+```
+
+
+Unsubscribe from subscribe_stop_video.
+
+
+**Parameters**
+
+* [StopVideoHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a7ca737d29d078f98770b7e2de6a93e8c) **handle** - 
+
+### respond_stop_video() {#classmavsdk_1_1_camera_server_1a72504e0a97587dbd4e92cbdf2aedd36f}
+```cpp
+Result mavsdk::CameraServer::respond_stop_video(CameraFeedback stop_video_feedback) const
+```
+
+
+Respond to stop video request from SubscribeStopVideo.
+
+This function is blocking.
+
+**Parameters**
+
+* [CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) **stop_video_feedback** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### subscribe_start_video_streaming() {#classmavsdk_1_1_camera_server_1a7528dfe116272cdef1584c0709e9d554}
+```cpp
+StartVideoStreamingHandle mavsdk::CameraServer::subscribe_start_video_streaming(const StartVideoStreamingCallback &callback)
+```
+
+
+Subscribe to start video streaming requests. Each request received should response to using RespondStartVideoStreaming.
+
+
+**Parameters**
+
+* const [StartVideoStreamingCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ae67fa13502562dea8c3e955213cd14b9)& **callback** - 
+
+**Returns**
+
+&emsp;[StartVideoStreamingHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ae6c608c1345fa1e1111c7bb2ed56cb85) - 
+
+### unsubscribe_start_video_streaming() {#classmavsdk_1_1_camera_server_1a0e85bc6405cb04be6d14e385b5c9b6f0}
+```cpp
+void mavsdk::CameraServer::unsubscribe_start_video_streaming(StartVideoStreamingHandle handle)
+```
+
+
+Unsubscribe from subscribe_start_video_streaming.
+
+
+**Parameters**
+
+* [StartVideoStreamingHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ae6c608c1345fa1e1111c7bb2ed56cb85) **handle** - 
+
+### respond_start_video_streaming() {#classmavsdk_1_1_camera_server_1a32bf585f316c0990fd3c792930eb430c}
+```cpp
+Result mavsdk::CameraServer::respond_start_video_streaming(CameraFeedback start_video_streaming_feedback) const
+```
+
+
+Respond to start video streaming from SubscribeStartVideoStreaming.
+
+This function is blocking.
+
+**Parameters**
+
+* [CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) **start_video_streaming_feedback** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### subscribe_stop_video_streaming() {#classmavsdk_1_1_camera_server_1aed9dd6e4e5d4b9aa24254933cfdb68d6}
+```cpp
+StopVideoStreamingHandle mavsdk::CameraServer::subscribe_stop_video_streaming(const StopVideoStreamingCallback &callback)
+```
+
+
+Subscribe to stop video streaming requests. Each request received should response to using RespondStopVideoStreaming.
+
+
+**Parameters**
+
+* const [StopVideoStreamingCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a111ed05ec69596127b9ac197c8fa2940)& **callback** - 
+
+**Returns**
+
+&emsp;[StopVideoStreamingHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2b1a56ba4c349a59c3c62fccc5d249ea) - 
+
+### unsubscribe_stop_video_streaming() {#classmavsdk_1_1_camera_server_1a0ae66e34730d2a9ebea39bff190b432c}
+```cpp
+void mavsdk::CameraServer::unsubscribe_stop_video_streaming(StopVideoStreamingHandle handle)
+```
+
+
+Unsubscribe from subscribe_stop_video_streaming.
+
+
+**Parameters**
+
+* [StopVideoStreamingHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a2b1a56ba4c349a59c3c62fccc5d249ea) **handle** - 
+
+### respond_stop_video_streaming() {#classmavsdk_1_1_camera_server_1a8a452852fd4ba6a97ab7613dfbe3d3d5}
+```cpp
+Result mavsdk::CameraServer::respond_stop_video_streaming(CameraFeedback stop_video_streaming_feedback) const
+```
+
+
+Respond to stop video streaming from SubscribeStopVideoStreaming.
+
+This function is blocking.
+
+**Parameters**
+
+* [CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) **stop_video_streaming_feedback** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### subscribe_set_mode() {#classmavsdk_1_1_camera_server_1a7aefc230a1c9688c6ffce0563970363d}
+```cpp
+SetModeHandle mavsdk::CameraServer::subscribe_set_mode(const SetModeCallback &callback)
+```
+
+
+Subscribe to set camera mode requests. Each request received should response to using RespondSetMode.
+
+
+**Parameters**
+
+* const [SetModeCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a0e023e2c618adcb2ad75527353dc8acd)& **callback** - 
+
+**Returns**
+
+&emsp;[SetModeHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ae73af6f5c0e21e1ad89b75706f2d782c) - 
+
+### unsubscribe_set_mode() {#classmavsdk_1_1_camera_server_1a4ebe9158300707532374492e664911b7}
+```cpp
+void mavsdk::CameraServer::unsubscribe_set_mode(SetModeHandle handle)
+```
+
+
+Unsubscribe from subscribe_set_mode.
+
+
+**Parameters**
+
+* [SetModeHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ae73af6f5c0e21e1ad89b75706f2d782c) **handle** - 
+
+### respond_set_mode() {#classmavsdk_1_1_camera_server_1add075055b138c38ef17502ef049b2508}
+```cpp
+Result mavsdk::CameraServer::respond_set_mode(CameraFeedback set_mode_feedback) const
+```
+
+
+Respond to set camera mode from SubscribeSetMode.
+
+This function is blocking.
+
+**Parameters**
+
+* [CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) **set_mode_feedback** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### subscribe_storage_information() {#classmavsdk_1_1_camera_server_1a05fbd42c88962fccad1b2a31810dade7}
+```cpp
+StorageInformationHandle mavsdk::CameraServer::subscribe_storage_information(const StorageInformationCallback &callback)
+```
+
+
+Subscribe to camera storage information requests. Each request received should response to using RespondStorageInformation.
+
+
+**Parameters**
+
+* const [StorageInformationCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ac5ad2dd65155ce1e7a6c0ebd2f0d20cf)& **callback** - 
+
+**Returns**
+
+&emsp;[StorageInformationHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a20edc2d4386999873dcbf74eafba6966) - 
+
+### unsubscribe_storage_information() {#classmavsdk_1_1_camera_server_1afe6fbc5c8f5f39f204c2d6c57ac5161d}
+```cpp
+void mavsdk::CameraServer::unsubscribe_storage_information(StorageInformationHandle handle)
+```
+
+
+Unsubscribe from subscribe_storage_information.
+
+
+**Parameters**
+
+* [StorageInformationHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a20edc2d4386999873dcbf74eafba6966) **handle** - 
+
+### respond_storage_information() {#classmavsdk_1_1_camera_server_1a6dee290ca68414ee8ff9744e261b5ac3}
+```cpp
+Result mavsdk::CameraServer::respond_storage_information(CameraFeedback storage_information_feedback, StorageInformation storage_information) const
+```
+
+
+Respond to camera storage information from SubscribeStorageInformation.
+
+This function is blocking.
+
+**Parameters**
+
+* [CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) **storage_information_feedback** - 
+* [StorageInformation](structmavsdk_1_1_camera_server_1_1_storage_information.md) **storage_information** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### subscribe_capture_status() {#classmavsdk_1_1_camera_server_1a783ac1e37cf9be240e660fe3ba4eced9}
+```cpp
+CaptureStatusHandle mavsdk::CameraServer::subscribe_capture_status(const CaptureStatusCallback &callback)
+```
+
+
+Subscribe to camera capture status requests. Each request received should response to using RespondCaptureStatus.
+
+
+**Parameters**
+
+* const [CaptureStatusCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1af288de066938d13c02b4f1364cd66403)& **callback** - 
+
+**Returns**
+
+&emsp;[CaptureStatusHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1af67bf159a7f2173364182bff2cdd56bd) - 
+
+### unsubscribe_capture_status() {#classmavsdk_1_1_camera_server_1af26523420d48b629f1758da304c9d156}
+```cpp
+void mavsdk::CameraServer::unsubscribe_capture_status(CaptureStatusHandle handle)
+```
+
+
+Unsubscribe from subscribe_capture_status.
+
+
+**Parameters**
+
+* [CaptureStatusHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1af67bf159a7f2173364182bff2cdd56bd) **handle** - 
+
+### respond_capture_status() {#classmavsdk_1_1_camera_server_1ae091608e278807026e114d257d25407a}
+```cpp
+Result mavsdk::CameraServer::respond_capture_status(CameraFeedback capture_status_feedback, CaptureStatus capture_status) const
+```
+
+
+Respond to camera capture status from SubscribeCaptureStatus.
+
+This function is blocking.
+
+**Parameters**
+
+* [CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) **capture_status_feedback** - 
+* [CaptureStatus](structmavsdk_1_1_camera_server_1_1_capture_status.md) **capture_status** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### subscribe_format_storage() {#classmavsdk_1_1_camera_server_1ab788a20175966f8d5ddab973f176a3b4}
+```cpp
+FormatStorageHandle mavsdk::CameraServer::subscribe_format_storage(const FormatStorageCallback &callback)
+```
+
+
+Subscribe to format storage requests. Each request received should response to using RespondFormatStorage.
+
+
+**Parameters**
+
+* const [FormatStorageCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a6242b427d4f29202ef931e8c6a7bdc46)& **callback** - 
+
+**Returns**
+
+&emsp;[FormatStorageHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a71b5531c91f7fba1c74296e55ecd3f45) - 
+
+### unsubscribe_format_storage() {#classmavsdk_1_1_camera_server_1a9b51f14ffa8c65518d59a5fed406be0c}
+```cpp
+void mavsdk::CameraServer::unsubscribe_format_storage(FormatStorageHandle handle)
+```
+
+
+Unsubscribe from subscribe_format_storage.
+
+
+**Parameters**
+
+* [FormatStorageHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a71b5531c91f7fba1c74296e55ecd3f45) **handle** - 
+
+### respond_format_storage() {#classmavsdk_1_1_camera_server_1a18bb9a800df91f74efa0a35eb5218a14}
+```cpp
+Result mavsdk::CameraServer::respond_format_storage(CameraFeedback format_storage_feedback) const
+```
+
+
+Respond to format storage from SubscribeFormatStorage.
+
+This function is blocking.
+
+**Parameters**
+
+* [CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) **format_storage_feedback** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### subscribe_reset_settings() {#classmavsdk_1_1_camera_server_1ab1022684bc503e1d6294495de8c68165}
+```cpp
+ResetSettingsHandle mavsdk::CameraServer::subscribe_reset_settings(const ResetSettingsCallback &callback)
+```
+
+
+Subscribe to reset settings requests. Each request received should response to using RespondResetSettings.
+
+
+**Parameters**
+
+* const [ResetSettingsCallback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1ac88b7c640c76e5ff2bdc9afb243ceac2)& **callback** - 
+
+**Returns**
+
+&emsp;[ResetSettingsHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aec973cf0e67863272e63e12902094f25) - 
+
+### unsubscribe_reset_settings() {#classmavsdk_1_1_camera_server_1a09c70966fa6f98215c11d8257d1b9608}
+```cpp
+void mavsdk::CameraServer::unsubscribe_reset_settings(ResetSettingsHandle handle)
+```
+
+
+Unsubscribe from subscribe_reset_settings.
+
+
+**Parameters**
+
+* [ResetSettingsHandle](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aec973cf0e67863272e63e12902094f25) **handle** - 
+
+### respond_reset_settings() {#classmavsdk_1_1_camera_server_1a1d7b2793d899c9052038f4e9569eb32b}
+```cpp
+Result mavsdk::CameraServer::respond_reset_settings(CameraFeedback reset_settings_feedback) const
+```
+
+
+Respond to reset settings from SubscribeResetSettings.
+
+This function is blocking.
+
+**Parameters**
+
+* [CameraFeedback](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1a088cdcd9da37b84f075d20d5b7458a72) **reset_settings_feedback** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_camera_server.md#classmavsdk_1_1_camera_server_1aa625af622ca91165c737cffebfe57f8d) - Result of request.
+
+### operator=() {#classmavsdk_1_1_camera_server_1a08a928060071a9a9e4d321403f7d446a}
+```cpp
+const CameraServer& mavsdk::CameraServer::operator=(const CameraServer &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [CameraServer](classmavsdk_1_1_camera_server.md)&  - 
+
+**Returns**
+
+&emsp;const [CameraServer](classmavsdk_1_1_camera_server.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_component_information.md b/docs/en/cpp/api_reference/classmavsdk_1_1_component_information.md
new file mode 100644
index 0000000000..f83858eef8
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_component_information.md
@@ -0,0 +1,213 @@
+# mavsdk::ComponentInformation Class Reference
+`#include: component_information.h`
+
+----
+
+
+Access component information such as parameters. 
+
+
+## Data Structures
+
+
+struct [FloatParam](structmavsdk_1_1_component_information_1_1_float_param.md)
+
+struct [FloatParamUpdate](structmavsdk_1_1_component_information_1_1_float_param_update.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_component_information_1aa91c6fe2a0335b2b86a140e37359341f) | Possible results returned for param requests.
+std::function< void([Result](classmavsdk_1_1_component_information.md#classmavsdk_1_1_component_information_1aa91c6fe2a0335b2b86a140e37359341f))> [ResultCallback](#classmavsdk_1_1_component_information_1a37506981d2b48162f3304947e5520ea8) | Callback type for asynchronous [ComponentInformation](classmavsdk_1_1_component_information.md) calls.
+std::function< void([FloatParamUpdate](structmavsdk_1_1_component_information_1_1_float_param_update.md))> [FloatParamCallback](#classmavsdk_1_1_component_information_1a346dfd9dc8de60f6cdeca0a4ddb20f78) | Callback type for subscribe_float_param.
+[Handle](classmavsdk_1_1_handle.md)< [FloatParamUpdate](structmavsdk_1_1_component_information_1_1_float_param_update.md) > [FloatParamHandle](#classmavsdk_1_1_component_information_1ab22a0bb9704930d17c2e2c82ffa9a977) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_float_param.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [ComponentInformation](#classmavsdk_1_1_component_information_1afd3a1f8282548a895ff3bf3f08da20ac) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [ComponentInformation](#classmavsdk_1_1_component_information_1a3c6bc3ad6d571a944407e148e2496f13) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~ComponentInformation](#classmavsdk_1_1_component_information_1adc9f86087470dcf0b1eb888c236918ec) () override | Destructor (internal use only).
+&nbsp; | [ComponentInformation](#classmavsdk_1_1_component_information_1a146e2a8d181c75ae1c7c98501c4b205a) (const [ComponentInformation](classmavsdk_1_1_component_information.md) & other) | Copy constructor.
+std::pair< [Result](classmavsdk_1_1_component_information.md#classmavsdk_1_1_component_information_1aa91c6fe2a0335b2b86a140e37359341f), std::vector< [ComponentInformation::FloatParam](structmavsdk_1_1_component_information_1_1_float_param.md) > > | [access_float_params](#classmavsdk_1_1_component_information_1ababf4e7ff24e6fabfd3ee52b58e66002) () const | List available float params.
+[FloatParamHandle](classmavsdk_1_1_component_information.md#classmavsdk_1_1_component_information_1ab22a0bb9704930d17c2e2c82ffa9a977) | [subscribe_float_param](#classmavsdk_1_1_component_information_1a41df5c7f9340d3e01b24a96d3215754d) (const [FloatParamCallback](classmavsdk_1_1_component_information.md#classmavsdk_1_1_component_information_1a346dfd9dc8de60f6cdeca0a4ddb20f78) & callback) | Subscribe to float param changes/updates.
+void | [unsubscribe_float_param](#classmavsdk_1_1_component_information_1a877d2a620d6646bf4063863297c0b666) ([FloatParamHandle](classmavsdk_1_1_component_information.md#classmavsdk_1_1_component_information_1ab22a0bb9704930d17c2e2c82ffa9a977) handle) | Unsubscribe from subscribe_float_param.
+const [ComponentInformation](classmavsdk_1_1_component_information.md) & | [operator=](#classmavsdk_1_1_component_information_1ada12fb6199ef988219281900ad2d9b79) (const [ComponentInformation](classmavsdk_1_1_component_information.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### ComponentInformation() {#classmavsdk_1_1_component_information_1afd3a1f8282548a895ff3bf3f08da20ac}
+```cpp
+mavsdk::ComponentInformation::ComponentInformation(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto component_information = ComponentInformation(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### ComponentInformation() {#classmavsdk_1_1_component_information_1a3c6bc3ad6d571a944407e148e2496f13}
+```cpp
+mavsdk::ComponentInformation::ComponentInformation(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto component_information = ComponentInformation(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~ComponentInformation() {#classmavsdk_1_1_component_information_1adc9f86087470dcf0b1eb888c236918ec}
+```cpp
+mavsdk::ComponentInformation::~ComponentInformation() override
+```
+
+
+Destructor (internal use only).
+
+
+### ComponentInformation() {#classmavsdk_1_1_component_information_1a146e2a8d181c75ae1c7c98501c4b205a}
+```cpp
+mavsdk::ComponentInformation::ComponentInformation(const ComponentInformation &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [ComponentInformation](classmavsdk_1_1_component_information.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_component_information_1a37506981d2b48162f3304947e5520ea8}
+
+```cpp
+using mavsdk::ComponentInformation::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [ComponentInformation](classmavsdk_1_1_component_information.md) calls.
+
+
+### typedef FloatParamCallback {#classmavsdk_1_1_component_information_1a346dfd9dc8de60f6cdeca0a4ddb20f78}
+
+```cpp
+using mavsdk::ComponentInformation::FloatParamCallback =  std::function<void(FloatParamUpdate)>
+```
+
+
+Callback type for subscribe_float_param.
+
+
+### typedef FloatParamHandle {#classmavsdk_1_1_component_information_1ab22a0bb9704930d17c2e2c82ffa9a977}
+
+```cpp
+using mavsdk::ComponentInformation::FloatParamHandle =  Handle<FloatParamUpdate>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_float_param.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_component_information_1aa91c6fe2a0335b2b86a140e37359341f}
+
+
+Possible results returned for param requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_component_information_1aa91c6fe2a0335b2b86a140e37359341fa88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_component_information_1aa91c6fe2a0335b2b86a140e37359341fa505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_component_information_1aa91c6fe2a0335b2b86a140e37359341fa1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+
+## Member Function Documentation
+
+
+### access_float_params() {#classmavsdk_1_1_component_information_1ababf4e7ff24e6fabfd3ee52b58e66002}
+```cpp
+std::pair<Result, std::vector<ComponentInformation::FloatParam> > mavsdk::ComponentInformation::access_float_params() const
+```
+
+
+List available float params.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_component_information.md#classmavsdk_1_1_component_information_1aa91c6fe2a0335b2b86a140e37359341f), std::vector< [ComponentInformation::FloatParam](structmavsdk_1_1_component_information_1_1_float_param.md) > > - Result of request.
+
+### subscribe_float_param() {#classmavsdk_1_1_component_information_1a41df5c7f9340d3e01b24a96d3215754d}
+```cpp
+FloatParamHandle mavsdk::ComponentInformation::subscribe_float_param(const FloatParamCallback &callback)
+```
+
+
+Subscribe to float param changes/updates.
+
+
+**Parameters**
+
+* const [FloatParamCallback](classmavsdk_1_1_component_information.md#classmavsdk_1_1_component_information_1a346dfd9dc8de60f6cdeca0a4ddb20f78)& **callback** - 
+
+**Returns**
+
+&emsp;[FloatParamHandle](classmavsdk_1_1_component_information.md#classmavsdk_1_1_component_information_1ab22a0bb9704930d17c2e2c82ffa9a977) - 
+
+### unsubscribe_float_param() {#classmavsdk_1_1_component_information_1a877d2a620d6646bf4063863297c0b666}
+```cpp
+void mavsdk::ComponentInformation::unsubscribe_float_param(FloatParamHandle handle)
+```
+
+
+Unsubscribe from subscribe_float_param.
+
+
+**Parameters**
+
+* [FloatParamHandle](classmavsdk_1_1_component_information.md#classmavsdk_1_1_component_information_1ab22a0bb9704930d17c2e2c82ffa9a977) **handle** - 
+
+### operator=() {#classmavsdk_1_1_component_information_1ada12fb6199ef988219281900ad2d9b79}
+```cpp
+const ComponentInformation& mavsdk::ComponentInformation::operator=(const ComponentInformation &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [ComponentInformation](classmavsdk_1_1_component_information.md)&  - 
+
+**Returns**
+
+&emsp;const [ComponentInformation](classmavsdk_1_1_component_information.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_component_information_server.md b/docs/en/cpp/api_reference/classmavsdk_1_1_component_information_server.md
new file mode 100644
index 0000000000..fd534493fe
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_component_information_server.md
@@ -0,0 +1,202 @@
+# mavsdk::ComponentInformationServer Class Reference
+`#include: component_information_server.h`
+
+----
+
+
+Provide component information such as parameters. 
+
+
+## Data Structures
+
+
+struct [FloatParam](structmavsdk_1_1_component_information_server_1_1_float_param.md)
+
+struct [FloatParamUpdate](structmavsdk_1_1_component_information_server_1_1_float_param_update.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cad) | Possible results returned for param requests.
+std::function< void([Result](classmavsdk_1_1_component_information_server.md#classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cad))> [ResultCallback](#classmavsdk_1_1_component_information_server_1a5f65b34949a1954c85f3f02e64dec35f) | Callback type for asynchronous [ComponentInformationServer](classmavsdk_1_1_component_information_server.md) calls.
+std::function< void([FloatParamUpdate](structmavsdk_1_1_component_information_server_1_1_float_param_update.md))> [FloatParamCallback](#classmavsdk_1_1_component_information_server_1a6174e3eebb5a10c619c57723623696cf) | Callback type for subscribe_float_param.
+[Handle](classmavsdk_1_1_handle.md)< [FloatParamUpdate](structmavsdk_1_1_component_information_server_1_1_float_param_update.md) > [FloatParamHandle](#classmavsdk_1_1_component_information_server_1a0843521587e27f0d630280309712bddb) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_float_param.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [ComponentInformationServer](#classmavsdk_1_1_component_information_server_1a89266c1e143f0cffb6596897b92f7b62) (std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > server_component) | Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+&nbsp; | [~ComponentInformationServer](#classmavsdk_1_1_component_information_server_1a64a224210755136e130b349db3a8fd10) () override | Destructor (internal use only).
+&nbsp; | [ComponentInformationServer](#classmavsdk_1_1_component_information_server_1a7f8fc33e21e00a390da14596465c800d) (const [ComponentInformationServer](classmavsdk_1_1_component_information_server.md) & other) | Copy constructor.
+[Result](classmavsdk_1_1_component_information_server.md#classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cad) | [provide_float_param](#classmavsdk_1_1_component_information_server_1ac4f9a480ef052b792e65b82c3c08b225) ([FloatParam](structmavsdk_1_1_component_information_server_1_1_float_param.md) param)const | Provide a param of type float.
+[FloatParamHandle](classmavsdk_1_1_component_information_server.md#classmavsdk_1_1_component_information_server_1a0843521587e27f0d630280309712bddb) | [subscribe_float_param](#classmavsdk_1_1_component_information_server_1afb87c280501c677a8f4eaa33394d24e7) (const [FloatParamCallback](classmavsdk_1_1_component_information_server.md#classmavsdk_1_1_component_information_server_1a6174e3eebb5a10c619c57723623696cf) & callback) | Subscribe to float param updates.
+void | [unsubscribe_float_param](#classmavsdk_1_1_component_information_server_1a56650131d743e441232c5edf844acaeb) ([FloatParamHandle](classmavsdk_1_1_component_information_server.md#classmavsdk_1_1_component_information_server_1a0843521587e27f0d630280309712bddb) handle) | Unsubscribe from subscribe_float_param.
+const [ComponentInformationServer](classmavsdk_1_1_component_information_server.md) & | [operator=](#classmavsdk_1_1_component_information_server_1a850a10c9d195da5f52807984e72d21fa) (const [ComponentInformationServer](classmavsdk_1_1_component_information_server.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### ComponentInformationServer() {#classmavsdk_1_1_component_information_server_1a89266c1e143f0cffb6596897b92f7b62}
+```cpp
+mavsdk::ComponentInformationServer::ComponentInformationServer(std::shared_ptr< ServerComponent > server_component)
+```
+
+
+Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto component_information_server = ComponentInformationServer(server_component);
+```
+
+**Parameters**
+
+* std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > **server_component** - The [ServerComponent](classmavsdk_1_1_server_component.md) instance associated with this server plugin.
+
+### ~ComponentInformationServer() {#classmavsdk_1_1_component_information_server_1a64a224210755136e130b349db3a8fd10}
+```cpp
+mavsdk::ComponentInformationServer::~ComponentInformationServer() override
+```
+
+
+Destructor (internal use only).
+
+
+### ComponentInformationServer() {#classmavsdk_1_1_component_information_server_1a7f8fc33e21e00a390da14596465c800d}
+```cpp
+mavsdk::ComponentInformationServer::ComponentInformationServer(const ComponentInformationServer &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [ComponentInformationServer](classmavsdk_1_1_component_information_server.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_component_information_server_1a5f65b34949a1954c85f3f02e64dec35f}
+
+```cpp
+using mavsdk::ComponentInformationServer::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [ComponentInformationServer](classmavsdk_1_1_component_information_server.md) calls.
+
+
+### typedef FloatParamCallback {#classmavsdk_1_1_component_information_server_1a6174e3eebb5a10c619c57723623696cf}
+
+```cpp
+using mavsdk::ComponentInformationServer::FloatParamCallback =  std::function<void(FloatParamUpdate)>
+```
+
+
+Callback type for subscribe_float_param.
+
+
+### typedef FloatParamHandle {#classmavsdk_1_1_component_information_server_1a0843521587e27f0d630280309712bddb}
+
+```cpp
+using mavsdk::ComponentInformationServer::FloatParamHandle =  Handle<FloatParamUpdate>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_float_param.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cad}
+
+
+Possible results returned for param requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cada88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cada505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cada2e665af7b9e17282f7301a1dcc5e6365"></span> `DuplicateParam` | Duplicate param. 
+<span id="classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cada6d9ebfdcd8bc404f5d64d3cec5a190cc"></span> `InvalidParamStartValue` | Invalid start param value. 
+<span id="classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cada6f12b0597e5013f1211f1e1af2eb79c9"></span> `InvalidParamDefaultValue` | Invalid default param value. 
+<span id="classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cada297a4ad19203eb48dcc016ac3a2d3149"></span> `InvalidParamName` | Invalid param name. 
+<span id="classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cada1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+
+## Member Function Documentation
+
+
+### provide_float_param() {#classmavsdk_1_1_component_information_server_1ac4f9a480ef052b792e65b82c3c08b225}
+```cpp
+Result mavsdk::ComponentInformationServer::provide_float_param(FloatParam param) const
+```
+
+
+Provide a param of type float.
+
+This function is blocking.
+
+**Parameters**
+
+* [FloatParam](structmavsdk_1_1_component_information_server_1_1_float_param.md) **param** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_component_information_server.md#classmavsdk_1_1_component_information_server_1aca86e47230e256d3f812269dcbaa5cad) - Result of request.
+
+### subscribe_float_param() {#classmavsdk_1_1_component_information_server_1afb87c280501c677a8f4eaa33394d24e7}
+```cpp
+FloatParamHandle mavsdk::ComponentInformationServer::subscribe_float_param(const FloatParamCallback &callback)
+```
+
+
+Subscribe to float param updates.
+
+
+**Parameters**
+
+* const [FloatParamCallback](classmavsdk_1_1_component_information_server.md#classmavsdk_1_1_component_information_server_1a6174e3eebb5a10c619c57723623696cf)& **callback** - 
+
+**Returns**
+
+&emsp;[FloatParamHandle](classmavsdk_1_1_component_information_server.md#classmavsdk_1_1_component_information_server_1a0843521587e27f0d630280309712bddb) - 
+
+### unsubscribe_float_param() {#classmavsdk_1_1_component_information_server_1a56650131d743e441232c5edf844acaeb}
+```cpp
+void mavsdk::ComponentInformationServer::unsubscribe_float_param(FloatParamHandle handle)
+```
+
+
+Unsubscribe from subscribe_float_param.
+
+
+**Parameters**
+
+* [FloatParamHandle](classmavsdk_1_1_component_information_server.md#classmavsdk_1_1_component_information_server_1a0843521587e27f0d630280309712bddb) **handle** - 
+
+### operator=() {#classmavsdk_1_1_component_information_server_1a850a10c9d195da5f52807984e72d21fa}
+```cpp
+const ComponentInformationServer& mavsdk::ComponentInformationServer::operator=(const ComponentInformationServer &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [ComponentInformationServer](classmavsdk_1_1_component_information_server.md)&  - 
+
+**Returns**
+
+&emsp;const [ComponentInformationServer](classmavsdk_1_1_component_information_server.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_failure.md b/docs/en/cpp/api_reference/classmavsdk_1_1_failure.md
new file mode 100644
index 0000000000..f5020ce478
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_failure.md
@@ -0,0 +1,206 @@
+# mavsdk::Failure Class Reference
+`#include: failure.h`
+
+----
+
+
+Inject failures into system to test failsafes. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [FailureUnit](#classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1) | A failure unit.
+enum [FailureType](#classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72) | A failure type.
+enum [Result](#classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1) | Possible results returned for failure requests.
+std::function< void([Result](classmavsdk_1_1_failure.md#classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1))> [ResultCallback](#classmavsdk_1_1_failure_1afe3469d737d8fe07a4325b85c79b62e6) | Callback type for asynchronous [Failure](classmavsdk_1_1_failure.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Failure](#classmavsdk_1_1_failure_1a7fd948954e053597be4223a5507e7f77) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Failure](#classmavsdk_1_1_failure_1abb4693ce8ebfac246d489bbab438be04) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Failure](#classmavsdk_1_1_failure_1a1358a71e00d96af5415236183c6508cd) () override | Destructor (internal use only).
+&nbsp; | [Failure](#classmavsdk_1_1_failure_1ae12162366b96624fa85d345a7166749c) (const [Failure](classmavsdk_1_1_failure.md) & other) | Copy constructor.
+[Result](classmavsdk_1_1_failure.md#classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1) | [inject](#classmavsdk_1_1_failure_1ae937d22216ecae38f4c763f503cbbd88) ([FailureUnit](classmavsdk_1_1_failure.md#classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1) failure_unit, [FailureType](classmavsdk_1_1_failure.md#classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72) failure_type, int32_t instance)const | Injects a failure.
+const [Failure](classmavsdk_1_1_failure.md) & | [operator=](#classmavsdk_1_1_failure_1a255209f9df74ffde1f63b707f17bdb72) (const [Failure](classmavsdk_1_1_failure.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Failure() {#classmavsdk_1_1_failure_1a7fd948954e053597be4223a5507e7f77}
+```cpp
+mavsdk::Failure::Failure(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto failure = Failure(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Failure() {#classmavsdk_1_1_failure_1abb4693ce8ebfac246d489bbab438be04}
+```cpp
+mavsdk::Failure::Failure(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto failure = Failure(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Failure() {#classmavsdk_1_1_failure_1a1358a71e00d96af5415236183c6508cd}
+```cpp
+mavsdk::Failure::~Failure() override
+```
+
+
+Destructor (internal use only).
+
+
+### Failure() {#classmavsdk_1_1_failure_1ae12162366b96624fa85d345a7166749c}
+```cpp
+mavsdk::Failure::Failure(const Failure &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Failure](classmavsdk_1_1_failure.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_failure_1afe3469d737d8fe07a4325b85c79b62e6}
+
+```cpp
+using mavsdk::Failure::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Failure](classmavsdk_1_1_failure.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum FailureUnit {#classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1}
+
+
+A failure unit.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1a9448dda46d6fc2c491ac2a8efa2c70e9"></span> `SensorGyro` | Gyro. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1a56e5aa2721f8c41d27bfee2dfa9f033f"></span> `SensorAccel` | Accelerometer. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1a0b70fcf41daf7596d201eae9fb891e92"></span> `SensorMag` | Magnetometer. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1ae40672291a00488502c2327b4318cc2f"></span> `SensorBaro` | Barometer. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1af3b16483c0aaf29d61a20abd794b4bb7"></span> `SensorGps` | GPS. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1a9d34dac45709b8742e3e2e9515625317"></span> `SensorOpticalFlow` | Optical flow. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1a773b98493c19106ab80e769e3b34462d"></span> `SensorVio` | Visual inertial odometry. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1ab3fec9054f891711d849ac6ca5df27b4"></span> `SensorDistanceSensor` | Distance sensor. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1aab1a695e15197546a34dbd8ed2357805"></span> `SensorAirspeed` | Airspeed. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1ada1722a4e123339db45edad1c49ee81d"></span> `SystemBattery` | Battery. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1af5e88f49da7f44d9046f6e9c07ac9d10"></span> `SystemMotor` | Motor. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1a0815bcc72728a40813469c9c07d1ad10"></span> `SystemServo` | Servo. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1aeea9f8a53e93226933ce5b4f25e975bd"></span> `SystemAvoidance` | Avoidance. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1a0137c898117b9f8ef51c13af7cadd710"></span> `SystemRcSignal` | RC signal. 
+<span id="classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1a5971385898f49830581d69b301b5254d"></span> `SystemMavlinkSignal` | MAVLink signal. 
+
+### enum FailureType {#classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72}
+
+
+A failure type.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72aa60852f204ed8028c1c58808b746d115"></span> `Ok` | No failure injected, used to reset a previous failure. 
+<span id="classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72ad15305d7a4e34e02489c74a5ef542f36"></span> `Off` | Sets unit off, so completely non-responsive. 
+<span id="classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72aa2c4543906f921f4589e33086abcc102"></span> `Stuck` | Unit is stuck e.g. keeps reporting the same value. 
+<span id="classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72a8c97626c3bda0721059f5eddbd2d255d"></span> `Garbage` | Unit is reporting complete garbage. 
+<span id="classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72ab35e5a1e003084f6f4268ed1c8abceb5"></span> `Wrong` | Unit is consistently wrong. 
+<span id="classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72aefa5397985b8609a5dbeb430a4bcadd3"></span> `Slow` | Unit is slow, so e.g. reporting at slower than expected rate. 
+<span id="classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72a6e04a0730cfc0bca398610196b5f8467"></span> `Delayed` | Data of unit is delayed in time. 
+<span id="classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72a9379b1b166d62d5c452a1893c079616e"></span> `Intermittent` | Unit is sometimes working, sometimes not. 
+
+### enum Result {#classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1}
+
+
+Possible results returned for failure requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1ab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | [Failure](classmavsdk_1_1_failure.md) not supported. 
+<span id="classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1a58d036b9b7f0e7eb38cfb90f1cc70a73"></span> `Denied` | [Failure](classmavsdk_1_1_failure.md) injection denied. 
+<span id="classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1ab9f5c797ebbf55adccdd8539a65a0241"></span> `Disabled` | [Failure](classmavsdk_1_1_failure.md) injection is disabled. 
+<span id="classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+
+## Member Function Documentation
+
+
+### inject() {#classmavsdk_1_1_failure_1ae937d22216ecae38f4c763f503cbbd88}
+```cpp
+Result mavsdk::Failure::inject(FailureUnit failure_unit, FailureType failure_type, int32_t instance) const
+```
+
+
+Injects a failure.
+
+This function is blocking.
+
+**Parameters**
+
+* [FailureUnit](classmavsdk_1_1_failure.md#classmavsdk_1_1_failure_1a471f93c1fbff2124ebdea7fb681e23f1) **failure_unit** - 
+* [FailureType](classmavsdk_1_1_failure.md#classmavsdk_1_1_failure_1ade0813be29826ae35e6692f506e8ab72) **failure_type** - 
+* int32_t **instance** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_failure.md#classmavsdk_1_1_failure_1a6dcdd665b49a7ddf48c76b41475022f1) - Result of request.
+
+### operator=() {#classmavsdk_1_1_failure_1a255209f9df74ffde1f63b707f17bdb72}
+```cpp
+const Failure& mavsdk::Failure::operator=(const Failure &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Failure](classmavsdk_1_1_failure.md)&  - 
+
+**Returns**
+
+&emsp;const [Failure](classmavsdk_1_1_failure.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_fake_handle.md b/docs/en/cpp/api_reference/classmavsdk_1_1_fake_handle.md
new file mode 100644
index 0000000000..16479c5b96
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_fake_handle.md
@@ -0,0 +1,5 @@
+# mavsdk::FakeHandle Class Reference
+`#include: UNKNOWN`
+
+----
+
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_follow_me.md b/docs/en/cpp/api_reference/classmavsdk_1_1_follow_me.md
new file mode 100644
index 0000000000..cbd397efec
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_follow_me.md
@@ -0,0 +1,263 @@
+# mavsdk::FollowMe Class Reference
+`#include: follow_me.h`
+
+----
+
+
+Allow users to command the vehicle to follow a specific target. The target is provided as a GPS coordinate and altitude. 
+
+
+## Data Structures
+
+
+struct [Config](structmavsdk_1_1_follow_me_1_1_config.md)
+
+struct [TargetLocation](structmavsdk_1_1_follow_me_1_1_target_location.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8) | Possible results returned for followme operations.
+std::function< void([Result](classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8))> [ResultCallback](#classmavsdk_1_1_follow_me_1a6e02ca57a63131594f0bf5fb5689309e) | Callback type for asynchronous [FollowMe](classmavsdk_1_1_follow_me.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [FollowMe](#classmavsdk_1_1_follow_me_1ab85b27fcd899f4861cd2e99c08083b9e) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [FollowMe](#classmavsdk_1_1_follow_me_1a422ef7ca182c92052b0da32d789b0c14) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~FollowMe](#classmavsdk_1_1_follow_me_1a51cc272f759657eb583830cbde2785cf) () override | Destructor (internal use only).
+&nbsp; | [FollowMe](#classmavsdk_1_1_follow_me_1a204548d586c8355ab60991be4b63c7aa) (const [FollowMe](classmavsdk_1_1_follow_me.md) & other) | Copy constructor.
+[FollowMe::Config](structmavsdk_1_1_follow_me_1_1_config.md) | [get_config](#classmavsdk_1_1_follow_me_1aca2e599cd6fb889b9f80dc7a9da57ee9) () const | Get current configuration.
+[Result](classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8) | [set_config](#classmavsdk_1_1_follow_me_1aa76aab9a21bc3ae475bee6a55c0e4d30) ([Config](structmavsdk_1_1_follow_me_1_1_config.md) config)const | Apply configuration by sending it to the system.
+bool | [is_active](#classmavsdk_1_1_follow_me_1a48ab77939257e52159bd9ed19335a7de) () const | Check if [FollowMe](classmavsdk_1_1_follow_me.md) is active.
+[Result](classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8) | [set_target_location](#classmavsdk_1_1_follow_me_1a1a99e282472235f726bfde430873ffd5) ([TargetLocation](structmavsdk_1_1_follow_me_1_1_target_location.md) location)const | Set location of the moving target.
+[FollowMe::TargetLocation](structmavsdk_1_1_follow_me_1_1_target_location.md) | [get_last_location](#classmavsdk_1_1_follow_me_1af2a1af346ee2fa7761b58b406e9e6e0c) () const | Get the last location of the target.
+[Result](classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8) | [start](#classmavsdk_1_1_follow_me_1a4b6ae3ec1ff07d8b3a79038e04992003) () const | Start [FollowMe](classmavsdk_1_1_follow_me.md) mode.
+[Result](classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8) | [stop](#classmavsdk_1_1_follow_me_1a202a7b9edf56d9b883c974a09c14ba7d) () const | Stop [FollowMe](classmavsdk_1_1_follow_me.md) mode.
+const [FollowMe](classmavsdk_1_1_follow_me.md) & | [operator=](#classmavsdk_1_1_follow_me_1a6292f6dd2c91cedde0e3b82952d83510) (const [FollowMe](classmavsdk_1_1_follow_me.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### FollowMe() {#classmavsdk_1_1_follow_me_1ab85b27fcd899f4861cd2e99c08083b9e}
+```cpp
+mavsdk::FollowMe::FollowMe(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto follow_me = FollowMe(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### FollowMe() {#classmavsdk_1_1_follow_me_1a422ef7ca182c92052b0da32d789b0c14}
+```cpp
+mavsdk::FollowMe::FollowMe(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto follow_me = FollowMe(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~FollowMe() {#classmavsdk_1_1_follow_me_1a51cc272f759657eb583830cbde2785cf}
+```cpp
+mavsdk::FollowMe::~FollowMe() override
+```
+
+
+Destructor (internal use only).
+
+
+### FollowMe() {#classmavsdk_1_1_follow_me_1a204548d586c8355ab60991be4b63c7aa}
+```cpp
+mavsdk::FollowMe::FollowMe(const FollowMe &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [FollowMe](classmavsdk_1_1_follow_me.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_follow_me_1a6e02ca57a63131594f0bf5fb5689309e}
+
+```cpp
+using mavsdk::FollowMe::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [FollowMe](classmavsdk_1_1_follow_me.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8}
+
+
+Possible results returned for followme operations.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+<span id="classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8a3398e12855176d55f43d53e04f472c8a"></span> `CommandDenied` | Command denied. 
+<span id="classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8a2b2c350e9a20a57773a9efa14c8c36e5"></span> `NotActive` | [FollowMe](classmavsdk_1_1_follow_me.md) is not active. 
+<span id="classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8a0287d8ed2f10c2d6492478b92b5e7e21"></span> `SetConfigFailed` | Failed to set [FollowMe](classmavsdk_1_1_follow_me.md) configuration. 
+
+## Member Function Documentation
+
+
+### get_config() {#classmavsdk_1_1_follow_me_1aca2e599cd6fb889b9f80dc7a9da57ee9}
+```cpp
+FollowMe::Config mavsdk::FollowMe::get_config() const
+```
+
+
+Get current configuration.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[FollowMe::Config](structmavsdk_1_1_follow_me_1_1_config.md) - Result of request.
+
+### set_config() {#classmavsdk_1_1_follow_me_1aa76aab9a21bc3ae475bee6a55c0e4d30}
+```cpp
+Result mavsdk::FollowMe::set_config(Config config) const
+```
+
+
+Apply configuration by sending it to the system.
+
+This function is blocking.
+
+**Parameters**
+
+* [Config](structmavsdk_1_1_follow_me_1_1_config.md) **config** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8) - Result of request.
+
+### is_active() {#classmavsdk_1_1_follow_me_1a48ab77939257e52159bd9ed19335a7de}
+```cpp
+bool mavsdk::FollowMe::is_active() const
+```
+
+
+Check if [FollowMe](classmavsdk_1_1_follow_me.md) is active.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;bool - Result of request.
+
+### set_target_location() {#classmavsdk_1_1_follow_me_1a1a99e282472235f726bfde430873ffd5}
+```cpp
+Result mavsdk::FollowMe::set_target_location(TargetLocation location) const
+```
+
+
+Set location of the moving target.
+
+This function is blocking.
+
+**Parameters**
+
+* [TargetLocation](structmavsdk_1_1_follow_me_1_1_target_location.md) **location** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8) - Result of request.
+
+### get_last_location() {#classmavsdk_1_1_follow_me_1af2a1af346ee2fa7761b58b406e9e6e0c}
+```cpp
+FollowMe::TargetLocation mavsdk::FollowMe::get_last_location() const
+```
+
+
+Get the last location of the target.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[FollowMe::TargetLocation](structmavsdk_1_1_follow_me_1_1_target_location.md) - Result of request.
+
+### start() {#classmavsdk_1_1_follow_me_1a4b6ae3ec1ff07d8b3a79038e04992003}
+```cpp
+Result mavsdk::FollowMe::start() const
+```
+
+
+Start [FollowMe](classmavsdk_1_1_follow_me.md) mode.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8) - Result of request.
+
+### stop() {#classmavsdk_1_1_follow_me_1a202a7b9edf56d9b883c974a09c14ba7d}
+```cpp
+Result mavsdk::FollowMe::stop() const
+```
+
+
+Stop [FollowMe](classmavsdk_1_1_follow_me.md) mode.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a2b3f334ea72fd84d9e925fb3756451d8) - Result of request.
+
+### operator=() {#classmavsdk_1_1_follow_me_1a6292f6dd2c91cedde0e3b82952d83510}
+```cpp
+const FollowMe& mavsdk::FollowMe::operator=(const FollowMe &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [FollowMe](classmavsdk_1_1_follow_me.md)&  - 
+
+**Returns**
+
+&emsp;const [FollowMe](classmavsdk_1_1_follow_me.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_ftp.md b/docs/en/cpp/api_reference/classmavsdk_1_1_ftp.md
new file mode 100644
index 0000000000..827da40119
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_ftp.md
@@ -0,0 +1,462 @@
+# mavsdk::Ftp Class Reference
+`#include: ftp.h`
+
+----
+
+
+Implements file transfer functionality using MAVLink FTP. 
+
+
+## Data Structures
+
+
+struct [ProgressData](structmavsdk_1_1_ftp_1_1_progress_data.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4) | Possible results returned for FTP commands.
+std::function< void([Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4))> [ResultCallback](#classmavsdk_1_1_ftp_1a04a12a1ab954b24a54570300f89486b0) | Callback type for asynchronous [Ftp](classmavsdk_1_1_ftp.md) calls.
+std::function< void([Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4), [ProgressData](structmavsdk_1_1_ftp_1_1_progress_data.md))> [DownloadCallback](#classmavsdk_1_1_ftp_1a7c8e0377726e349a8a4e12495db42c75) | Callback type for download_async.
+std::function< void([Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4), [ProgressData](structmavsdk_1_1_ftp_1_1_progress_data.md))> [UploadCallback](#classmavsdk_1_1_ftp_1a50ffb77f0730267f499656d40291f5a3) | Callback type for upload_async.
+std::function< void([Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4), std::vector< std::string >)> [ListDirectoryCallback](#classmavsdk_1_1_ftp_1a87a77c4e013a8665017504a550d876b7) | Callback type for list_directory_async.
+std::function< void([Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4), bool)> [AreFilesIdenticalCallback](#classmavsdk_1_1_ftp_1abe24e99f7141a234206f8952d2f61318) | Callback type for are_files_identical_async.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Ftp](#classmavsdk_1_1_ftp_1ad0b5909e631746c1dd5e2151c727e67f) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Ftp](#classmavsdk_1_1_ftp_1a88cabb7b13f63e8285e7701292dac302) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Ftp](#classmavsdk_1_1_ftp_1a9a2492d3b79cde5cd3f5a09eadbc40a3) () override | Destructor (internal use only).
+&nbsp; | [Ftp](#classmavsdk_1_1_ftp_1a7b7486356a7b04fb231c430e090c673e) (const [Ftp](classmavsdk_1_1_ftp.md) & other) | Copy constructor.
+void | [download_async](#classmavsdk_1_1_ftp_1a0845245b8e1d0e74ed8961c90c96d1d3) (std::string remote_file_path, std::string local_dir, bool use_burst, const [DownloadCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a7c8e0377726e349a8a4e12495db42c75) & callback) | Downloads a file to local directory.
+void | [upload_async](#classmavsdk_1_1_ftp_1affe86a8b0a035109e7df9bd85c99f442) (std::string local_file_path, std::string remote_dir, const [UploadCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a50ffb77f0730267f499656d40291f5a3) & callback) | Uploads local file to remote directory.
+void | [list_directory_async](#classmavsdk_1_1_ftp_1abf5d83104a7293413b62e7a8ba1a0f2c) (std::string remote_dir, const [ListDirectoryCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a87a77c4e013a8665017504a550d876b7) callback) | Lists items from a remote directory.
+std::pair< [Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4), std::vector< std::string > > | [list_directory](#classmavsdk_1_1_ftp_1a2301aba586be9dd4569d984a58967ccc) (std::string remote_dir)const | Lists items from a remote directory.
+void | [create_directory_async](#classmavsdk_1_1_ftp_1aa53fdd5c005bd4da3e0cb29d448689d3) (std::string remote_dir, const [ResultCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a04a12a1ab954b24a54570300f89486b0) callback) | Creates a remote directory.
+[Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4) | [create_directory](#classmavsdk_1_1_ftp_1ac6edf64fe63d5934b892c95778e1c548) (std::string remote_dir)const | Creates a remote directory.
+void | [remove_directory_async](#classmavsdk_1_1_ftp_1a25823c7298dc2d081532dd094d013b8a) (std::string remote_dir, const [ResultCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a04a12a1ab954b24a54570300f89486b0) callback) | Removes a remote directory.
+[Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4) | [remove_directory](#classmavsdk_1_1_ftp_1a585e0877f7c129b15aed66771a31a446) (std::string remote_dir)const | Removes a remote directory.
+void | [remove_file_async](#classmavsdk_1_1_ftp_1a3ecda69288fb860a8da1f8fad25af31c) (std::string remote_file_path, const [ResultCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a04a12a1ab954b24a54570300f89486b0) callback) | Removes a remote file.
+[Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4) | [remove_file](#classmavsdk_1_1_ftp_1a2700a813ec54b115cb9a349ba486d6bd) (std::string remote_file_path)const | Removes a remote file.
+void | [rename_async](#classmavsdk_1_1_ftp_1afea8b15ad7b5748b0b5f68fd7103514a) (std::string remote_from_path, std::string remote_to_path, const [ResultCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a04a12a1ab954b24a54570300f89486b0) callback) | Renames a remote file or remote directory.
+[Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4) | [rename](#classmavsdk_1_1_ftp_1ac7411b38ea31f84f4f679b6b85313032) (std::string remote_from_path, std::string remote_to_path)const | Renames a remote file or remote directory.
+void | [are_files_identical_async](#classmavsdk_1_1_ftp_1abddebf1a103b2853116e68f5f870e4a7) (std::string local_file_path, std::string remote_file_path, const [AreFilesIdenticalCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1abe24e99f7141a234206f8952d2f61318) callback) | Compares a local file to a remote file using a CRC32 checksum.
+std::pair< [Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4), bool > | [are_files_identical](#classmavsdk_1_1_ftp_1a1ace427243aedef4b0988a055fc414bf) (std::string local_file_path, std::string remote_file_path)const | Compares a local file to a remote file using a CRC32 checksum.
+[Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4) | [set_target_compid](#classmavsdk_1_1_ftp_1ad93744cd25a89beffe0d72a090748229) (uint32_t compid)const | Set target component ID. By default it is the autopilot.
+const [Ftp](classmavsdk_1_1_ftp.md) & | [operator=](#classmavsdk_1_1_ftp_1a01dc5f41d1e684a667d31c213728b376) (const [Ftp](classmavsdk_1_1_ftp.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Ftp() {#classmavsdk_1_1_ftp_1ad0b5909e631746c1dd5e2151c727e67f}
+```cpp
+mavsdk::Ftp::Ftp(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto ftp = Ftp(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Ftp() {#classmavsdk_1_1_ftp_1a88cabb7b13f63e8285e7701292dac302}
+```cpp
+mavsdk::Ftp::Ftp(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto ftp = Ftp(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Ftp() {#classmavsdk_1_1_ftp_1a9a2492d3b79cde5cd3f5a09eadbc40a3}
+```cpp
+mavsdk::Ftp::~Ftp() override
+```
+
+
+Destructor (internal use only).
+
+
+### Ftp() {#classmavsdk_1_1_ftp_1a7b7486356a7b04fb231c430e090c673e}
+```cpp
+mavsdk::Ftp::Ftp(const Ftp &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Ftp](classmavsdk_1_1_ftp.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_ftp_1a04a12a1ab954b24a54570300f89486b0}
+
+```cpp
+using mavsdk::Ftp::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Ftp](classmavsdk_1_1_ftp.md) calls.
+
+
+### typedef DownloadCallback {#classmavsdk_1_1_ftp_1a7c8e0377726e349a8a4e12495db42c75}
+
+```cpp
+using mavsdk::Ftp::DownloadCallback =  std::function<void(Result, ProgressData)>
+```
+
+
+Callback type for download_async.
+
+
+### typedef UploadCallback {#classmavsdk_1_1_ftp_1a50ffb77f0730267f499656d40291f5a3}
+
+```cpp
+using mavsdk::Ftp::UploadCallback =  std::function<void(Result, ProgressData)>
+```
+
+
+Callback type for upload_async.
+
+
+### typedef ListDirectoryCallback {#classmavsdk_1_1_ftp_1a87a77c4e013a8665017504a550d876b7}
+
+```cpp
+using mavsdk::Ftp::ListDirectoryCallback =  std::function<void(Result, std::vector<std::string>)>
+```
+
+
+Callback type for list_directory_async.
+
+
+### typedef AreFilesIdenticalCallback {#classmavsdk_1_1_ftp_1abe24e99f7141a234206f8952d2f61318}
+
+```cpp
+using mavsdk::Ftp::AreFilesIdenticalCallback =  std::function<void(Result, bool)>
+```
+
+
+Callback type for are_files_identical_async.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4}
+
+
+Possible results returned for FTP commands.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Success. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4a10ac3d04253ef7e1ddc73e6091c0cd55"></span> `Next` | Intermediate message showing progress. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Timeout. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Operation is already in progress. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4a1d9fef8a4733b0ea18ff683be51fc196"></span> `FileIoError` | File IO operation error. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4aea1776502570f06ddc0569c079cb9ee2"></span> `FileExists` | File exists already. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4aab7e9f2fa8b2404bc25061dd572e9797"></span> `FileDoesNotExist` | File does not exist. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4a07b15a02a7ed4e09d46ea06d10d0e0cd"></span> `FileProtected` | File is write protected. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4a627251310d3384b591e4138be21145d5"></span> `InvalidParameter` | Invalid parameter. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4ab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | Unsupported command. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4aca3da8f495e4e628912a7798655da6c2"></span> `ProtocolError` | General protocol error. 
+<span id="classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+
+## Member Function Documentation
+
+
+### download_async() {#classmavsdk_1_1_ftp_1a0845245b8e1d0e74ed8961c90c96d1d3}
+```cpp
+void mavsdk::Ftp::download_async(std::string remote_file_path, std::string local_dir, bool use_burst, const DownloadCallback &callback)
+```
+
+
+Downloads a file to local directory.
+
+
+**Parameters**
+
+* std::string **remote_file_path** - 
+* std::string **local_dir** - 
+* bool **use_burst** - 
+* const [DownloadCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a7c8e0377726e349a8a4e12495db42c75)& **callback** - 
+
+### upload_async() {#classmavsdk_1_1_ftp_1affe86a8b0a035109e7df9bd85c99f442}
+```cpp
+void mavsdk::Ftp::upload_async(std::string local_file_path, std::string remote_dir, const UploadCallback &callback)
+```
+
+
+Uploads local file to remote directory.
+
+
+**Parameters**
+
+* std::string **local_file_path** - 
+* std::string **remote_dir** - 
+* const [UploadCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a50ffb77f0730267f499656d40291f5a3)& **callback** - 
+
+### list_directory_async() {#classmavsdk_1_1_ftp_1abf5d83104a7293413b62e7a8ba1a0f2c}
+```cpp
+void mavsdk::Ftp::list_directory_async(std::string remote_dir, const ListDirectoryCallback callback)
+```
+
+
+Lists items from a remote directory.
+
+This function is non-blocking. See 'list_directory' for the blocking counterpart.
+
+**Parameters**
+
+* std::string **remote_dir** - 
+* const [ListDirectoryCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a87a77c4e013a8665017504a550d876b7) **callback** - 
+
+### list_directory() {#classmavsdk_1_1_ftp_1a2301aba586be9dd4569d984a58967ccc}
+```cpp
+std::pair<Result, std::vector<std::string> > mavsdk::Ftp::list_directory(std::string remote_dir) const
+```
+
+
+Lists items from a remote directory.
+
+This function is blocking. See 'list_directory_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* std::string **remote_dir** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4), std::vector< std::string > > - Result of request.
+
+### create_directory_async() {#classmavsdk_1_1_ftp_1aa53fdd5c005bd4da3e0cb29d448689d3}
+```cpp
+void mavsdk::Ftp::create_directory_async(std::string remote_dir, const ResultCallback callback)
+```
+
+
+Creates a remote directory.
+
+This function is non-blocking. See 'create_directory' for the blocking counterpart.
+
+**Parameters**
+
+* std::string **remote_dir** - 
+* const [ResultCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a04a12a1ab954b24a54570300f89486b0) **callback** - 
+
+### create_directory() {#classmavsdk_1_1_ftp_1ac6edf64fe63d5934b892c95778e1c548}
+```cpp
+Result mavsdk::Ftp::create_directory(std::string remote_dir) const
+```
+
+
+Creates a remote directory.
+
+This function is blocking. See 'create_directory_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* std::string **remote_dir** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4) - Result of request.
+
+### remove_directory_async() {#classmavsdk_1_1_ftp_1a25823c7298dc2d081532dd094d013b8a}
+```cpp
+void mavsdk::Ftp::remove_directory_async(std::string remote_dir, const ResultCallback callback)
+```
+
+
+Removes a remote directory.
+
+This function is non-blocking. See 'remove_directory' for the blocking counterpart.
+
+**Parameters**
+
+* std::string **remote_dir** - 
+* const [ResultCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a04a12a1ab954b24a54570300f89486b0) **callback** - 
+
+### remove_directory() {#classmavsdk_1_1_ftp_1a585e0877f7c129b15aed66771a31a446}
+```cpp
+Result mavsdk::Ftp::remove_directory(std::string remote_dir) const
+```
+
+
+Removes a remote directory.
+
+This function is blocking. See 'remove_directory_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* std::string **remote_dir** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4) - Result of request.
+
+### remove_file_async() {#classmavsdk_1_1_ftp_1a3ecda69288fb860a8da1f8fad25af31c}
+```cpp
+void mavsdk::Ftp::remove_file_async(std::string remote_file_path, const ResultCallback callback)
+```
+
+
+Removes a remote file.
+
+This function is non-blocking. See 'remove_file' for the blocking counterpart.
+
+**Parameters**
+
+* std::string **remote_file_path** - 
+* const [ResultCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a04a12a1ab954b24a54570300f89486b0) **callback** - 
+
+### remove_file() {#classmavsdk_1_1_ftp_1a2700a813ec54b115cb9a349ba486d6bd}
+```cpp
+Result mavsdk::Ftp::remove_file(std::string remote_file_path) const
+```
+
+
+Removes a remote file.
+
+This function is blocking. See 'remove_file_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* std::string **remote_file_path** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4) - Result of request.
+
+### rename_async() {#classmavsdk_1_1_ftp_1afea8b15ad7b5748b0b5f68fd7103514a}
+```cpp
+void mavsdk::Ftp::rename_async(std::string remote_from_path, std::string remote_to_path, const ResultCallback callback)
+```
+
+
+Renames a remote file or remote directory.
+
+This function is non-blocking. See 'rename' for the blocking counterpart.
+
+**Parameters**
+
+* std::string **remote_from_path** - 
+* std::string **remote_to_path** - 
+* const [ResultCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a04a12a1ab954b24a54570300f89486b0) **callback** - 
+
+### rename() {#classmavsdk_1_1_ftp_1ac7411b38ea31f84f4f679b6b85313032}
+```cpp
+Result mavsdk::Ftp::rename(std::string remote_from_path, std::string remote_to_path) const
+```
+
+
+Renames a remote file or remote directory.
+
+This function is blocking. See 'rename_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* std::string **remote_from_path** - 
+* std::string **remote_to_path** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4) - Result of request.
+
+### are_files_identical_async() {#classmavsdk_1_1_ftp_1abddebf1a103b2853116e68f5f870e4a7}
+```cpp
+void mavsdk::Ftp::are_files_identical_async(std::string local_file_path, std::string remote_file_path, const AreFilesIdenticalCallback callback)
+```
+
+
+Compares a local file to a remote file using a CRC32 checksum.
+
+This function is non-blocking. See 'are_files_identical' for the blocking counterpart.
+
+**Parameters**
+
+* std::string **local_file_path** - 
+* std::string **remote_file_path** - 
+* const [AreFilesIdenticalCallback](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1abe24e99f7141a234206f8952d2f61318) **callback** - 
+
+### are_files_identical() {#classmavsdk_1_1_ftp_1a1ace427243aedef4b0988a055fc414bf}
+```cpp
+std::pair<Result, bool> mavsdk::Ftp::are_files_identical(std::string local_file_path, std::string remote_file_path) const
+```
+
+
+Compares a local file to a remote file using a CRC32 checksum.
+
+This function is blocking. See 'are_files_identical_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* std::string **local_file_path** - 
+* std::string **remote_file_path** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4), bool > - Result of request.
+
+### set_target_compid() {#classmavsdk_1_1_ftp_1ad93744cd25a89beffe0d72a090748229}
+```cpp
+Result mavsdk::Ftp::set_target_compid(uint32_t compid) const
+```
+
+
+Set target component ID. By default it is the autopilot.
+
+This function is blocking.
+
+**Parameters**
+
+* uint32_t **compid** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_ftp.md#classmavsdk_1_1_ftp_1a4cc4f42a3ef6d63403d811e594b946e4) - Result of request.
+
+### operator=() {#classmavsdk_1_1_ftp_1a01dc5f41d1e684a667d31c213728b376}
+```cpp
+const Ftp& mavsdk::Ftp::operator=(const Ftp &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Ftp](classmavsdk_1_1_ftp.md)&  - 
+
+**Returns**
+
+&emsp;const [Ftp](classmavsdk_1_1_ftp.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_ftp_server.md b/docs/en/cpp/api_reference/classmavsdk_1_1_ftp_server.md
new file mode 100644
index 0000000000..f8fb61961f
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_ftp_server.md
@@ -0,0 +1,141 @@
+# mavsdk::FtpServer Class Reference
+`#include: ftp_server.h`
+
+----
+
+
+Provide files or directories to transfer. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763) | Possible results returned for FTP server requests.
+std::function< void([Result](classmavsdk_1_1_ftp_server.md#classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763))> [ResultCallback](#classmavsdk_1_1_ftp_server_1a8de8a273470df377e1a665c3b14c866a) | Callback type for asynchronous [FtpServer](classmavsdk_1_1_ftp_server.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [FtpServer](#classmavsdk_1_1_ftp_server_1aa22c68e2fe9a3ac22c4ef55f2636ddd3) (std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > server_component) | Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+&nbsp; | [~FtpServer](#classmavsdk_1_1_ftp_server_1a685d6499b3fbc7d8b4fac6f8031e7e99) () override | Destructor (internal use only).
+&nbsp; | [FtpServer](#classmavsdk_1_1_ftp_server_1afed6d9c192b299e27d5e0014e63c275f) (const [FtpServer](classmavsdk_1_1_ftp_server.md) & other) | Copy constructor.
+[Result](classmavsdk_1_1_ftp_server.md#classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763) | [set_root_dir](#classmavsdk_1_1_ftp_server_1aa79196f0d3cd0bc178a57711252ed8f3) (std::string path)const | Set root directory.
+const [FtpServer](classmavsdk_1_1_ftp_server.md) & | [operator=](#classmavsdk_1_1_ftp_server_1aa3822f6508adad0b930cbca3be4fd5c5) (const [FtpServer](classmavsdk_1_1_ftp_server.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### FtpServer() {#classmavsdk_1_1_ftp_server_1aa22c68e2fe9a3ac22c4ef55f2636ddd3}
+```cpp
+mavsdk::FtpServer::FtpServer(std::shared_ptr< ServerComponent > server_component)
+```
+
+
+Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto ftp_server = FtpServer(server_component);
+```
+
+**Parameters**
+
+* std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > **server_component** - The [ServerComponent](classmavsdk_1_1_server_component.md) instance associated with this server plugin.
+
+### ~FtpServer() {#classmavsdk_1_1_ftp_server_1a685d6499b3fbc7d8b4fac6f8031e7e99}
+```cpp
+mavsdk::FtpServer::~FtpServer() override
+```
+
+
+Destructor (internal use only).
+
+
+### FtpServer() {#classmavsdk_1_1_ftp_server_1afed6d9c192b299e27d5e0014e63c275f}
+```cpp
+mavsdk::FtpServer::FtpServer(const FtpServer &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [FtpServer](classmavsdk_1_1_ftp_server.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_ftp_server_1a8de8a273470df377e1a665c3b14c866a}
+
+```cpp
+using mavsdk::FtpServer::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [FtpServer](classmavsdk_1_1_ftp_server.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763}
+
+
+Possible results returned for FTP server requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763ac47c93cf49de211bba5d62d65225f128"></span> `DoesNotExist` | Directory does not exist. 
+<span id="classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Operations in progress. 
+
+## Member Function Documentation
+
+
+### set_root_dir() {#classmavsdk_1_1_ftp_server_1aa79196f0d3cd0bc178a57711252ed8f3}
+```cpp
+Result mavsdk::FtpServer::set_root_dir(std::string path) const
+```
+
+
+Set root directory.
+
+This is the directory that can then be accessed by a client. The directory needs to exist when this is called. The permissions are the same as the file permission for the user running the server. The root directory can't be changed while an FTP process is in progress.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **path** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_ftp_server.md#classmavsdk_1_1_ftp_server_1a24027b6ade1f681dd191a81c25653763) - Result of request.
+
+### operator=() {#classmavsdk_1_1_ftp_server_1aa3822f6508adad0b930cbca3be4fd5c5}
+```cpp
+const FtpServer& mavsdk::FtpServer::operator=(const FtpServer &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [FtpServer](classmavsdk_1_1_ftp_server.md)&  - 
+
+**Returns**
+
+&emsp;const [FtpServer](classmavsdk_1_1_ftp_server.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_geofence.md b/docs/en/cpp/api_reference/classmavsdk_1_1_geofence.md
new file mode 100644
index 0000000000..175259a495
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_geofence.md
@@ -0,0 +1,236 @@
+# mavsdk::Geofence Class Reference
+`#include: geofence.h`
+
+----
+
+
+Enable setting a geofence. 
+
+
+## Data Structures
+
+
+struct [Circle](structmavsdk_1_1_geofence_1_1_circle.md)
+
+struct [GeofenceData](structmavsdk_1_1_geofence_1_1_geofence_data.md)
+
+struct [Point](structmavsdk_1_1_geofence_1_1_point.md)
+
+struct [Polygon](structmavsdk_1_1_geofence_1_1_polygon.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [FenceType](#classmavsdk_1_1_geofence_1a51196ded958aa9d4b3f25cde95da48e5) | [Geofence](classmavsdk_1_1_geofence.md) types.
+enum [Result](#classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642) | Possible results returned for geofence requests.
+std::function< void([Result](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642))> [ResultCallback](#classmavsdk_1_1_geofence_1af9662e645781e4e64ed8b7c65d3d9309) | Callback type for asynchronous [Geofence](classmavsdk_1_1_geofence.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Geofence](#classmavsdk_1_1_geofence_1a115762872a12894270e758af250549f0) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Geofence](#classmavsdk_1_1_geofence_1a7e921625517d772df4125b22841b78da) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Geofence](#classmavsdk_1_1_geofence_1aa8362d021d182c807ddb5e95e40a9cbe) () override | Destructor (internal use only).
+&nbsp; | [Geofence](#classmavsdk_1_1_geofence_1a60e1f1a3123050c73980cba61b4b4009) (const [Geofence](classmavsdk_1_1_geofence.md) & other) | Copy constructor.
+void | [upload_geofence_async](#classmavsdk_1_1_geofence_1a1f0c6431b86b77c29f19eafb4e55dcdb) ([GeofenceData](structmavsdk_1_1_geofence_1_1_geofence_data.md) geofence_data, const [ResultCallback](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1af9662e645781e4e64ed8b7c65d3d9309) callback) | Upload geofences.
+[Result](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642) | [upload_geofence](#classmavsdk_1_1_geofence_1ab2e825f0955e7a320117a21d649bab09) ([GeofenceData](structmavsdk_1_1_geofence_1_1_geofence_data.md) geofence_data)const | Upload geofences.
+void | [clear_geofence_async](#classmavsdk_1_1_geofence_1a6947151765b621a93d35885599812752) (const [ResultCallback](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1af9662e645781e4e64ed8b7c65d3d9309) callback) | Clear all geofences saved on the vehicle.
+[Result](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642) | [clear_geofence](#classmavsdk_1_1_geofence_1a54b2a696e8aebae6916116adb92c03c3) () const | Clear all geofences saved on the vehicle.
+const [Geofence](classmavsdk_1_1_geofence.md) & | [operator=](#classmavsdk_1_1_geofence_1a2e8a69dddfa9b4937df117060fa2e0d7) (const [Geofence](classmavsdk_1_1_geofence.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Geofence() {#classmavsdk_1_1_geofence_1a115762872a12894270e758af250549f0}
+```cpp
+mavsdk::Geofence::Geofence(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto geofence = Geofence(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Geofence() {#classmavsdk_1_1_geofence_1a7e921625517d772df4125b22841b78da}
+```cpp
+mavsdk::Geofence::Geofence(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto geofence = Geofence(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Geofence() {#classmavsdk_1_1_geofence_1aa8362d021d182c807ddb5e95e40a9cbe}
+```cpp
+mavsdk::Geofence::~Geofence() override
+```
+
+
+Destructor (internal use only).
+
+
+### Geofence() {#classmavsdk_1_1_geofence_1a60e1f1a3123050c73980cba61b4b4009}
+```cpp
+mavsdk::Geofence::Geofence(const Geofence &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Geofence](classmavsdk_1_1_geofence.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_geofence_1af9662e645781e4e64ed8b7c65d3d9309}
+
+```cpp
+using mavsdk::Geofence::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Geofence](classmavsdk_1_1_geofence.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum FenceType {#classmavsdk_1_1_geofence_1a51196ded958aa9d4b3f25cde95da48e5}
+
+
+[Geofence](classmavsdk_1_1_geofence.md) types.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_geofence_1a51196ded958aa9d4b3f25cde95da48e5a9e3be7835607d7cc3ae456b20ce9a4f4"></span> `Inclusion` | Type representing an inclusion fence. 
+<span id="classmavsdk_1_1_geofence_1a51196ded958aa9d4b3f25cde95da48e5a25218e43e67f1b1c1c833bc48c7ca7bb"></span> `Exclusion` | Type representing an exclusion fence. 
+
+### enum Result {#classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642}
+
+
+Possible results returned for geofence requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642a902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | Error. 
+<span id="classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642aa74add5fe6bda878df41d8c3f07d3ef8"></span> `TooManyGeofenceItems` | Too many objects in the geofence. 
+<span id="classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642a253ca7dd096ee0956cccee4d376cab8b"></span> `InvalidArgument` | Invalid argument. 
+<span id="classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+
+## Member Function Documentation
+
+
+### upload_geofence_async() {#classmavsdk_1_1_geofence_1a1f0c6431b86b77c29f19eafb4e55dcdb}
+```cpp
+void mavsdk::Geofence::upload_geofence_async(GeofenceData geofence_data, const ResultCallback callback)
+```
+
+
+Upload geofences.
+
+[Polygon](structmavsdk_1_1_geofence_1_1_polygon.md) and Circular geofences are uploaded to a drone. Once uploaded, the geofence will remain on the drone even if a connection is lost.
+
+
+This function is non-blocking. See 'upload_geofence' for the blocking counterpart.
+
+**Parameters**
+
+* [GeofenceData](structmavsdk_1_1_geofence_1_1_geofence_data.md) **geofence_data** - 
+* const [ResultCallback](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1af9662e645781e4e64ed8b7c65d3d9309) **callback** - 
+
+### upload_geofence() {#classmavsdk_1_1_geofence_1ab2e825f0955e7a320117a21d649bab09}
+```cpp
+Result mavsdk::Geofence::upload_geofence(GeofenceData geofence_data) const
+```
+
+
+Upload geofences.
+
+[Polygon](structmavsdk_1_1_geofence_1_1_polygon.md) and Circular geofences are uploaded to a drone. Once uploaded, the geofence will remain on the drone even if a connection is lost.
+
+
+This function is blocking. See 'upload_geofence_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* [GeofenceData](structmavsdk_1_1_geofence_1_1_geofence_data.md) **geofence_data** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642) - Result of request.
+
+### clear_geofence_async() {#classmavsdk_1_1_geofence_1a6947151765b621a93d35885599812752}
+```cpp
+void mavsdk::Geofence::clear_geofence_async(const ResultCallback callback)
+```
+
+
+Clear all geofences saved on the vehicle.
+
+This function is non-blocking. See 'clear_geofence' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1af9662e645781e4e64ed8b7c65d3d9309) **callback** - 
+
+### clear_geofence() {#classmavsdk_1_1_geofence_1a54b2a696e8aebae6916116adb92c03c3}
+```cpp
+Result mavsdk::Geofence::clear_geofence() const
+```
+
+
+Clear all geofences saved on the vehicle.
+
+This function is blocking. See 'clear_geofence_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1ab64d6e3b9aeb9b6d5e45ae8a843a2642) - Result of request.
+
+### operator=() {#classmavsdk_1_1_geofence_1a2e8a69dddfa9b4937df117060fa2e0d7}
+```cpp
+const Geofence& mavsdk::Geofence::operator=(const Geofence &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Geofence](classmavsdk_1_1_geofence.md)&  - 
+
+**Returns**
+
+&emsp;const [Geofence](classmavsdk_1_1_geofence.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_gimbal.md b/docs/en/cpp/api_reference/classmavsdk_1_1_gimbal.md
new file mode 100644
index 0000000000..ec98cdb59a
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_gimbal.md
@@ -0,0 +1,494 @@
+# mavsdk::Gimbal Class Reference
+`#include: gimbal.h`
+
+----
+
+
+Provide control over a gimbal. 
+
+
+## Data Structures
+
+
+struct [ControlStatus](structmavsdk_1_1_gimbal_1_1_control_status.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [GimbalMode](#classmavsdk_1_1_gimbal_1afb92614c5d5915d3960bcea51bec2dca) | [Gimbal](classmavsdk_1_1_gimbal.md) mode type.
+enum [ControlMode](#classmavsdk_1_1_gimbal_1a01b721086d7de6089aefdeb0fda4cff3) | Control mode.
+enum [Result](#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) | Possible results returned for gimbal commands.
+std::function< void([Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac))> [ResultCallback](#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) | Callback type for asynchronous [Gimbal](classmavsdk_1_1_gimbal.md) calls.
+std::function< void([ControlStatus](structmavsdk_1_1_gimbal_1_1_control_status.md))> [ControlCallback](#classmavsdk_1_1_gimbal_1a1645ab20c41161e6c47620b7352eef62) | Callback type for subscribe_control.
+[Handle](classmavsdk_1_1_handle.md)< [ControlStatus](structmavsdk_1_1_gimbal_1_1_control_status.md) > [ControlHandle](#classmavsdk_1_1_gimbal_1accab76c321008685a455ccff45811397) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_control.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Gimbal](#classmavsdk_1_1_gimbal_1aa33f4df704c7f09698884083c379f787) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Gimbal](#classmavsdk_1_1_gimbal_1aa3cb6e1e37a2f275ab5cc8ed4dd71d93) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Gimbal](#classmavsdk_1_1_gimbal_1a3b86d8209172a578f238928b9f5bfdd6) () override | Destructor (internal use only).
+&nbsp; | [Gimbal](#classmavsdk_1_1_gimbal_1ae69df278ca37deaee22fb13053fd4f2d) (const [Gimbal](classmavsdk_1_1_gimbal.md) & other) | Copy constructor.
+void | [set_pitch_and_yaw_async](#classmavsdk_1_1_gimbal_1a325a49cc256359013cbc917b3576f292) (float pitch_deg, float yaw_deg, const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) callback) | Set gimbal pitch and yaw angles.
+[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) | [set_pitch_and_yaw](#classmavsdk_1_1_gimbal_1ad65ba3258833fe78f2939b9b72dc3b88) (float pitch_deg, float yaw_deg)const | Set gimbal pitch and yaw angles.
+void | [set_pitch_rate_and_yaw_rate_async](#classmavsdk_1_1_gimbal_1a161b3f85cd9fa30439774ef47a10c51d) (float pitch_rate_deg_s, float yaw_rate_deg_s, const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) callback) | Set gimbal angular rates around pitch and yaw axes.
+[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) | [set_pitch_rate_and_yaw_rate](#classmavsdk_1_1_gimbal_1a2ad12582d192d8594d7da315e2729129) (float pitch_rate_deg_s, float yaw_rate_deg_s)const | Set gimbal angular rates around pitch and yaw axes.
+void | [set_mode_async](#classmavsdk_1_1_gimbal_1ad69853994c134b0e88d0f94744254066) ([GimbalMode](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1afb92614c5d5915d3960bcea51bec2dca) gimbal_mode, const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) callback) | Set gimbal mode.
+[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) | [set_mode](#classmavsdk_1_1_gimbal_1a037285883ceba14e0df9c7f8c19f4423) ([GimbalMode](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1afb92614c5d5915d3960bcea51bec2dca) gimbal_mode)const | Set gimbal mode.
+void | [set_roi_location_async](#classmavsdk_1_1_gimbal_1ab3c42a7042231e48dfab881030fe30c0) (double latitude_deg, double longitude_deg, float altitude_m, const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) callback) | Set gimbal region of interest (ROI).
+[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) | [set_roi_location](#classmavsdk_1_1_gimbal_1a035ddc270efce19a9be54b98add57919) (double latitude_deg, double longitude_deg, float altitude_m)const | Set gimbal region of interest (ROI).
+void | [take_control_async](#classmavsdk_1_1_gimbal_1a331139df593e8ccef0f8ca7652f2d2bc) ([ControlMode](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a01b721086d7de6089aefdeb0fda4cff3) control_mode, const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) callback) | Take control.
+[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) | [take_control](#classmavsdk_1_1_gimbal_1a7dabe20d1bceb7031440fefba59cd707) ([ControlMode](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a01b721086d7de6089aefdeb0fda4cff3) control_mode)const | Take control.
+void | [release_control_async](#classmavsdk_1_1_gimbal_1aa58402c4e2d9506dbe9839ef8cbfb920) (const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) callback) | Release control.
+[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) | [release_control](#classmavsdk_1_1_gimbal_1ab994d4130b2956e2d33613ffb2127335) () const | Release control.
+[ControlHandle](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1accab76c321008685a455ccff45811397) | [subscribe_control](#classmavsdk_1_1_gimbal_1aafd016582be5b63d9b378d414f2faf30) (const [ControlCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a1645ab20c41161e6c47620b7352eef62) & callback) | Subscribe to control status updates.
+void | [unsubscribe_control](#classmavsdk_1_1_gimbal_1a899b442fafac1d83b9450bd219f6975e) ([ControlHandle](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1accab76c321008685a455ccff45811397) handle) | Unsubscribe from subscribe_control.
+[ControlStatus](structmavsdk_1_1_gimbal_1_1_control_status.md) | [control](#classmavsdk_1_1_gimbal_1aae172788140e37d6125b224f5e79829e) () const | Poll for '[ControlStatus](structmavsdk_1_1_gimbal_1_1_control_status.md)' (blocking).
+const [Gimbal](classmavsdk_1_1_gimbal.md) & | [operator=](#classmavsdk_1_1_gimbal_1ac9a6e1936f58ce8f957be7c6bcc0d134) (const [Gimbal](classmavsdk_1_1_gimbal.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Gimbal() {#classmavsdk_1_1_gimbal_1aa33f4df704c7f09698884083c379f787}
+```cpp
+mavsdk::Gimbal::Gimbal(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto gimbal = Gimbal(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Gimbal() {#classmavsdk_1_1_gimbal_1aa3cb6e1e37a2f275ab5cc8ed4dd71d93}
+```cpp
+mavsdk::Gimbal::Gimbal(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto gimbal = Gimbal(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Gimbal() {#classmavsdk_1_1_gimbal_1a3b86d8209172a578f238928b9f5bfdd6}
+```cpp
+mavsdk::Gimbal::~Gimbal() override
+```
+
+
+Destructor (internal use only).
+
+
+### Gimbal() {#classmavsdk_1_1_gimbal_1ae69df278ca37deaee22fb13053fd4f2d}
+```cpp
+mavsdk::Gimbal::Gimbal(const Gimbal &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Gimbal](classmavsdk_1_1_gimbal.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197}
+
+```cpp
+using mavsdk::Gimbal::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Gimbal](classmavsdk_1_1_gimbal.md) calls.
+
+
+### typedef ControlCallback {#classmavsdk_1_1_gimbal_1a1645ab20c41161e6c47620b7352eef62}
+
+```cpp
+using mavsdk::Gimbal::ControlCallback =  std::function<void(ControlStatus)>
+```
+
+
+Callback type for subscribe_control.
+
+
+### typedef ControlHandle {#classmavsdk_1_1_gimbal_1accab76c321008685a455ccff45811397}
+
+```cpp
+using mavsdk::Gimbal::ControlHandle =  Handle<ControlStatus>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_control.
+
+
+## Member Enumeration Documentation
+
+
+### enum GimbalMode {#classmavsdk_1_1_gimbal_1afb92614c5d5915d3960bcea51bec2dca}
+
+
+[Gimbal](classmavsdk_1_1_gimbal.md) mode type.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_gimbal_1afb92614c5d5915d3960bcea51bec2dcaae370d3502f507d9c9ea57d6fd3c4ed7b"></span> `YawFollow` | Yaw follow will point the gimbal to the vehicle heading. 
+<span id="classmavsdk_1_1_gimbal_1afb92614c5d5915d3960bcea51bec2dcaaf0a46b0b7151dca1ab120e02b6e6663e"></span> `YawLock` | Yaw lock will fix the gimbal pointing to an absolute direction. 
+
+### enum ControlMode {#classmavsdk_1_1_gimbal_1a01b721086d7de6089aefdeb0fda4cff3}
+
+
+Control mode.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_gimbal_1a01b721086d7de6089aefdeb0fda4cff3a6adf97f83acf6453d4a6a4b1070f3754"></span> `None` | Indicates that the component does not have control over the gimbal. 
+<span id="classmavsdk_1_1_gimbal_1a01b721086d7de6089aefdeb0fda4cff3a074de7e7c226d5c60f8af14c20725352"></span> `Primary` | To take primary control over the gimbal. 
+<span id="classmavsdk_1_1_gimbal_1a01b721086d7de6089aefdeb0fda4cff3a0c7d6cf19426e01dcfa32434828ed266"></span> `Secondary` | To take secondary control over the gimbal. 
+
+### enum Result {#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac}
+
+
+Possible results returned for gimbal commands.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76aca88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76aca505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Command was accepted. 
+<span id="classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76aca902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | Error occurred sending the command. 
+<span id="classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76acac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Command timed out. 
+<span id="classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76acab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | Functionality not supported. 
+<span id="classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76aca1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+
+## Member Function Documentation
+
+
+### set_pitch_and_yaw_async() {#classmavsdk_1_1_gimbal_1a325a49cc256359013cbc917b3576f292}
+```cpp
+void mavsdk::Gimbal::set_pitch_and_yaw_async(float pitch_deg, float yaw_deg, const ResultCallback callback)
+```
+
+
+Set gimbal pitch and yaw angles.
+
+This sets the desired pitch and yaw angles of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually be set to the new angles.
+
+
+This function is non-blocking. See 'set_pitch_and_yaw' for the blocking counterpart.
+
+**Parameters**
+
+* float **pitch_deg** - 
+* float **yaw_deg** - 
+* const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) **callback** - 
+
+### set_pitch_and_yaw() {#classmavsdk_1_1_gimbal_1ad65ba3258833fe78f2939b9b72dc3b88}
+```cpp
+Result mavsdk::Gimbal::set_pitch_and_yaw(float pitch_deg, float yaw_deg) const
+```
+
+
+Set gimbal pitch and yaw angles.
+
+This sets the desired pitch and yaw angles of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually be set to the new angles.
+
+
+This function is blocking. See 'set_pitch_and_yaw_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* float **pitch_deg** - 
+* float **yaw_deg** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) - Result of request.
+
+### set_pitch_rate_and_yaw_rate_async() {#classmavsdk_1_1_gimbal_1a161b3f85cd9fa30439774ef47a10c51d}
+```cpp
+void mavsdk::Gimbal::set_pitch_rate_and_yaw_rate_async(float pitch_rate_deg_s, float yaw_rate_deg_s, const ResultCallback callback)
+```
+
+
+Set gimbal angular rates around pitch and yaw axes.
+
+This sets the desired angular rates around pitch and yaw axes of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually reach the angular rate.
+
+
+This function is non-blocking. See 'set_pitch_rate_and_yaw_rate' for the blocking counterpart.
+
+**Parameters**
+
+* float **pitch_rate_deg_s** - 
+* float **yaw_rate_deg_s** - 
+* const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) **callback** - 
+
+### set_pitch_rate_and_yaw_rate() {#classmavsdk_1_1_gimbal_1a2ad12582d192d8594d7da315e2729129}
+```cpp
+Result mavsdk::Gimbal::set_pitch_rate_and_yaw_rate(float pitch_rate_deg_s, float yaw_rate_deg_s) const
+```
+
+
+Set gimbal angular rates around pitch and yaw axes.
+
+This sets the desired angular rates around pitch and yaw axes of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually reach the angular rate.
+
+
+This function is blocking. See 'set_pitch_rate_and_yaw_rate_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* float **pitch_rate_deg_s** - 
+* float **yaw_rate_deg_s** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) - Result of request.
+
+### set_mode_async() {#classmavsdk_1_1_gimbal_1ad69853994c134b0e88d0f94744254066}
+```cpp
+void mavsdk::Gimbal::set_mode_async(GimbalMode gimbal_mode, const ResultCallback callback)
+```
+
+
+Set gimbal mode.
+
+This sets the desired yaw mode of a gimbal. Will return when the command is accepted. However, it might take the gimbal longer to actually be set to the new angles.
+
+
+This function is non-blocking. See 'set_mode' for the blocking counterpart.
+
+**Parameters**
+
+* [GimbalMode](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1afb92614c5d5915d3960bcea51bec2dca) **gimbal_mode** - 
+* const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) **callback** - 
+
+### set_mode() {#classmavsdk_1_1_gimbal_1a037285883ceba14e0df9c7f8c19f4423}
+```cpp
+Result mavsdk::Gimbal::set_mode(GimbalMode gimbal_mode) const
+```
+
+
+Set gimbal mode.
+
+This sets the desired yaw mode of a gimbal. Will return when the command is accepted. However, it might take the gimbal longer to actually be set to the new angles.
+
+
+This function is blocking. See 'set_mode_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* [GimbalMode](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1afb92614c5d5915d3960bcea51bec2dca) **gimbal_mode** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) - Result of request.
+
+### set_roi_location_async() {#classmavsdk_1_1_gimbal_1ab3c42a7042231e48dfab881030fe30c0}
+```cpp
+void mavsdk::Gimbal::set_roi_location_async(double latitude_deg, double longitude_deg, float altitude_m, const ResultCallback callback)
+```
+
+
+Set gimbal region of interest (ROI).
+
+This sets a region of interest that the gimbal will point to. The gimbal will continue to point to the specified region until it receives a new command. The function will return when the command is accepted, however, it might take the gimbal longer to actually rotate to the ROI.
+
+
+This function is non-blocking. See 'set_roi_location' for the blocking counterpart.
+
+**Parameters**
+
+* double **latitude_deg** - 
+* double **longitude_deg** - 
+* float **altitude_m** - 
+* const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) **callback** - 
+
+### set_roi_location() {#classmavsdk_1_1_gimbal_1a035ddc270efce19a9be54b98add57919}
+```cpp
+Result mavsdk::Gimbal::set_roi_location(double latitude_deg, double longitude_deg, float altitude_m) const
+```
+
+
+Set gimbal region of interest (ROI).
+
+This sets a region of interest that the gimbal will point to. The gimbal will continue to point to the specified region until it receives a new command. The function will return when the command is accepted, however, it might take the gimbal longer to actually rotate to the ROI.
+
+
+This function is blocking. See 'set_roi_location_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **latitude_deg** - 
+* double **longitude_deg** - 
+* float **altitude_m** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) - Result of request.
+
+### take_control_async() {#classmavsdk_1_1_gimbal_1a331139df593e8ccef0f8ca7652f2d2bc}
+```cpp
+void mavsdk::Gimbal::take_control_async(ControlMode control_mode, const ResultCallback callback)
+```
+
+
+Take control.
+
+There can be only two components in control of a gimbal at any given time. One with "primary" control, and one with "secondary" control. The way the secondary control is implemented is not specified and hence depends on the vehicle.
+
+
+Components are expected to be cooperative, which means that they can override each other and should therefore do it carefully.
+
+
+This function is non-blocking. See 'take_control' for the blocking counterpart.
+
+**Parameters**
+
+* [ControlMode](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a01b721086d7de6089aefdeb0fda4cff3) **control_mode** - 
+* const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) **callback** - 
+
+### take_control() {#classmavsdk_1_1_gimbal_1a7dabe20d1bceb7031440fefba59cd707}
+```cpp
+Result mavsdk::Gimbal::take_control(ControlMode control_mode) const
+```
+
+
+Take control.
+
+There can be only two components in control of a gimbal at any given time. One with "primary" control, and one with "secondary" control. The way the secondary control is implemented is not specified and hence depends on the vehicle.
+
+
+Components are expected to be cooperative, which means that they can override each other and should therefore do it carefully.
+
+
+This function is blocking. See 'take_control_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* [ControlMode](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a01b721086d7de6089aefdeb0fda4cff3) **control_mode** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) - Result of request.
+
+### release_control_async() {#classmavsdk_1_1_gimbal_1aa58402c4e2d9506dbe9839ef8cbfb920}
+```cpp
+void mavsdk::Gimbal::release_control_async(const ResultCallback callback)
+```
+
+
+Release control.
+
+Release control, such that other components can control the gimbal.
+
+
+This function is non-blocking. See 'release_control' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a88ee7dd17821fb9b12c44b2a3630c197) **callback** - 
+
+### release_control() {#classmavsdk_1_1_gimbal_1ab994d4130b2956e2d33613ffb2127335}
+```cpp
+Result mavsdk::Gimbal::release_control() const
+```
+
+
+Release control.
+
+Release control, such that other components can control the gimbal.
+
+
+This function is blocking. See 'release_control_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1aa732ec0bd49ac03b7910199d635f76ac) - Result of request.
+
+### subscribe_control() {#classmavsdk_1_1_gimbal_1aafd016582be5b63d9b378d414f2faf30}
+```cpp
+ControlHandle mavsdk::Gimbal::subscribe_control(const ControlCallback &callback)
+```
+
+
+Subscribe to control status updates.
+
+This allows a component to know if it has primary, secondary or no control over the gimbal. Also, it gives the system and component ids of the other components in control (if any).
+
+**Parameters**
+
+* const [ControlCallback](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a1645ab20c41161e6c47620b7352eef62)& **callback** - 
+
+**Returns**
+
+&emsp;[ControlHandle](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1accab76c321008685a455ccff45811397) - 
+
+### unsubscribe_control() {#classmavsdk_1_1_gimbal_1a899b442fafac1d83b9450bd219f6975e}
+```cpp
+void mavsdk::Gimbal::unsubscribe_control(ControlHandle handle)
+```
+
+
+Unsubscribe from subscribe_control.
+
+
+**Parameters**
+
+* [ControlHandle](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1accab76c321008685a455ccff45811397) **handle** - 
+
+### control() {#classmavsdk_1_1_gimbal_1aae172788140e37d6125b224f5e79829e}
+```cpp
+ControlStatus mavsdk::Gimbal::control() const
+```
+
+
+Poll for '[ControlStatus](structmavsdk_1_1_gimbal_1_1_control_status.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[ControlStatus](structmavsdk_1_1_gimbal_1_1_control_status.md) - One [ControlStatus](structmavsdk_1_1_gimbal_1_1_control_status.md) update.
+
+### operator=() {#classmavsdk_1_1_gimbal_1ac9a6e1936f58ce8f957be7c6bcc0d134}
+```cpp
+const Gimbal& mavsdk::Gimbal::operator=(const Gimbal &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Gimbal](classmavsdk_1_1_gimbal.md)&  - 
+
+**Returns**
+
+&emsp;const [Gimbal](classmavsdk_1_1_gimbal.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_gripper.md b/docs/en/cpp/api_reference/classmavsdk_1_1_gripper.md
new file mode 100644
index 0000000000..3ab13634e5
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_gripper.md
@@ -0,0 +1,224 @@
+# mavsdk::Gripper Class Reference
+`#include: gripper.h`
+
+----
+
+
+Allows users to send gripper actions. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [GripperAction](#classmavsdk_1_1_gripper_1a2088ab8cdb0f343fa576a54af41cf36f) | [Gripper](classmavsdk_1_1_gripper.md) Actions.
+enum [Result](#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534) | Possible results returned for gripper action requests.
+std::function< void([Result](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534))> [ResultCallback](#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f) | Callback type for asynchronous [Gripper](classmavsdk_1_1_gripper.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Gripper](#classmavsdk_1_1_gripper_1a566993706ef599eae17761f4b0810c4b) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Gripper](#classmavsdk_1_1_gripper_1a83a53647a8fb1bf1ef463fd3ddd14726) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Gripper](#classmavsdk_1_1_gripper_1a90b0ea53617492b3f3fa6406430a08e8) () override | Destructor (internal use only).
+&nbsp; | [Gripper](#classmavsdk_1_1_gripper_1a3d5e59b3647fd93c8cf43910cdf01468) (const [Gripper](classmavsdk_1_1_gripper.md) & other) | Copy constructor.
+void | [grab_async](#classmavsdk_1_1_gripper_1a90c5ebf377fa1691a045a3ae70d885fa) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f) callback) | [Gripper](classmavsdk_1_1_gripper.md) grab cargo.
+[Result](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534) | [grab](#classmavsdk_1_1_gripper_1abba980736acaf541721c7e23a9f2f8b1) (uint32_t instance)const | [Gripper](classmavsdk_1_1_gripper.md) grab cargo.
+void | [release_async](#classmavsdk_1_1_gripper_1acb9a3f03a7c67f1a5c066aa2380a5e34) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f) callback) | [Gripper](classmavsdk_1_1_gripper.md) release cargo.
+[Result](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534) | [release](#classmavsdk_1_1_gripper_1a7b0d151d7a596d3977f2da9861204d8c) (uint32_t instance)const | [Gripper](classmavsdk_1_1_gripper.md) release cargo.
+const [Gripper](classmavsdk_1_1_gripper.md) & | [operator=](#classmavsdk_1_1_gripper_1a6b26bd1ca3f795dce56b5a14717b9c40) (const [Gripper](classmavsdk_1_1_gripper.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Gripper() {#classmavsdk_1_1_gripper_1a566993706ef599eae17761f4b0810c4b}
+```cpp
+mavsdk::Gripper::Gripper(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto gripper = Gripper(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Gripper() {#classmavsdk_1_1_gripper_1a83a53647a8fb1bf1ef463fd3ddd14726}
+```cpp
+mavsdk::Gripper::Gripper(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto gripper = Gripper(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Gripper() {#classmavsdk_1_1_gripper_1a90b0ea53617492b3f3fa6406430a08e8}
+```cpp
+mavsdk::Gripper::~Gripper() override
+```
+
+
+Destructor (internal use only).
+
+
+### Gripper() {#classmavsdk_1_1_gripper_1a3d5e59b3647fd93c8cf43910cdf01468}
+```cpp
+mavsdk::Gripper::Gripper(const Gripper &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Gripper](classmavsdk_1_1_gripper.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f}
+
+```cpp
+using mavsdk::Gripper::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Gripper](classmavsdk_1_1_gripper.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum GripperAction {#classmavsdk_1_1_gripper_1a2088ab8cdb0f343fa576a54af41cf36f}
+
+
+[Gripper](classmavsdk_1_1_gripper.md) Actions.
+
+Available gripper actions are defined in mavlink under [https://mavlink.io/en/messages/common.html#GRIPPER_ACTIONS](https://mavlink.io/en/messages/common.html#GRIPPER_ACTIONS)
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_gripper_1a2088ab8cdb0f343fa576a54af41cf36fab8e7b465df7c5979dc731d06e84ce2cf"></span> `Release` | Open the gripper to release the cargo. 
+<span id="classmavsdk_1_1_gripper_1a2088ab8cdb0f343fa576a54af41cf36fab635ceb01a10e96cdbefa95d72b25750"></span> `Grab` | Close the gripper and grab onto cargo. 
+
+### enum Result {#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534}
+
+
+Possible results returned for gripper action requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request was successful. 
+<span id="classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Temporarily rejected. 
+<span id="classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534ab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | [Action](classmavsdk_1_1_action.md) not supported. 
+<span id="classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534ad7c8c85bf79bbe1b7188497c32c3b0ca"></span> `Failed` | [Action](classmavsdk_1_1_action.md) failed. 
+
+## Member Function Documentation
+
+
+### grab_async() {#classmavsdk_1_1_gripper_1a90c5ebf377fa1691a045a3ae70d885fa}
+```cpp
+void mavsdk::Gripper::grab_async(uint32_t instance, const ResultCallback callback)
+```
+
+
+[Gripper](classmavsdk_1_1_gripper.md) grab cargo.
+
+This function is non-blocking. See 'grab' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* const [ResultCallback](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f) **callback** - 
+
+### grab() {#classmavsdk_1_1_gripper_1abba980736acaf541721c7e23a9f2f8b1}
+```cpp
+Result mavsdk::Gripper::grab(uint32_t instance) const
+```
+
+
+[Gripper](classmavsdk_1_1_gripper.md) grab cargo.
+
+This function is blocking. See 'grab_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534) - Result of request.
+
+### release_async() {#classmavsdk_1_1_gripper_1acb9a3f03a7c67f1a5c066aa2380a5e34}
+```cpp
+void mavsdk::Gripper::release_async(uint32_t instance, const ResultCallback callback)
+```
+
+
+[Gripper](classmavsdk_1_1_gripper.md) release cargo.
+
+This function is non-blocking. See 'release' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* const [ResultCallback](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1ac8cce161ab7fe573125f4915de0a993f) **callback** - 
+
+### release() {#classmavsdk_1_1_gripper_1a7b0d151d7a596d3977f2da9861204d8c}
+```cpp
+Result mavsdk::Gripper::release(uint32_t instance) const
+```
+
+
+[Gripper](classmavsdk_1_1_gripper.md) release cargo.
+
+This function is blocking. See 'release_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_gripper.md#classmavsdk_1_1_gripper_1a82c5d2dec9badc2fad436ae56962b534) - Result of request.
+
+### operator=() {#classmavsdk_1_1_gripper_1a6b26bd1ca3f795dce56b5a14717b9c40}
+```cpp
+const Gripper& mavsdk::Gripper::operator=(const Gripper &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Gripper](classmavsdk_1_1_gripper.md)&  - 
+
+**Returns**
+
+&emsp;const [Gripper](classmavsdk_1_1_gripper.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_handle.md b/docs/en/cpp/api_reference/classmavsdk_1_1_handle.md
new file mode 100644
index 0000000000..2bbeef54d6
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_handle.md
@@ -0,0 +1,32 @@
+# mavsdk::Handle Class Reference
+`#include: handle.h`
+
+----
+
+
+A handle returned from subscribe which allows to unsubscribe again. 
+
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Handle](#classmavsdk_1_1_handle_1a4dde9be588a605aa7a7fa77cc4ed98f2) ()=default |
+&nbsp; | [~Handle](#classmavsdk_1_1_handle_1a986e2ba72802e6cc5bdc5f06f27f6acb) ()=default |
+
+
+## Constructor & Destructor Documentation
+
+
+### Handle() {#classmavsdk_1_1_handle_1a4dde9be588a605aa7a7fa77cc4ed98f2}
+```cpp
+mavsdk::Handle< Args >::Handle()=default
+```
+
+
+### ~Handle() {#classmavsdk_1_1_handle_1a986e2ba72802e6cc5bdc5f06f27f6acb}
+```cpp
+mavsdk::Handle< Args >::~Handle()=default
+```
+
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_info.md b/docs/en/cpp/api_reference/classmavsdk_1_1_info.md
new file mode 100644
index 0000000000..379a143137
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_info.md
@@ -0,0 +1,224 @@
+# mavsdk::Info Class Reference
+`#include: info.h`
+
+----
+
+
+Provide information about the hardware and/or software of a system. 
+
+
+## Data Structures
+
+
+struct [FlightInfo](structmavsdk_1_1_info_1_1_flight_info.md)
+
+struct [Identification](structmavsdk_1_1_info_1_1_identification.md)
+
+struct [Product](structmavsdk_1_1_info_1_1_product.md)
+
+struct [Version](structmavsdk_1_1_info_1_1_version.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a) | Possible results returned for info requests.
+std::function< void([Result](classmavsdk_1_1_info.md#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a))> [ResultCallback](#classmavsdk_1_1_info_1a649bf4a0936dea3168d40eb9b9dcdd57) | Callback type for asynchronous [Info](classmavsdk_1_1_info.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Info](#classmavsdk_1_1_info_1a01a29a579c8ecb75ea73d48f8f6adf17) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Info](#classmavsdk_1_1_info_1ae67e006f16f1e1aa12efe94120ef83ec) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Info](#classmavsdk_1_1_info_1abbf48bc4b9aa5b9fdbdb54ec3e398f65) () override | Destructor (internal use only).
+&nbsp; | [Info](#classmavsdk_1_1_info_1a0f6e0851757046c540fe7ce920eb3fa2) (const [Info](classmavsdk_1_1_info.md) & other) | Copy constructor.
+std::pair< [Result](classmavsdk_1_1_info.md#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a), [Info::FlightInfo](structmavsdk_1_1_info_1_1_flight_info.md) > | [get_flight_information](#classmavsdk_1_1_info_1a915e0833d8c3c61fed9b9ad687caef77) () const | Get flight information of the system.
+std::pair< [Result](classmavsdk_1_1_info.md#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a), [Info::Identification](structmavsdk_1_1_info_1_1_identification.md) > | [get_identification](#classmavsdk_1_1_info_1a812ed66265b7427bc781faec3f0fa89e) () const | Get the identification of the system.
+std::pair< [Result](classmavsdk_1_1_info.md#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a), [Info::Product](structmavsdk_1_1_info_1_1_product.md) > | [get_product](#classmavsdk_1_1_info_1ae60d71a6dcd7546d1bdc06a9c26e629f) () const | Get product information of the system.
+std::pair< [Result](classmavsdk_1_1_info.md#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a), [Info::Version](structmavsdk_1_1_info_1_1_version.md) > | [get_version](#classmavsdk_1_1_info_1a2403b975a73b2b52a455b96cdc899af3) () const | Get the version information of the system.
+std::pair< [Result](classmavsdk_1_1_info.md#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a), double > | [get_speed_factor](#classmavsdk_1_1_info_1a3b372b3f6e4b167cb272ae68d3d172c6) () const | Get the speed factor of a simulation (with lockstep a simulation can run faster or slower than realtime).
+const [Info](classmavsdk_1_1_info.md) & | [operator=](#classmavsdk_1_1_info_1a586eb91fd65d602bad1d016dca42b435) (const [Info](classmavsdk_1_1_info.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Info() {#classmavsdk_1_1_info_1a01a29a579c8ecb75ea73d48f8f6adf17}
+```cpp
+mavsdk::Info::Info(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto info = Info(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Info() {#classmavsdk_1_1_info_1ae67e006f16f1e1aa12efe94120ef83ec}
+```cpp
+mavsdk::Info::Info(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto info = Info(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Info() {#classmavsdk_1_1_info_1abbf48bc4b9aa5b9fdbdb54ec3e398f65}
+```cpp
+mavsdk::Info::~Info() override
+```
+
+
+Destructor (internal use only).
+
+
+### Info() {#classmavsdk_1_1_info_1a0f6e0851757046c540fe7ce920eb3fa2}
+```cpp
+mavsdk::Info::Info(const Info &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Info](classmavsdk_1_1_info.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_info_1a649bf4a0936dea3168d40eb9b9dcdd57}
+
+```cpp
+using mavsdk::Info::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Info](classmavsdk_1_1_info.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a}
+
+
+Possible results returned for info requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45aa88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45aa505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45aa56c1e4870d2594d9fd4d91ffaf1e3e70"></span> `InformationNotReceivedYet` | Information has not been received yet. 
+<span id="classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45aa1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+
+## Member Function Documentation
+
+
+### get_flight_information() {#classmavsdk_1_1_info_1a915e0833d8c3c61fed9b9ad687caef77}
+```cpp
+std::pair<Result, Info::FlightInfo> mavsdk::Info::get_flight_information() const
+```
+
+
+Get flight information of the system.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_info.md#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a), [Info::FlightInfo](structmavsdk_1_1_info_1_1_flight_info.md) > - Result of request.
+
+### get_identification() {#classmavsdk_1_1_info_1a812ed66265b7427bc781faec3f0fa89e}
+```cpp
+std::pair<Result, Info::Identification> mavsdk::Info::get_identification() const
+```
+
+
+Get the identification of the system.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_info.md#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a), [Info::Identification](structmavsdk_1_1_info_1_1_identification.md) > - Result of request.
+
+### get_product() {#classmavsdk_1_1_info_1ae60d71a6dcd7546d1bdc06a9c26e629f}
+```cpp
+std::pair<Result, Info::Product> mavsdk::Info::get_product() const
+```
+
+
+Get product information of the system.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_info.md#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a), [Info::Product](structmavsdk_1_1_info_1_1_product.md) > - Result of request.
+
+### get_version() {#classmavsdk_1_1_info_1a2403b975a73b2b52a455b96cdc899af3}
+```cpp
+std::pair<Result, Info::Version> mavsdk::Info::get_version() const
+```
+
+
+Get the version information of the system.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_info.md#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a), [Info::Version](structmavsdk_1_1_info_1_1_version.md) > - Result of request.
+
+### get_speed_factor() {#classmavsdk_1_1_info_1a3b372b3f6e4b167cb272ae68d3d172c6}
+```cpp
+std::pair<Result, double> mavsdk::Info::get_speed_factor() const
+```
+
+
+Get the speed factor of a simulation (with lockstep a simulation can run faster or slower than realtime).
+
+This function is blocking.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_info.md#classmavsdk_1_1_info_1ab1798ed39271915800b25aaa05d1d45a), double > - Result of request.
+
+### operator=() {#classmavsdk_1_1_info_1a586eb91fd65d602bad1d016dca42b435}
+```cpp
+const Info& mavsdk::Info::operator=(const Info &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Info](classmavsdk_1_1_info.md)&  - 
+
+**Returns**
+
+&emsp;const [Info](classmavsdk_1_1_info.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_log_files.md b/docs/en/cpp/api_reference/classmavsdk_1_1_log_files.md
new file mode 100644
index 0000000000..605e002738
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_log_files.md
@@ -0,0 +1,232 @@
+# mavsdk::LogFiles Class Reference
+`#include: log_files.h`
+
+----
+
+
+Allow to download log files from the vehicle after a flight is complete. For log streaming during flight check the logging plugin. 
+
+
+## Data Structures
+
+
+struct [Entry](structmavsdk_1_1_log_files_1_1_entry.md)
+
+struct [ProgressData](structmavsdk_1_1_log_files_1_1_progress_data.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cd) | Possible results returned for calibration commands.
+std::function< void([Result](classmavsdk_1_1_log_files.md#classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cd))> [ResultCallback](#classmavsdk_1_1_log_files_1a64cd003ea9110b4a11eb08753a360a59) | Callback type for asynchronous [LogFiles](classmavsdk_1_1_log_files.md) calls.
+std::function< void([Result](classmavsdk_1_1_log_files.md#classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cd), std::vector< [Entry](structmavsdk_1_1_log_files_1_1_entry.md) >)> [GetEntriesCallback](#classmavsdk_1_1_log_files_1a0bb101777daba9e87cb33baf55389403) | Callback type for get_entries_async.
+std::function< void([Result](classmavsdk_1_1_log_files.md#classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cd), [ProgressData](structmavsdk_1_1_log_files_1_1_progress_data.md))> [DownloadLogFileCallback](#classmavsdk_1_1_log_files_1af62400ee1e20bfbe948e1ec98255d236) | Callback type for download_log_file_async.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [LogFiles](#classmavsdk_1_1_log_files_1a4a487863501b7ef30db5179bebc45a3a) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [LogFiles](#classmavsdk_1_1_log_files_1ad42b07d8ef2f70f63ded5e5e3825f837) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~LogFiles](#classmavsdk_1_1_log_files_1a313ea62b9c45927c4140fb784578a5b9) () override | Destructor (internal use only).
+&nbsp; | [LogFiles](#classmavsdk_1_1_log_files_1ae09021cd080dc45f63019ea76968801f) (const [LogFiles](classmavsdk_1_1_log_files.md) & other) | Copy constructor.
+void | [get_entries_async](#classmavsdk_1_1_log_files_1a6a922097850fb43fbb9d3348fe0b3bb7) (const [GetEntriesCallback](classmavsdk_1_1_log_files.md#classmavsdk_1_1_log_files_1a0bb101777daba9e87cb33baf55389403) callback) | Get List of log files.
+std::pair< [Result](classmavsdk_1_1_log_files.md#classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cd), std::vector< [LogFiles::Entry](structmavsdk_1_1_log_files_1_1_entry.md) > > | [get_entries](#classmavsdk_1_1_log_files_1ab06a17009589c57aa90ac31a24aa9064) () const | Get List of log files.
+void | [download_log_file_async](#classmavsdk_1_1_log_files_1a2d5eca47cfa3de13a317915cd261d642) ([Entry](structmavsdk_1_1_log_files_1_1_entry.md) entry, std::string path, const [DownloadLogFileCallback](classmavsdk_1_1_log_files.md#classmavsdk_1_1_log_files_1af62400ee1e20bfbe948e1ec98255d236) & callback) | Download log file.
+[Result](classmavsdk_1_1_log_files.md#classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cd) | [erase_all_log_files](#classmavsdk_1_1_log_files_1a31cc0db36046c8211763a829b8f62414) () const | Erase all log files.
+const [LogFiles](classmavsdk_1_1_log_files.md) & | [operator=](#classmavsdk_1_1_log_files_1a2ba9f188f7644a647f5dcdadb034e300) (const [LogFiles](classmavsdk_1_1_log_files.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### LogFiles() {#classmavsdk_1_1_log_files_1a4a487863501b7ef30db5179bebc45a3a}
+```cpp
+mavsdk::LogFiles::LogFiles(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto log_files = LogFiles(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### LogFiles() {#classmavsdk_1_1_log_files_1ad42b07d8ef2f70f63ded5e5e3825f837}
+```cpp
+mavsdk::LogFiles::LogFiles(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto log_files = LogFiles(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~LogFiles() {#classmavsdk_1_1_log_files_1a313ea62b9c45927c4140fb784578a5b9}
+```cpp
+mavsdk::LogFiles::~LogFiles() override
+```
+
+
+Destructor (internal use only).
+
+
+### LogFiles() {#classmavsdk_1_1_log_files_1ae09021cd080dc45f63019ea76968801f}
+```cpp
+mavsdk::LogFiles::LogFiles(const LogFiles &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [LogFiles](classmavsdk_1_1_log_files.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_log_files_1a64cd003ea9110b4a11eb08753a360a59}
+
+```cpp
+using mavsdk::LogFiles::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [LogFiles](classmavsdk_1_1_log_files.md) calls.
+
+
+### typedef GetEntriesCallback {#classmavsdk_1_1_log_files_1a0bb101777daba9e87cb33baf55389403}
+
+```cpp
+using mavsdk::LogFiles::GetEntriesCallback =  std::function<void(Result, std::vector<Entry>)>
+```
+
+
+Callback type for get_entries_async.
+
+
+### typedef DownloadLogFileCallback {#classmavsdk_1_1_log_files_1af62400ee1e20bfbe948e1ec98255d236}
+
+```cpp
+using mavsdk::LogFiles::DownloadLogFileCallback =  std::function<void(Result, ProgressData)>
+```
+
+
+Callback type for download_log_file_async.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cd}
+
+
+Possible results returned for calibration commands.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cda88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cda505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cda10ac3d04253ef7e1ddc73e6091c0cd55"></span> `Next` | Progress update. 
+<span id="classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cda63fe239cf100e5ce5032703da6ca8310"></span> `NoLogfiles` | No log files found. 
+<span id="classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cdac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | A timeout happened. 
+<span id="classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cda253ca7dd096ee0956cccee4d376cab8b"></span> `InvalidArgument` | Invalid argument. 
+<span id="classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cda17fd85d9b010cda721a6aa7db5af2b28"></span> `FileOpenFailed` | File open failed. 
+<span id="classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cda1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+
+## Member Function Documentation
+
+
+### get_entries_async() {#classmavsdk_1_1_log_files_1a6a922097850fb43fbb9d3348fe0b3bb7}
+```cpp
+void mavsdk::LogFiles::get_entries_async(const GetEntriesCallback callback)
+```
+
+
+Get List of log files.
+
+This function is non-blocking. See 'get_entries' for the blocking counterpart.
+
+**Parameters**
+
+* const [GetEntriesCallback](classmavsdk_1_1_log_files.md#classmavsdk_1_1_log_files_1a0bb101777daba9e87cb33baf55389403) **callback** - 
+
+### get_entries() {#classmavsdk_1_1_log_files_1ab06a17009589c57aa90ac31a24aa9064}
+```cpp
+std::pair<Result, std::vector<LogFiles::Entry> > mavsdk::LogFiles::get_entries() const
+```
+
+
+Get List of log files.
+
+This function is blocking. See 'get_entries_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_log_files.md#classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cd), std::vector< [LogFiles::Entry](structmavsdk_1_1_log_files_1_1_entry.md) > > - Result of request.
+
+### download_log_file_async() {#classmavsdk_1_1_log_files_1a2d5eca47cfa3de13a317915cd261d642}
+```cpp
+void mavsdk::LogFiles::download_log_file_async(Entry entry, std::string path, const DownloadLogFileCallback &callback)
+```
+
+
+Download log file.
+
+
+**Parameters**
+
+* [Entry](structmavsdk_1_1_log_files_1_1_entry.md) **entry** - 
+* std::string **path** - 
+* const [DownloadLogFileCallback](classmavsdk_1_1_log_files.md#classmavsdk_1_1_log_files_1af62400ee1e20bfbe948e1ec98255d236)& **callback** - 
+
+### erase_all_log_files() {#classmavsdk_1_1_log_files_1a31cc0db36046c8211763a829b8f62414}
+```cpp
+Result mavsdk::LogFiles::erase_all_log_files() const
+```
+
+
+Erase all log files.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_log_files.md#classmavsdk_1_1_log_files_1a43e5425f17cd8a6830ff6fd952a724cd) - Result of request.
+
+### operator=() {#classmavsdk_1_1_log_files_1a2ba9f188f7644a647f5dcdadb034e300}
+```cpp
+const LogFiles& mavsdk::LogFiles::operator=(const LogFiles &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [LogFiles](classmavsdk_1_1_log_files.md)&  - 
+
+**Returns**
+
+&emsp;const [LogFiles](classmavsdk_1_1_log_files.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_manual_control.md b/docs/en/cpp/api_reference/classmavsdk_1_1_manual_control.md
new file mode 100644
index 0000000000..aa0bda5f4e
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_manual_control.md
@@ -0,0 +1,240 @@
+# mavsdk::ManualControl Class Reference
+`#include: manual_control.h`
+
+----
+
+
+Enable manual control using e.g. a joystick or gamepad. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799) | Possible results returned for manual control requests.
+std::function< void([Result](classmavsdk_1_1_manual_control.md#classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799))> [ResultCallback](#classmavsdk_1_1_manual_control_1a08b010bafdf770d3e4ea6060f56a0f3b) | Callback type for asynchronous [ManualControl](classmavsdk_1_1_manual_control.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [ManualControl](#classmavsdk_1_1_manual_control_1af89d947dd2c843cc41f2ea183ad17b03) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [ManualControl](#classmavsdk_1_1_manual_control_1acf87299c9d9b632dbbc0975244c537e9) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~ManualControl](#classmavsdk_1_1_manual_control_1a7e1bfb49a11b98c541b88fdef8fe76f7) () override | Destructor (internal use only).
+&nbsp; | [ManualControl](#classmavsdk_1_1_manual_control_1a8253b8063d4cd4832d84acd2afa26775) (const [ManualControl](classmavsdk_1_1_manual_control.md) & other) | Copy constructor.
+void | [start_position_control_async](#classmavsdk_1_1_manual_control_1a2a3352c11c56dd14d55537b3a6413792) (const [ResultCallback](classmavsdk_1_1_manual_control.md#classmavsdk_1_1_manual_control_1a08b010bafdf770d3e4ea6060f56a0f3b) callback) | Start position control using e.g. joystick input.
+[Result](classmavsdk_1_1_manual_control.md#classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799) | [start_position_control](#classmavsdk_1_1_manual_control_1a570c7e78fc9c5083d9a2f9570c32caaa) () const | Start position control using e.g. joystick input.
+void | [start_altitude_control_async](#classmavsdk_1_1_manual_control_1abf7659d98949c01b634e421a9c2df079) (const [ResultCallback](classmavsdk_1_1_manual_control.md#classmavsdk_1_1_manual_control_1a08b010bafdf770d3e4ea6060f56a0f3b) callback) | Start altitude control.
+[Result](classmavsdk_1_1_manual_control.md#classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799) | [start_altitude_control](#classmavsdk_1_1_manual_control_1a67609e46bafb34309d5b5d943a29f23c) () const | Start altitude control.
+[Result](classmavsdk_1_1_manual_control.md#classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799) | [set_manual_control_input](#classmavsdk_1_1_manual_control_1a1b4b34db391d7238e33b821614fc1f29) (float x, float y, float z, float r)const | Set manual control input.
+const [ManualControl](classmavsdk_1_1_manual_control.md) & | [operator=](#classmavsdk_1_1_manual_control_1aca51fff98c33fbd5201495101ddf1368) (const [ManualControl](classmavsdk_1_1_manual_control.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### ManualControl() {#classmavsdk_1_1_manual_control_1af89d947dd2c843cc41f2ea183ad17b03}
+```cpp
+mavsdk::ManualControl::ManualControl(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto manual_control = ManualControl(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### ManualControl() {#classmavsdk_1_1_manual_control_1acf87299c9d9b632dbbc0975244c537e9}
+```cpp
+mavsdk::ManualControl::ManualControl(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto manual_control = ManualControl(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~ManualControl() {#classmavsdk_1_1_manual_control_1a7e1bfb49a11b98c541b88fdef8fe76f7}
+```cpp
+mavsdk::ManualControl::~ManualControl() override
+```
+
+
+Destructor (internal use only).
+
+
+### ManualControl() {#classmavsdk_1_1_manual_control_1a8253b8063d4cd4832d84acd2afa26775}
+```cpp
+mavsdk::ManualControl::ManualControl(const ManualControl &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [ManualControl](classmavsdk_1_1_manual_control.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_manual_control_1a08b010bafdf770d3e4ea6060f56a0f3b}
+
+```cpp
+using mavsdk::ManualControl::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [ManualControl](classmavsdk_1_1_manual_control.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799}
+
+
+Possible results returned for manual control requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request was successful. 
+<span id="classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799a3398e12855176d55f43d53e04f472c8a"></span> `CommandDenied` | Command refused by vehicle. 
+<span id="classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799a2add56a53420744e7e68e6a5e03e41bc"></span> `InputOutOfRange` | Input out of range. 
+<span id="classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799a1368182b3469b603a554715a4dd81e50"></span> `InputNotSet` | No Input set. 
+
+## Member Function Documentation
+
+
+### start_position_control_async() {#classmavsdk_1_1_manual_control_1a2a3352c11c56dd14d55537b3a6413792}
+```cpp
+void mavsdk::ManualControl::start_position_control_async(const ResultCallback callback)
+```
+
+
+Start position control using e.g. joystick input.
+
+Requires manual control input to be sent regularly already. Requires a valid position using e.g. GPS, external vision, or optical flow.
+
+
+This function is non-blocking. See 'start_position_control' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_manual_control.md#classmavsdk_1_1_manual_control_1a08b010bafdf770d3e4ea6060f56a0f3b) **callback** - 
+
+### start_position_control() {#classmavsdk_1_1_manual_control_1a570c7e78fc9c5083d9a2f9570c32caaa}
+```cpp
+Result mavsdk::ManualControl::start_position_control() const
+```
+
+
+Start position control using e.g. joystick input.
+
+Requires manual control input to be sent regularly already. Requires a valid position using e.g. GPS, external vision, or optical flow.
+
+
+This function is blocking. See 'start_position_control_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_manual_control.md#classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799) - Result of request.
+
+### start_altitude_control_async() {#classmavsdk_1_1_manual_control_1abf7659d98949c01b634e421a9c2df079}
+```cpp
+void mavsdk::ManualControl::start_altitude_control_async(const ResultCallback callback)
+```
+
+
+Start altitude control.
+
+Requires manual control input to be sent regularly already. Does not require a valid position e.g. GPS.
+
+
+This function is non-blocking. See 'start_altitude_control' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_manual_control.md#classmavsdk_1_1_manual_control_1a08b010bafdf770d3e4ea6060f56a0f3b) **callback** - 
+
+### start_altitude_control() {#classmavsdk_1_1_manual_control_1a67609e46bafb34309d5b5d943a29f23c}
+```cpp
+Result mavsdk::ManualControl::start_altitude_control() const
+```
+
+
+Start altitude control.
+
+Requires manual control input to be sent regularly already. Does not require a valid position e.g. GPS.
+
+
+This function is blocking. See 'start_altitude_control_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_manual_control.md#classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799) - Result of request.
+
+### set_manual_control_input() {#classmavsdk_1_1_manual_control_1a1b4b34db391d7238e33b821614fc1f29}
+```cpp
+Result mavsdk::ManualControl::set_manual_control_input(float x, float y, float z, float r) const
+```
+
+
+Set manual control input.
+
+The manual control input needs to be sent at a rate high enough to prevent triggering of RC loss, a good minimum rate is 10 Hz.
+
+
+This function is blocking.
+
+**Parameters**
+
+* float **x** - 
+* float **y** - 
+* float **z** - 
+* float **r** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_manual_control.md#classmavsdk_1_1_manual_control_1a6c7dbd25e051b6e1369a65fd05a22799) - Result of request.
+
+### operator=() {#classmavsdk_1_1_manual_control_1aca51fff98c33fbd5201495101ddf1368}
+```cpp
+const ManualControl& mavsdk::ManualControl::operator=(const ManualControl &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [ManualControl](classmavsdk_1_1_manual_control.md)&  - 
+
+**Returns**
+
+&emsp;const [ManualControl](classmavsdk_1_1_manual_control.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_mavlink_passthrough.md b/docs/en/cpp/api_reference/classmavsdk_1_1_mavlink_passthrough.md
new file mode 100644
index 0000000000..405e5c00e3
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_mavlink_passthrough.md
@@ -0,0 +1,399 @@
+# mavsdk::MavlinkPassthrough Class Reference
+`#include: mavlink_passthrough.h`
+
+----
+
+
+The [MavlinkPassthrough](classmavsdk_1_1_mavlink_passthrough.md) class provides direct MAVLink access. 
+
+
+"With great power comes great responsibility." - This plugin allows you to send and receive MAVLink messages. There is no checking or safe-guards, you're on your own, and you have been warned. 
+
+
+## Data Structures
+
+
+struct [CommandInt](structmavsdk_1_1_mavlink_passthrough_1_1_command_int.md)
+
+struct [CommandLong](structmavsdk_1_1_mavlink_passthrough_1_1_command_long.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793) | Possible results returned for requests.
+std::function< void(const mavlink_message_t &)> [MessageCallback](#classmavsdk_1_1_mavlink_passthrough_1a97f94c54e84fcce94d922fd7f4e3d231) | Callback type for message subscriptions.
+[Handle](classmavsdk_1_1_handle.md)< const mavlink_message_t & > [MessageHandle](#classmavsdk_1_1_mavlink_passthrough_1a2e283239c4429eaeb33deb5821833066) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_message_async.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [MavlinkPassthrough](#classmavsdk_1_1_mavlink_passthrough_1ad17fc20d2b7c5c6996e0841aaabccb56) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [MavlinkPassthrough](#classmavsdk_1_1_mavlink_passthrough_1a9d1fdd3c4aeab8e221ac59612944c299) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~MavlinkPassthrough](#classmavsdk_1_1_mavlink_passthrough_1a890faef9ad80c3e79e0b785fd07106c8) () | Destructor (internal use only).
+&nbsp; | [MavlinkPassthrough](#classmavsdk_1_1_mavlink_passthrough_1ae4b30f9c2c5e938ab965729e27f50ce5) (const [MavlinkPassthrough](classmavsdk_1_1_mavlink_passthrough.md) &)=delete | Copy Constructor (object is not copyable).
+DEPRECATED [Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793) | [send_message](#classmavsdk_1_1_mavlink_passthrough_1a9bbd09d34f7ae1b6e27bcd5c3d4ba667) (mavlink_message_t & message) | Send message (deprecated).
+[Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793) | [queue_message](#classmavsdk_1_1_mavlink_passthrough_1aa95592bc4da7d56d444b8b5cb5bce814) (std::function< mavlink_message_t([MavlinkAddress](struct_mavlink_address.md) mavlink_address, uint8_t channel)> fun) | Send message by queueing it.
+[Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793) | [send_command_long](#classmavsdk_1_1_mavlink_passthrough_1a7e258aa16b92195e5329e861fb18f8e9) (const [CommandLong](structmavsdk_1_1_mavlink_passthrough_1_1_command_long.md) & command) | Send a MAVLink command_long.
+[Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793) | [send_command_int](#classmavsdk_1_1_mavlink_passthrough_1a654d67a3b136509c76e2ac804a656ada) (const [CommandInt](structmavsdk_1_1_mavlink_passthrough_1_1_command_int.md) & command) | Send a MAVLink command_long.
+mavlink_message_t | [make_command_ack_message](#classmavsdk_1_1_mavlink_passthrough_1aa08cb5d2f9aed795367cf7e05d58bdcc) (const uint8_t target_sysid, const uint8_t target_compid, const uint16_t command, MAV_RESULT result) | Create a command_ack.
+std::pair< [Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793), int32_t > | [get_param_int](#classmavsdk_1_1_mavlink_passthrough_1a19887d34580a7f1f9ef4bbea6cd3441b) (const std::string & name, std::optional< uint8_t > maybe_component_id, bool extended) | Request param (int).
+std::pair< [Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793), float > | [get_param_float](#classmavsdk_1_1_mavlink_passthrough_1aa91c943be90e319d01b75d2cd0aa39ab) (const std::string & name, std::optional< uint8_t > maybe_component_id, bool extended) | Request param (float).
+[MessageHandle](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a2e283239c4429eaeb33deb5821833066) | [subscribe_message](#classmavsdk_1_1_mavlink_passthrough_1ae2ab2426bc0d844e931c266aa26c3607) (uint16_t message_id, const [MessageCallback](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a97f94c54e84fcce94d922fd7f4e3d231) & callback) | Subscribe to messages using message ID.
+void | [unsubscribe_message](#classmavsdk_1_1_mavlink_passthrough_1af4e722ae613e799b60020c30193656be) (uint16_t message_id, [MessageHandle](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a2e283239c4429eaeb33deb5821833066) handle) | Unsubscribe from subscribe_message.
+uint8_t | [get_our_sysid](#classmavsdk_1_1_mavlink_passthrough_1a985b269c1b78ec3e4e9d9468e46e19be) () const | Get our own system ID.
+uint8_t | [get_our_compid](#classmavsdk_1_1_mavlink_passthrough_1a85ddd016ab35d5f3f487b1362723d3cf) () const | Get our own component ID.
+uint8_t | [get_target_sysid](#classmavsdk_1_1_mavlink_passthrough_1a2867d1f37649d62e757bbac0a73b3ebd) () const | Get system ID of target.
+uint8_t | [get_target_compid](#classmavsdk_1_1_mavlink_passthrough_1a22ecab3905237a2f227f77bbab9afd17) () const | Get target component ID.
+const [MavlinkPassthrough](classmavsdk_1_1_mavlink_passthrough.md) & | [operator=](#classmavsdk_1_1_mavlink_passthrough_1aa7f49a131a8facf4d05449ec03ce3643) (const [MavlinkPassthrough](classmavsdk_1_1_mavlink_passthrough.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### MavlinkPassthrough() {#classmavsdk_1_1_mavlink_passthrough_1ad17fc20d2b7c5c6996e0841aaabccb56}
+```cpp
+mavsdk::MavlinkPassthrough::MavlinkPassthrough(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto mavlink_passthrough = MavlinkPassthrough(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### MavlinkPassthrough() {#classmavsdk_1_1_mavlink_passthrough_1a9d1fdd3c4aeab8e221ac59612944c299}
+```cpp
+mavsdk::MavlinkPassthrough::MavlinkPassthrough(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto mavlink_passthrough = MavlinkPassthrough(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~MavlinkPassthrough() {#classmavsdk_1_1_mavlink_passthrough_1a890faef9ad80c3e79e0b785fd07106c8}
+```cpp
+mavsdk::MavlinkPassthrough::~MavlinkPassthrough()
+```
+
+
+Destructor (internal use only).
+
+
+### MavlinkPassthrough() {#classmavsdk_1_1_mavlink_passthrough_1ae4b30f9c2c5e938ab965729e27f50ce5}
+```cpp
+mavsdk::MavlinkPassthrough::MavlinkPassthrough(const MavlinkPassthrough &)=delete
+```
+
+
+Copy Constructor (object is not copyable).
+
+
+**Parameters**
+
+* const [MavlinkPassthrough](classmavsdk_1_1_mavlink_passthrough.md)&  - 
+
+## Member Typdef Documentation
+
+
+### typedef MessageCallback {#classmavsdk_1_1_mavlink_passthrough_1a97f94c54e84fcce94d922fd7f4e3d231}
+
+```cpp
+using mavsdk::MavlinkPassthrough::MessageCallback =  std::function<void(const mavlink_message_t&)>
+```
+
+
+Callback type for message subscriptions.
+
+
+### typedef MessageHandle {#classmavsdk_1_1_mavlink_passthrough_1a2e283239c4429eaeb33deb5821833066}
+
+```cpp
+using mavsdk::MavlinkPassthrough::MessageHandle =  Handle<const mavlink_message_t&>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_message_async.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793}
+
+
+Possible results returned for requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown error. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Success. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793aaa075662ac89e0922d349f55d81d7382"></span> `CommandNoSystem` | [System](classmavsdk_1_1_system.md) not available. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793a236fe685992938e92191d04e69a77762"></span> `CommandBusy` | [System](classmavsdk_1_1_system.md) is busy. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793a3398e12855176d55f43d53e04f472c8a"></span> `CommandDenied` | Command has been denied. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793a711552fb22e889145c9769bb9ab88fe5"></span> `CommandUnsupported` | Command is not supported. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793a309bc1cd528bc8f9a548616ae0a13a17"></span> `CommandTimeout` | A timeout happened. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793a3ecbc4a65a301906f20d9136f1e28a54"></span> `CommandTemporarilyRejected` | Command has been rejected for now. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793a205ab53602b765b27a17d0aa2b118986"></span> `CommandFailed` | Command has failed. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793aa5b149d9ae2ac3629f0cefb36bbacd1e"></span> `ParamWrongType` | Wrong type for requested param. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793aa2b5cfc4e45ca036892b3dadc483e655"></span> `ParamNameTooLong` | [Param](classmavsdk_1_1_param.md) name too long. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793a1fc93bc695e2e3e1903029eb77228234"></span> `ParamValueTooLong` | [Param](classmavsdk_1_1_param.md) value too long. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793a2f49c4dd8da12dcbec351df940ba3a6f"></span> `ParamNotFound` | [Param](classmavsdk_1_1_param.md) not found. 
+<span id="classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793aa6201b129c022880743d84f6e579ea8c"></span> `ParamValueUnsupported` | [Param](classmavsdk_1_1_param.md) value unsupported. 
+
+## Member Function Documentation
+
+
+### send_message() {#classmavsdk_1_1_mavlink_passthrough_1a9bbd09d34f7ae1b6e27bcd5c3d4ba667}
+```cpp
+DEPRECATED Result mavsdk::MavlinkPassthrough::send_message(mavlink_message_t &message)
+```
+
+
+Send message (deprecated).
+
+> **Note** This interface is deprecated. Instead the method [queue_message()](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1aa95592bc4da7d56d444b8b5cb5bce814) should be used.
+
+**Parameters**
+
+* mavlink_message_t& **message** - 
+
+**Returns**
+
+&emsp;DEPRECATED [Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793) - result of the request.
+
+### queue_message() {#classmavsdk_1_1_mavlink_passthrough_1aa95592bc4da7d56d444b8b5cb5bce814}
+```cpp
+Result mavsdk::MavlinkPassthrough::queue_message(std::function< mavlink_message_t(MavlinkAddress mavlink_address, uint8_t channel)> fun)
+```
+
+
+Send message by queueing it.
+
+> **Note** This interface replaces the previous send_message method.
+
+The interface changed in order to prevent accessing the internal MAVLink status from different threads and to make sure the seq numbers are not unique to[Mavsdk](classmavsdk_1_1_mavsdk.md) instances and server components.
+
+**Parameters**
+
+* std::function< mavlink_message_t([MavlinkAddress](struct_mavlink_address.md) mavlink_address, uint8_t channel)> **fun** - Function which is (immediately) executed to send a message. It is passed the mavlink_address and channel, both data required to send a message using mavlink_message_xx_pack_chan().
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793) - result of request
+
+### send_command_long() {#classmavsdk_1_1_mavlink_passthrough_1a7e258aa16b92195e5329e861fb18f8e9}
+```cpp
+Result mavsdk::MavlinkPassthrough::send_command_long(const CommandLong &command)
+```
+
+
+Send a MAVLink command_long.
+
+
+**Parameters**
+
+* const [CommandLong](structmavsdk_1_1_mavlink_passthrough_1_1_command_long.md)& **command** - Command to send.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793) - result of the request.
+
+### send_command_int() {#classmavsdk_1_1_mavlink_passthrough_1a654d67a3b136509c76e2ac804a656ada}
+```cpp
+Result mavsdk::MavlinkPassthrough::send_command_int(const CommandInt &command)
+```
+
+
+Send a MAVLink command_long.
+
+
+**Parameters**
+
+* const [CommandInt](structmavsdk_1_1_mavlink_passthrough_1_1_command_int.md)& **command** - Command to send.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793) - result of the request.
+
+### make_command_ack_message() {#classmavsdk_1_1_mavlink_passthrough_1aa08cb5d2f9aed795367cf7e05d58bdcc}
+```cpp
+mavlink_message_t mavsdk::MavlinkPassthrough::make_command_ack_message(const uint8_t target_sysid, const uint8_t target_compid, const uint16_t command, MAV_RESULT result)
+```
+
+
+Create a command_ack.
+
+
+**Parameters**
+
+* const uint8_t **target_sysid** - Target system ID where to send command_ack to.
+* const uint8_t **target_compid** - Target component ID where to send command_ack to.
+* const uint16_t **command** - Command to respond to.
+* MAV_RESULT **result** - Result of command.
+
+**Returns**
+
+&emsp;mavlink_message_t - message to send.
+
+### get_param_int() {#classmavsdk_1_1_mavlink_passthrough_1a19887d34580a7f1f9ef4bbea6cd3441b}
+```cpp
+std::pair<Result, int32_t> mavsdk::MavlinkPassthrough::get_param_int(const std::string &name, std::optional< uint8_t > maybe_component_id, bool extended)
+```
+
+
+Request param (int).
+
+
+**Parameters**
+
+* const std::string& **name** - 
+* std::optional< uint8_t > **maybe_component_id** - 
+* bool **extended** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793), int32_t > - 
+
+### get_param_float() {#classmavsdk_1_1_mavlink_passthrough_1aa91c943be90e319d01b75d2cd0aa39ab}
+```cpp
+std::pair<Result, float> mavsdk::MavlinkPassthrough::get_param_float(const std::string &name, std::optional< uint8_t > maybe_component_id, bool extended)
+```
+
+
+Request param (float).
+
+
+**Parameters**
+
+* const std::string& **name** - 
+* std::optional< uint8_t > **maybe_component_id** - 
+* bool **extended** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a265eacaeea064a31de3fe16d1e357793), float > - 
+
+### subscribe_message() {#classmavsdk_1_1_mavlink_passthrough_1ae2ab2426bc0d844e931c266aa26c3607}
+```cpp
+MessageHandle mavsdk::MavlinkPassthrough::subscribe_message(uint16_t message_id, const MessageCallback &callback)
+```
+
+
+Subscribe to messages using message ID.
+
+This means that all future messages being received will trigger the callback to be called. To stop the subscription, call this method with `nullptr` as the argument.
+
+**Parameters**
+
+* uint16_t **message_id** - The MAVLink message ID.
+* const [MessageCallback](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a97f94c54e84fcce94d922fd7f4e3d231)& **callback** - Callback to be called for message subscription.
+
+**Returns**
+
+&emsp;[MessageHandle](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a2e283239c4429eaeb33deb5821833066) - 
+
+### unsubscribe_message() {#classmavsdk_1_1_mavlink_passthrough_1af4e722ae613e799b60020c30193656be}
+```cpp
+void mavsdk::MavlinkPassthrough::unsubscribe_message(uint16_t message_id, MessageHandle handle)
+```
+
+
+Unsubscribe from subscribe_message.
+
+
+**Parameters**
+
+* uint16_t **message_id** - The MAVLink message ID.
+* [MessageHandle](classmavsdk_1_1_mavlink_passthrough.md#classmavsdk_1_1_mavlink_passthrough_1a2e283239c4429eaeb33deb5821833066) **handle** - The handle returned from subscribe_message.
+
+### get_our_sysid() {#classmavsdk_1_1_mavlink_passthrough_1a985b269c1b78ec3e4e9d9468e46e19be}
+```cpp
+uint8_t mavsdk::MavlinkPassthrough::get_our_sysid() const
+```
+
+
+Get our own system ID.
+
+
+**Returns**
+
+&emsp;uint8_t - our own system ID.
+
+### get_our_compid() {#classmavsdk_1_1_mavlink_passthrough_1a85ddd016ab35d5f3f487b1362723d3cf}
+```cpp
+uint8_t mavsdk::MavlinkPassthrough::get_our_compid() const
+```
+
+
+Get our own component ID.
+
+
+**Returns**
+
+&emsp;uint8_t - our own component ID.
+
+### get_target_sysid() {#classmavsdk_1_1_mavlink_passthrough_1a2867d1f37649d62e757bbac0a73b3ebd}
+```cpp
+uint8_t mavsdk::MavlinkPassthrough::get_target_sysid() const
+```
+
+
+Get system ID of target.
+
+
+**Returns**
+
+&emsp;uint8_t - system ID of target.
+
+### get_target_compid() {#classmavsdk_1_1_mavlink_passthrough_1a22ecab3905237a2f227f77bbab9afd17}
+```cpp
+uint8_t mavsdk::MavlinkPassthrough::get_target_compid() const
+```
+
+
+Get target component ID.
+
+This defaults to the component ID of the autopilot (1) if available and otherwise to all components (0).
+
+**Returns**
+
+&emsp;uint8_t - component ID of target.
+
+### operator=() {#classmavsdk_1_1_mavlink_passthrough_1aa7f49a131a8facf4d05449ec03ce3643}
+```cpp
+const MavlinkPassthrough& mavsdk::MavlinkPassthrough::operator=(const MavlinkPassthrough &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [MavlinkPassthrough](classmavsdk_1_1_mavlink_passthrough.md)&  - 
+
+**Returns**
+
+&emsp;const [MavlinkPassthrough](classmavsdk_1_1_mavlink_passthrough.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_mavsdk.md b/docs/en/cpp/api_reference/classmavsdk_1_1_mavsdk.md
new file mode 100644
index 0000000000..0381ee2055
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_mavsdk.md
@@ -0,0 +1,619 @@
+# mavsdk::Mavsdk Class Reference
+`#include: mavsdk.h`
+
+----
+
+
+This is the main class of MAVSDK (a MAVLink API Library). 
+
+
+It is used to discover vehicles and manage active connections.
+
+
+An instance of this class must be created (first) in order to use the library. The instance must be destroyed after use in order to break connections and release all resources. 
+
+
+## Data Structures
+
+
+struct [Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [ComponentType](#classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746) | ComponentType of configurations, used for automatic ID setting.
+[Handle](classmavsdk_1_1_handle.md)<> [ConnectionHandle](#classmavsdk_1_1_mavsdk_1a1b16edeae47af0815b3267c9075f6a8f) | [Handle](classmavsdk_1_1_handle.md) type to remove a connection.
+std::function< void()> [NewSystemCallback](#classmavsdk_1_1_mavsdk_1a7a283c6a75e852a56be4c5862f8a3fab) | Callback type discover and timeout notifications.
+[Handle](classmavsdk_1_1_handle.md)<> [NewSystemHandle](#classmavsdk_1_1_mavsdk_1ae0727f2bed9cbf276d161ada0a432b8c) | [Handle](classmavsdk_1_1_handle.md) type to unsubscribe from subscribe_on_new_system.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Mavsdk](#classmavsdk_1_1_mavsdk_1ab10a870a7b8d1f8dae5c53c23c3fc596) ()=delete | Default constructor without configuration, no longer recommended.
+&nbsp; | [Mavsdk](#classmavsdk_1_1_mavsdk_1a02b160aa2717f7064d2517e00065e6ac) ([Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) configuration) | Constructor with configuration.
+&nbsp; | [~Mavsdk](#classmavsdk_1_1_mavsdk_1ac1549f715d6857711b9b9e364a4ca351) () | Destructor.
+std::string | [version](#classmavsdk_1_1_mavsdk_1a8fdb97695762d06fd2bccfc6309943fa) () const | Returns the version of MAVSDK.
+[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) | [add_any_connection](#classmavsdk_1_1_mavsdk_1a405041a5043c610c86540de090626d97) (const std::string & connection_url, [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) forwarding_option=ForwardingOption::ForwardingOff) | Adds Connection via URL.
+std::pair< [ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992), [ConnectionHandle](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a1b16edeae47af0815b3267c9075f6a8f) > | [add_any_connection_with_handle](#classmavsdk_1_1_mavsdk_1ad1dc8afaafea8f7e900c990552e6fdfb) (const std::string & connection_url, [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) forwarding_option=ForwardingOption::ForwardingOff) | Adds Connection via URL Additionally returns a handle to remove the connection later.
+[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) | [add_udp_connection](#classmavsdk_1_1_mavsdk_1aa43dfb00d5118d26ae5aabd0f9ba56b2) (int local_port=[DEFAULT_UDP_PORT](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1affddcc7c7849ed86a0c7dab1166e657a), [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) forwarding_option=ForwardingOption::ForwardingOff) | Adds a UDP connection to the specified port number.
+[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) | [add_udp_connection](#classmavsdk_1_1_mavsdk_1a98fd1c01bd366b27084810875a1b94c1) (const std::string & local_ip, int local_port=[DEFAULT_UDP_PORT](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1affddcc7c7849ed86a0c7dab1166e657a), [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) forwarding_option=ForwardingOption::ForwardingOff) | Adds a UDP connection to the specified port number and local interface.
+[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) | [setup_udp_remote](#classmavsdk_1_1_mavsdk_1adb2a69282a5d3766fd6251662c28616d) (const std::string & remote_ip, int remote_port, [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) forwarding_option=ForwardingOption::ForwardingOff) | Sets up instance to send heartbeats to the specified remote interface and port number.
+[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) | [add_tcp_connection](#classmavsdk_1_1_mavsdk_1a50ecebb9ee710b9a044d2d5eb57645e4) (const std::string & remote_ip, int remote_port=[DEFAULT_TCP_REMOTE_PORT](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a52a6a9e0acd6c0ade566208d253427bd), [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) forwarding_option=ForwardingOption::ForwardingOff) | Adds a TCP connection with a specific IP address and port number.
+[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) | [add_serial_connection](#classmavsdk_1_1_mavsdk_1a669ddeec7af571fdbde9f31e343d50ac) (const std::string & dev_path, int baudrate=[DEFAULT_SERIAL_BAUDRATE](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a870d15142914f1db564c12f385d5489b), bool flow_control=false, [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) forwarding_option=ForwardingOption::ForwardingOff) | Adds a serial connection with a specific port (COM or UART dev node) and baudrate as specified.
+void | [remove_connection](#classmavsdk_1_1_mavsdk_1a23cf630bb123aa53b0e99c6bd83ad013) ([ConnectionHandle](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a1b16edeae47af0815b3267c9075f6a8f) handle) |
+std::vector< std::shared_ptr< [System](classmavsdk_1_1_system.md) > > | [systems](#classmavsdk_1_1_mavsdk_1a0d0bc4cdab14d96877b52baec5113fa8) () const | Get a vector of systems which have been discovered or set-up.
+std::optional< std::shared_ptr< [System](classmavsdk_1_1_system.md) > > | [first_autopilot](#classmavsdk_1_1_mavsdk_1a30b5c588643d19f1cfa9a7be47acb52c) (double timeout_s)const | Get the first autopilot that has been discovered.
+void | [set_configuration](#classmavsdk_1_1_mavsdk_1acaeea86253493dc15b6540d2100a1b86) ([Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) configuration) | Set [Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) of SDK.
+void | [set_timeout_s](#classmavsdk_1_1_mavsdk_1a765f37b61462addcfd961e720585d2c6) (double timeout_s) | Set timeout of MAVLink transfers.
+void | [set_system_status](#classmavsdk_1_1_mavsdk_1a693eac9fce2e9a330a3b9213ac9faae4) (uint8_t system_status) | Set system status of this MAVLink entity.
+[NewSystemHandle](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ae0727f2bed9cbf276d161ada0a432b8c) | [subscribe_on_new_system](#classmavsdk_1_1_mavsdk_1a5b7c958ad2e4529dc7b950ab26618575) (const [NewSystemCallback](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a7a283c6a75e852a56be4c5862f8a3fab) & callback) | Get notification about a change in systems.
+void | [unsubscribe_on_new_system](#classmavsdk_1_1_mavsdk_1ad7f77f1295a700ee73cccc345019c1ff) ([NewSystemHandle](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ae0727f2bed9cbf276d161ada0a432b8c) handle) | unsubscribe from subscribe_on_new_system.
+std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > | [server_component](#classmavsdk_1_1_mavsdk_1a5ad97e4af7de0f253cca8af7e76b68b6) (unsigned instance=0) | Get server component with default type of [Mavsdk](classmavsdk_1_1_mavsdk.md) instance.
+std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > | [server_component_by_type](#classmavsdk_1_1_mavsdk_1a669a7ec5ed40dec9fde7e7a080fa7f2d) ([ComponentType](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746) component_type, unsigned instance=0) | Get server component by a high level type.
+std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > | [server_component_by_id](#classmavsdk_1_1_mavsdk_1a117e6dc31b9124b6d535aa363283f8d7) (uint8_t component_id) | Get server component by the low MAVLink component ID.
+void | [intercept_incoming_messages_async](#classmavsdk_1_1_mavsdk_1ac80c8909958533131cbdbc61d061794f) (std::function< bool(mavlink_message_t &)> callback) | Intercept incoming messages.
+void | [intercept_outgoing_messages_async](#classmavsdk_1_1_mavsdk_1a040ee5c1d41e71c0d63cf8f76d2db275) (std::function< bool(mavlink_message_t &)> callback) | Intercept outgoing messages.
+
+## Static Public Attributes
+
+
+static constexpr auto [DEFAULT_UDP_BIND_IP](#classmavsdk_1_1_mavsdk_1ac46b2c27d9c428ec46092f10774482fa) = "0.0.0.0" - Default UDP bind IP (accepts any incoming connections).
+
+
+static constexpr int [DEFAULT_UDP_PORT](#classmavsdk_1_1_mavsdk_1affddcc7c7849ed86a0c7dab1166e657a) = 14540 - Default UDP bind port (same port as used by MAVROS).
+
+
+static constexpr auto [DEFAULT_TCP_REMOTE_IP](#classmavsdk_1_1_mavsdk_1a0154aac9d933fa212a50dc687816fbad) = "127.0.0.1" - Default TCP remote IP (localhost).
+
+
+static constexpr int [DEFAULT_TCP_REMOTE_PORT](#classmavsdk_1_1_mavsdk_1a52a6a9e0acd6c0ade566208d253427bd) = 5760 - Default TCP remote port.
+
+
+static constexpr int [DEFAULT_SERIAL_BAUDRATE](#classmavsdk_1_1_mavsdk_1a870d15142914f1db564c12f385d5489b) = 57600 - Default serial baudrate.
+
+
+static constexpr double [DEFAULT_TIMEOUT_S](#classmavsdk_1_1_mavsdk_1a74f7b4d32d9551bb9c11ce8668f634a6) = 0.5 - Default internal timeout in seconds.
+
+
+## Constructor & Destructor Documentation
+
+
+### Mavsdk() {#classmavsdk_1_1_mavsdk_1ab10a870a7b8d1f8dae5c53c23c3fc596}
+```cpp
+mavsdk::Mavsdk::Mavsdk()=delete
+```
+
+
+Default constructor without configuration, no longer recommended.
+
+> **Note** This has been removed because MAVSDK used to identify itself as a ground station by default which isn't always the safest choice. For instance, when MAVSDK is used on a companion computer (set as a ground station) it means that the appropriate failsafe doesn't trigger.
+
+### Mavsdk() {#classmavsdk_1_1_mavsdk_1a02b160aa2717f7064d2517e00065e6ac}
+```cpp
+mavsdk::Mavsdk::Mavsdk(Configuration configuration)
+```
+
+
+Constructor with configuration.
+
+
+**Parameters**
+
+* [Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) **configuration** - [Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) to use in MAVSDK instance.
+
+### ~Mavsdk() {#classmavsdk_1_1_mavsdk_1ac1549f715d6857711b9b9e364a4ca351}
+```cpp
+mavsdk::Mavsdk::~Mavsdk()
+```
+
+
+Destructor.
+
+Disconnects all connected vehicles and releases all resources.
+
+## Member Typdef Documentation
+
+
+### typedef ConnectionHandle {#classmavsdk_1_1_mavsdk_1a1b16edeae47af0815b3267c9075f6a8f}
+
+```cpp
+using mavsdk::Mavsdk::ConnectionHandle =  Handle<>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type to remove a connection.
+
+
+### typedef NewSystemCallback {#classmavsdk_1_1_mavsdk_1a7a283c6a75e852a56be4c5862f8a3fab}
+
+```cpp
+using mavsdk::Mavsdk::NewSystemCallback =  std::function<void()>
+```
+
+
+Callback type discover and timeout notifications.
+
+
+### typedef NewSystemHandle {#classmavsdk_1_1_mavsdk_1ae0727f2bed9cbf276d161ada0a432b8c}
+
+```cpp
+using mavsdk::Mavsdk::NewSystemHandle =  Handle<>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type to unsubscribe from subscribe_on_new_system.
+
+
+## Member Enumeration Documentation
+
+
+### enum ComponentType {#classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746}
+
+
+ComponentType of configurations, used for automatic ID setting.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746a6ca1d2b081cc474f42cb95e3d04e6e68"></span> `Autopilot` | SDK is used as an autopilot. 
+<span id="classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746af64f82089eddc6133add8c55c65d6687"></span> `GroundStation` | SDK is used as a ground station. 
+<span id="classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746a8f2f82e1a7aa48819e9530d5c4977477"></span> `CompanionComputer` | SDK is used as a companion computer on board the MAV. 
+<span id="classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746a967d35e40f3f95b1f538bd248640bf3b"></span> `Camera` |  SDK is used as a camera.
+<span id="classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746a90589c47f06eb971d548591f23c285af"></span> `Custom` |  SDK is used in a custom configuration, no automatic ID will be provided.
+
+## Member Function Documentation
+
+
+### version() {#classmavsdk_1_1_mavsdk_1a8fdb97695762d06fd2bccfc6309943fa}
+```cpp
+std::string mavsdk::Mavsdk::version() const
+```
+
+
+Returns the version of MAVSDK.
+
+Note, you're not supposed to request the version too many times.
+
+**Returns**
+
+&emsp;std::string - A string containing the version.
+
+### add_any_connection() {#classmavsdk_1_1_mavsdk_1a405041a5043c610c86540de090626d97}
+```cpp
+ConnectionResult mavsdk::Mavsdk::add_any_connection(const std::string &connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+```
+
+
+Adds Connection via URL.
+
+Supports connection: Serial, TCP or UDP. Connection URL format should be:
+<ul>
+<li><p>UDP: udp://[host][:bind_port]</p>
+</li>
+<li><p>TCP: tcp://[host][:remote_port]</p>
+</li>
+<li><p>Serial: serial://dev_node[:baudrate]</p>
+</li>
+</ul>
+
+
+For UDP, the host can be set to either:
+<ul>
+<li><p>zero IP: 0.0.0.0 -> behave like a server and listen for heartbeats.</p>
+</li>
+<li><p>some IP: 192.168.1.12 -> behave like a client, initiate connection and start sending heartbeats.</p>
+</li>
+</ul>
+
+**Parameters**
+
+* const std::string& **connection_url** - connection URL string.
+* [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) **forwarding_option** - message forwarding option (when multiple interfaces are used).
+
+**Returns**
+
+&emsp;[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) - The result of adding the connection.
+
+### add_any_connection_with_handle() {#classmavsdk_1_1_mavsdk_1ad1dc8afaafea8f7e900c990552e6fdfb}
+```cpp
+std::pair<ConnectionResult, ConnectionHandle> mavsdk::Mavsdk::add_any_connection_with_handle(const std::string &connection_url, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+```
+
+
+Adds Connection via URL Additionally returns a handle to remove the connection later.
+
+Supports connection: Serial, TCP or UDP. Connection URL format should be:
+<ul>
+<li><p>UDP: udp://[host][:bind_port]</p>
+</li>
+<li><p>TCP: tcp://[host][:remote_port]</p>
+</li>
+<li><p>Serial: serial://dev_node[:baudrate]</p>
+</li>
+</ul>
+
+
+For UDP, the host can be set to either:
+<ul>
+<li><p>zero IP: 0.0.0.0 -> behave like a server and listen for heartbeats.</p>
+</li>
+<li><p>some IP: 192.168.1.12 -> behave like a client, initiate connection and start sending heartbeats.</p>
+</li>
+</ul>
+
+**Parameters**
+
+* const std::string& **connection_url** - connection URL string.
+* [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) **forwarding_option** - message forwarding option (when multiple interfaces are used).
+
+**Returns**
+
+&emsp;std::pair< [ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992), [ConnectionHandle](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a1b16edeae47af0815b3267c9075f6a8f) > - A pair containing the result of adding the connection as well as a handle to remove it later.
+
+### add_udp_connection() {#classmavsdk_1_1_mavsdk_1aa43dfb00d5118d26ae5aabd0f9ba56b2}
+```cpp
+ConnectionResult mavsdk::Mavsdk::add_udp_connection(int local_port=DEFAULT_UDP_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+```
+
+
+Adds a UDP connection to the specified port number.
+
+Any incoming connections are accepted (0.0.0.0).
+
+**Parameters**
+
+* int **local_port** - The local UDP port to listen to (defaults to 14540, the same as MAVROS).
+* [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) **forwarding_option** - message forwarding option (when multiple interfaces are used).
+
+**Returns**
+
+&emsp;[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) - The result of adding the connection.
+
+### add_udp_connection() {#classmavsdk_1_1_mavsdk_1a98fd1c01bd366b27084810875a1b94c1}
+```cpp
+ConnectionResult mavsdk::Mavsdk::add_udp_connection(const std::string &local_ip, int local_port=DEFAULT_UDP_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+```
+
+
+Adds a UDP connection to the specified port number and local interface.
+
+To accept only local connections of the machine, use 127.0.0.1. For any incoming connections, use 0.0.0.0.
+
+**Parameters**
+
+* const std::string& **local_ip** - The local UDP IP address to listen to.
+* int **local_port** - The local UDP port to listen to (defaults to 14540, the same as MAVROS).
+* [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) **forwarding_option** - message forwarding option (when multiple interfaces are used).
+
+**Returns**
+
+&emsp;[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) - The result of adding the connection.
+
+### setup_udp_remote() {#classmavsdk_1_1_mavsdk_1adb2a69282a5d3766fd6251662c28616d}
+```cpp
+ConnectionResult mavsdk::Mavsdk::setup_udp_remote(const std::string &remote_ip, int remote_port, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+```
+
+
+Sets up instance to send heartbeats to the specified remote interface and port number.
+
+
+**Parameters**
+
+* const std::string& **remote_ip** - The remote UDP IP address to report to.
+* int **remote_port** - The local UDP port to report to.
+* [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) **forwarding_option** - message forwarding option (when multiple interfaces are used).
+
+**Returns**
+
+&emsp;[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) - The result of operation.
+
+### add_tcp_connection() {#classmavsdk_1_1_mavsdk_1a50ecebb9ee710b9a044d2d5eb57645e4}
+```cpp
+ConnectionResult mavsdk::Mavsdk::add_tcp_connection(const std::string &remote_ip, int remote_port=DEFAULT_TCP_REMOTE_PORT, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+```
+
+
+Adds a TCP connection with a specific IP address and port number.
+
+
+**Parameters**
+
+* const std::string& **remote_ip** - Remote IP address to connect to.
+* int **remote_port** - The TCP port to connect to (defaults to 5760).
+* [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) **forwarding_option** - message forwarding option (when multiple interfaces are used).
+
+**Returns**
+
+&emsp;[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) - The result of adding the connection.
+
+### add_serial_connection() {#classmavsdk_1_1_mavsdk_1a669ddeec7af571fdbde9f31e343d50ac}
+```cpp
+ConnectionResult mavsdk::Mavsdk::add_serial_connection(const std::string &dev_path, int baudrate=DEFAULT_SERIAL_BAUDRATE, bool flow_control=false, ForwardingOption forwarding_option=ForwardingOption::ForwardingOff)
+```
+
+
+Adds a serial connection with a specific port (COM or UART dev node) and baudrate as specified.
+
+
+**Parameters**
+
+* const std::string& **dev_path** - COM or UART dev node name/path (e.g. "/dev/ttyS0", or "COM3" on Windows).
+* int **baudrate** - Baudrate of the serial port (defaults to 57600).
+* bool **flow_control** - enable/disable flow control.
+* [ForwardingOption](namespacemavsdk.md#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) **forwarding_option** - message forwarding option (when multiple interfaces are used).
+
+**Returns**
+
+&emsp;[ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) - The result of adding the connection.
+
+### remove_connection() {#classmavsdk_1_1_mavsdk_1a23cf630bb123aa53b0e99c6bd83ad013}
+```cpp
+void mavsdk::Mavsdk::remove_connection(ConnectionHandle handle)
+```
+
+
+Remove connection again.
+
+**Parameters**
+
+* [ConnectionHandle](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a1b16edeae47af0815b3267c9075f6a8f) **handle** - [Handle](classmavsdk_1_1_handle.md) returned when connection was added.
+
+### systems() {#classmavsdk_1_1_mavsdk_1a0d0bc4cdab14d96877b52baec5113fa8}
+```cpp
+std::vector<std::shared_ptr<System> > mavsdk::Mavsdk::systems() const
+```
+
+
+Get a vector of systems which have been discovered or set-up.
+
+
+**Returns**
+
+&emsp;std::vector< std::shared_ptr< [System](classmavsdk_1_1_system.md) > > - The vector of systems which are available.
+
+### first_autopilot() {#classmavsdk_1_1_mavsdk_1a30b5c588643d19f1cfa9a7be47acb52c}
+```cpp
+std::optional<std::shared_ptr<System> > mavsdk::Mavsdk::first_autopilot(double timeout_s) const
+```
+
+
+Get the first autopilot that has been discovered.
+
+> **Note** This requires a MAVLink component with component ID 1 sending heartbeats.
+
+**Parameters**
+
+* double **timeout_s** - A timeout in seconds. A timeout of 0 will not wait and return immediately. A negative timeout will wait forever.
+
+**Returns**
+
+&emsp;std::optional< std::shared_ptr< [System](classmavsdk_1_1_system.md) > > - A system or nothing if nothing was discovered within the timeout.
+
+### set_configuration() {#classmavsdk_1_1_mavsdk_1acaeea86253493dc15b6540d2100a1b86}
+```cpp
+void mavsdk::Mavsdk::set_configuration(Configuration configuration)
+```
+
+
+Set [Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) of SDK.
+
+The default configuration is `Configuration::GroundStation` The configuration is used in order to set the MAVLink system ID, the component ID, as well as the MAV_TYPE accordingly.
+
+**Parameters**
+
+* [Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) **configuration** - [Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) chosen.
+
+### set_timeout_s() {#classmavsdk_1_1_mavsdk_1a765f37b61462addcfd961e720585d2c6}
+```cpp
+void mavsdk::Mavsdk::set_timeout_s(double timeout_s)
+```
+
+
+Set timeout of MAVLink transfers.
+
+The default timeout used is generally DEFAULT_SERIAL_BAUDRATE (0.5 seconds) seconds. If MAVSDK is used on the same host this timeout can be reduced, while if MAVSDK has to communicate over links with high latency it might need to be increased to prevent timeouts.
+
+**Parameters**
+
+* double **timeout_s** - 
+
+### set_system_status() {#classmavsdk_1_1_mavsdk_1a693eac9fce2e9a330a3b9213ac9faae4}
+```cpp
+void mavsdk::Mavsdk::set_system_status(uint8_t system_status)
+```
+
+
+Set system status of this MAVLink entity.
+
+The default system status is MAV_STATE_UNINIT.
+
+**Parameters**
+
+* uint8_t **system_status** - system status.
+
+### subscribe_on_new_system() {#classmavsdk_1_1_mavsdk_1a5b7c958ad2e4529dc7b950ab26618575}
+```cpp
+NewSystemHandle mavsdk::Mavsdk::subscribe_on_new_system(const NewSystemCallback &callback)
+```
+
+
+Get notification about a change in systems.
+
+This gets called whenever a system is added.
+
+**Parameters**
+
+* const [NewSystemCallback](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a7a283c6a75e852a56be4c5862f8a3fab)& **callback** - Callback to subscribe.
+
+**Returns**
+
+&emsp;[NewSystemHandle](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ae0727f2bed9cbf276d161ada0a432b8c) - A handle to unsubscribe again.
+
+### unsubscribe_on_new_system() {#classmavsdk_1_1_mavsdk_1ad7f77f1295a700ee73cccc345019c1ff}
+```cpp
+void mavsdk::Mavsdk::unsubscribe_on_new_system(NewSystemHandle handle)
+```
+
+
+unsubscribe from subscribe_on_new_system.
+
+
+**Parameters**
+
+* [NewSystemHandle](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ae0727f2bed9cbf276d161ada0a432b8c) **handle** - [Handle](classmavsdk_1_1_handle.md) received on subscription.
+
+### server_component() {#classmavsdk_1_1_mavsdk_1a5ad97e4af7de0f253cca8af7e76b68b6}
+```cpp
+std::shared_ptr<ServerComponent> mavsdk::Mavsdk::server_component(unsigned instance=0)
+```
+
+
+Get server component with default type of [Mavsdk](classmavsdk_1_1_mavsdk.md) instance.
+
+
+**Parameters**
+
+* unsigned **instance** - 
+
+**Returns**
+
+&emsp;std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.
+
+### server_component_by_type() {#classmavsdk_1_1_mavsdk_1a669a7ec5ed40dec9fde7e7a080fa7f2d}
+```cpp
+std::shared_ptr<ServerComponent> mavsdk::Mavsdk::server_component_by_type(ComponentType component_type, unsigned instance=0)
+```
+
+
+Get server component by a high level type.
+
+This represents a server component of the MAVSDK instance.
+
+**Parameters**
+
+* [ComponentType](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746) **component_type** - The high level type of the component.
+* unsigned **instance** - The instance of the component if there are multiple, starting at 0.
+
+**Returns**
+
+&emsp;std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.
+
+### server_component_by_id() {#classmavsdk_1_1_mavsdk_1a117e6dc31b9124b6d535aa363283f8d7}
+```cpp
+std::shared_ptr<ServerComponent> mavsdk::Mavsdk::server_component_by_id(uint8_t component_id)
+```
+
+
+Get server component by the low MAVLink component ID.
+
+This represents a server component of the MAVSDK instance.
+
+**Parameters**
+
+* uint8_t **component_id** - MAVLink component ID to use
+
+**Returns**
+
+&emsp;std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > - A valid shared pointer to a server component if it was successful, an empty pointer otherwise.
+
+### intercept_incoming_messages_async() {#classmavsdk_1_1_mavsdk_1ac80c8909958533131cbdbc61d061794f}
+```cpp
+void mavsdk::Mavsdk::intercept_incoming_messages_async(std::function< bool(mavlink_message_t &)> callback)
+```
+
+
+Intercept incoming messages.
+
+This is a hook which allows to change or drop MAVLink messages as they are received before they get forwarded any subscribers.
+
+
+> **Note** This functionality is provided primarily for testing in order to simulate packet drops or actors not adhering to the MAVLink protocols.
+
+**Parameters**
+
+* std::function< bool(mavlink_message_t &)> **callback** - Callback to be called for each incoming message. To drop a message, return 'false' from the callback.
+
+### intercept_outgoing_messages_async() {#classmavsdk_1_1_mavsdk_1a040ee5c1d41e71c0d63cf8f76d2db275}
+```cpp
+void mavsdk::Mavsdk::intercept_outgoing_messages_async(std::function< bool(mavlink_message_t &)> callback)
+```
+
+
+Intercept outgoing messages.
+
+This is a hook which allows to change or drop MAVLink messages before they are sent.
+
+
+> **Note** This functionality is provided primarily for testing in order to simulate packet drops or actors not adhering to the MAVLink protocols.
+
+**Parameters**
+
+* std::function< bool(mavlink_message_t &)> **callback** - Callback to be called for each outgoing message. To drop a message, return 'false' from the callback.
+
+## Field Documentation
+
+
+### DEFAULT_UDP_BIND_IP {#classmavsdk_1_1_mavsdk_1ac46b2c27d9c428ec46092f10774482fa}
+
+```cpp
+constexpr auto mavsdk::Mavsdk::DEFAULT_UDP_BIND_IP = "0.0.0.0"
+```
+
+
+Default UDP bind IP (accepts any incoming connections).
+
+
+### DEFAULT_UDP_PORT {#classmavsdk_1_1_mavsdk_1affddcc7c7849ed86a0c7dab1166e657a}
+
+```cpp
+constexpr int mavsdk::Mavsdk::DEFAULT_UDP_PORT = 14540
+```
+
+
+Default UDP bind port (same port as used by MAVROS).
+
+
+### DEFAULT_TCP_REMOTE_IP {#classmavsdk_1_1_mavsdk_1a0154aac9d933fa212a50dc687816fbad}
+
+```cpp
+constexpr auto mavsdk::Mavsdk::DEFAULT_TCP_REMOTE_IP = "127.0.0.1"
+```
+
+
+Default TCP remote IP (localhost).
+
+
+### DEFAULT_TCP_REMOTE_PORT {#classmavsdk_1_1_mavsdk_1a52a6a9e0acd6c0ade566208d253427bd}
+
+```cpp
+constexpr int mavsdk::Mavsdk::DEFAULT_TCP_REMOTE_PORT = 5760
+```
+
+
+Default TCP remote port.
+
+
+### DEFAULT_SERIAL_BAUDRATE {#classmavsdk_1_1_mavsdk_1a870d15142914f1db564c12f385d5489b}
+
+```cpp
+constexpr int mavsdk::Mavsdk::DEFAULT_SERIAL_BAUDRATE = 57600
+```
+
+
+Default serial baudrate.
+
+
+### DEFAULT_TIMEOUT_S {#classmavsdk_1_1_mavsdk_1a74f7b4d32d9551bb9c11ce8668f634a6}
+
+```cpp
+constexpr double mavsdk::Mavsdk::DEFAULT_TIMEOUT_S = 0.5
+```
+
+
+Default internal timeout in seconds.
+
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_mavsdk_1_1_configuration.md b/docs/en/cpp/api_reference/classmavsdk_1_1_mavsdk_1_1_configuration.md
new file mode 100644
index 0000000000..74ff60acc9
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_mavsdk_1_1_configuration.md
@@ -0,0 +1,177 @@
+# mavsdk::Mavsdk::Configuration Class Reference
+`#include: mavsdk.h`
+
+----
+
+
+Possible configurations. 
+
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Configuration](#classmavsdk_1_1_mavsdk_1_1_configuration_1a10477130d041107e76efd1f94e65b503) (uint8_t system_id, uint8_t component_id, bool always_send_heartbeats) | Create new [Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) via manually configured system and component ID.
+&nbsp; | [Configuration](#classmavsdk_1_1_mavsdk_1_1_configuration_1abcc015ee6be8abc2da2c967bbbda9fed) ([ComponentType](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746) component_type) | Create new [Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) using a component type. In this mode, the system and component ID will be automatically chosen.
+&nbsp; | [Configuration](#classmavsdk_1_1_mavsdk_1_1_configuration_1a1a65e2e31f06bec1f6692a933c95b03c) ()=delete |
+&nbsp; | [~Configuration](#classmavsdk_1_1_mavsdk_1_1_configuration_1a31cad2329ee14898752638d9c3759da9) ()=default |
+uint8_t | [get_system_id](#classmavsdk_1_1_mavsdk_1_1_configuration_1a0497bdda816b674b1418ab07889ca781) () const | Get the system id of this configuration.
+void | [set_system_id](#classmavsdk_1_1_mavsdk_1_1_configuration_1a28f495bce2cf89ca3c52bdfa938b1761) (uint8_t system_id) | Set the system id of this configuration.
+uint8_t | [get_component_id](#classmavsdk_1_1_mavsdk_1_1_configuration_1adfcae3d5b6f047ad24d9c24983375e97) () const | Get the component id of this configuration.
+void | [set_component_id](#classmavsdk_1_1_mavsdk_1_1_configuration_1aa590fbafa8ca104e1a004ca537f5798e) (uint8_t component_id) | Set the component id of this configuration.
+bool | [get_always_send_heartbeats](#classmavsdk_1_1_mavsdk_1_1_configuration_1a0aa9008fe5a7498f374dbd2adad5f137) () const | Get whether to send heartbeats by default.
+void | [set_always_send_heartbeats](#classmavsdk_1_1_mavsdk_1_1_configuration_1a0ad68b52763e205012b34faa5120a792) (bool always_send_heartbeats) | Set whether to send heartbeats by default.
+[ComponentType](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746) | [get_component_type](#classmavsdk_1_1_mavsdk_1_1_configuration_1a81d3645816f8a3072044498c3f539d12) () const | Component type of this configuration, used for automatic ID set.
+void | [set_component_type](#classmavsdk_1_1_mavsdk_1_1_configuration_1a06461b86734eaa9544e80a4a907c9754) ([ComponentType](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746) component_type) | Set the component type of this configuration.
+
+
+## Constructor & Destructor Documentation
+
+
+### Configuration() {#classmavsdk_1_1_mavsdk_1_1_configuration_1a10477130d041107e76efd1f94e65b503}
+```cpp
+mavsdk::Mavsdk::Configuration::Configuration(uint8_t system_id, uint8_t component_id, bool always_send_heartbeats)
+```
+
+
+Create new [Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) via manually configured system and component ID.
+
+
+**Parameters**
+
+* uint8_t **system_id** - the system id to store in this configuration
+* uint8_t **component_id** - the component id to store in this configuration
+* bool **always_send_heartbeats** - send heartbeats by default even without a system connected
+
+### Configuration() {#classmavsdk_1_1_mavsdk_1_1_configuration_1abcc015ee6be8abc2da2c967bbbda9fed}
+```cpp
+mavsdk::Mavsdk::Configuration::Configuration(ComponentType component_type)
+```
+
+
+Create new [Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md) using a component type. In this mode, the system and component ID will be automatically chosen.
+
+
+**Parameters**
+
+* [ComponentType](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746) **component_type** - the component type, used for automatically choosing ids.
+
+### Configuration() {#classmavsdk_1_1_mavsdk_1_1_configuration_1a1a65e2e31f06bec1f6692a933c95b03c}
+```cpp
+mavsdk::Mavsdk::Configuration::Configuration()=delete
+```
+
+
+### ~Configuration() {#classmavsdk_1_1_mavsdk_1_1_configuration_1a31cad2329ee14898752638d9c3759da9}
+```cpp
+mavsdk::Mavsdk::Configuration::~Configuration()=default
+```
+
+
+## Member Function Documentation
+
+
+### get_system_id() {#classmavsdk_1_1_mavsdk_1_1_configuration_1a0497bdda816b674b1418ab07889ca781}
+```cpp
+uint8_t mavsdk::Mavsdk::Configuration::get_system_id() const
+```
+
+
+Get the system id of this configuration.
+
+
+**Returns**
+
+&emsp;uint8_t - `uint8_t` the system id stored in this configuration, from 1-255
+
+### set_system_id() {#classmavsdk_1_1_mavsdk_1_1_configuration_1a28f495bce2cf89ca3c52bdfa938b1761}
+```cpp
+void mavsdk::Mavsdk::Configuration::set_system_id(uint8_t system_id)
+```
+
+
+Set the system id of this configuration.
+
+
+**Parameters**
+
+* uint8_t **system_id** - 
+
+### get_component_id() {#classmavsdk_1_1_mavsdk_1_1_configuration_1adfcae3d5b6f047ad24d9c24983375e97}
+```cpp
+uint8_t mavsdk::Mavsdk::Configuration::get_component_id() const
+```
+
+
+Get the component id of this configuration.
+
+
+**Returns**
+
+&emsp;uint8_t - `uint8_t` the component id stored in this configuration,from 1-255
+
+### set_component_id() {#classmavsdk_1_1_mavsdk_1_1_configuration_1aa590fbafa8ca104e1a004ca537f5798e}
+```cpp
+void mavsdk::Mavsdk::Configuration::set_component_id(uint8_t component_id)
+```
+
+
+Set the component id of this configuration.
+
+
+**Parameters**
+
+* uint8_t **component_id** - 
+
+### get_always_send_heartbeats() {#classmavsdk_1_1_mavsdk_1_1_configuration_1a0aa9008fe5a7498f374dbd2adad5f137}
+```cpp
+bool mavsdk::Mavsdk::Configuration::get_always_send_heartbeats() const
+```
+
+
+Get whether to send heartbeats by default.
+
+
+**Returns**
+
+&emsp;bool - whether to always send heartbeats
+
+### set_always_send_heartbeats() {#classmavsdk_1_1_mavsdk_1_1_configuration_1a0ad68b52763e205012b34faa5120a792}
+```cpp
+void mavsdk::Mavsdk::Configuration::set_always_send_heartbeats(bool always_send_heartbeats)
+```
+
+
+Set whether to send heartbeats by default.
+
+
+**Parameters**
+
+* bool **always_send_heartbeats** - 
+
+### get_component_type() {#classmavsdk_1_1_mavsdk_1_1_configuration_1a81d3645816f8a3072044498c3f539d12}
+```cpp
+ComponentType mavsdk::Mavsdk::Configuration::get_component_type() const
+```
+
+
+Component type of this configuration, used for automatic ID set.
+
+
+**Returns**
+
+&emsp;[ComponentType](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746) - 
+
+### set_component_type() {#classmavsdk_1_1_mavsdk_1_1_configuration_1a06461b86734eaa9544e80a4a907c9754}
+```cpp
+void mavsdk::Mavsdk::Configuration::set_component_type(ComponentType component_type)
+```
+
+
+Set the component type of this configuration.
+
+
+**Parameters**
+
+* [ComponentType](classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1ac9e9d48bbf840dad8705323b224b1746) **component_type** - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_mission.md b/docs/en/cpp/api_reference/classmavsdk_1_1_mission.md
new file mode 100644
index 0000000000..b3bca7e413
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_mission.md
@@ -0,0 +1,606 @@
+# mavsdk::Mission Class Reference
+`#include: mission.h`
+
+----
+
+
+Enable waypoint missions. 
+
+
+## Data Structures
+
+
+struct [MissionItem](structmavsdk_1_1_mission_1_1_mission_item.md)
+
+struct [MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md)
+
+struct [MissionProgress](structmavsdk_1_1_mission_1_1_mission_progress.md)
+
+struct [ProgressData](structmavsdk_1_1_mission_1_1_progress_data.md)
+
+struct [ProgressDataOrMission](structmavsdk_1_1_mission_1_1_progress_data_or_mission.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) | Possible results returned for action requests.
+std::function< void([Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6))> [ResultCallback](#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591) | Callback type for asynchronous [Mission](classmavsdk_1_1_mission.md) calls.
+std::function< void([Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6), [ProgressData](structmavsdk_1_1_mission_1_1_progress_data.md))> [UploadMissionWithProgressCallback](#classmavsdk_1_1_mission_1a559c82c81b3b7694973da8a65af24837) | Callback type for upload_mission_with_progress_async.
+std::function< void([Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6), [MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md))> [DownloadMissionCallback](#classmavsdk_1_1_mission_1af40f70b9b4c91aa280bf75fbfc333b3b) | Callback type for download_mission_async.
+std::function< void([Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6), [ProgressDataOrMission](structmavsdk_1_1_mission_1_1_progress_data_or_mission.md))> [DownloadMissionWithProgressCallback](#classmavsdk_1_1_mission_1ae73dbe775ceaba81183cebdaa1b6779e) | Callback type for download_mission_with_progress_async.
+std::function< void([MissionProgress](structmavsdk_1_1_mission_1_1_mission_progress.md))> [MissionProgressCallback](#classmavsdk_1_1_mission_1a67e8d00b1b20affca59fd4338c34c0e2) | Callback type for subscribe_mission_progress.
+[Handle](classmavsdk_1_1_handle.md)< [MissionProgress](structmavsdk_1_1_mission_1_1_mission_progress.md) > [MissionProgressHandle](#classmavsdk_1_1_mission_1aded0ba06c787ad2f30f401a30b240c8a) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_mission_progress.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Mission](#classmavsdk_1_1_mission_1ab02ae9aada51b483e45d88948fe62c29) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Mission](#classmavsdk_1_1_mission_1a5222f05ac0c65c7455f19e136b8fcb22) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Mission](#classmavsdk_1_1_mission_1ab8ddd47439bbc63a0a6b175fdad0368e) () override | Destructor (internal use only).
+&nbsp; | [Mission](#classmavsdk_1_1_mission_1ab4a4a26254fdff0e3f3872f32479fe1c) (const [Mission](classmavsdk_1_1_mission.md) & other) | Copy constructor.
+void | [upload_mission_async](#classmavsdk_1_1_mission_1a250fc4758d47ec12e025c327dc0eb482) ([MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md) mission_plan, const [ResultCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591) callback) | Upload a list of mission items to the system.
+[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) | [upload_mission](#classmavsdk_1_1_mission_1a38274b1c1509375a182c44711ee9f7b1) ([MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md) mission_plan)const | Upload a list of mission items to the system.
+void | [upload_mission_with_progress_async](#classmavsdk_1_1_mission_1a0faa587e80a59e8c40d7fc135650749c) ([MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md) mission_plan, const [UploadMissionWithProgressCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a559c82c81b3b7694973da8a65af24837) & callback) | Upload a list of mission items to the system and report upload progress.
+[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) | [cancel_mission_upload](#classmavsdk_1_1_mission_1ab82609426bef51202b2107d33412378c) () const | Cancel an ongoing mission upload.
+void | [download_mission_async](#classmavsdk_1_1_mission_1a04e7e7074273b4591a820894c5c4ad43) (const [DownloadMissionCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1af40f70b9b4c91aa280bf75fbfc333b3b) callback) | Download a list of mission items from the system (asynchronous).
+std::pair< [Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6), [Mission::MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md) > | [download_mission](#classmavsdk_1_1_mission_1a23e9f7da32f42bcce7ef16ea8044fe53) () const | Download a list of mission items from the system (asynchronous).
+void | [download_mission_with_progress_async](#classmavsdk_1_1_mission_1a5b6b93482f2599c08d75d27a31a4f1d9) (const [DownloadMissionWithProgressCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ae73dbe775ceaba81183cebdaa1b6779e) & callback) | Download a list of mission items from the system (asynchronous) and report progress.
+[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) | [cancel_mission_download](#classmavsdk_1_1_mission_1a0eaaeffe0354156b5abed892f0950bcc) () const | Cancel an ongoing mission download.
+void | [start_mission_async](#classmavsdk_1_1_mission_1a31ca2fc6b9fe4802dbc3fbebad0bb5d7) (const [ResultCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591) callback) | Start the mission.
+[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) | [start_mission](#classmavsdk_1_1_mission_1a927fecc7734810d01cc218153780e6e3) () const | Start the mission.
+void | [pause_mission_async](#classmavsdk_1_1_mission_1a4c5679369e215ef21901fc7ffe1ce32b) (const [ResultCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591) callback) | Pause the mission.
+[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) | [pause_mission](#classmavsdk_1_1_mission_1ab569500d992d6d859c1c35052db07315) () const | Pause the mission.
+void | [clear_mission_async](#classmavsdk_1_1_mission_1a51d04a808743915e3cac7f35fbd5038f) (const [ResultCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591) callback) | Clear the mission saved on the vehicle.
+[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) | [clear_mission](#classmavsdk_1_1_mission_1a3c3f5eac6e864873f4bb0390d1ee9306) () const | Clear the mission saved on the vehicle.
+void | [set_current_mission_item_async](#classmavsdk_1_1_mission_1a81aa356215cb2131c2480dc121a6af7b) (int32_t index, const [ResultCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591) callback) | Sets the mission item index to go to.
+[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) | [set_current_mission_item](#classmavsdk_1_1_mission_1a419397edcf63771ddd59a6af231bc8d2) (int32_t index)const | Sets the mission item index to go to.
+std::pair< [Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6), bool > | [is_mission_finished](#classmavsdk_1_1_mission_1a1ecf4f8798ab9ae96882dfbd34f23466) () const | Check if the mission has been finished.
+[MissionProgressHandle](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1aded0ba06c787ad2f30f401a30b240c8a) | [subscribe_mission_progress](#classmavsdk_1_1_mission_1ac6d3e78de0ea2e6c1db2eaa5f3418660) (const [MissionProgressCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a67e8d00b1b20affca59fd4338c34c0e2) & callback) | Subscribe to mission progress updates.
+void | [unsubscribe_mission_progress](#classmavsdk_1_1_mission_1a2b8bc4dd210506a703afa926f8406880) ([MissionProgressHandle](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1aded0ba06c787ad2f30f401a30b240c8a) handle) | Unsubscribe from subscribe_mission_progress.
+[MissionProgress](structmavsdk_1_1_mission_1_1_mission_progress.md) | [mission_progress](#classmavsdk_1_1_mission_1a5570443e7c1f08cff1759980ff44b40e) () const | Poll for '[MissionProgress](structmavsdk_1_1_mission_1_1_mission_progress.md)' (blocking).
+std::pair< [Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6), bool > | [get_return_to_launch_after_mission](#classmavsdk_1_1_mission_1a38d17268541ba81d494976caa4a08661) () const | Get whether to trigger Return-to-Launch (RTL) after mission is complete.
+[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) | [set_return_to_launch_after_mission](#classmavsdk_1_1_mission_1ab4adb09283b3fa64a8829f9a6e34cf37) (bool enable)const | Set whether to trigger Return-to-Launch (RTL) after the mission is complete.
+const [Mission](classmavsdk_1_1_mission.md) & | [operator=](#classmavsdk_1_1_mission_1a30d49ea769f358cb4e4fe3056728838c) (const [Mission](classmavsdk_1_1_mission.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Mission() {#classmavsdk_1_1_mission_1ab02ae9aada51b483e45d88948fe62c29}
+```cpp
+mavsdk::Mission::Mission(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto mission = Mission(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Mission() {#classmavsdk_1_1_mission_1a5222f05ac0c65c7455f19e136b8fcb22}
+```cpp
+mavsdk::Mission::Mission(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto mission = Mission(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Mission() {#classmavsdk_1_1_mission_1ab8ddd47439bbc63a0a6b175fdad0368e}
+```cpp
+mavsdk::Mission::~Mission() override
+```
+
+
+Destructor (internal use only).
+
+
+### Mission() {#classmavsdk_1_1_mission_1ab4a4a26254fdff0e3f3872f32479fe1c}
+```cpp
+mavsdk::Mission::Mission(const Mission &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Mission](classmavsdk_1_1_mission.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591}
+
+```cpp
+using mavsdk::Mission::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Mission](classmavsdk_1_1_mission.md) calls.
+
+
+### typedef UploadMissionWithProgressCallback {#classmavsdk_1_1_mission_1a559c82c81b3b7694973da8a65af24837}
+
+```cpp
+using mavsdk::Mission::UploadMissionWithProgressCallback =  std::function<void(Result, ProgressData)>
+```
+
+
+Callback type for upload_mission_with_progress_async.
+
+
+### typedef DownloadMissionCallback {#classmavsdk_1_1_mission_1af40f70b9b4c91aa280bf75fbfc333b3b}
+
+```cpp
+using mavsdk::Mission::DownloadMissionCallback =  std::function<void(Result, MissionPlan)>
+```
+
+
+Callback type for download_mission_async.
+
+
+### typedef DownloadMissionWithProgressCallback {#classmavsdk_1_1_mission_1ae73dbe775ceaba81183cebdaa1b6779e}
+
+```cpp
+using mavsdk::Mission::DownloadMissionWithProgressCallback =  std::function<void(Result, ProgressDataOrMission)>
+```
+
+
+Callback type for download_mission_with_progress_async.
+
+
+### typedef MissionProgressCallback {#classmavsdk_1_1_mission_1a67e8d00b1b20affca59fd4338c34c0e2}
+
+```cpp
+using mavsdk::Mission::MissionProgressCallback =  std::function<void(MissionProgress)>
+```
+
+
+Callback type for subscribe_mission_progress.
+
+
+### typedef MissionProgressHandle {#classmavsdk_1_1_mission_1aded0ba06c787ad2f30f401a30b240c8a}
+
+```cpp
+using mavsdk::Mission::MissionProgressHandle =  Handle<MissionProgress>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_mission_progress.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6}
+
+
+Possible results returned for action requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6a902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | Error. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6aecc3de82f27e8e7f65807c69a114efbe"></span> `TooManyMissionItems` | Too many mission items in the mission. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6a253ca7dd096ee0956cccee4d376cab8b"></span> `InvalidArgument` | Invalid argument. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6ab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | [Mission](classmavsdk_1_1_mission.md) downloaded from the system is not supported. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6a6b0ce476dfc17eed72967386f52ede78"></span> `NoMissionAvailable` | No mission available on the system. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6aefcaef698baace312f79a53019bd9cf4"></span> `UnsupportedMissionCmd` | Unsupported mission command. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6a3465fd31285ebd60597cf59bff9db01a"></span> `TransferCancelled` | [Mission](classmavsdk_1_1_mission.md) transfer (upload or download) has been cancelled. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6a10ac3d04253ef7e1ddc73e6091c0cd55"></span> `Next` | Intermediate message showing progress. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6a58d036b9b7f0e7eb38cfb90f1cc70a73"></span> `Denied` | Request denied. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6aca3da8f495e4e628912a7798655da6c2"></span> `ProtocolError` | There was a protocol error. 
+<span id="classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6a3f5f527103f3b11c1c271363c542432b"></span> `IntMessagesNotSupported` | The system does not support the MISSION_INT protocol. 
+
+## Member Function Documentation
+
+
+### upload_mission_async() {#classmavsdk_1_1_mission_1a250fc4758d47ec12e025c327dc0eb482}
+```cpp
+void mavsdk::Mission::upload_mission_async(MissionPlan mission_plan, const ResultCallback callback)
+```
+
+
+Upload a list of mission items to the system.
+
+The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.
+
+
+This function is non-blocking. See 'upload_mission' for the blocking counterpart.
+
+**Parameters**
+
+* [MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md) **mission_plan** - 
+* const [ResultCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591) **callback** - 
+
+### upload_mission() {#classmavsdk_1_1_mission_1a38274b1c1509375a182c44711ee9f7b1}
+```cpp
+Result mavsdk::Mission::upload_mission(MissionPlan mission_plan) const
+```
+
+
+Upload a list of mission items to the system.
+
+The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.
+
+
+This function is blocking. See 'upload_mission_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* [MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md) **mission_plan** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) - Result of request.
+
+### upload_mission_with_progress_async() {#classmavsdk_1_1_mission_1a0faa587e80a59e8c40d7fc135650749c}
+```cpp
+void mavsdk::Mission::upload_mission_with_progress_async(MissionPlan mission_plan, const UploadMissionWithProgressCallback &callback)
+```
+
+
+Upload a list of mission items to the system and report upload progress.
+
+The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.
+
+**Parameters**
+
+* [MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md) **mission_plan** - 
+* const [UploadMissionWithProgressCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a559c82c81b3b7694973da8a65af24837)& **callback** - 
+
+### cancel_mission_upload() {#classmavsdk_1_1_mission_1ab82609426bef51202b2107d33412378c}
+```cpp
+Result mavsdk::Mission::cancel_mission_upload() const
+```
+
+
+Cancel an ongoing mission upload.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) - Result of request.
+
+### download_mission_async() {#classmavsdk_1_1_mission_1a04e7e7074273b4591a820894c5c4ad43}
+```cpp
+void mavsdk::Mission::download_mission_async(const DownloadMissionCallback callback)
+```
+
+
+Download a list of mission items from the system (asynchronous).
+
+Will fail if any of the downloaded mission items are not supported by the MAVSDK API.
+
+
+This function is non-blocking. See 'download_mission' for the blocking counterpart.
+
+**Parameters**
+
+* const [DownloadMissionCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1af40f70b9b4c91aa280bf75fbfc333b3b) **callback** - 
+
+### download_mission() {#classmavsdk_1_1_mission_1a23e9f7da32f42bcce7ef16ea8044fe53}
+```cpp
+std::pair<Result, Mission::MissionPlan> mavsdk::Mission::download_mission() const
+```
+
+
+Download a list of mission items from the system (asynchronous).
+
+Will fail if any of the downloaded mission items are not supported by the MAVSDK API.
+
+
+This function is blocking. See 'download_mission_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6), [Mission::MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md) > - Result of request.
+
+### download_mission_with_progress_async() {#classmavsdk_1_1_mission_1a5b6b93482f2599c08d75d27a31a4f1d9}
+```cpp
+void mavsdk::Mission::download_mission_with_progress_async(const DownloadMissionWithProgressCallback &callback)
+```
+
+
+Download a list of mission items from the system (asynchronous) and report progress.
+
+Will fail if any of the downloaded mission items are not supported by the MAVSDK API.
+
+**Parameters**
+
+* const [DownloadMissionWithProgressCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ae73dbe775ceaba81183cebdaa1b6779e)& **callback** - 
+
+### cancel_mission_download() {#classmavsdk_1_1_mission_1a0eaaeffe0354156b5abed892f0950bcc}
+```cpp
+Result mavsdk::Mission::cancel_mission_download() const
+```
+
+
+Cancel an ongoing mission download.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) - Result of request.
+
+### start_mission_async() {#classmavsdk_1_1_mission_1a31ca2fc6b9fe4802dbc3fbebad0bb5d7}
+```cpp
+void mavsdk::Mission::start_mission_async(const ResultCallback callback)
+```
+
+
+Start the mission.
+
+A mission must be uploaded to the vehicle before this can be called.
+
+
+This function is non-blocking. See 'start_mission' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591) **callback** - 
+
+### start_mission() {#classmavsdk_1_1_mission_1a927fecc7734810d01cc218153780e6e3}
+```cpp
+Result mavsdk::Mission::start_mission() const
+```
+
+
+Start the mission.
+
+A mission must be uploaded to the vehicle before this can be called.
+
+
+This function is blocking. See 'start_mission_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) - Result of request.
+
+### pause_mission_async() {#classmavsdk_1_1_mission_1a4c5679369e215ef21901fc7ffe1ce32b}
+```cpp
+void mavsdk::Mission::pause_mission_async(const ResultCallback callback)
+```
+
+
+Pause the mission.
+
+Pausing the mission puts the vehicle into [HOLD mode](https://docs.px4.io/en/flight_modes/hold.html). A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.
+
+
+This function is non-blocking. See 'pause_mission' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591) **callback** - 
+
+### pause_mission() {#classmavsdk_1_1_mission_1ab569500d992d6d859c1c35052db07315}
+```cpp
+Result mavsdk::Mission::pause_mission() const
+```
+
+
+Pause the mission.
+
+Pausing the mission puts the vehicle into [HOLD mode](https://docs.px4.io/en/flight_modes/hold.html). A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.
+
+
+This function is blocking. See 'pause_mission_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) - Result of request.
+
+### clear_mission_async() {#classmavsdk_1_1_mission_1a51d04a808743915e3cac7f35fbd5038f}
+```cpp
+void mavsdk::Mission::clear_mission_async(const ResultCallback callback)
+```
+
+
+Clear the mission saved on the vehicle.
+
+This function is non-blocking. See 'clear_mission' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591) **callback** - 
+
+### clear_mission() {#classmavsdk_1_1_mission_1a3c3f5eac6e864873f4bb0390d1ee9306}
+```cpp
+Result mavsdk::Mission::clear_mission() const
+```
+
+
+Clear the mission saved on the vehicle.
+
+This function is blocking. See 'clear_mission_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) - Result of request.
+
+### set_current_mission_item_async() {#classmavsdk_1_1_mission_1a81aa356215cb2131c2480dc121a6af7b}
+```cpp
+void mavsdk::Mission::set_current_mission_item_async(int32_t index, const ResultCallback callback)
+```
+
+
+Sets the mission item index to go to.
+
+By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a mission item, the mission will be set to this item.
+
+
+Note that this is not necessarily true for general missions using MAVLink if loop counters are used.
+
+
+This function is non-blocking. See 'set_current_mission_item' for the blocking counterpart.
+
+**Parameters**
+
+* int32_t **index** - 
+* const [ResultCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a30091e79f5b67ade138e5be9d65b6591) **callback** - 
+
+### set_current_mission_item() {#classmavsdk_1_1_mission_1a419397edcf63771ddd59a6af231bc8d2}
+```cpp
+Result mavsdk::Mission::set_current_mission_item(int32_t index) const
+```
+
+
+Sets the mission item index to go to.
+
+By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a mission item, the mission will be set to this item.
+
+
+Note that this is not necessarily true for general missions using MAVLink if loop counters are used.
+
+
+This function is blocking. See 'set_current_mission_item_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* int32_t **index** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) - Result of request.
+
+### is_mission_finished() {#classmavsdk_1_1_mission_1a1ecf4f8798ab9ae96882dfbd34f23466}
+```cpp
+std::pair<Result, bool> mavsdk::Mission::is_mission_finished() const
+```
+
+
+Check if the mission has been finished.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6), bool > - Result of request.
+
+### subscribe_mission_progress() {#classmavsdk_1_1_mission_1ac6d3e78de0ea2e6c1db2eaa5f3418660}
+```cpp
+MissionProgressHandle mavsdk::Mission::subscribe_mission_progress(const MissionProgressCallback &callback)
+```
+
+
+Subscribe to mission progress updates.
+
+
+**Parameters**
+
+* const [MissionProgressCallback](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a67e8d00b1b20affca59fd4338c34c0e2)& **callback** - 
+
+**Returns**
+
+&emsp;[MissionProgressHandle](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1aded0ba06c787ad2f30f401a30b240c8a) - 
+
+### unsubscribe_mission_progress() {#classmavsdk_1_1_mission_1a2b8bc4dd210506a703afa926f8406880}
+```cpp
+void mavsdk::Mission::unsubscribe_mission_progress(MissionProgressHandle handle)
+```
+
+
+Unsubscribe from subscribe_mission_progress.
+
+
+**Parameters**
+
+* [MissionProgressHandle](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1aded0ba06c787ad2f30f401a30b240c8a) **handle** - 
+
+### mission_progress() {#classmavsdk_1_1_mission_1a5570443e7c1f08cff1759980ff44b40e}
+```cpp
+MissionProgress mavsdk::Mission::mission_progress() const
+```
+
+
+Poll for '[MissionProgress](structmavsdk_1_1_mission_1_1_mission_progress.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[MissionProgress](structmavsdk_1_1_mission_1_1_mission_progress.md) - One [MissionProgress](structmavsdk_1_1_mission_1_1_mission_progress.md) update.
+
+### get_return_to_launch_after_mission() {#classmavsdk_1_1_mission_1a38d17268541ba81d494976caa4a08661}
+```cpp
+std::pair<Result, bool> mavsdk::Mission::get_return_to_launch_after_mission() const
+```
+
+
+Get whether to trigger Return-to-Launch (RTL) after mission is complete.
+
+Before getting this option, it needs to be set, or a mission needs to be downloaded.
+
+
+This function is blocking.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6), bool > - Result of request.
+
+### set_return_to_launch_after_mission() {#classmavsdk_1_1_mission_1ab4adb09283b3fa64a8829f9a6e34cf37}
+```cpp
+Result mavsdk::Mission::set_return_to_launch_after_mission(bool enable) const
+```
+
+
+Set whether to trigger Return-to-Launch (RTL) after the mission is complete.
+
+This will only take effect for the next mission upload, meaning that the mission may have to be uploaded again.
+
+
+This function is blocking.
+
+**Parameters**
+
+* bool **enable** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab3114c63db76bdc37460939a1f3316f6) - Result of request.
+
+### operator=() {#classmavsdk_1_1_mission_1a30d49ea769f358cb4e4fe3056728838c}
+```cpp
+const Mission& mavsdk::Mission::operator=(const Mission &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Mission](classmavsdk_1_1_mission.md)&  - 
+
+**Returns**
+
+&emsp;const [Mission](classmavsdk_1_1_mission.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_mission_raw.md b/docs/en/cpp/api_reference/classmavsdk_1_1_mission_raw.md
new file mode 100644
index 0000000000..d8c42bd7a3
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_mission_raw.md
@@ -0,0 +1,673 @@
+# mavsdk::MissionRaw Class Reference
+`#include: mission_raw.h`
+
+----
+
+
+Enable raw missions as exposed by MAVLink. 
+
+
+## Data Structures
+
+
+struct [MissionImportData](structmavsdk_1_1_mission_raw_1_1_mission_import_data.md)
+
+struct [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md)
+
+struct [MissionProgress](structmavsdk_1_1_mission_raw_1_1_mission_progress.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) | Possible results returned for action requests.
+std::function< void([Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf))> [ResultCallback](#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) | Callback type for asynchronous [MissionRaw](classmavsdk_1_1_mission_raw.md) calls.
+std::function< void([Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf), std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) >)> [DownloadMissionCallback](#classmavsdk_1_1_mission_raw_1a016633e6338744da02ac7cb6da28880a) | Callback type for download_mission_async.
+std::function< void([MissionProgress](structmavsdk_1_1_mission_raw_1_1_mission_progress.md))> [MissionProgressCallback](#classmavsdk_1_1_mission_raw_1a9dd594878925da494b4add6acc3184fc) | Callback type for subscribe_mission_progress.
+[Handle](classmavsdk_1_1_handle.md)< [MissionProgress](structmavsdk_1_1_mission_raw_1_1_mission_progress.md) > [MissionProgressHandle](#classmavsdk_1_1_mission_raw_1a34e0eaf9922daa5d27d2b044eae7885c) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_mission_progress.
+std::function< void(bool)> [MissionChangedCallback](#classmavsdk_1_1_mission_raw_1ac22d81eefc5e883cdb6baf792a7487e6) | Callback type for subscribe_mission_changed.
+[Handle](classmavsdk_1_1_handle.md)< bool > [MissionChangedHandle](#classmavsdk_1_1_mission_raw_1a46da6d8a53822fd5fbd7b2a414624c5c) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_mission_changed.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [MissionRaw](#classmavsdk_1_1_mission_raw_1ad03476f12988a12808a8c4385c7a7344) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [MissionRaw](#classmavsdk_1_1_mission_raw_1aec90f3e32d7366f3e27f025bb62c1e78) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~MissionRaw](#classmavsdk_1_1_mission_raw_1a1c7e90261ab67337d6b570cb3f9bfdb9) () override | Destructor (internal use only).
+&nbsp; | [MissionRaw](#classmavsdk_1_1_mission_raw_1a91216322f0b6139d5ba83127f2ef1f12) (const [MissionRaw](classmavsdk_1_1_mission_raw.md) & other) | Copy constructor.
+void | [upload_mission_async](#classmavsdk_1_1_mission_raw_1a77cc5df3362b7ab4cbc94e5bc9707609) (std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > mission_items, const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) callback) | Upload a list of raw mission items to the system.
+[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) | [upload_mission](#classmavsdk_1_1_mission_raw_1ad4f5c2ccfb2249f6e11c9533c263926a) (std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > mission_items)const | Upload a list of raw mission items to the system.
+void | [upload_geofence_async](#classmavsdk_1_1_mission_raw_1abae3246480b334c319cfb8a9c0d2d8c6) (std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > mission_items, const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) callback) | Upload a list of geofence items to the system.
+[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) | [upload_geofence](#classmavsdk_1_1_mission_raw_1ac65fe0675332c318c5c07be5a8d22ac7) (std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > mission_items)const | Upload a list of geofence items to the system.
+void | [upload_rally_points_async](#classmavsdk_1_1_mission_raw_1a2c5d52246a8ad13151fcfedeab2859e5) (std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > mission_items, const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) callback) | Upload a list of rally point items to the system.
+[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) | [upload_rally_points](#classmavsdk_1_1_mission_raw_1a02fc4f293a8094df5dbd7ea0d2184739) (std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > mission_items)const | Upload a list of rally point items to the system.
+[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) | [cancel_mission_upload](#classmavsdk_1_1_mission_raw_1aa353e3fa6e836305248be131dbe19273) () const | Cancel an ongoing mission upload.
+void | [download_mission_async](#classmavsdk_1_1_mission_raw_1a7e27b0fb58889ca5cb1202276c0e0669) (const [DownloadMissionCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a016633e6338744da02ac7cb6da28880a) callback) | Download a list of raw mission items from the system (asynchronous).
+std::pair< [Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf), std::vector< [MissionRaw::MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > > | [download_mission](#classmavsdk_1_1_mission_raw_1a2cc470785c486d1b7fdaaa2e3fbff809) () const | Download a list of raw mission items from the system (asynchronous).
+[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) | [cancel_mission_download](#classmavsdk_1_1_mission_raw_1a7c554999ca66c5434ef1fa334d949e5a) () const | Cancel an ongoing mission download.
+void | [start_mission_async](#classmavsdk_1_1_mission_raw_1acca64e0a08978f5721be8fa955b1bb0f) (const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) callback) | Start the mission.
+[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) | [start_mission](#classmavsdk_1_1_mission_raw_1af1b010b0f28b284a94eba88198ee15f8) () const | Start the mission.
+void | [pause_mission_async](#classmavsdk_1_1_mission_raw_1aae0eedbe4216266eb6e2115cd03c61a1) (const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) callback) | Pause the mission.
+[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) | [pause_mission](#classmavsdk_1_1_mission_raw_1abda483b0659a6c0397c588341688bb39) () const | Pause the mission.
+void | [clear_mission_async](#classmavsdk_1_1_mission_raw_1acf6bf293facbd45fa1126e52e99248a2) (const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) callback) | Clear the mission saved on the vehicle.
+[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) | [clear_mission](#classmavsdk_1_1_mission_raw_1ab10f8fcaa0f6d3e0f844b7430d8d14c2) () const | Clear the mission saved on the vehicle.
+void | [set_current_mission_item_async](#classmavsdk_1_1_mission_raw_1a5540d6ca691d60ef19b66e303bae7f87) (int32_t index, const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) callback) | Sets the raw mission item index to go to.
+[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) | [set_current_mission_item](#classmavsdk_1_1_mission_raw_1ada9aa2abf79ebfc8e1d10de8e85e91ae) (int32_t index)const | Sets the raw mission item index to go to.
+[MissionProgressHandle](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a34e0eaf9922daa5d27d2b044eae7885c) | [subscribe_mission_progress](#classmavsdk_1_1_mission_raw_1a88a3c4b26418e734a547f251706988d2) (const [MissionProgressCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a9dd594878925da494b4add6acc3184fc) & callback) | Subscribe to mission progress updates.
+void | [unsubscribe_mission_progress](#classmavsdk_1_1_mission_raw_1ac46f08b52706f45956cf3b01df381835) ([MissionProgressHandle](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a34e0eaf9922daa5d27d2b044eae7885c) handle) | Unsubscribe from subscribe_mission_progress.
+[MissionProgress](structmavsdk_1_1_mission_raw_1_1_mission_progress.md) | [mission_progress](#classmavsdk_1_1_mission_raw_1a3200dea1094926a4dd54f079f21b94e1) () const | Poll for '[MissionProgress](structmavsdk_1_1_mission_raw_1_1_mission_progress.md)' (blocking).
+[MissionChangedHandle](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a46da6d8a53822fd5fbd7b2a414624c5c) | [subscribe_mission_changed](#classmavsdk_1_1_mission_raw_1ad4a2991e1a8f9423270af4220309edfb) (const [MissionChangedCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1ac22d81eefc5e883cdb6baf792a7487e6) & callback) | <ul><li><p>Subscribes to mission changed. </p></li></ul>
+void | [unsubscribe_mission_changed](#classmavsdk_1_1_mission_raw_1ac6cd7602b2e5b46ad0ea1cf8bf602a0c) ([MissionChangedHandle](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a46da6d8a53822fd5fbd7b2a414624c5c) handle) | Unsubscribe from subscribe_mission_changed.
+std::pair< [Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf), [MissionRaw::MissionImportData](structmavsdk_1_1_mission_raw_1_1_mission_import_data.md) > | [import_qgroundcontrol_mission](#classmavsdk_1_1_mission_raw_1a43345b21cf9dedf594f62ec7ad963ce8) (std::string qgc_plan_path)const | Import a QGroundControl missions in JSON .plan format, from a file.
+std::pair< [Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf), [MissionRaw::MissionImportData](structmavsdk_1_1_mission_raw_1_1_mission_import_data.md) > | [import_qgroundcontrol_mission_from_string](#classmavsdk_1_1_mission_raw_1ab0a0d18b65beced6112b2f27556fae37) (std::string qgc_plan)const | Import a QGroundControl missions in JSON .plan format, from a string.
+const [MissionRaw](classmavsdk_1_1_mission_raw.md) & | [operator=](#classmavsdk_1_1_mission_raw_1a0cfdf21bad5478c91cf18207b6a21ad3) (const [MissionRaw](classmavsdk_1_1_mission_raw.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### MissionRaw() {#classmavsdk_1_1_mission_raw_1ad03476f12988a12808a8c4385c7a7344}
+```cpp
+mavsdk::MissionRaw::MissionRaw(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto mission_raw = MissionRaw(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### MissionRaw() {#classmavsdk_1_1_mission_raw_1aec90f3e32d7366f3e27f025bb62c1e78}
+```cpp
+mavsdk::MissionRaw::MissionRaw(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto mission_raw = MissionRaw(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~MissionRaw() {#classmavsdk_1_1_mission_raw_1a1c7e90261ab67337d6b570cb3f9bfdb9}
+```cpp
+mavsdk::MissionRaw::~MissionRaw() override
+```
+
+
+Destructor (internal use only).
+
+
+### MissionRaw() {#classmavsdk_1_1_mission_raw_1a91216322f0b6139d5ba83127f2ef1f12}
+```cpp
+mavsdk::MissionRaw::MissionRaw(const MissionRaw &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [MissionRaw](classmavsdk_1_1_mission_raw.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564}
+
+```cpp
+using mavsdk::MissionRaw::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [MissionRaw](classmavsdk_1_1_mission_raw.md) calls.
+
+
+### typedef DownloadMissionCallback {#classmavsdk_1_1_mission_raw_1a016633e6338744da02ac7cb6da28880a}
+
+```cpp
+using mavsdk::MissionRaw::DownloadMissionCallback =  std::function<void(Result, std::vector<MissionItem>)>
+```
+
+
+Callback type for download_mission_async.
+
+
+### typedef MissionProgressCallback {#classmavsdk_1_1_mission_raw_1a9dd594878925da494b4add6acc3184fc}
+
+```cpp
+using mavsdk::MissionRaw::MissionProgressCallback =  std::function<void(MissionProgress)>
+```
+
+
+Callback type for subscribe_mission_progress.
+
+
+### typedef MissionProgressHandle {#classmavsdk_1_1_mission_raw_1a34e0eaf9922daa5d27d2b044eae7885c}
+
+```cpp
+using mavsdk::MissionRaw::MissionProgressHandle =  Handle<MissionProgress>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_mission_progress.
+
+
+### typedef MissionChangedCallback {#classmavsdk_1_1_mission_raw_1ac22d81eefc5e883cdb6baf792a7487e6}
+
+```cpp
+using mavsdk::MissionRaw::MissionChangedCallback =  std::function<void(bool)>
+```
+
+
+Callback type for subscribe_mission_changed.
+
+
+### typedef MissionChangedHandle {#classmavsdk_1_1_mission_raw_1a46da6d8a53822fd5fbd7b2a414624c5c}
+
+```cpp
+using mavsdk::MissionRaw::MissionChangedHandle =  Handle<bool>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_mission_changed.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf}
+
+
+Possible results returned for action requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafa88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafa505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafa902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | Error. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafaecc3de82f27e8e7f65807c69a114efbe"></span> `TooManyMissionItems` | Too many mission items in the mission. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafa253ca7dd096ee0956cccee4d376cab8b"></span> `InvalidArgument` | Invalid argument. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | [Mission](classmavsdk_1_1_mission.md) downloaded from the system is not supported. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafa6b0ce476dfc17eed72967386f52ede78"></span> `NoMissionAvailable` | No mission available on the system. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafa3465fd31285ebd60597cf59bff9db01a"></span> `TransferCancelled` | [Mission](classmavsdk_1_1_mission.md) transfer (upload or download) has been cancelled. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafac73901782ccb07eeaf03f1a27e323e4f"></span> `FailedToOpenQgcPlan` | Failed to open the QGroundControl plan. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafabd0579c3163a37a4bc4fe181903cc1e9"></span> `FailedToParseQgcPlan` | Failed to parse the QGroundControl plan. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafa1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafa58d036b9b7f0e7eb38cfb90f1cc70a73"></span> `Denied` | Request denied. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafa43dd1d7bd7daf88c044f7463ccdb1f0c"></span> `MissionTypeNotConsistent` | [Mission](classmavsdk_1_1_mission.md) type is not consistent. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafaff5c3eeddd1c7a19875b5686efd52fdb"></span> `InvalidSequence` | The mission item sequences are not increasing correctly. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafa80038ba51e64057d4a00429697a3368f"></span> `CurrentInvalid` | The current item is not set correctly. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafaca3da8f495e4e628912a7798655da6c2"></span> `ProtocolError` | There was a protocol error. 
+<span id="classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eafa3f5f527103f3b11c1c271363c542432b"></span> `IntMessagesNotSupported` | The system does not support the MISSION_INT protocol. 
+
+## Member Function Documentation
+
+
+### upload_mission_async() {#classmavsdk_1_1_mission_raw_1a77cc5df3362b7ab4cbc94e5bc9707609}
+```cpp
+void mavsdk::MissionRaw::upload_mission_async(std::vector< MissionItem > mission_items, const ResultCallback callback)
+```
+
+
+Upload a list of raw mission items to the system.
+
+The raw mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.
+
+
+This function is non-blocking. See 'upload_mission' for the blocking counterpart.
+
+**Parameters**
+
+* std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > **mission_items** - 
+* const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) **callback** - 
+
+### upload_mission() {#classmavsdk_1_1_mission_raw_1ad4f5c2ccfb2249f6e11c9533c263926a}
+```cpp
+Result mavsdk::MissionRaw::upload_mission(std::vector< MissionItem > mission_items) const
+```
+
+
+Upload a list of raw mission items to the system.
+
+The raw mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.
+
+
+This function is blocking. See 'upload_mission_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > **mission_items** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) - Result of request.
+
+### upload_geofence_async() {#classmavsdk_1_1_mission_raw_1abae3246480b334c319cfb8a9c0d2d8c6}
+```cpp
+void mavsdk::MissionRaw::upload_geofence_async(std::vector< MissionItem > mission_items, const ResultCallback callback)
+```
+
+
+Upload a list of geofence items to the system.
+
+This function is non-blocking. See 'upload_geofence' for the blocking counterpart.
+
+**Parameters**
+
+* std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > **mission_items** - 
+* const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) **callback** - 
+
+### upload_geofence() {#classmavsdk_1_1_mission_raw_1ac65fe0675332c318c5c07be5a8d22ac7}
+```cpp
+Result mavsdk::MissionRaw::upload_geofence(std::vector< MissionItem > mission_items) const
+```
+
+
+Upload a list of geofence items to the system.
+
+This function is blocking. See 'upload_geofence_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > **mission_items** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) - Result of request.
+
+### upload_rally_points_async() {#classmavsdk_1_1_mission_raw_1a2c5d52246a8ad13151fcfedeab2859e5}
+```cpp
+void mavsdk::MissionRaw::upload_rally_points_async(std::vector< MissionItem > mission_items, const ResultCallback callback)
+```
+
+
+Upload a list of rally point items to the system.
+
+This function is non-blocking. See 'upload_rally_points' for the blocking counterpart.
+
+**Parameters**
+
+* std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > **mission_items** - 
+* const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) **callback** - 
+
+### upload_rally_points() {#classmavsdk_1_1_mission_raw_1a02fc4f293a8094df5dbd7ea0d2184739}
+```cpp
+Result mavsdk::MissionRaw::upload_rally_points(std::vector< MissionItem > mission_items) const
+```
+
+
+Upload a list of rally point items to the system.
+
+This function is blocking. See 'upload_rally_points_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > **mission_items** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) - Result of request.
+
+### cancel_mission_upload() {#classmavsdk_1_1_mission_raw_1aa353e3fa6e836305248be131dbe19273}
+```cpp
+Result mavsdk::MissionRaw::cancel_mission_upload() const
+```
+
+
+Cancel an ongoing mission upload.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) - Result of request.
+
+### download_mission_async() {#classmavsdk_1_1_mission_raw_1a7e27b0fb58889ca5cb1202276c0e0669}
+```cpp
+void mavsdk::MissionRaw::download_mission_async(const DownloadMissionCallback callback)
+```
+
+
+Download a list of raw mission items from the system (asynchronous).
+
+This function is non-blocking. See 'download_mission' for the blocking counterpart.
+
+**Parameters**
+
+* const [DownloadMissionCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a016633e6338744da02ac7cb6da28880a) **callback** - 
+
+### download_mission() {#classmavsdk_1_1_mission_raw_1a2cc470785c486d1b7fdaaa2e3fbff809}
+```cpp
+std::pair<Result, std::vector<MissionRaw::MissionItem> > mavsdk::MissionRaw::download_mission() const
+```
+
+
+Download a list of raw mission items from the system (asynchronous).
+
+This function is blocking. See 'download_mission_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf), std::vector< [MissionRaw::MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > > - Result of request.
+
+### cancel_mission_download() {#classmavsdk_1_1_mission_raw_1a7c554999ca66c5434ef1fa334d949e5a}
+```cpp
+Result mavsdk::MissionRaw::cancel_mission_download() const
+```
+
+
+Cancel an ongoing mission download.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) - Result of request.
+
+### start_mission_async() {#classmavsdk_1_1_mission_raw_1acca64e0a08978f5721be8fa955b1bb0f}
+```cpp
+void mavsdk::MissionRaw::start_mission_async(const ResultCallback callback)
+```
+
+
+Start the mission.
+
+A mission must be uploaded to the vehicle before this can be called.
+
+
+This function is non-blocking. See 'start_mission' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) **callback** - 
+
+### start_mission() {#classmavsdk_1_1_mission_raw_1af1b010b0f28b284a94eba88198ee15f8}
+```cpp
+Result mavsdk::MissionRaw::start_mission() const
+```
+
+
+Start the mission.
+
+A mission must be uploaded to the vehicle before this can be called.
+
+
+This function is blocking. See 'start_mission_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) - Result of request.
+
+### pause_mission_async() {#classmavsdk_1_1_mission_raw_1aae0eedbe4216266eb6e2115cd03c61a1}
+```cpp
+void mavsdk::MissionRaw::pause_mission_async(const ResultCallback callback)
+```
+
+
+Pause the mission.
+
+Pausing the mission puts the vehicle into [HOLD mode](https://docs.px4.io/en/flight_modes/hold.html). A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.
+
+
+This function is non-blocking. See 'pause_mission' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) **callback** - 
+
+### pause_mission() {#classmavsdk_1_1_mission_raw_1abda483b0659a6c0397c588341688bb39}
+```cpp
+Result mavsdk::MissionRaw::pause_mission() const
+```
+
+
+Pause the mission.
+
+Pausing the mission puts the vehicle into [HOLD mode](https://docs.px4.io/en/flight_modes/hold.html). A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.
+
+
+This function is blocking. See 'pause_mission_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) - Result of request.
+
+### clear_mission_async() {#classmavsdk_1_1_mission_raw_1acf6bf293facbd45fa1126e52e99248a2}
+```cpp
+void mavsdk::MissionRaw::clear_mission_async(const ResultCallback callback)
+```
+
+
+Clear the mission saved on the vehicle.
+
+This function is non-blocking. See 'clear_mission' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) **callback** - 
+
+### clear_mission() {#classmavsdk_1_1_mission_raw_1ab10f8fcaa0f6d3e0f844b7430d8d14c2}
+```cpp
+Result mavsdk::MissionRaw::clear_mission() const
+```
+
+
+Clear the mission saved on the vehicle.
+
+This function is blocking. See 'clear_mission_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) - Result of request.
+
+### set_current_mission_item_async() {#classmavsdk_1_1_mission_raw_1a5540d6ca691d60ef19b66e303bae7f87}
+```cpp
+void mavsdk::MissionRaw::set_current_mission_item_async(int32_t index, const ResultCallback callback)
+```
+
+
+Sets the raw mission item index to go to.
+
+By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a raw mission item, the mission will be set to this item.
+
+
+This function is non-blocking. See 'set_current_mission_item' for the blocking counterpart.
+
+**Parameters**
+
+* int32_t **index** - 
+* const [ResultCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a1a36a84f17dca07e1da49c13abbc9564) **callback** - 
+
+### set_current_mission_item() {#classmavsdk_1_1_mission_raw_1ada9aa2abf79ebfc8e1d10de8e85e91ae}
+```cpp
+Result mavsdk::MissionRaw::set_current_mission_item(int32_t index) const
+```
+
+
+Sets the raw mission item index to go to.
+
+By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a raw mission item, the mission will be set to this item.
+
+
+This function is blocking. See 'set_current_mission_item_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* int32_t **index** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf) - Result of request.
+
+### subscribe_mission_progress() {#classmavsdk_1_1_mission_raw_1a88a3c4b26418e734a547f251706988d2}
+```cpp
+MissionProgressHandle mavsdk::MissionRaw::subscribe_mission_progress(const MissionProgressCallback &callback)
+```
+
+
+Subscribe to mission progress updates.
+
+
+**Parameters**
+
+* const [MissionProgressCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a9dd594878925da494b4add6acc3184fc)& **callback** - 
+
+**Returns**
+
+&emsp;[MissionProgressHandle](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a34e0eaf9922daa5d27d2b044eae7885c) - 
+
+### unsubscribe_mission_progress() {#classmavsdk_1_1_mission_raw_1ac46f08b52706f45956cf3b01df381835}
+```cpp
+void mavsdk::MissionRaw::unsubscribe_mission_progress(MissionProgressHandle handle)
+```
+
+
+Unsubscribe from subscribe_mission_progress.
+
+
+**Parameters**
+
+* [MissionProgressHandle](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a34e0eaf9922daa5d27d2b044eae7885c) **handle** - 
+
+### mission_progress() {#classmavsdk_1_1_mission_raw_1a3200dea1094926a4dd54f079f21b94e1}
+```cpp
+MissionProgress mavsdk::MissionRaw::mission_progress() const
+```
+
+
+Poll for '[MissionProgress](structmavsdk_1_1_mission_raw_1_1_mission_progress.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[MissionProgress](structmavsdk_1_1_mission_raw_1_1_mission_progress.md) - One [MissionProgress](structmavsdk_1_1_mission_raw_1_1_mission_progress.md) update.
+
+### subscribe_mission_changed() {#classmavsdk_1_1_mission_raw_1ad4a2991e1a8f9423270af4220309edfb}
+```cpp
+MissionChangedHandle mavsdk::MissionRaw::subscribe_mission_changed(const MissionChangedCallback &callback)
+```
+
+
+<ul>
+<li><p>Subscribes to mission changed. </p>
+</li>
+</ul>
+
+This notification can be used to be informed if a ground station has been uploaded or changed by a ground station or companion computer.
+
+**Parameters**
+
+* const [MissionChangedCallback](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1ac22d81eefc5e883cdb6baf792a7487e6)& **callback** - Callback to notify about change.
+
+**Returns**
+
+&emsp;[MissionChangedHandle](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a46da6d8a53822fd5fbd7b2a414624c5c) - 
+
+### unsubscribe_mission_changed() {#classmavsdk_1_1_mission_raw_1ac6cd7602b2e5b46ad0ea1cf8bf602a0c}
+```cpp
+void mavsdk::MissionRaw::unsubscribe_mission_changed(MissionChangedHandle handle)
+```
+
+
+Unsubscribe from subscribe_mission_changed.
+
+
+**Parameters**
+
+* [MissionChangedHandle](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a46da6d8a53822fd5fbd7b2a414624c5c) **handle** - 
+
+### import_qgroundcontrol_mission() {#classmavsdk_1_1_mission_raw_1a43345b21cf9dedf594f62ec7ad963ce8}
+```cpp
+std::pair<Result, MissionRaw::MissionImportData> mavsdk::MissionRaw::import_qgroundcontrol_mission(std::string qgc_plan_path) const
+```
+
+
+Import a QGroundControl missions in JSON .plan format, from a file.
+
+Supported:
+<ul>
+<li><p>Waypoints</p>
+</li>
+<li><p>Survey Not supported:</p>
+</li>
+<li><p>Structure Scan</p>
+</li>
+</ul>
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **qgc_plan_path** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf), [MissionRaw::MissionImportData](structmavsdk_1_1_mission_raw_1_1_mission_import_data.md) > - Result of request.
+
+### import_qgroundcontrol_mission_from_string() {#classmavsdk_1_1_mission_raw_1ab0a0d18b65beced6112b2f27556fae37}
+```cpp
+std::pair<Result, MissionRaw::MissionImportData> mavsdk::MissionRaw::import_qgroundcontrol_mission_from_string(std::string qgc_plan) const
+```
+
+
+Import a QGroundControl missions in JSON .plan format, from a string.
+
+Supported:
+<ul>
+<li><p>Waypoints</p>
+</li>
+<li><p>Survey Not supported:</p>
+</li>
+<li><p>Structure Scan</p>
+</li>
+</ul>
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **qgc_plan** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_mission_raw.md#classmavsdk_1_1_mission_raw_1a7ea2a624818ebb5a3e209cc275d58eaf), [MissionRaw::MissionImportData](structmavsdk_1_1_mission_raw_1_1_mission_import_data.md) > - Result of request.
+
+### operator=() {#classmavsdk_1_1_mission_raw_1a0cfdf21bad5478c91cf18207b6a21ad3}
+```cpp
+const MissionRaw& mavsdk::MissionRaw::operator=(const MissionRaw &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [MissionRaw](classmavsdk_1_1_mission_raw.md)&  - 
+
+**Returns**
+
+&emsp;const [MissionRaw](classmavsdk_1_1_mission_raw.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_mission_raw_server.md b/docs/en/cpp/api_reference/classmavsdk_1_1_mission_raw_server.md
new file mode 100644
index 0000000000..0630db869c
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_mission_raw_server.md
@@ -0,0 +1,352 @@
+# mavsdk::MissionRawServer Class Reference
+`#include: mission_raw_server.h`
+
+----
+
+
+Acts as a vehicle and receives incoming missions from GCS (in raw MAVLINK format). Provides current mission item state, so the server can progress through missions. 
+
+
+## Data Structures
+
+
+struct [MissionItem](structmavsdk_1_1_mission_raw_server_1_1_mission_item.md)
+
+struct [MissionPlan](structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md)
+
+struct [MissionProgress](structmavsdk_1_1_mission_raw_server_1_1_mission_progress.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bd) | Possible results returned for action requests.
+std::function< void([Result](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bd))> [ResultCallback](#classmavsdk_1_1_mission_raw_server_1a3bddb8adba3f8576ae102639601e576f) | Callback type for asynchronous [MissionRawServer](classmavsdk_1_1_mission_raw_server.md) calls.
+std::function< void([Result](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bd), [MissionPlan](structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md))> [IncomingMissionCallback](#classmavsdk_1_1_mission_raw_server_1ac8bb83c581ff08945314e51973728693) | Callback type for subscribe_incoming_mission.
+[Handle](classmavsdk_1_1_handle.md)< [Result](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bd), [MissionPlan](structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md) > [IncomingMissionHandle](#classmavsdk_1_1_mission_raw_server_1a71173397d112f738fd05014ccc0952ff) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_incoming_mission.
+std::function< void([MissionItem](structmavsdk_1_1_mission_raw_server_1_1_mission_item.md))> [CurrentItemChangedCallback](#classmavsdk_1_1_mission_raw_server_1aca7ac64b6e39e612d05ff6497cd572b1) | Callback type for subscribe_current_item_changed.
+[Handle](classmavsdk_1_1_handle.md)< [MissionItem](structmavsdk_1_1_mission_raw_server_1_1_mission_item.md) > [CurrentItemChangedHandle](#classmavsdk_1_1_mission_raw_server_1a490cab4b8b06fd5d6eb8e759427f5b47) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_current_item_changed.
+std::function< void(uint32_t)> [ClearAllCallback](#classmavsdk_1_1_mission_raw_server_1ae9d7d9d863d1552274440d091e2ec869) | Callback type for subscribe_clear_all.
+[Handle](classmavsdk_1_1_handle.md)< uint32_t > [ClearAllHandle](#classmavsdk_1_1_mission_raw_server_1a59022e22386a18e9d51f88e6ed3cf120) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_clear_all.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [MissionRawServer](#classmavsdk_1_1_mission_raw_server_1a8a899f742cf7b52c27185cee5e5b29e8) (std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > server_component) | Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+&nbsp; | [~MissionRawServer](#classmavsdk_1_1_mission_raw_server_1a7e14a210c0e7ac4b19633cf8dbd4bbec) () override | Destructor (internal use only).
+&nbsp; | [MissionRawServer](#classmavsdk_1_1_mission_raw_server_1a14b11b78ba44bdda6fb718ed13e1ab77) (const [MissionRawServer](classmavsdk_1_1_mission_raw_server.md) & other) | Copy constructor.
+[IncomingMissionHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a71173397d112f738fd05014ccc0952ff) | [subscribe_incoming_mission](#classmavsdk_1_1_mission_raw_server_1aede616f945d7c59d2da6afad830f377b) (const [IncomingMissionCallback](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1ac8bb83c581ff08945314e51973728693) & callback) | Subscribe to when a new mission is uploaded (asynchronous).
+void | [unsubscribe_incoming_mission](#classmavsdk_1_1_mission_raw_server_1a93107d6ee73d03edc0050401c5a5f169) ([IncomingMissionHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a71173397d112f738fd05014ccc0952ff) handle) | Unsubscribe from subscribe_incoming_mission.
+[MissionPlan](structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md) | [incoming_mission](#classmavsdk_1_1_mission_raw_server_1ae7c20d621170e5454953513526241577) () const | Poll for '[MissionPlan](structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md)' (blocking).
+[CurrentItemChangedHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a490cab4b8b06fd5d6eb8e759427f5b47) | [subscribe_current_item_changed](#classmavsdk_1_1_mission_raw_server_1a287af1e5ca18de2e84345b4f5f8fa386) (const [CurrentItemChangedCallback](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1aca7ac64b6e39e612d05ff6497cd572b1) & callback) | Subscribe to when a new current item is set.
+void | [unsubscribe_current_item_changed](#classmavsdk_1_1_mission_raw_server_1a8c693a86be890f78a5a10cee9a36dc6c) ([CurrentItemChangedHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a490cab4b8b06fd5d6eb8e759427f5b47) handle) | Unsubscribe from subscribe_current_item_changed.
+[MissionItem](structmavsdk_1_1_mission_raw_server_1_1_mission_item.md) | [current_item_changed](#classmavsdk_1_1_mission_raw_server_1af2bbab99a8a2e1dd1dfebceb439f2ad1) () const | Poll for '[MissionItem](structmavsdk_1_1_mission_raw_server_1_1_mission_item.md)' (blocking).
+void | [set_current_item_complete](#classmavsdk_1_1_mission_raw_server_1a496791a14c2bdc1e9917f5d04622330a) () const | Set Current item as completed.
+[ClearAllHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a59022e22386a18e9d51f88e6ed3cf120) | [subscribe_clear_all](#classmavsdk_1_1_mission_raw_server_1a9b08ba6c1607618e67fd1ec723883415) (const [ClearAllCallback](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1ae9d7d9d863d1552274440d091e2ec869) & callback) | Subscribe when a MISSION_CLEAR_ALL is received.
+void | [unsubscribe_clear_all](#classmavsdk_1_1_mission_raw_server_1af337c8126b52d78436605a3b2e558397) ([ClearAllHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a59022e22386a18e9d51f88e6ed3cf120) handle) | Unsubscribe from subscribe_clear_all.
+uint32_t | [clear_all](#classmavsdk_1_1_mission_raw_server_1a307e0f39d704ae9aeb227a27092bf435) () const | Poll for 'uint32_t' (blocking).
+const [MissionRawServer](classmavsdk_1_1_mission_raw_server.md) & | [operator=](#classmavsdk_1_1_mission_raw_server_1aad0690db8cec599b271d4f62e8ecd975) (const [MissionRawServer](classmavsdk_1_1_mission_raw_server.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### MissionRawServer() {#classmavsdk_1_1_mission_raw_server_1a8a899f742cf7b52c27185cee5e5b29e8}
+```cpp
+mavsdk::MissionRawServer::MissionRawServer(std::shared_ptr< ServerComponent > server_component)
+```
+
+
+Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto mission_raw_server = MissionRawServer(server_component);
+```
+
+**Parameters**
+
+* std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > **server_component** - The [ServerComponent](classmavsdk_1_1_server_component.md) instance associated with this server plugin.
+
+### ~MissionRawServer() {#classmavsdk_1_1_mission_raw_server_1a7e14a210c0e7ac4b19633cf8dbd4bbec}
+```cpp
+mavsdk::MissionRawServer::~MissionRawServer() override
+```
+
+
+Destructor (internal use only).
+
+
+### MissionRawServer() {#classmavsdk_1_1_mission_raw_server_1a14b11b78ba44bdda6fb718ed13e1ab77}
+```cpp
+mavsdk::MissionRawServer::MissionRawServer(const MissionRawServer &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [MissionRawServer](classmavsdk_1_1_mission_raw_server.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_mission_raw_server_1a3bddb8adba3f8576ae102639601e576f}
+
+```cpp
+using mavsdk::MissionRawServer::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [MissionRawServer](classmavsdk_1_1_mission_raw_server.md) calls.
+
+
+### typedef IncomingMissionCallback {#classmavsdk_1_1_mission_raw_server_1ac8bb83c581ff08945314e51973728693}
+
+```cpp
+using mavsdk::MissionRawServer::IncomingMissionCallback =  std::function<void(Result, MissionPlan)>
+```
+
+
+Callback type for subscribe_incoming_mission.
+
+
+### typedef IncomingMissionHandle {#classmavsdk_1_1_mission_raw_server_1a71173397d112f738fd05014ccc0952ff}
+
+```cpp
+using mavsdk::MissionRawServer::IncomingMissionHandle =  Handle<Result, MissionPlan>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_incoming_mission.
+
+
+### typedef CurrentItemChangedCallback {#classmavsdk_1_1_mission_raw_server_1aca7ac64b6e39e612d05ff6497cd572b1}
+
+```cpp
+using mavsdk::MissionRawServer::CurrentItemChangedCallback =  std::function<void(MissionItem)>
+```
+
+
+Callback type for subscribe_current_item_changed.
+
+
+### typedef CurrentItemChangedHandle {#classmavsdk_1_1_mission_raw_server_1a490cab4b8b06fd5d6eb8e759427f5b47}
+
+```cpp
+using mavsdk::MissionRawServer::CurrentItemChangedHandle =  Handle<MissionItem>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_current_item_changed.
+
+
+### typedef ClearAllCallback {#classmavsdk_1_1_mission_raw_server_1ae9d7d9d863d1552274440d091e2ec869}
+
+```cpp
+using mavsdk::MissionRawServer::ClearAllCallback =  std::function<void(uint32_t)>
+```
+
+
+Callback type for subscribe_clear_all.
+
+
+### typedef ClearAllHandle {#classmavsdk_1_1_mission_raw_server_1a59022e22386a18e9d51f88e6ed3cf120}
+
+```cpp
+using mavsdk::MissionRawServer::ClearAllHandle =  Handle<uint32_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_clear_all.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bd}
+
+
+Possible results returned for action requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bda88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bda505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bda902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | Error. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bdaecc3de82f27e8e7f65807c69a114efbe"></span> `TooManyMissionItems` | Too many mission items in the mission. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bdad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bdac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bda253ca7dd096ee0956cccee4d376cab8b"></span> `InvalidArgument` | Invalid argument. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bdab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | [Mission](classmavsdk_1_1_mission.md) downloaded from the system is not supported. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bda6b0ce476dfc17eed72967386f52ede78"></span> `NoMissionAvailable` | No mission available on the system. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bdaefcaef698baace312f79a53019bd9cf4"></span> `UnsupportedMissionCmd` | Unsupported mission command. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bda3465fd31285ebd60597cf59bff9db01a"></span> `TransferCancelled` | [Mission](classmavsdk_1_1_mission.md) transfer (upload or download) has been cancelled. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bda1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+<span id="classmavsdk_1_1_mission_raw_server_1a14f2cae8b098b7221d8aae547b70f7bda10ac3d04253ef7e1ddc73e6091c0cd55"></span> `Next` | Intermediate message showing progress or instructions on the next steps. 
+
+## Member Function Documentation
+
+
+### subscribe_incoming_mission() {#classmavsdk_1_1_mission_raw_server_1aede616f945d7c59d2da6afad830f377b}
+```cpp
+IncomingMissionHandle mavsdk::MissionRawServer::subscribe_incoming_mission(const IncomingMissionCallback &callback)
+```
+
+
+Subscribe to when a new mission is uploaded (asynchronous).
+
+
+**Parameters**
+
+* const [IncomingMissionCallback](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1ac8bb83c581ff08945314e51973728693)& **callback** - 
+
+**Returns**
+
+&emsp;[IncomingMissionHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a71173397d112f738fd05014ccc0952ff) - 
+
+### unsubscribe_incoming_mission() {#classmavsdk_1_1_mission_raw_server_1a93107d6ee73d03edc0050401c5a5f169}
+```cpp
+void mavsdk::MissionRawServer::unsubscribe_incoming_mission(IncomingMissionHandle handle)
+```
+
+
+Unsubscribe from subscribe_incoming_mission.
+
+
+**Parameters**
+
+* [IncomingMissionHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a71173397d112f738fd05014ccc0952ff) **handle** - 
+
+### incoming_mission() {#classmavsdk_1_1_mission_raw_server_1ae7c20d621170e5454953513526241577}
+```cpp
+MissionPlan mavsdk::MissionRawServer::incoming_mission() const
+```
+
+
+Poll for '[MissionPlan](structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[MissionPlan](structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md) - One [MissionPlan](structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md) update.
+
+### subscribe_current_item_changed() {#classmavsdk_1_1_mission_raw_server_1a287af1e5ca18de2e84345b4f5f8fa386}
+```cpp
+CurrentItemChangedHandle mavsdk::MissionRawServer::subscribe_current_item_changed(const CurrentItemChangedCallback &callback)
+```
+
+
+Subscribe to when a new current item is set.
+
+
+**Parameters**
+
+* const [CurrentItemChangedCallback](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1aca7ac64b6e39e612d05ff6497cd572b1)& **callback** - 
+
+**Returns**
+
+&emsp;[CurrentItemChangedHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a490cab4b8b06fd5d6eb8e759427f5b47) - 
+
+### unsubscribe_current_item_changed() {#classmavsdk_1_1_mission_raw_server_1a8c693a86be890f78a5a10cee9a36dc6c}
+```cpp
+void mavsdk::MissionRawServer::unsubscribe_current_item_changed(CurrentItemChangedHandle handle)
+```
+
+
+Unsubscribe from subscribe_current_item_changed.
+
+
+**Parameters**
+
+* [CurrentItemChangedHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a490cab4b8b06fd5d6eb8e759427f5b47) **handle** - 
+
+### current_item_changed() {#classmavsdk_1_1_mission_raw_server_1af2bbab99a8a2e1dd1dfebceb439f2ad1}
+```cpp
+MissionItem mavsdk::MissionRawServer::current_item_changed() const
+```
+
+
+Poll for '[MissionItem](structmavsdk_1_1_mission_raw_server_1_1_mission_item.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[MissionItem](structmavsdk_1_1_mission_raw_server_1_1_mission_item.md) - One [MissionItem](structmavsdk_1_1_mission_raw_server_1_1_mission_item.md) update.
+
+### set_current_item_complete() {#classmavsdk_1_1_mission_raw_server_1a496791a14c2bdc1e9917f5d04622330a}
+```cpp
+void mavsdk::MissionRawServer::set_current_item_complete() const
+```
+
+
+Set Current item as completed.
+
+This function is blocking.
+
+### subscribe_clear_all() {#classmavsdk_1_1_mission_raw_server_1a9b08ba6c1607618e67fd1ec723883415}
+```cpp
+ClearAllHandle mavsdk::MissionRawServer::subscribe_clear_all(const ClearAllCallback &callback)
+```
+
+
+Subscribe when a MISSION_CLEAR_ALL is received.
+
+
+**Parameters**
+
+* const [ClearAllCallback](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1ae9d7d9d863d1552274440d091e2ec869)& **callback** - 
+
+**Returns**
+
+&emsp;[ClearAllHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a59022e22386a18e9d51f88e6ed3cf120) - 
+
+### unsubscribe_clear_all() {#classmavsdk_1_1_mission_raw_server_1af337c8126b52d78436605a3b2e558397}
+```cpp
+void mavsdk::MissionRawServer::unsubscribe_clear_all(ClearAllHandle handle)
+```
+
+
+Unsubscribe from subscribe_clear_all.
+
+
+**Parameters**
+
+* [ClearAllHandle](classmavsdk_1_1_mission_raw_server.md#classmavsdk_1_1_mission_raw_server_1a59022e22386a18e9d51f88e6ed3cf120) **handle** - 
+
+### clear_all() {#classmavsdk_1_1_mission_raw_server_1a307e0f39d704ae9aeb227a27092bf435}
+```cpp
+uint32_t mavsdk::MissionRawServer::clear_all() const
+```
+
+
+Poll for 'uint32_t' (blocking).
+
+
+**Returns**
+
+&emsp;uint32_t - One uint32_t update.
+
+### operator=() {#classmavsdk_1_1_mission_raw_server_1aad0690db8cec599b271d4f62e8ecd975}
+```cpp
+const MissionRawServer& mavsdk::MissionRawServer::operator=(const MissionRawServer &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [MissionRawServer](classmavsdk_1_1_mission_raw_server.md)&  - 
+
+**Returns**
+
+&emsp;const [MissionRawServer](classmavsdk_1_1_mission_raw_server.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_mocap.md b/docs/en/cpp/api_reference/classmavsdk_1_1_mocap.md
new file mode 100644
index 0000000000..4861cb401c
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_mocap.md
@@ -0,0 +1,221 @@
+# mavsdk::Mocap Class Reference
+`#include: mocap.h`
+
+----
+
+
+<ul>
+<li><p>Allows interfacing a vehicle with a motion capture system in order to allow navigation without global positioning sources available (e.g. indoors, or when flying under a bridge. etc.). </p>
+</li>
+</ul>
+
+
+## Data Structures
+
+
+struct [AngleBody](structmavsdk_1_1_mocap_1_1_angle_body.md)
+
+struct [AngularVelocityBody](structmavsdk_1_1_mocap_1_1_angular_velocity_body.md)
+
+struct [AttitudePositionMocap](structmavsdk_1_1_mocap_1_1_attitude_position_mocap.md)
+
+struct [Covariance](structmavsdk_1_1_mocap_1_1_covariance.md)
+
+struct [Odometry](structmavsdk_1_1_mocap_1_1_odometry.md)
+
+struct [PositionBody](structmavsdk_1_1_mocap_1_1_position_body.md)
+
+struct [Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md)
+
+struct [SpeedBody](structmavsdk_1_1_mocap_1_1_speed_body.md)
+
+struct [VisionPositionEstimate](structmavsdk_1_1_mocap_1_1_vision_position_estimate.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5) | Possible results returned for mocap requests.
+std::function< void([Result](classmavsdk_1_1_mocap.md#classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5))> [ResultCallback](#classmavsdk_1_1_mocap_1a7743939450a5e816dc9e7de237ec3934) | Callback type for asynchronous [Mocap](classmavsdk_1_1_mocap.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Mocap](#classmavsdk_1_1_mocap_1a993147a5f0ae4c8a4ddf8be4258690cc) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Mocap](#classmavsdk_1_1_mocap_1a981aaa6a7e313376b88557013649de65) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Mocap](#classmavsdk_1_1_mocap_1ad78b5299367dc1db3236d0b674816e22) () override | Destructor (internal use only).
+&nbsp; | [Mocap](#classmavsdk_1_1_mocap_1a0c2242e86da34ecd94c0a40dcec4858f) (const [Mocap](classmavsdk_1_1_mocap.md) & other) | Copy constructor.
+[Result](classmavsdk_1_1_mocap.md#classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5) | [set_vision_position_estimate](#classmavsdk_1_1_mocap_1a22d007409839e28a45d7b10f10e22fd6) ([VisionPositionEstimate](structmavsdk_1_1_mocap_1_1_vision_position_estimate.md) vision_position_estimate)const | Send Global position/attitude estimate from a vision source.
+[Result](classmavsdk_1_1_mocap.md#classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5) | [set_attitude_position_mocap](#classmavsdk_1_1_mocap_1a5f9a63d8bbed750056e139640b38cd7f) ([AttitudePositionMocap](structmavsdk_1_1_mocap_1_1_attitude_position_mocap.md) attitude_position_mocap)const | Send motion capture attitude and position.
+[Result](classmavsdk_1_1_mocap.md#classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5) | [set_odometry](#classmavsdk_1_1_mocap_1a149fa242e0b01bc0aee9204118b00f59) ([Odometry](structmavsdk_1_1_mocap_1_1_odometry.md) odometry)const | Send odometry information with an external interface.
+const [Mocap](classmavsdk_1_1_mocap.md) & | [operator=](#classmavsdk_1_1_mocap_1adf2f33e3befbec23f43e066946050eab) (const [Mocap](classmavsdk_1_1_mocap.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Mocap() {#classmavsdk_1_1_mocap_1a993147a5f0ae4c8a4ddf8be4258690cc}
+```cpp
+mavsdk::Mocap::Mocap(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto mocap = Mocap(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Mocap() {#classmavsdk_1_1_mocap_1a981aaa6a7e313376b88557013649de65}
+```cpp
+mavsdk::Mocap::Mocap(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto mocap = Mocap(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Mocap() {#classmavsdk_1_1_mocap_1ad78b5299367dc1db3236d0b674816e22}
+```cpp
+mavsdk::Mocap::~Mocap() override
+```
+
+
+Destructor (internal use only).
+
+
+### Mocap() {#classmavsdk_1_1_mocap_1a0c2242e86da34ecd94c0a40dcec4858f}
+```cpp
+mavsdk::Mocap::Mocap(const Mocap &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Mocap](classmavsdk_1_1_mocap.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_mocap_1a7743939450a5e816dc9e7de237ec3934}
+
+```cpp
+using mavsdk::Mocap::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Mocap](classmavsdk_1_1_mocap.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5}
+
+
+Possible results returned for mocap requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown error. 
+<span id="classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5aa7bcc6c4cca7f1edddd6823f37a6b3b6"></span> `InvalidRequestData` | Invalid request data. 
+<span id="classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5ab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | Function unsupported. 
+
+## Member Function Documentation
+
+
+### set_vision_position_estimate() {#classmavsdk_1_1_mocap_1a22d007409839e28a45d7b10f10e22fd6}
+```cpp
+Result mavsdk::Mocap::set_vision_position_estimate(VisionPositionEstimate vision_position_estimate) const
+```
+
+
+Send Global position/attitude estimate from a vision source.
+
+This function is blocking.
+
+**Parameters**
+
+* [VisionPositionEstimate](structmavsdk_1_1_mocap_1_1_vision_position_estimate.md) **vision_position_estimate** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mocap.md#classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5) - Result of request.
+
+### set_attitude_position_mocap() {#classmavsdk_1_1_mocap_1a5f9a63d8bbed750056e139640b38cd7f}
+```cpp
+Result mavsdk::Mocap::set_attitude_position_mocap(AttitudePositionMocap attitude_position_mocap) const
+```
+
+
+Send motion capture attitude and position.
+
+This function is blocking.
+
+**Parameters**
+
+* [AttitudePositionMocap](structmavsdk_1_1_mocap_1_1_attitude_position_mocap.md) **attitude_position_mocap** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mocap.md#classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5) - Result of request.
+
+### set_odometry() {#classmavsdk_1_1_mocap_1a149fa242e0b01bc0aee9204118b00f59}
+```cpp
+Result mavsdk::Mocap::set_odometry(Odometry odometry) const
+```
+
+
+Send odometry information with an external interface.
+
+This function is blocking.
+
+**Parameters**
+
+* [Odometry](structmavsdk_1_1_mocap_1_1_odometry.md) **odometry** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_mocap.md#classmavsdk_1_1_mocap_1a3af8c27b8ad9a4567feb1045e82884d5) - Result of request.
+
+### operator=() {#classmavsdk_1_1_mocap_1adf2f33e3befbec23f43e066946050eab}
+```cpp
+const Mocap& mavsdk::Mocap::operator=(const Mocap &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Mocap](classmavsdk_1_1_mocap.md)&  - 
+
+**Returns**
+
+&emsp;const [Mocap](classmavsdk_1_1_mocap.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_offboard.md b/docs/en/cpp/api_reference/classmavsdk_1_1_offboard.md
new file mode 100644
index 0000000000..935fdcfdbd
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_offboard.md
@@ -0,0 +1,453 @@
+# mavsdk::Offboard Class Reference
+`#include: offboard.h`
+
+----
+
+
+<ul>
+<li><p>Control a drone with position, velocity, attitude or motor commands. </p>
+</li>
+</ul>
+
+
+The module is called offboard because the commands can be sent from external sources as opposed to onboard control right inside the autopilot "board".
+
+
+Client code must specify a setpoint before starting offboard mode. [Mavsdk](classmavsdk_1_1_mavsdk.md) automatically sends setpoints at 20Hz (PX4 [Offboard](classmavsdk_1_1_offboard.md) mode requires that setpoints are minimally sent at 2Hz). 
+
+
+## Data Structures
+
+
+struct [AccelerationNed](structmavsdk_1_1_offboard_1_1_acceleration_ned.md)
+
+struct [ActuatorControl](structmavsdk_1_1_offboard_1_1_actuator_control.md)
+
+struct [ActuatorControlGroup](structmavsdk_1_1_offboard_1_1_actuator_control_group.md)
+
+struct [Attitude](structmavsdk_1_1_offboard_1_1_attitude.md)
+
+struct [AttitudeRate](structmavsdk_1_1_offboard_1_1_attitude_rate.md)
+
+struct [PositionGlobalYaw](structmavsdk_1_1_offboard_1_1_position_global_yaw.md)
+
+struct [PositionNedYaw](structmavsdk_1_1_offboard_1_1_position_ned_yaw.md)
+
+struct [VelocityBodyYawspeed](structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed.md)
+
+struct [VelocityNedYaw](structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | Possible results returned for offboard requests.
+std::function< void([Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9))> [ResultCallback](#classmavsdk_1_1_offboard_1a16d95f55251e9f992261d46da89ef8b9) | Callback type for asynchronous [Offboard](classmavsdk_1_1_offboard.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Offboard](#classmavsdk_1_1_offboard_1aedb8ed185acabd2caa3b536f51b68dcb) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Offboard](#classmavsdk_1_1_offboard_1a9e11ce3a850ceb9a6c047288b5bc3b84) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Offboard](#classmavsdk_1_1_offboard_1a1cdbf816ec02e63681eeee3ef6f5c41a) () override | Destructor (internal use only).
+&nbsp; | [Offboard](#classmavsdk_1_1_offboard_1ab3674a3889b978e7a52626d5de6a6fa0) (const [Offboard](classmavsdk_1_1_offboard.md) & other) | Copy constructor.
+void | [start_async](#classmavsdk_1_1_offboard_1a0c880ad3f663142e194dd6f187cfc934) (const [ResultCallback](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a16d95f55251e9f992261d46da89ef8b9) callback) | Start offboard control.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [start](#classmavsdk_1_1_offboard_1ab71d0dd2a81f76e3a0330b0304daa30b) () const | Start offboard control.
+void | [stop_async](#classmavsdk_1_1_offboard_1a86c163d7fa1217b4e82a03daf52065c3) (const [ResultCallback](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a16d95f55251e9f992261d46da89ef8b9) callback) | Stop offboard control.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [stop](#classmavsdk_1_1_offboard_1a626810cbfa02b36019dde2d2fd4c3da9) () const | Stop offboard control.
+bool | [is_active](#classmavsdk_1_1_offboard_1aa5e0f3c02a03f2667f82d5e162221ff5) () const | Check if offboard control is active.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [set_attitude](#classmavsdk_1_1_offboard_1af6f0d3991bb6b62f39d862c46fcffb34) ([Attitude](structmavsdk_1_1_offboard_1_1_attitude.md) attitude)const | Set the attitude in terms of roll, pitch and yaw in degrees with thrust.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [set_actuator_control](#classmavsdk_1_1_offboard_1a619ee02a1f73041a5cae6a5c72169b96) ([ActuatorControl](structmavsdk_1_1_offboard_1_1_actuator_control.md) actuator_control)const | Set direct actuator control values to groups #0 and #1.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [set_attitude_rate](#classmavsdk_1_1_offboard_1a034a98a0e7a5a7a0fac507adabf6ecf8) ([AttitudeRate](structmavsdk_1_1_offboard_1_1_attitude_rate.md) attitude_rate)const | Set the attitude rate in terms of pitch, roll and yaw angular rate along with thrust.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [set_position_ned](#classmavsdk_1_1_offboard_1ade7dcec93ebee17de60687a75184b8b6) ([PositionNedYaw](structmavsdk_1_1_offboard_1_1_position_ned_yaw.md) position_ned_yaw)const | Set the position in NED coordinates and yaw.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [set_position_global](#classmavsdk_1_1_offboard_1a97b2bd8f516e267e5b28373f369ff8d3) ([PositionGlobalYaw](structmavsdk_1_1_offboard_1_1_position_global_yaw.md) position_global_yaw)const | Set the position in Global coordinates (latitude, longitude, altitude) and yaw.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [set_velocity_body](#classmavsdk_1_1_offboard_1abe7364f0a48dda4df34c5c67d177cfb4) ([VelocityBodyYawspeed](structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed.md) velocity_body_yawspeed)const | Set the velocity in body coordinates and yaw angular rate. Not available for fixed-wing aircraft.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [set_velocity_ned](#classmavsdk_1_1_offboard_1a4edbc6e4528ff955d4e46e7c4e711732) ([VelocityNedYaw](structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md) velocity_ned_yaw)const | Set the velocity in NED coordinates and yaw. Not available for fixed-wing aircraft.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [set_position_velocity_ned](#classmavsdk_1_1_offboard_1ae422165680b434eed74e84cc901e3a33) ([PositionNedYaw](structmavsdk_1_1_offboard_1_1_position_ned_yaw.md) position_ned_yaw, [VelocityNedYaw](structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md) velocity_ned_yaw)const | Set the position in NED coordinates, with the velocity to be used as feed-forward.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [set_position_velocity_acceleration_ned](#classmavsdk_1_1_offboard_1a845aab746fc078d1ee2848df33c04eb9) ([PositionNedYaw](structmavsdk_1_1_offboard_1_1_position_ned_yaw.md) position_ned_yaw, [VelocityNedYaw](structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md) velocity_ned_yaw, [AccelerationNed](structmavsdk_1_1_offboard_1_1_acceleration_ned.md) acceleration_ned)const | Set the position, velocity and acceleration in NED coordinates, with velocity and acceleration used as feed-forward.
+[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) | [set_acceleration_ned](#classmavsdk_1_1_offboard_1ac0d471609df13c79a37e0e352be71d03) ([AccelerationNed](structmavsdk_1_1_offboard_1_1_acceleration_ned.md) acceleration_ned)const | Set the acceleration in NED coordinates.
+const [Offboard](classmavsdk_1_1_offboard.md) & | [operator=](#classmavsdk_1_1_offboard_1acb01657624668251c0a022bc3f8135cd) (const [Offboard](classmavsdk_1_1_offboard.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Offboard() {#classmavsdk_1_1_offboard_1aedb8ed185acabd2caa3b536f51b68dcb}
+```cpp
+mavsdk::Offboard::Offboard(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto offboard = Offboard(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Offboard() {#classmavsdk_1_1_offboard_1a9e11ce3a850ceb9a6c047288b5bc3b84}
+```cpp
+mavsdk::Offboard::Offboard(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto offboard = Offboard(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Offboard() {#classmavsdk_1_1_offboard_1a1cdbf816ec02e63681eeee3ef6f5c41a}
+```cpp
+mavsdk::Offboard::~Offboard() override
+```
+
+
+Destructor (internal use only).
+
+
+### Offboard() {#classmavsdk_1_1_offboard_1ab3674a3889b978e7a52626d5de6a6fa0}
+```cpp
+mavsdk::Offboard::Offboard(const Offboard &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Offboard](classmavsdk_1_1_offboard.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_offboard_1a16d95f55251e9f992261d46da89ef8b9}
+
+```cpp
+using mavsdk::Offboard::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Offboard](classmavsdk_1_1_offboard.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9}
+
+
+Possible results returned for offboard requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9a3398e12855176d55f43d53e04f472c8a"></span> `CommandDenied` | Command denied. 
+<span id="classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9abe52cc8668acd0977040ce92d399c0bb"></span> `NoSetpointSet` | Cannot start without setpoint set. 
+<span id="classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9ad7c8c85bf79bbe1b7188497c32c3b0ca"></span> `Failed` | Request failed. 
+
+## Member Function Documentation
+
+
+### start_async() {#classmavsdk_1_1_offboard_1a0c880ad3f663142e194dd6f187cfc934}
+```cpp
+void mavsdk::Offboard::start_async(const ResultCallback callback)
+```
+
+
+Start offboard control.
+
+This function is non-blocking. See 'start' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a16d95f55251e9f992261d46da89ef8b9) **callback** - 
+
+### start() {#classmavsdk_1_1_offboard_1ab71d0dd2a81f76e3a0330b0304daa30b}
+```cpp
+Result mavsdk::Offboard::start() const
+```
+
+
+Start offboard control.
+
+This function is blocking. See 'start_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### stop_async() {#classmavsdk_1_1_offboard_1a86c163d7fa1217b4e82a03daf52065c3}
+```cpp
+void mavsdk::Offboard::stop_async(const ResultCallback callback)
+```
+
+
+Stop offboard control.
+
+The vehicle will be put into Hold mode: [https://docs.px4.io/en/flight_modes/hold.html](https://docs.px4.io/en/flight_modes/hold.html)
+
+
+This function is non-blocking. See 'stop' for the blocking counterpart.
+
+**Parameters**
+
+* const [ResultCallback](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a16d95f55251e9f992261d46da89ef8b9) **callback** - 
+
+### stop() {#classmavsdk_1_1_offboard_1a626810cbfa02b36019dde2d2fd4c3da9}
+```cpp
+Result mavsdk::Offboard::stop() const
+```
+
+
+Stop offboard control.
+
+The vehicle will be put into Hold mode: [https://docs.px4.io/en/flight_modes/hold.html](https://docs.px4.io/en/flight_modes/hold.html)
+
+
+This function is blocking. See 'stop_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### is_active() {#classmavsdk_1_1_offboard_1aa5e0f3c02a03f2667f82d5e162221ff5}
+```cpp
+bool mavsdk::Offboard::is_active() const
+```
+
+
+Check if offboard control is active.
+
+True means that the vehicle is in offboard mode and we are actively sending setpoints.
+
+
+This function is blocking.
+
+**Returns**
+
+&emsp;bool - Result of request.
+
+### set_attitude() {#classmavsdk_1_1_offboard_1af6f0d3991bb6b62f39d862c46fcffb34}
+```cpp
+Result mavsdk::Offboard::set_attitude(Attitude attitude) const
+```
+
+
+Set the attitude in terms of roll, pitch and yaw in degrees with thrust.
+
+This function is blocking.
+
+**Parameters**
+
+* [Attitude](structmavsdk_1_1_offboard_1_1_attitude.md) **attitude** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### set_actuator_control() {#classmavsdk_1_1_offboard_1a619ee02a1f73041a5cae6a5c72169b96}
+```cpp
+Result mavsdk::Offboard::set_actuator_control(ActuatorControl actuator_control) const
+```
+
+
+Set direct actuator control values to groups #0 and #1.
+
+First 8 controls will go to control group 0, the following 8 controls to control group 1 (if actuator_control.num_controls more than 8).
+
+
+This function is blocking.
+
+**Parameters**
+
+* [ActuatorControl](structmavsdk_1_1_offboard_1_1_actuator_control.md) **actuator_control** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### set_attitude_rate() {#classmavsdk_1_1_offboard_1a034a98a0e7a5a7a0fac507adabf6ecf8}
+```cpp
+Result mavsdk::Offboard::set_attitude_rate(AttitudeRate attitude_rate) const
+```
+
+
+Set the attitude rate in terms of pitch, roll and yaw angular rate along with thrust.
+
+This function is blocking.
+
+**Parameters**
+
+* [AttitudeRate](structmavsdk_1_1_offboard_1_1_attitude_rate.md) **attitude_rate** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### set_position_ned() {#classmavsdk_1_1_offboard_1ade7dcec93ebee17de60687a75184b8b6}
+```cpp
+Result mavsdk::Offboard::set_position_ned(PositionNedYaw position_ned_yaw) const
+```
+
+
+Set the position in NED coordinates and yaw.
+
+This function is blocking.
+
+**Parameters**
+
+* [PositionNedYaw](structmavsdk_1_1_offboard_1_1_position_ned_yaw.md) **position_ned_yaw** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### set_position_global() {#classmavsdk_1_1_offboard_1a97b2bd8f516e267e5b28373f369ff8d3}
+```cpp
+Result mavsdk::Offboard::set_position_global(PositionGlobalYaw position_global_yaw) const
+```
+
+
+Set the position in Global coordinates (latitude, longitude, altitude) and yaw.
+
+This function is blocking.
+
+**Parameters**
+
+* [PositionGlobalYaw](structmavsdk_1_1_offboard_1_1_position_global_yaw.md) **position_global_yaw** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### set_velocity_body() {#classmavsdk_1_1_offboard_1abe7364f0a48dda4df34c5c67d177cfb4}
+```cpp
+Result mavsdk::Offboard::set_velocity_body(VelocityBodyYawspeed velocity_body_yawspeed) const
+```
+
+
+Set the velocity in body coordinates and yaw angular rate. Not available for fixed-wing aircraft.
+
+This function is blocking.
+
+**Parameters**
+
+* [VelocityBodyYawspeed](structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed.md) **velocity_body_yawspeed** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### set_velocity_ned() {#classmavsdk_1_1_offboard_1a4edbc6e4528ff955d4e46e7c4e711732}
+```cpp
+Result mavsdk::Offboard::set_velocity_ned(VelocityNedYaw velocity_ned_yaw) const
+```
+
+
+Set the velocity in NED coordinates and yaw. Not available for fixed-wing aircraft.
+
+This function is blocking.
+
+**Parameters**
+
+* [VelocityNedYaw](structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md) **velocity_ned_yaw** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### set_position_velocity_ned() {#classmavsdk_1_1_offboard_1ae422165680b434eed74e84cc901e3a33}
+```cpp
+Result mavsdk::Offboard::set_position_velocity_ned(PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw) const
+```
+
+
+Set the position in NED coordinates, with the velocity to be used as feed-forward.
+
+This function is blocking.
+
+**Parameters**
+
+* [PositionNedYaw](structmavsdk_1_1_offboard_1_1_position_ned_yaw.md) **position_ned_yaw** - 
+* [VelocityNedYaw](structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md) **velocity_ned_yaw** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### set_position_velocity_acceleration_ned() {#classmavsdk_1_1_offboard_1a845aab746fc078d1ee2848df33c04eb9}
+```cpp
+Result mavsdk::Offboard::set_position_velocity_acceleration_ned(PositionNedYaw position_ned_yaw, VelocityNedYaw velocity_ned_yaw, AccelerationNed acceleration_ned) const
+```
+
+
+Set the position, velocity and acceleration in NED coordinates, with velocity and acceleration used as feed-forward.
+
+This function is blocking.
+
+**Parameters**
+
+* [PositionNedYaw](structmavsdk_1_1_offboard_1_1_position_ned_yaw.md) **position_ned_yaw** - 
+* [VelocityNedYaw](structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md) **velocity_ned_yaw** - 
+* [AccelerationNed](structmavsdk_1_1_offboard_1_1_acceleration_ned.md) **acceleration_ned** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### set_acceleration_ned() {#classmavsdk_1_1_offboard_1ac0d471609df13c79a37e0e352be71d03}
+```cpp
+Result mavsdk::Offboard::set_acceleration_ned(AccelerationNed acceleration_ned) const
+```
+
+
+Set the acceleration in NED coordinates.
+
+This function is blocking.
+
+**Parameters**
+
+* [AccelerationNed](structmavsdk_1_1_offboard_1_1_acceleration_ned.md) **acceleration_ned** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) - Result of request.
+
+### operator=() {#classmavsdk_1_1_offboard_1acb01657624668251c0a022bc3f8135cd}
+```cpp
+const Offboard& mavsdk::Offboard::operator=(const Offboard &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Offboard](classmavsdk_1_1_offboard.md)&  - 
+
+**Returns**
+
+&emsp;const [Offboard](classmavsdk_1_1_offboard.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_param.md b/docs/en/cpp/api_reference/classmavsdk_1_1_param.md
new file mode 100644
index 0000000000..140524eb47
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_param.md
@@ -0,0 +1,339 @@
+# mavsdk::Param Class Reference
+`#include: param.h`
+
+----
+
+
+Provide raw access to get and set parameters. 
+
+
+## Data Structures
+
+
+struct [AllParams](structmavsdk_1_1_param_1_1_all_params.md)
+
+struct [CustomParam](structmavsdk_1_1_param_1_1_custom_param.md)
+
+struct [FloatParam](structmavsdk_1_1_param_1_1_float_param.md)
+
+struct [IntParam](structmavsdk_1_1_param_1_1_int_param.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [ProtocolVersion](#classmavsdk_1_1_param_1a37807968ecb40a732b4fec83792bd5c8) | Parameter version.
+enum [Result](#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df) | Possible results returned for param requests.
+std::function< void([Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df))> [ResultCallback](#classmavsdk_1_1_param_1a7047374c38d4220e8709c2b10275f860) | Callback type for asynchronous [Param](classmavsdk_1_1_param.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Param](#classmavsdk_1_1_param_1a3f15c8d0c238a68cd97a49ba5c3ea1ef) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Param](#classmavsdk_1_1_param_1a08e40eaf4052555d28f2404cc7ede680) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Param](#classmavsdk_1_1_param_1a33f67b5c3daea8ca3af8c573f4e07153) () override | Destructor (internal use only).
+&nbsp; | [Param](#classmavsdk_1_1_param_1ab7a03a825118c944d31c562594826f72) (const [Param](classmavsdk_1_1_param.md) & other) | Copy constructor.
+std::pair< [Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df), int32_t > | [get_param_int](#classmavsdk_1_1_param_1a554099a07baa9e4765824005f47bef94) (std::string name)const | Get an int parameter.
+[Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df) | [set_param_int](#classmavsdk_1_1_param_1af8124bae8b4649605a51fe2943ae8414) (std::string name, int32_t value)const | Set an int parameter.
+std::pair< [Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df), float > | [get_param_float](#classmavsdk_1_1_param_1ac8efd0381aa1cc2e4461dfb256797619) (std::string name)const | Get a float parameter.
+[Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df) | [set_param_float](#classmavsdk_1_1_param_1a58a2f14fbcda2bf73815dbc2a31528bf) (std::string name, float value)const | Set a float parameter.
+std::pair< [Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df), std::string > | [get_param_custom](#classmavsdk_1_1_param_1a7914d3856a9e6d9b91d7f5483a260f4d) (std::string name)const | Get a custom parameter.
+[Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df) | [set_param_custom](#classmavsdk_1_1_param_1abb9cc4e4e14d33a93b23295f836de39e) (std::string name, std::string value)const | Set a custom parameter.
+[Param::AllParams](structmavsdk_1_1_param_1_1_all_params.md) | [get_all_params](#classmavsdk_1_1_param_1ab9259e1f91809aa574404131aa540fd8) () const | Get all parameters.
+[Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df) | [select_component](#classmavsdk_1_1_param_1a2ef2e607225d54c6fedd21a9b483937f) (int32_t component_id, [ProtocolVersion](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1a37807968ecb40a732b4fec83792bd5c8) protocol_version)const | Select component ID of parameter component to talk to and param protocol version.
+const [Param](classmavsdk_1_1_param.md) & | [operator=](#classmavsdk_1_1_param_1a4d75b066cb985d3a38cc8221e18aa608) (const [Param](classmavsdk_1_1_param.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Param() {#classmavsdk_1_1_param_1a3f15c8d0c238a68cd97a49ba5c3ea1ef}
+```cpp
+mavsdk::Param::Param(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto param = Param(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Param() {#classmavsdk_1_1_param_1a08e40eaf4052555d28f2404cc7ede680}
+```cpp
+mavsdk::Param::Param(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto param = Param(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Param() {#classmavsdk_1_1_param_1a33f67b5c3daea8ca3af8c573f4e07153}
+```cpp
+mavsdk::Param::~Param() override
+```
+
+
+Destructor (internal use only).
+
+
+### Param() {#classmavsdk_1_1_param_1ab7a03a825118c944d31c562594826f72}
+```cpp
+mavsdk::Param::Param(const Param &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Param](classmavsdk_1_1_param.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_param_1a7047374c38d4220e8709c2b10275f860}
+
+```cpp
+using mavsdk::Param::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Param](classmavsdk_1_1_param.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum ProtocolVersion {#classmavsdk_1_1_param_1a37807968ecb40a732b4fec83792bd5c8}
+
+
+Parameter version.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_param_1a37807968ecb40a732b4fec83792bd5c8ab4daca084ad9eabfc8de231929477ed6"></span> `V1` | Original v1 version. 
+<span id="classmavsdk_1_1_param_1a37807968ecb40a732b4fec83792bd5c8a84ab79217fad62904ab3f60586129611"></span> `Ext` | Extended param version. 
+
+### enum Result {#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df}
+
+
+Possible results returned for param requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881dfa88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881dfa505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881dfac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881dfa094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881dfafdf152936dcbf201445440856357f6ac"></span> `WrongType` | Wrong type. 
+<span id="classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881dfaa2b5cfc4e45ca036892b3dadc483e655"></span> `ParamNameTooLong` | Parameter name too long (> 16). 
+<span id="classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881dfa1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+<span id="classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881dfa1fc93bc695e2e3e1903029eb77228234"></span> `ParamValueTooLong` | [Param](classmavsdk_1_1_param.md) value too long (> 128). 
+<span id="classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881dfad7c8c85bf79bbe1b7188497c32c3b0ca"></span> `Failed` | Operation failed.. 
+
+## Member Function Documentation
+
+
+### get_param_int() {#classmavsdk_1_1_param_1a554099a07baa9e4765824005f47bef94}
+```cpp
+std::pair<Result, int32_t> mavsdk::Param::get_param_int(std::string name) const
+```
+
+
+Get an int parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df), int32_t > - Result of request.
+
+### set_param_int() {#classmavsdk_1_1_param_1af8124bae8b4649605a51fe2943ae8414}
+```cpp
+Result mavsdk::Param::set_param_int(std::string name, int32_t value) const
+```
+
+
+Set an int parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+* int32_t **value** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df) - Result of request.
+
+### get_param_float() {#classmavsdk_1_1_param_1ac8efd0381aa1cc2e4461dfb256797619}
+```cpp
+std::pair<Result, float> mavsdk::Param::get_param_float(std::string name) const
+```
+
+
+Get a float parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df), float > - Result of request.
+
+### set_param_float() {#classmavsdk_1_1_param_1a58a2f14fbcda2bf73815dbc2a31528bf}
+```cpp
+Result mavsdk::Param::set_param_float(std::string name, float value) const
+```
+
+
+Set a float parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+* float **value** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df) - Result of request.
+
+### get_param_custom() {#classmavsdk_1_1_param_1a7914d3856a9e6d9b91d7f5483a260f4d}
+```cpp
+std::pair<Result, std::string> mavsdk::Param::get_param_custom(std::string name) const
+```
+
+
+Get a custom parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df), std::string > - Result of request.
+
+### set_param_custom() {#classmavsdk_1_1_param_1abb9cc4e4e14d33a93b23295f836de39e}
+```cpp
+Result mavsdk::Param::set_param_custom(std::string name, std::string value) const
+```
+
+
+Set a custom parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+* std::string **value** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df) - Result of request.
+
+### get_all_params() {#classmavsdk_1_1_param_1ab9259e1f91809aa574404131aa540fd8}
+```cpp
+Param::AllParams mavsdk::Param::get_all_params() const
+```
+
+
+Get all parameters.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[Param::AllParams](structmavsdk_1_1_param_1_1_all_params.md) - Result of request.
+
+### select_component() {#classmavsdk_1_1_param_1a2ef2e607225d54c6fedd21a9b483937f}
+```cpp
+Result mavsdk::Param::select_component(int32_t component_id, ProtocolVersion protocol_version) const
+```
+
+
+Select component ID of parameter component to talk to and param protocol version.
+
+Default is the autopilot component (1), and Version (0).
+
+
+This function is blocking.
+
+**Parameters**
+
+* int32_t **component_id** - 
+* [ProtocolVersion](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1a37807968ecb40a732b4fec83792bd5c8) **protocol_version** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_param.md#classmavsdk_1_1_param_1afde69c8b60c41e2f21db148d211881df) - Result of request.
+
+### operator=() {#classmavsdk_1_1_param_1a4d75b066cb985d3a38cc8221e18aa608}
+```cpp
+const Param& mavsdk::Param::operator=(const Param &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Param](classmavsdk_1_1_param.md)&  - 
+
+**Returns**
+
+&emsp;const [Param](classmavsdk_1_1_param.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_param_server.md b/docs/en/cpp/api_reference/classmavsdk_1_1_param_server.md
new file mode 100644
index 0000000000..0418fd6983
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_param_server.md
@@ -0,0 +1,445 @@
+# mavsdk::ParamServer Class Reference
+`#include: param_server.h`
+
+----
+
+
+Provide raw access to retrieve and provide server parameters. 
+
+
+## Data Structures
+
+
+struct [AllParams](structmavsdk_1_1_param_server_1_1_all_params.md)
+
+struct [CustomParam](structmavsdk_1_1_param_server_1_1_custom_param.md)
+
+struct [FloatParam](structmavsdk_1_1_param_server_1_1_float_param.md)
+
+struct [IntParam](structmavsdk_1_1_param_server_1_1_int_param.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469) | Possible results returned for param requests.
+std::function< void([Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469))> [ResultCallback](#classmavsdk_1_1_param_server_1a669845877bb8e14482fb46542825c625) | Callback type for asynchronous [ParamServer](classmavsdk_1_1_param_server.md) calls.
+std::function< void([IntParam](structmavsdk_1_1_param_server_1_1_int_param.md))> [ChangedParamIntCallback](#classmavsdk_1_1_param_server_1a7674183da6d76416b34df9ce51c59358) | Callback type for subscribe_changed_param_int.
+[Handle](classmavsdk_1_1_handle.md)< [IntParam](structmavsdk_1_1_param_server_1_1_int_param.md) > [ChangedParamIntHandle](#classmavsdk_1_1_param_server_1a923f3ae88ca5614690f3b1b6e4eb259a) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_changed_param_int.
+std::function< void([FloatParam](structmavsdk_1_1_param_server_1_1_float_param.md))> [ChangedParamFloatCallback](#classmavsdk_1_1_param_server_1a11b86b8482f80f95130647dfa98ebaa3) | Callback type for subscribe_changed_param_float.
+[Handle](classmavsdk_1_1_handle.md)< [FloatParam](structmavsdk_1_1_param_server_1_1_float_param.md) > [ChangedParamFloatHandle](#classmavsdk_1_1_param_server_1a86b8aa9c92d3d6d7dd47fc9b8f0bf881) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_changed_param_float.
+std::function< void([CustomParam](structmavsdk_1_1_param_server_1_1_custom_param.md))> [ChangedParamCustomCallback](#classmavsdk_1_1_param_server_1ada550af744c9125178f7ad74d3c1041a) | Callback type for subscribe_changed_param_custom.
+[Handle](classmavsdk_1_1_handle.md)< [CustomParam](structmavsdk_1_1_param_server_1_1_custom_param.md) > [ChangedParamCustomHandle](#classmavsdk_1_1_param_server_1a27cf0998ffff4bbdb3f00743b30c903f) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_changed_param_custom.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [ParamServer](#classmavsdk_1_1_param_server_1ae86996ca7c1cf57ae1d011ca5279d231) (std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > server_component) | Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+&nbsp; | [~ParamServer](#classmavsdk_1_1_param_server_1a0b221c28148f0278f063232059d372b5) () override | Destructor (internal use only).
+&nbsp; | [ParamServer](#classmavsdk_1_1_param_server_1a4cffcb488093838f72414c94e6c40fd0) (const [ParamServer](classmavsdk_1_1_param_server.md) & other) | Copy constructor.
+std::pair< [Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469), int32_t > | [retrieve_param_int](#classmavsdk_1_1_param_server_1a95c445dbdd2b764248c811da0230b0b4) (std::string name)const | Retrieve an int parameter.
+[Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469) | [provide_param_int](#classmavsdk_1_1_param_server_1a9de5dade4020eda7fb1cc07c6868dad1) (std::string name, int32_t value)const | Provide an int parameter.
+std::pair< [Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469), float > | [retrieve_param_float](#classmavsdk_1_1_param_server_1a2845916c07a7e47e7444a49f88b23320) (std::string name)const | Retrieve a float parameter.
+[Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469) | [provide_param_float](#classmavsdk_1_1_param_server_1a7893e4b00609eb0826835b3d8930db1f) (std::string name, float value)const | Provide a float parameter.
+std::pair< [Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469), std::string > | [retrieve_param_custom](#classmavsdk_1_1_param_server_1aa6564b8138bc66519f425a350265b50d) (std::string name)const | Retrieve a custom parameter.
+[Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469) | [provide_param_custom](#classmavsdk_1_1_param_server_1a60487de3470b9b1c39b403d4c9053d73) (std::string name, std::string value)const | Provide a custom parameter.
+[ParamServer::AllParams](structmavsdk_1_1_param_server_1_1_all_params.md) | [retrieve_all_params](#classmavsdk_1_1_param_server_1aaf6b3862213d415ff26730afad95565f) () const | Retrieve all parameters.
+[ChangedParamIntHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a923f3ae88ca5614690f3b1b6e4eb259a) | [subscribe_changed_param_int](#classmavsdk_1_1_param_server_1ad022db97fe1c040d255ce8eeb98dcbf9) (const [ChangedParamIntCallback](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a7674183da6d76416b34df9ce51c59358) & callback) | Subscribe to changed int param.
+void | [unsubscribe_changed_param_int](#classmavsdk_1_1_param_server_1adea6bfacaf4808d572d0559279d0d3a4) ([ChangedParamIntHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a923f3ae88ca5614690f3b1b6e4eb259a) handle) | Unsubscribe from subscribe_changed_param_int.
+[ChangedParamFloatHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a86b8aa9c92d3d6d7dd47fc9b8f0bf881) | [subscribe_changed_param_float](#classmavsdk_1_1_param_server_1aed4a104c9e99603002e16843360c5a18) (const [ChangedParamFloatCallback](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a11b86b8482f80f95130647dfa98ebaa3) & callback) | Subscribe to changed float param.
+void | [unsubscribe_changed_param_float](#classmavsdk_1_1_param_server_1a33796a9ecc396b905b51ad4d2ce7989b) ([ChangedParamFloatHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a86b8aa9c92d3d6d7dd47fc9b8f0bf881) handle) | Unsubscribe from subscribe_changed_param_float.
+[ChangedParamCustomHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a27cf0998ffff4bbdb3f00743b30c903f) | [subscribe_changed_param_custom](#classmavsdk_1_1_param_server_1a91d4aa280e7e0c43621ea87088781ccb) (const [ChangedParamCustomCallback](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1ada550af744c9125178f7ad74d3c1041a) & callback) | Subscribe to changed custom param.
+void | [unsubscribe_changed_param_custom](#classmavsdk_1_1_param_server_1aa78c8df43a9d4c2dbdb6516a04d5f2de) ([ChangedParamCustomHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a27cf0998ffff4bbdb3f00743b30c903f) handle) | Unsubscribe from subscribe_changed_param_custom.
+const [ParamServer](classmavsdk_1_1_param_server.md) & | [operator=](#classmavsdk_1_1_param_server_1a29ce1d2c4a2b80fbe4a0b7e7470e14af) (const [ParamServer](classmavsdk_1_1_param_server.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### ParamServer() {#classmavsdk_1_1_param_server_1ae86996ca7c1cf57ae1d011ca5279d231}
+```cpp
+mavsdk::ParamServer::ParamServer(std::shared_ptr< ServerComponent > server_component)
+```
+
+
+Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto param_server = ParamServer(server_component);
+```
+
+**Parameters**
+
+* std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > **server_component** - The [ServerComponent](classmavsdk_1_1_server_component.md) instance associated with this server plugin.
+
+### ~ParamServer() {#classmavsdk_1_1_param_server_1a0b221c28148f0278f063232059d372b5}
+```cpp
+mavsdk::ParamServer::~ParamServer() override
+```
+
+
+Destructor (internal use only).
+
+
+### ParamServer() {#classmavsdk_1_1_param_server_1a4cffcb488093838f72414c94e6c40fd0}
+```cpp
+mavsdk::ParamServer::ParamServer(const ParamServer &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [ParamServer](classmavsdk_1_1_param_server.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_param_server_1a669845877bb8e14482fb46542825c625}
+
+```cpp
+using mavsdk::ParamServer::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [ParamServer](classmavsdk_1_1_param_server.md) calls.
+
+
+### typedef ChangedParamIntCallback {#classmavsdk_1_1_param_server_1a7674183da6d76416b34df9ce51c59358}
+
+```cpp
+using mavsdk::ParamServer::ChangedParamIntCallback =  std::function<void(IntParam)>
+```
+
+
+Callback type for subscribe_changed_param_int.
+
+
+### typedef ChangedParamIntHandle {#classmavsdk_1_1_param_server_1a923f3ae88ca5614690f3b1b6e4eb259a}
+
+```cpp
+using mavsdk::ParamServer::ChangedParamIntHandle =  Handle<IntParam>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_changed_param_int.
+
+
+### typedef ChangedParamFloatCallback {#classmavsdk_1_1_param_server_1a11b86b8482f80f95130647dfa98ebaa3}
+
+```cpp
+using mavsdk::ParamServer::ChangedParamFloatCallback =  std::function<void(FloatParam)>
+```
+
+
+Callback type for subscribe_changed_param_float.
+
+
+### typedef ChangedParamFloatHandle {#classmavsdk_1_1_param_server_1a86b8aa9c92d3d6d7dd47fc9b8f0bf881}
+
+```cpp
+using mavsdk::ParamServer::ChangedParamFloatHandle =  Handle<FloatParam>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_changed_param_float.
+
+
+### typedef ChangedParamCustomCallback {#classmavsdk_1_1_param_server_1ada550af744c9125178f7ad74d3c1041a}
+
+```cpp
+using mavsdk::ParamServer::ChangedParamCustomCallback =  std::function<void(CustomParam)>
+```
+
+
+Callback type for subscribe_changed_param_custom.
+
+
+### typedef ChangedParamCustomHandle {#classmavsdk_1_1_param_server_1a27cf0998ffff4bbdb3f00743b30c903f}
+
+```cpp
+using mavsdk::ParamServer::ChangedParamCustomHandle =  Handle<CustomParam>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_changed_param_custom.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469}
+
+
+Possible results returned for param requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469a38c300f4fc9ce8a77aad4a30de05cad8"></span> `NotFound` | Not Found. 
+<span id="classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469afdf152936dcbf201445440856357f6ac"></span> `WrongType` | Wrong type. 
+<span id="classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469aa2b5cfc4e45ca036892b3dadc483e655"></span> `ParamNameTooLong` | Parameter name too long (> 16). 
+<span id="classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system available. 
+<span id="classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469a1fc93bc695e2e3e1903029eb77228234"></span> `ParamValueTooLong` | Parameter name too long (> 128). 
+
+## Member Function Documentation
+
+
+### retrieve_param_int() {#classmavsdk_1_1_param_server_1a95c445dbdd2b764248c811da0230b0b4}
+```cpp
+std::pair<Result, int32_t> mavsdk::ParamServer::retrieve_param_int(std::string name) const
+```
+
+
+Retrieve an int parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469), int32_t > - Result of request.
+
+### provide_param_int() {#classmavsdk_1_1_param_server_1a9de5dade4020eda7fb1cc07c6868dad1}
+```cpp
+Result mavsdk::ParamServer::provide_param_int(std::string name, int32_t value) const
+```
+
+
+Provide an int parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+* int32_t **value** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469) - Result of request.
+
+### retrieve_param_float() {#classmavsdk_1_1_param_server_1a2845916c07a7e47e7444a49f88b23320}
+```cpp
+std::pair<Result, float> mavsdk::ParamServer::retrieve_param_float(std::string name) const
+```
+
+
+Retrieve a float parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469), float > - Result of request.
+
+### provide_param_float() {#classmavsdk_1_1_param_server_1a7893e4b00609eb0826835b3d8930db1f}
+```cpp
+Result mavsdk::ParamServer::provide_param_float(std::string name, float value) const
+```
+
+
+Provide a float parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+* float **value** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469) - Result of request.
+
+### retrieve_param_custom() {#classmavsdk_1_1_param_server_1aa6564b8138bc66519f425a350265b50d}
+```cpp
+std::pair<Result, std::string> mavsdk::ParamServer::retrieve_param_custom(std::string name) const
+```
+
+
+Retrieve a custom parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469), std::string > - Result of request.
+
+### provide_param_custom() {#classmavsdk_1_1_param_server_1a60487de3470b9b1c39b403d4c9053d73}
+```cpp
+Result mavsdk::ParamServer::provide_param_custom(std::string name, std::string value) const
+```
+
+
+Provide a custom parameter.
+
+If the type is wrong, the result will be `WRONG_TYPE`.
+
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **name** - 
+* std::string **value** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a6f7fcc017f43dcf68837dbc35ee4f469) - Result of request.
+
+### retrieve_all_params() {#classmavsdk_1_1_param_server_1aaf6b3862213d415ff26730afad95565f}
+```cpp
+ParamServer::AllParams mavsdk::ParamServer::retrieve_all_params() const
+```
+
+
+Retrieve all parameters.
+
+This function is blocking.
+
+**Returns**
+
+&emsp;[ParamServer::AllParams](structmavsdk_1_1_param_server_1_1_all_params.md) - Result of request.
+
+### subscribe_changed_param_int() {#classmavsdk_1_1_param_server_1ad022db97fe1c040d255ce8eeb98dcbf9}
+```cpp
+ChangedParamIntHandle mavsdk::ParamServer::subscribe_changed_param_int(const ChangedParamIntCallback &callback)
+```
+
+
+Subscribe to changed int param.
+
+
+**Parameters**
+
+* const [ChangedParamIntCallback](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a7674183da6d76416b34df9ce51c59358)& **callback** - 
+
+**Returns**
+
+&emsp;[ChangedParamIntHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a923f3ae88ca5614690f3b1b6e4eb259a) - 
+
+### unsubscribe_changed_param_int() {#classmavsdk_1_1_param_server_1adea6bfacaf4808d572d0559279d0d3a4}
+```cpp
+void mavsdk::ParamServer::unsubscribe_changed_param_int(ChangedParamIntHandle handle)
+```
+
+
+Unsubscribe from subscribe_changed_param_int.
+
+
+**Parameters**
+
+* [ChangedParamIntHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a923f3ae88ca5614690f3b1b6e4eb259a) **handle** - 
+
+### subscribe_changed_param_float() {#classmavsdk_1_1_param_server_1aed4a104c9e99603002e16843360c5a18}
+```cpp
+ChangedParamFloatHandle mavsdk::ParamServer::subscribe_changed_param_float(const ChangedParamFloatCallback &callback)
+```
+
+
+Subscribe to changed float param.
+
+
+**Parameters**
+
+* const [ChangedParamFloatCallback](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a11b86b8482f80f95130647dfa98ebaa3)& **callback** - 
+
+**Returns**
+
+&emsp;[ChangedParamFloatHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a86b8aa9c92d3d6d7dd47fc9b8f0bf881) - 
+
+### unsubscribe_changed_param_float() {#classmavsdk_1_1_param_server_1a33796a9ecc396b905b51ad4d2ce7989b}
+```cpp
+void mavsdk::ParamServer::unsubscribe_changed_param_float(ChangedParamFloatHandle handle)
+```
+
+
+Unsubscribe from subscribe_changed_param_float.
+
+
+**Parameters**
+
+* [ChangedParamFloatHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a86b8aa9c92d3d6d7dd47fc9b8f0bf881) **handle** - 
+
+### subscribe_changed_param_custom() {#classmavsdk_1_1_param_server_1a91d4aa280e7e0c43621ea87088781ccb}
+```cpp
+ChangedParamCustomHandle mavsdk::ParamServer::subscribe_changed_param_custom(const ChangedParamCustomCallback &callback)
+```
+
+
+Subscribe to changed custom param.
+
+
+**Parameters**
+
+* const [ChangedParamCustomCallback](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1ada550af744c9125178f7ad74d3c1041a)& **callback** - 
+
+**Returns**
+
+&emsp;[ChangedParamCustomHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a27cf0998ffff4bbdb3f00743b30c903f) - 
+
+### unsubscribe_changed_param_custom() {#classmavsdk_1_1_param_server_1aa78c8df43a9d4c2dbdb6516a04d5f2de}
+```cpp
+void mavsdk::ParamServer::unsubscribe_changed_param_custom(ChangedParamCustomHandle handle)
+```
+
+
+Unsubscribe from subscribe_changed_param_custom.
+
+
+**Parameters**
+
+* [ChangedParamCustomHandle](classmavsdk_1_1_param_server.md#classmavsdk_1_1_param_server_1a27cf0998ffff4bbdb3f00743b30c903f) **handle** - 
+
+### operator=() {#classmavsdk_1_1_param_server_1a29ce1d2c4a2b80fbe4a0b7e7470e14af}
+```cpp
+const ParamServer& mavsdk::ParamServer::operator=(const ParamServer &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [ParamServer](classmavsdk_1_1_param_server.md)&  - 
+
+**Returns**
+
+&emsp;const [ParamServer](classmavsdk_1_1_param_server.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_plugin_base.md b/docs/en/cpp/api_reference/classmavsdk_1_1_plugin_base.md
new file mode 100644
index 0000000000..b1a18f4d78
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_plugin_base.md
@@ -0,0 +1,73 @@
+# mavsdk::PluginBase Class Reference
+`#include: plugin_base.h`
+
+----
+
+
+Base class for every plugin. 
+
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [PluginBase](#classmavsdk_1_1_plugin_base_1afbb5a017df6856e58fb576d65a9fe207) ()=default | Default Constructor.
+&nbsp; | [~PluginBase](#classmavsdk_1_1_plugin_base_1a038befc8f15d34e0be17ec7df8e9d092) ()=default | Default Destructor.
+&nbsp; | [PluginBase](#classmavsdk_1_1_plugin_base_1a717e8eda4a615730256f4a707f00aa72) (const [PluginBase](classmavsdk_1_1_plugin_base.md) &)=delete | Copy constructor (object is not copyable).
+const [PluginBase](classmavsdk_1_1_plugin_base.md) & | [operator=](#classmavsdk_1_1_plugin_base_1a7336d48f2784ef2ffe284ee2aaea3063) (const [PluginBase](classmavsdk_1_1_plugin_base.md) &)=delete | Assign operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### PluginBase() {#classmavsdk_1_1_plugin_base_1afbb5a017df6856e58fb576d65a9fe207}
+```cpp
+mavsdk::PluginBase::PluginBase()=default
+```
+
+
+Default Constructor.
+
+
+### ~PluginBase() {#classmavsdk_1_1_plugin_base_1a038befc8f15d34e0be17ec7df8e9d092}
+```cpp
+virtual mavsdk::PluginBase::~PluginBase()=default
+```
+
+
+Default Destructor.
+
+
+### PluginBase() {#classmavsdk_1_1_plugin_base_1a717e8eda4a615730256f4a707f00aa72}
+```cpp
+mavsdk::PluginBase::PluginBase(const PluginBase &)=delete
+```
+
+
+Copy constructor (object is not copyable).
+
+
+**Parameters**
+
+* const [PluginBase](classmavsdk_1_1_plugin_base.md)&  - 
+
+## Member Function Documentation
+
+
+### operator=() {#classmavsdk_1_1_plugin_base_1a7336d48f2784ef2ffe284ee2aaea3063}
+```cpp
+const PluginBase& mavsdk::PluginBase::operator=(const PluginBase &)=delete
+```
+
+
+Assign operator (object is not copyable).
+
+
+**Parameters**
+
+* const [PluginBase](classmavsdk_1_1_plugin_base.md)&  - 
+
+**Returns**
+
+&emsp;const [PluginBase](classmavsdk_1_1_plugin_base.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_rtk.md b/docs/en/cpp/api_reference/classmavsdk_1_1_rtk.md
new file mode 100644
index 0000000000..b0dc970fd3
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_rtk.md
@@ -0,0 +1,163 @@
+# mavsdk::Rtk Class Reference
+`#include: rtk.h`
+
+----
+
+
+Service to send RTK corrections to the vehicle. 
+
+
+## Data Structures
+
+
+struct [RtcmData](structmavsdk_1_1_rtk_1_1_rtcm_data.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_rtk_1a7e310a6ab3cfc82efb46e238bc918a94) | Possible results returned for rtk requests.
+std::function< void([Result](classmavsdk_1_1_rtk.md#classmavsdk_1_1_rtk_1a7e310a6ab3cfc82efb46e238bc918a94))> [ResultCallback](#classmavsdk_1_1_rtk_1a63f4e9e3fd880d2f1d88e61f7cda0fdb) | Callback type for asynchronous [Rtk](classmavsdk_1_1_rtk.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Rtk](#classmavsdk_1_1_rtk_1af3b0f558cdab23843d06d898cfe7cf34) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Rtk](#classmavsdk_1_1_rtk_1a5b3d107b883e74885cc2c966cb6ebd10) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Rtk](#classmavsdk_1_1_rtk_1a008724fb2e96cb9a96024f38130c6213) () override | Destructor (internal use only).
+&nbsp; | [Rtk](#classmavsdk_1_1_rtk_1af9118d75e7ef85846bcf7a637d8df73c) (const [Rtk](classmavsdk_1_1_rtk.md) & other) | Copy constructor.
+[Result](classmavsdk_1_1_rtk.md#classmavsdk_1_1_rtk_1a7e310a6ab3cfc82efb46e238bc918a94) | [send_rtcm_data](#classmavsdk_1_1_rtk_1ab0f183ba8e57944e6f9d383f51490d09) ([RtcmData](structmavsdk_1_1_rtk_1_1_rtcm_data.md) rtcm_data)const | Send RTCM data.
+const [Rtk](classmavsdk_1_1_rtk.md) & | [operator=](#classmavsdk_1_1_rtk_1a8d4c39419257c0df20b55aa7b838ecb2) (const [Rtk](classmavsdk_1_1_rtk.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Rtk() {#classmavsdk_1_1_rtk_1af3b0f558cdab23843d06d898cfe7cf34}
+```cpp
+mavsdk::Rtk::Rtk(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto rtk = Rtk(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Rtk() {#classmavsdk_1_1_rtk_1a5b3d107b883e74885cc2c966cb6ebd10}
+```cpp
+mavsdk::Rtk::Rtk(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto rtk = Rtk(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Rtk() {#classmavsdk_1_1_rtk_1a008724fb2e96cb9a96024f38130c6213}
+```cpp
+mavsdk::Rtk::~Rtk() override
+```
+
+
+Destructor (internal use only).
+
+
+### Rtk() {#classmavsdk_1_1_rtk_1af9118d75e7ef85846bcf7a637d8df73c}
+```cpp
+mavsdk::Rtk::Rtk(const Rtk &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Rtk](classmavsdk_1_1_rtk.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_rtk_1a63f4e9e3fd880d2f1d88e61f7cda0fdb}
+
+```cpp
+using mavsdk::Rtk::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Rtk](classmavsdk_1_1_rtk.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_rtk_1a7e310a6ab3cfc82efb46e238bc918a94}
+
+
+Possible results returned for rtk requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_rtk_1a7e310a6ab3cfc82efb46e238bc918a94a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_rtk_1a7e310a6ab3cfc82efb46e238bc918a94a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_rtk_1a7e310a6ab3cfc82efb46e238bc918a94a046afc1d5955fb46cbc55a8aa1f373dc"></span> `TooLong` | Passed data is too long. 
+<span id="classmavsdk_1_1_rtk_1a7e310a6ab3cfc82efb46e238bc918a94a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+<span id="classmavsdk_1_1_rtk_1a7e310a6ab3cfc82efb46e238bc918a94a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+
+## Member Function Documentation
+
+
+### send_rtcm_data() {#classmavsdk_1_1_rtk_1ab0f183ba8e57944e6f9d383f51490d09}
+```cpp
+Result mavsdk::Rtk::send_rtcm_data(RtcmData rtcm_data) const
+```
+
+
+Send RTCM data.
+
+This function is blocking.
+
+**Parameters**
+
+* [RtcmData](structmavsdk_1_1_rtk_1_1_rtcm_data.md) **rtcm_data** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_rtk.md#classmavsdk_1_1_rtk_1a7e310a6ab3cfc82efb46e238bc918a94) - Result of request.
+
+### operator=() {#classmavsdk_1_1_rtk_1a8d4c39419257c0df20b55aa7b838ecb2}
+```cpp
+const Rtk& mavsdk::Rtk::operator=(const Rtk &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Rtk](classmavsdk_1_1_rtk.md)&  - 
+
+**Returns**
+
+&emsp;const [Rtk](classmavsdk_1_1_rtk.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_server_component.md b/docs/en/cpp/api_reference/classmavsdk_1_1_server_component.md
new file mode 100644
index 0000000000..8252e62076
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_server_component.md
@@ -0,0 +1,45 @@
+# mavsdk::ServerComponent Class Reference
+`#include: server_component.h`
+
+----
+
+
+This class represents a component, used to initialize a server plugin. 
+
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [~ServerComponent](#classmavsdk_1_1_server_component_1aa93dd133c0c5476bfd9269365e4afcec) ()=default | Destructor.
+uint8_t | [component_id](#classmavsdk_1_1_server_component_1af05efb79ba6c1ed9992e13671d3268ba) () const | MAVLink component ID of this component.
+
+
+## Constructor & Destructor Documentation
+
+
+### ~ServerComponent() {#classmavsdk_1_1_server_component_1aa93dd133c0c5476bfd9269365e4afcec}
+```cpp
+mavsdk::ServerComponent::~ServerComponent()=default
+```
+
+
+Destructor.
+
+
+## Member Function Documentation
+
+
+### component_id() {#classmavsdk_1_1_server_component_1af05efb79ba6c1ed9992e13671d3268ba}
+```cpp
+uint8_t mavsdk::ServerComponent::component_id() const
+```
+
+
+MAVLink component ID of this component.
+
+
+**Returns**
+
+&emsp;uint8_t - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_server_plugin_base.md b/docs/en/cpp/api_reference/classmavsdk_1_1_server_plugin_base.md
new file mode 100644
index 0000000000..7e71da7dd3
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_server_plugin_base.md
@@ -0,0 +1,73 @@
+# mavsdk::ServerPluginBase Class Reference
+`#include: server_plugin_base.h`
+
+----
+
+
+Base class for every server plugin. 
+
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [ServerPluginBase](#classmavsdk_1_1_server_plugin_base_1a77b7c74e4e2a10cf55071e95b53eedae) ()=default | Default Constructor.
+&nbsp; | [~ServerPluginBase](#classmavsdk_1_1_server_plugin_base_1a97e1d14c2b72253d53f9284621b1d248) ()=default | Default Destructor.
+&nbsp; | [ServerPluginBase](#classmavsdk_1_1_server_plugin_base_1a86ef071b10d0afc7d287069ac8d11575) (const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md) &)=delete | Copy constructor (object is not copyable).
+const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md) & | [operator=](#classmavsdk_1_1_server_plugin_base_1ab424dcb3a08fcb7159ca326361548301) (const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md) &)=delete | Assign operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### ServerPluginBase() {#classmavsdk_1_1_server_plugin_base_1a77b7c74e4e2a10cf55071e95b53eedae}
+```cpp
+mavsdk::ServerPluginBase::ServerPluginBase()=default
+```
+
+
+Default Constructor.
+
+
+### ~ServerPluginBase() {#classmavsdk_1_1_server_plugin_base_1a97e1d14c2b72253d53f9284621b1d248}
+```cpp
+virtual mavsdk::ServerPluginBase::~ServerPluginBase()=default
+```
+
+
+Default Destructor.
+
+
+### ServerPluginBase() {#classmavsdk_1_1_server_plugin_base_1a86ef071b10d0afc7d287069ac8d11575}
+```cpp
+mavsdk::ServerPluginBase::ServerPluginBase(const ServerPluginBase &)=delete
+```
+
+
+Copy constructor (object is not copyable).
+
+
+**Parameters**
+
+* const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md)&  - 
+
+## Member Function Documentation
+
+
+### operator=() {#classmavsdk_1_1_server_plugin_base_1ab424dcb3a08fcb7159ca326361548301}
+```cpp
+const ServerPluginBase& mavsdk::ServerPluginBase::operator=(const ServerPluginBase &)=delete
+```
+
+
+Assign operator (object is not copyable).
+
+
+**Parameters**
+
+* const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md)&  - 
+
+**Returns**
+
+&emsp;const [ServerPluginBase](classmavsdk_1_1_server_plugin_base.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_server_utility.md b/docs/en/cpp/api_reference/classmavsdk_1_1_server_utility.md
new file mode 100644
index 0000000000..7c3adee2cf
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_server_utility.md
@@ -0,0 +1,177 @@
+# mavsdk::ServerUtility Class Reference
+`#include: server_utility.h`
+
+----
+
+
+Utility for onboard MAVSDK instances for common "server" tasks. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [StatusTextType](#classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233) | Status types.
+enum [Result](#classmavsdk_1_1_server_utility_1accdda519179f5fc6fe946a727f75f468) | Possible results returned for server utility requests.
+std::function< void([Result](classmavsdk_1_1_server_utility.md#classmavsdk_1_1_server_utility_1accdda519179f5fc6fe946a727f75f468))> [ResultCallback](#classmavsdk_1_1_server_utility_1acbb4204dda65430ee20a802fe13cc199) | Callback type for asynchronous [ServerUtility](classmavsdk_1_1_server_utility.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [ServerUtility](#classmavsdk_1_1_server_utility_1af6a56f1c96b29e033c4412c669e02060) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [ServerUtility](#classmavsdk_1_1_server_utility_1a54e7ef77c7ff8bee6c8f3e8d5cc0864c) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~ServerUtility](#classmavsdk_1_1_server_utility_1a3f5fe15b02bcf41520a94feb2fc51fce) () override | Destructor (internal use only).
+&nbsp; | [ServerUtility](#classmavsdk_1_1_server_utility_1a9cbd0e7b1b19b21d98ce7e914ea03f95) (const [ServerUtility](classmavsdk_1_1_server_utility.md) & other) | Copy constructor.
+[Result](classmavsdk_1_1_server_utility.md#classmavsdk_1_1_server_utility_1accdda519179f5fc6fe946a727f75f468) | [send_status_text](#classmavsdk_1_1_server_utility_1a7b7bb0b568e94575615086a86a625ae1) ([StatusTextType](classmavsdk_1_1_server_utility.md#classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233) type, std::string text)const | Sends a statustext.
+const [ServerUtility](classmavsdk_1_1_server_utility.md) & | [operator=](#classmavsdk_1_1_server_utility_1a11fcb91df55711ecb78d8687b1d47472) (const [ServerUtility](classmavsdk_1_1_server_utility.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### ServerUtility() {#classmavsdk_1_1_server_utility_1af6a56f1c96b29e033c4412c669e02060}
+```cpp
+mavsdk::ServerUtility::ServerUtility(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto server_utility = ServerUtility(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### ServerUtility() {#classmavsdk_1_1_server_utility_1a54e7ef77c7ff8bee6c8f3e8d5cc0864c}
+```cpp
+mavsdk::ServerUtility::ServerUtility(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto server_utility = ServerUtility(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~ServerUtility() {#classmavsdk_1_1_server_utility_1a3f5fe15b02bcf41520a94feb2fc51fce}
+```cpp
+mavsdk::ServerUtility::~ServerUtility() override
+```
+
+
+Destructor (internal use only).
+
+
+### ServerUtility() {#classmavsdk_1_1_server_utility_1a9cbd0e7b1b19b21d98ce7e914ea03f95}
+```cpp
+mavsdk::ServerUtility::ServerUtility(const ServerUtility &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [ServerUtility](classmavsdk_1_1_server_utility.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_server_utility_1acbb4204dda65430ee20a802fe13cc199}
+
+```cpp
+using mavsdk::ServerUtility::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [ServerUtility](classmavsdk_1_1_server_utility.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum StatusTextType {#classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233}
+
+
+Status types.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233aa603905470e2a5b8c13e96b579ef0dba"></span> `Debug` | Debug. 
+<span id="classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233a4059b0251f66a18cb56f544728796875"></span> `Info` | Information. 
+<span id="classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233a24efa7ee4511563b16144f39706d594f"></span> `Notice` | Notice. 
+<span id="classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233a0eaadb4fcb48a0a0ed7bc9868be9fbaa"></span> `Warning` | Warning. 
+<span id="classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233a902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | Error. 
+<span id="classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233a278d01e5af56273bae1bb99a98b370cd"></span> `Critical` | Critical. 
+<span id="classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233ab92071d61c88498171928745ca53078b"></span> `Alert` | Alert. 
+<span id="classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233aa3fa706f20bc0b7858b7ae6932261940"></span> `Emergency` | Emergency. 
+
+### enum Result {#classmavsdk_1_1_server_utility_1accdda519179f5fc6fe946a727f75f468}
+
+
+Possible results returned for server utility requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_server_utility_1accdda519179f5fc6fe946a727f75f468a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_server_utility_1accdda519179f5fc6fe946a727f75f468a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_server_utility_1accdda519179f5fc6fe946a727f75f468a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_server_utility_1accdda519179f5fc6fe946a727f75f468a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_server_utility_1accdda519179f5fc6fe946a727f75f468a253ca7dd096ee0956cccee4d376cab8b"></span> `InvalidArgument` | Invalid argument. 
+
+## Member Function Documentation
+
+
+### send_status_text() {#classmavsdk_1_1_server_utility_1a7b7bb0b568e94575615086a86a625ae1}
+```cpp
+Result mavsdk::ServerUtility::send_status_text(StatusTextType type, std::string text) const
+```
+
+
+Sends a statustext.
+
+This function is blocking.
+
+**Parameters**
+
+* [StatusTextType](classmavsdk_1_1_server_utility.md#classmavsdk_1_1_server_utility_1a763ddc41251f992acec6af7f19287233) **type** - 
+* std::string **text** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_server_utility.md#classmavsdk_1_1_server_utility_1accdda519179f5fc6fe946a727f75f468) - Result of request.
+
+### operator=() {#classmavsdk_1_1_server_utility_1a11fcb91df55711ecb78d8687b1d47472}
+```cpp
+const ServerUtility& mavsdk::ServerUtility::operator=(const ServerUtility &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [ServerUtility](classmavsdk_1_1_server_utility.md)&  - 
+
+**Returns**
+
+&emsp;const [ServerUtility](classmavsdk_1_1_server_utility.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_shell.md b/docs/en/cpp/api_reference/classmavsdk_1_1_shell.md
new file mode 100644
index 0000000000..fbc49b6295
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_shell.md
@@ -0,0 +1,217 @@
+# mavsdk::Shell Class Reference
+`#include: shell.h`
+
+----
+
+
+<ul>
+<li><p>Allow to communicate with the vehicle's system shell. </p>
+</li>
+</ul>
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [Result](#classmavsdk_1_1_shell_1a768bfa296ba3309f936f887fb86c9ba8) | Possible results returned for shell requests.
+std::function< void([Result](classmavsdk_1_1_shell.md#classmavsdk_1_1_shell_1a768bfa296ba3309f936f887fb86c9ba8))> [ResultCallback](#classmavsdk_1_1_shell_1a4937843446c999606349ad438f8d682d) | Callback type for asynchronous [Shell](classmavsdk_1_1_shell.md) calls.
+std::function< void(std::string)> [ReceiveCallback](#classmavsdk_1_1_shell_1adfa64ede96967ae1ab5a5ecd83032dbb) | Callback type for subscribe_receive.
+[Handle](classmavsdk_1_1_handle.md)< std::string > [ReceiveHandle](#classmavsdk_1_1_shell_1aea7ab47a9a86aa3f91e71306cc9b430b) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_receive.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Shell](#classmavsdk_1_1_shell_1a31a80044ee4822e8b9ac1c515b0eea90) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Shell](#classmavsdk_1_1_shell_1ae6c98c4c854ff0803260fe49bad20a31) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Shell](#classmavsdk_1_1_shell_1aad035d078495e85c700d4c0148c5f4f9) () override | Destructor (internal use only).
+&nbsp; | [Shell](#classmavsdk_1_1_shell_1aa9d95d880297fca1a5cba341633e660e) (const [Shell](classmavsdk_1_1_shell.md) & other) | Copy constructor.
+[Result](classmavsdk_1_1_shell.md#classmavsdk_1_1_shell_1a768bfa296ba3309f936f887fb86c9ba8) | [send](#classmavsdk_1_1_shell_1a7b39022ce3be914eec82b53a76d19bc7) (std::string command)const | Send a command line.
+[ReceiveHandle](classmavsdk_1_1_shell.md#classmavsdk_1_1_shell_1aea7ab47a9a86aa3f91e71306cc9b430b) | [subscribe_receive](#classmavsdk_1_1_shell_1a2794ac389f4df4f1aaa344612bc8c470) (const [ReceiveCallback](classmavsdk_1_1_shell.md#classmavsdk_1_1_shell_1adfa64ede96967ae1ab5a5ecd83032dbb) & callback) | Receive feedback from a sent command line.
+void | [unsubscribe_receive](#classmavsdk_1_1_shell_1a5b696e1651459dbc3ceef2a393af433d) ([ReceiveHandle](classmavsdk_1_1_shell.md#classmavsdk_1_1_shell_1aea7ab47a9a86aa3f91e71306cc9b430b) handle) | Unsubscribe from subscribe_receive.
+const [Shell](classmavsdk_1_1_shell.md) & | [operator=](#classmavsdk_1_1_shell_1a492f8b2e36ef2468522bfd0f51f4b9b8) (const [Shell](classmavsdk_1_1_shell.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Shell() {#classmavsdk_1_1_shell_1a31a80044ee4822e8b9ac1c515b0eea90}
+```cpp
+mavsdk::Shell::Shell(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto shell = Shell(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Shell() {#classmavsdk_1_1_shell_1ae6c98c4c854ff0803260fe49bad20a31}
+```cpp
+mavsdk::Shell::Shell(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto shell = Shell(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Shell() {#classmavsdk_1_1_shell_1aad035d078495e85c700d4c0148c5f4f9}
+```cpp
+mavsdk::Shell::~Shell() override
+```
+
+
+Destructor (internal use only).
+
+
+### Shell() {#classmavsdk_1_1_shell_1aa9d95d880297fca1a5cba341633e660e}
+```cpp
+mavsdk::Shell::Shell(const Shell &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Shell](classmavsdk_1_1_shell.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_shell_1a4937843446c999606349ad438f8d682d}
+
+```cpp
+using mavsdk::Shell::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Shell](classmavsdk_1_1_shell.md) calls.
+
+
+### typedef ReceiveCallback {#classmavsdk_1_1_shell_1adfa64ede96967ae1ab5a5ecd83032dbb}
+
+```cpp
+using mavsdk::Shell::ReceiveCallback =  std::function<void(std::string)>
+```
+
+
+Callback type for subscribe_receive.
+
+
+### typedef ReceiveHandle {#classmavsdk_1_1_shell_1aea7ab47a9a86aa3f91e71306cc9b430b}
+
+```cpp
+using mavsdk::Shell::ReceiveHandle =  Handle<std::string>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_receive.
+
+
+## Member Enumeration Documentation
+
+
+### enum Result {#classmavsdk_1_1_shell_1a768bfa296ba3309f936f887fb86c9ba8}
+
+
+Possible results returned for shell requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_shell_1a768bfa296ba3309f936f887fb86c9ba8a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_shell_1a768bfa296ba3309f936f887fb86c9ba8a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_shell_1a768bfa296ba3309f936f887fb86c9ba8a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_shell_1a768bfa296ba3309f936f887fb86c9ba8a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_shell_1a768bfa296ba3309f936f887fb86c9ba8a0e976dcd18516429d344402e6f5524d3"></span> `NoResponse` | Response was not received. 
+<span id="classmavsdk_1_1_shell_1a768bfa296ba3309f936f887fb86c9ba8ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | [Shell](classmavsdk_1_1_shell.md) busy (transfer in progress). 
+
+## Member Function Documentation
+
+
+### send() {#classmavsdk_1_1_shell_1a7b39022ce3be914eec82b53a76d19bc7}
+```cpp
+Result mavsdk::Shell::send(std::string command) const
+```
+
+
+Send a command line.
+
+This function is blocking.
+
+**Parameters**
+
+* std::string **command** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_shell.md#classmavsdk_1_1_shell_1a768bfa296ba3309f936f887fb86c9ba8) - Result of request.
+
+### subscribe_receive() {#classmavsdk_1_1_shell_1a2794ac389f4df4f1aaa344612bc8c470}
+```cpp
+ReceiveHandle mavsdk::Shell::subscribe_receive(const ReceiveCallback &callback)
+```
+
+
+Receive feedback from a sent command line.
+
+This subscription needs to be made before a command line is sent, otherwise, no response will be sent.
+
+**Parameters**
+
+* const [ReceiveCallback](classmavsdk_1_1_shell.md#classmavsdk_1_1_shell_1adfa64ede96967ae1ab5a5ecd83032dbb)& **callback** - 
+
+**Returns**
+
+&emsp;[ReceiveHandle](classmavsdk_1_1_shell.md#classmavsdk_1_1_shell_1aea7ab47a9a86aa3f91e71306cc9b430b) - 
+
+### unsubscribe_receive() {#classmavsdk_1_1_shell_1a5b696e1651459dbc3ceef2a393af433d}
+```cpp
+void mavsdk::Shell::unsubscribe_receive(ReceiveHandle handle)
+```
+
+
+Unsubscribe from subscribe_receive.
+
+
+**Parameters**
+
+* [ReceiveHandle](classmavsdk_1_1_shell.md#classmavsdk_1_1_shell_1aea7ab47a9a86aa3f91e71306cc9b430b) **handle** - 
+
+### operator=() {#classmavsdk_1_1_shell_1a492f8b2e36ef2468522bfd0f51f4b9b8}
+```cpp
+const Shell& mavsdk::Shell::operator=(const Shell &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Shell](classmavsdk_1_1_shell.md)&  - 
+
+**Returns**
+
+&emsp;const [Shell](classmavsdk_1_1_shell.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_system.md b/docs/en/cpp/api_reference/classmavsdk_1_1_system.md
new file mode 100644
index 0000000000..61529b55d1
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_system.md
@@ -0,0 +1,386 @@
+# mavsdk::System Class Reference
+`#include: system.h`
+
+----
+
+
+This class represents a system, made up of one or more components (e.g. autopilot, cameras, servos, gimbals, etc). 
+
+
+[System](classmavsdk_1_1_system.md) objects are used to interact with UAVs (including their components) and standalone cameras. They are not created directly by application code, but are returned by the [Mavsdk](classmavsdk_1_1_mavsdk.md) class. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [ComponentType](#classmavsdk_1_1_system_1af2a91929d9771ae0e59c98557027b1dc) | Component Types.
+std::function< void(bool)> [IsConnectedCallback](#classmavsdk_1_1_system_1a0e56bb48498100fde0872a3ec376f282) | type for is connected callback.
+[Handle](classmavsdk_1_1_handle.md)< bool > [IsConnectedHandle](#classmavsdk_1_1_system_1adedf1d76e922076dfd3ca3c726443efd) | handle type to unsubscribe from subscribe_is_connected.
+std::function< void([ComponentType](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1af2a91929d9771ae0e59c98557027b1dc))> [ComponentDiscoveredCallback](#classmavsdk_1_1_system_1a064172b17193bb9be448e2053c83627b) | type for component discovery callback
+[Handle](classmavsdk_1_1_handle.md)< [ComponentType](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1af2a91929d9771ae0e59c98557027b1dc) > [ComponentDiscoveredHandle](#classmavsdk_1_1_system_1adfb374a9eaaa765cf0813cfa6b40df39) | type for component discovery callback handle
+std::function< void([ComponentType](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1af2a91929d9771ae0e59c98557027b1dc), uint8_t)> [ComponentDiscoveredIdCallback](#classmavsdk_1_1_system_1a914c50b413b5bd61d334631096e614ca) | type for component discovery callback with component ID
+[Handle](classmavsdk_1_1_handle.md)< [ComponentType](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1af2a91929d9771ae0e59c98557027b1dc), uint8_t > [ComponentDiscoveredIdHandle](#classmavsdk_1_1_system_1abd573ae09348f33e7cd3a006fc26a708) | type for component discovery callback handle with component ID
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [~System](#classmavsdk_1_1_system_1abdc4208c07d776c628acdc037a881ea6) () | Destructor.
+&nbsp; | [System](#classmavsdk_1_1_system_1ac0e97e92181683f6b31fe208165dc35c) (const [System](classmavsdk_1_1_system.md) &)=delete | Copy constructor (object is not copyable).
+void | [init](#classmavsdk_1_1_system_1a5c4c30affa7abbe06cc809187f3ddcb3) (uint8_t system_id, uint8_t component_id)const | Initialize the system.
+bool | [has_autopilot](#classmavsdk_1_1_system_1a0c3d766baa73f5b35e2950a6f0a38c02) () const | Checks whether the system has an autopilot.
+bool | [is_standalone](#classmavsdk_1_1_system_1a7fb7ed01204498dcaa2ab7d9cc31acf2) () const | Checks whether the system is a standalone (non-autopilot).
+bool | [has_camera](#classmavsdk_1_1_system_1a440fd601ed2120e1e41d9eab536a7da8) (int camera_id=-1)const | Checks whether the system has a camera with the given camera ID.
+bool | [has_gimbal](#classmavsdk_1_1_system_1ad66c3ecc096970d40c34610e49dba929) () const | Checks whether the system has a gimbal.
+bool | [is_connected](#classmavsdk_1_1_system_1ad07991ae044bc367e27f544db40d065b) () const | Checks if the system is connected.
+uint8_t | [get_system_id](#classmavsdk_1_1_system_1a091d793db29719f4996040886ad951a6) () const | MAVLink [System](classmavsdk_1_1_system.md) ID of connected system.
+std::vector< uint8_t > | [component_ids](#classmavsdk_1_1_system_1aa33f748f81cc512601451c80bd077888) () const | MAVLink component IDs of connected system.
+[IsConnectedHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1adedf1d76e922076dfd3ca3c726443efd) | [subscribe_is_connected](#classmavsdk_1_1_system_1aae68747c23976fa7eb63ec0762493263) (const [IsConnectedCallback](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1a0e56bb48498100fde0872a3ec376f282) & callback) | Subscribe to callback to be called when system connection state changes.
+void | [unsubscribe_is_connected](#classmavsdk_1_1_system_1a2f1927d56c14a7ad44995bd56afb706f) ([IsConnectedHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1adedf1d76e922076dfd3ca3c726443efd) handle) | Unsubscribe from subscribe_is_connected.
+[ComponentDiscoveredHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1adfb374a9eaaa765cf0813cfa6b40df39) | [subscribe_component_discovered](#classmavsdk_1_1_system_1a25ede402b74a9412334ff1cab521e7d3) (const [ComponentDiscoveredCallback](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1a064172b17193bb9be448e2053c83627b) & callback) | Subscribe to be called when a component is discovered.
+void | [unsubscribe_component_discovered](#classmavsdk_1_1_system_1a5d62d308534b5e1673779543d02037f3) ([ComponentDiscoveredHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1adfb374a9eaaa765cf0813cfa6b40df39) handle) | Unsubscribe from subscribe_component_discovered.
+[ComponentDiscoveredIdHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1abd573ae09348f33e7cd3a006fc26a708) | [subscribe_component_discovered_id](#classmavsdk_1_1_system_1a1905176f3a6633a8a9fe655f2dcd2d23) (const [ComponentDiscoveredIdCallback](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1a914c50b413b5bd61d334631096e614ca) & callback) | Subscribe to be called when a component is discovered.
+void | [unsubscribe_component_discovered_id](#classmavsdk_1_1_system_1a37bca637341bba8b07e8f95c97d122db) ([ComponentDiscoveredIdHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1abd573ae09348f33e7cd3a006fc26a708) handle) | Unsubscribe from subscribe_component_discovered_id.
+void | [enable_timesync](#classmavsdk_1_1_system_1a7c7177fb0789aefbfb375f4bb12ce824) () | Enable time synchronization using the TIMESYNC messages.
+const [System](classmavsdk_1_1_system.md) & | [operator=](#classmavsdk_1_1_system_1a21284c27829fda2391ee27f5732f916d) (const [System](classmavsdk_1_1_system.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### ~System() {#classmavsdk_1_1_system_1abdc4208c07d776c628acdc037a881ea6}
+```cpp
+mavsdk::System::~System()
+```
+
+
+Destructor.
+
+
+### System() {#classmavsdk_1_1_system_1ac0e97e92181683f6b31fe208165dc35c}
+```cpp
+mavsdk::System::System(const System &)=delete
+```
+
+
+Copy constructor (object is not copyable).
+
+
+**Parameters**
+
+* const [System](classmavsdk_1_1_system.md)&  - 
+
+## Member Typdef Documentation
+
+
+### typedef IsConnectedCallback {#classmavsdk_1_1_system_1a0e56bb48498100fde0872a3ec376f282}
+
+```cpp
+using mavsdk::System::IsConnectedCallback =  std::function<void(bool)>
+```
+
+
+type for is connected callback.
+
+
+### typedef IsConnectedHandle {#classmavsdk_1_1_system_1adedf1d76e922076dfd3ca3c726443efd}
+
+```cpp
+using mavsdk::System::IsConnectedHandle =  Handle<bool>
+```
+
+
+handle type to unsubscribe from subscribe_is_connected.
+
+
+### typedef ComponentDiscoveredCallback {#classmavsdk_1_1_system_1a064172b17193bb9be448e2053c83627b}
+
+```cpp
+using mavsdk::System::ComponentDiscoveredCallback =  std::function<void(ComponentType)>
+```
+
+
+type for component discovery callback
+
+
+### typedef ComponentDiscoveredHandle {#classmavsdk_1_1_system_1adfb374a9eaaa765cf0813cfa6b40df39}
+
+```cpp
+using mavsdk::System::ComponentDiscoveredHandle =  Handle<ComponentType>
+```
+
+
+type for component discovery callback handle
+
+
+### typedef ComponentDiscoveredIdCallback {#classmavsdk_1_1_system_1a914c50b413b5bd61d334631096e614ca}
+
+```cpp
+using mavsdk::System::ComponentDiscoveredIdCallback =  std::function<void(ComponentType, uint8_t)>
+```
+
+
+type for component discovery callback with component ID
+
+
+### typedef ComponentDiscoveredIdHandle {#classmavsdk_1_1_system_1abd573ae09348f33e7cd3a006fc26a708}
+
+```cpp
+using mavsdk::System::ComponentDiscoveredIdHandle =  Handle<ComponentType, uint8_t>
+```
+
+
+type for component discovery callback handle with component ID
+
+
+## Member Enumeration Documentation
+
+
+### enum ComponentType {#classmavsdk_1_1_system_1af2a91929d9771ae0e59c98557027b1dc}
+
+
+Component Types.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_system_1af2a91929d9771ae0e59c98557027b1dca696b031073e74bf2cb98e5ef201d4aa3"></span> `UNKNOWN` |  
+<span id="classmavsdk_1_1_system_1af2a91929d9771ae0e59c98557027b1dca8797273a75c761c3b925c165511d653c"></span> `AUTOPILOT` |  
+<span id="classmavsdk_1_1_system_1af2a91929d9771ae0e59c98557027b1dcaddf0d6b21537d984fea6544f58101fa8"></span> `CAMERA` |  
+<span id="classmavsdk_1_1_system_1af2a91929d9771ae0e59c98557027b1dca0bad549bc68e5c4adb2ed793b8dcf8e3"></span> `GIMBAL` |  
+
+## Member Function Documentation
+
+
+### init() {#classmavsdk_1_1_system_1a5c4c30affa7abbe06cc809187f3ddcb3}
+```cpp
+void mavsdk::System::init(uint8_t system_id, uint8_t component_id) const
+```
+
+
+Initialize the system.
+
+This is not (and should not be) directly called by application code.
+
+**Parameters**
+
+* uint8_t **system_id** - [System](classmavsdk_1_1_system.md) id.
+* uint8_t **component_id** - Component id.
+
+### has_autopilot() {#classmavsdk_1_1_system_1a0c3d766baa73f5b35e2950a6f0a38c02}
+```cpp
+bool mavsdk::System::has_autopilot() const
+```
+
+
+Checks whether the system has an autopilot.
+
+
+**Returns**
+
+&emsp;bool - `true` if it has an autopilot, `false` otherwise.
+
+### is_standalone() {#classmavsdk_1_1_system_1a7fb7ed01204498dcaa2ab7d9cc31acf2}
+```cpp
+bool mavsdk::System::is_standalone() const
+```
+
+
+Checks whether the system is a standalone (non-autopilot).
+
+
+**Returns**
+
+&emsp;bool - `true` if stand alone, `false` otherwise.
+
+### has_camera() {#classmavsdk_1_1_system_1a440fd601ed2120e1e41d9eab536a7da8}
+```cpp
+bool mavsdk::System::has_camera(int camera_id=-1) const
+```
+
+
+Checks whether the system has a camera with the given camera ID.
+
+A [System](classmavsdk_1_1_system.md) may have several cameras, with IDs starting from 0. When called without passing a camera ID, it checks whether the system has any camera.
+
+**Parameters**
+
+* int **camera_id** - ID of the camera starting from 0 onwards.
+
+**Returns**
+
+&emsp;bool - `true` if camera with the given camera ID is found, `false` otherwise.
+
+### has_gimbal() {#classmavsdk_1_1_system_1ad66c3ecc096970d40c34610e49dba929}
+```cpp
+bool mavsdk::System::has_gimbal() const
+```
+
+
+Checks whether the system has a gimbal.
+
+
+**Returns**
+
+&emsp;bool - `true` if the system has a gimbal, false otherwise.
+
+### is_connected() {#classmavsdk_1_1_system_1ad07991ae044bc367e27f544db40d065b}
+```cpp
+bool mavsdk::System::is_connected() const
+```
+
+
+Checks if the system is connected.
+
+A system is connected when heartbeats are arriving (discovered and not timed out).
+
+**Returns**
+
+&emsp;bool - `true` if the system is connected.
+
+### get_system_id() {#classmavsdk_1_1_system_1a091d793db29719f4996040886ad951a6}
+```cpp
+uint8_t mavsdk::System::get_system_id() const
+```
+
+
+MAVLink [System](classmavsdk_1_1_system.md) ID of connected system.
+
+> **Note** : this is 0 if nothing is connected yet.
+
+**Returns**
+
+&emsp;uint8_t - the system ID.
+
+### component_ids() {#classmavsdk_1_1_system_1aa33f748f81cc512601451c80bd077888}
+```cpp
+std::vector<uint8_t> mavsdk::System::component_ids() const
+```
+
+
+MAVLink component IDs of connected system.
+
+> **Note** : all components that have been seen at least once will be listed.
+
+**Returns**
+
+&emsp;std::vector< uint8_t > - a list of all component ids
+
+### subscribe_is_connected() {#classmavsdk_1_1_system_1aae68747c23976fa7eb63ec0762493263}
+```cpp
+IsConnectedHandle mavsdk::System::subscribe_is_connected(const IsConnectedCallback &callback)
+```
+
+
+Subscribe to callback to be called when system connection state changes.
+
+
+**Parameters**
+
+* const [IsConnectedCallback](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1a0e56bb48498100fde0872a3ec376f282)& **callback** - Callback which will be called.
+
+**Returns**
+
+&emsp;[IsConnectedHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1adedf1d76e922076dfd3ca3c726443efd) - 
+
+### unsubscribe_is_connected() {#classmavsdk_1_1_system_1a2f1927d56c14a7ad44995bd56afb706f}
+```cpp
+void mavsdk::System::unsubscribe_is_connected(IsConnectedHandle handle)
+```
+
+
+Unsubscribe from subscribe_is_connected.
+
+
+**Parameters**
+
+* [IsConnectedHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1adedf1d76e922076dfd3ca3c726443efd) **handle** - 
+
+### subscribe_component_discovered() {#classmavsdk_1_1_system_1a25ede402b74a9412334ff1cab521e7d3}
+```cpp
+ComponentDiscoveredHandle mavsdk::System::subscribe_component_discovered(const ComponentDiscoveredCallback &callback)
+```
+
+
+Subscribe to be called when a component is discovered.
+
+
+**Parameters**
+
+* const [ComponentDiscoveredCallback](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1a064172b17193bb9be448e2053c83627b)& **callback** - a function of type void(ComponentType) which will be called with the component type of the new component.
+
+**Returns**
+
+&emsp;[ComponentDiscoveredHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1adfb374a9eaaa765cf0813cfa6b40df39) - 
+
+### unsubscribe_component_discovered() {#classmavsdk_1_1_system_1a5d62d308534b5e1673779543d02037f3}
+```cpp
+void mavsdk::System::unsubscribe_component_discovered(ComponentDiscoveredHandle handle)
+```
+
+
+Unsubscribe from subscribe_component_discovered.
+
+
+**Parameters**
+
+* [ComponentDiscoveredHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1adfb374a9eaaa765cf0813cfa6b40df39) **handle** - 
+
+### subscribe_component_discovered_id() {#classmavsdk_1_1_system_1a1905176f3a6633a8a9fe655f2dcd2d23}
+```cpp
+ComponentDiscoveredIdHandle mavsdk::System::subscribe_component_discovered_id(const ComponentDiscoveredIdCallback &callback)
+```
+
+
+Subscribe to be called when a component is discovered.
+
+
+**Parameters**
+
+* const [ComponentDiscoveredIdCallback](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1a914c50b413b5bd61d334631096e614ca)& **callback** - a function of type void(ComponentType) which will be called with the component type and the component id of the new component.
+
+**Returns**
+
+&emsp;[ComponentDiscoveredIdHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1abd573ae09348f33e7cd3a006fc26a708) - 
+
+### unsubscribe_component_discovered_id() {#classmavsdk_1_1_system_1a37bca637341bba8b07e8f95c97d122db}
+```cpp
+void mavsdk::System::unsubscribe_component_discovered_id(ComponentDiscoveredIdHandle handle)
+```
+
+
+Unsubscribe from subscribe_component_discovered_id.
+
+
+**Parameters**
+
+* [ComponentDiscoveredIdHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1abd573ae09348f33e7cd3a006fc26a708) **handle** - 
+
+### enable_timesync() {#classmavsdk_1_1_system_1a7c7177fb0789aefbfb375f4bb12ce824}
+```cpp
+void mavsdk::System::enable_timesync()
+```
+
+
+Enable time synchronization using the TIMESYNC messages.
+
+
+### operator=() {#classmavsdk_1_1_system_1a21284c27829fda2391ee27f5732f916d}
+```cpp
+const System& mavsdk::System::operator=(const System &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [System](classmavsdk_1_1_system.md)&  - 
+
+**Returns**
+
+&emsp;const [System](classmavsdk_1_1_system.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_telemetry.md b/docs/en/cpp/api_reference/classmavsdk_1_1_telemetry.md
new file mode 100644
index 0000000000..d976527c77
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_telemetry.md
@@ -0,0 +1,3489 @@
+# mavsdk::Telemetry Class Reference
+`#include: telemetry.h`
+
+----
+
+
+Allow users to get vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates. 
+
+
+## Data Structures
+
+
+struct [AccelerationFrd](structmavsdk_1_1_telemetry_1_1_acceleration_frd.md)
+
+struct [ActuatorControlTarget](structmavsdk_1_1_telemetry_1_1_actuator_control_target.md)
+
+struct [ActuatorOutputStatus](structmavsdk_1_1_telemetry_1_1_actuator_output_status.md)
+
+struct [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md)
+
+struct [AngularVelocityBody](structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md)
+
+struct [AngularVelocityFrd](structmavsdk_1_1_telemetry_1_1_angular_velocity_frd.md)
+
+struct [Battery](structmavsdk_1_1_telemetry_1_1_battery.md)
+
+struct [Covariance](structmavsdk_1_1_telemetry_1_1_covariance.md)
+
+struct [DistanceSensor](structmavsdk_1_1_telemetry_1_1_distance_sensor.md)
+
+struct [EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md)
+
+struct [FixedwingMetrics](structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md)
+
+struct [GpsGlobalOrigin](structmavsdk_1_1_telemetry_1_1_gps_global_origin.md)
+
+struct [GpsInfo](structmavsdk_1_1_telemetry_1_1_gps_info.md)
+
+struct [GroundTruth](structmavsdk_1_1_telemetry_1_1_ground_truth.md)
+
+struct [Heading](structmavsdk_1_1_telemetry_1_1_heading.md)
+
+struct [Health](structmavsdk_1_1_telemetry_1_1_health.md)
+
+struct [Imu](structmavsdk_1_1_telemetry_1_1_imu.md)
+
+struct [MagneticFieldFrd](structmavsdk_1_1_telemetry_1_1_magnetic_field_frd.md)
+
+struct [Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md)
+
+struct [Position](structmavsdk_1_1_telemetry_1_1_position.md)
+
+struct [PositionBody](structmavsdk_1_1_telemetry_1_1_position_body.md)
+
+struct [PositionNed](structmavsdk_1_1_telemetry_1_1_position_ned.md)
+
+struct [PositionVelocityNed](structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md)
+
+struct [Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md)
+
+struct [RawGps](structmavsdk_1_1_telemetry_1_1_raw_gps.md)
+
+struct [RcStatus](structmavsdk_1_1_telemetry_1_1_rc_status.md)
+
+struct [ScaledPressure](structmavsdk_1_1_telemetry_1_1_scaled_pressure.md)
+
+struct [StatusText](structmavsdk_1_1_telemetry_1_1_status_text.md)
+
+struct [VelocityBody](structmavsdk_1_1_telemetry_1_1_velocity_body.md)
+
+struct [VelocityNed](structmavsdk_1_1_telemetry_1_1_velocity_ned.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [FixType](#classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639de) | GPS fix type.
+enum [FlightMode](#classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fe) | Flight modes.
+enum [StatusTextType](#classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8) | Status types.
+enum [LandedState](#classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046) | Landed State enumeration.
+enum [VtolState](#classmavsdk_1_1_telemetry_1a256f951d993aa120c437d989a6e94166) | VTOL State enumeration.
+enum [Result](#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | Possible results returned for telemetry requests.
+std::function< void([Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75))> [ResultCallback](#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) | Callback type for asynchronous [Telemetry](classmavsdk_1_1_telemetry.md) calls.
+std::function< void([Position](structmavsdk_1_1_telemetry_1_1_position.md))> [PositionCallback](#classmavsdk_1_1_telemetry_1a978b371d636226e198995462afa63552) | Callback type for subscribe_position.
+[Handle](classmavsdk_1_1_handle.md)< [Position](structmavsdk_1_1_telemetry_1_1_position.md) > [PositionHandle](#classmavsdk_1_1_telemetry_1a7d82a98ea53c2aa254624bc943ec22f1) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_position.
+std::function< void([Position](structmavsdk_1_1_telemetry_1_1_position.md))> [HomeCallback](#classmavsdk_1_1_telemetry_1aaac029969c37a001d43e2788a6abf634) | Callback type for subscribe_home.
+[Handle](classmavsdk_1_1_handle.md)< [Position](structmavsdk_1_1_telemetry_1_1_position.md) > [HomeHandle](#classmavsdk_1_1_telemetry_1a7a2b3a8b50d66e911870700ea3fe007d) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_home.
+std::function< void(bool)> [InAirCallback](#classmavsdk_1_1_telemetry_1af96cca452305dd8f51b42d4663f15a26) | Callback type for subscribe_in_air.
+[Handle](classmavsdk_1_1_handle.md)< bool > [InAirHandle](#classmavsdk_1_1_telemetry_1a17582f68fabac027ab354073e0eca8e5) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_in_air.
+std::function< void([LandedState](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046))> [LandedStateCallback](#classmavsdk_1_1_telemetry_1a0cd8ef17abdd7c3d6a9ee761ccc6ae5e) | Callback type for subscribe_landed_state.
+[Handle](classmavsdk_1_1_handle.md)< [LandedState](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046) > [LandedStateHandle](#classmavsdk_1_1_telemetry_1a125f2ecfe3f5ce588e6d1799392a5fd7) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_landed_state.
+std::function< void(bool)> [ArmedCallback](#classmavsdk_1_1_telemetry_1a9d23a4092d94e50694390e9f41b8c419) | Callback type for subscribe_armed.
+[Handle](classmavsdk_1_1_handle.md)< bool > [ArmedHandle](#classmavsdk_1_1_telemetry_1a3cfe4b90e156fb055066f8164985311c) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_armed.
+std::function< void([VtolState](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a256f951d993aa120c437d989a6e94166))> [VtolStateCallback](#classmavsdk_1_1_telemetry_1abf52126ce4d4efb99560aa8e8e58f20c) | Callback type for subscribe_vtol_state.
+[Handle](classmavsdk_1_1_handle.md)< [VtolState](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a256f951d993aa120c437d989a6e94166) > [VtolStateHandle](#classmavsdk_1_1_telemetry_1a824bab94514afa56334acf41b6f7d244) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_vtol_state.
+std::function< void([Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md))> [AttitudeQuaternionCallback](#classmavsdk_1_1_telemetry_1ad16e61245511a99e930d6fdcbd761a30) | Callback type for subscribe_attitude_quaternion.
+[Handle](classmavsdk_1_1_handle.md)< [Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) > [AttitudeQuaternionHandle](#classmavsdk_1_1_telemetry_1a0ce62986aedcd06d845406a2d99257d3) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_attitude_quaternion.
+std::function< void([EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md))> [AttitudeEulerCallback](#classmavsdk_1_1_telemetry_1a321c7607922369926fbd5f2821986cba) | Callback type for subscribe_attitude_euler.
+[Handle](classmavsdk_1_1_handle.md)< [EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md) > [AttitudeEulerHandle](#classmavsdk_1_1_telemetry_1ae73f3d3ac224438a6cd07344fda9543b) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_attitude_euler.
+std::function< void([AngularVelocityBody](structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md))> [AttitudeAngularVelocityBodyCallback](#classmavsdk_1_1_telemetry_1a35ff8def3048faeab7f732153d51085f) | Callback type for subscribe_attitude_angular_velocity_body.
+[Handle](classmavsdk_1_1_handle.md)< [AngularVelocityBody](structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md) > [AttitudeAngularVelocityBodyHandle](#classmavsdk_1_1_telemetry_1a2328e39c1a96ce9a090cb19283d3ffc1) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_attitude_angular_velocity_body.
+std::function< void([Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md))> [CameraAttitudeQuaternionCallback](#classmavsdk_1_1_telemetry_1aa83dafa14e9b5179573a574f6fbdd973) | Callback type for subscribe_camera_attitude_quaternion.
+[Handle](classmavsdk_1_1_handle.md)< [Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) > [CameraAttitudeQuaternionHandle](#classmavsdk_1_1_telemetry_1aeb2a99828961bf2a4d5c24753e020358) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_camera_attitude_quaternion.
+std::function< void([EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md))> [CameraAttitudeEulerCallback](#classmavsdk_1_1_telemetry_1aa29f9bb0767ba8c384bfe1df69f2fdd9) | Callback type for subscribe_camera_attitude_euler.
+[Handle](classmavsdk_1_1_handle.md)< [EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md) > [CameraAttitudeEulerHandle](#classmavsdk_1_1_telemetry_1a76471c91115d6e03e6165a3e1315808b) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_camera_attitude_euler.
+std::function< void([VelocityNed](structmavsdk_1_1_telemetry_1_1_velocity_ned.md))> [VelocityNedCallback](#classmavsdk_1_1_telemetry_1ab5859d2f6a9c9bd81282166b3de92342) | Callback type for subscribe_velocity_ned.
+[Handle](classmavsdk_1_1_handle.md)< [VelocityNed](structmavsdk_1_1_telemetry_1_1_velocity_ned.md) > [VelocityNedHandle](#classmavsdk_1_1_telemetry_1a2c3898f33bfa1bffe86681aaca33343e) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_velocity_ned.
+std::function< void([GpsInfo](structmavsdk_1_1_telemetry_1_1_gps_info.md))> [GpsInfoCallback](#classmavsdk_1_1_telemetry_1ad8fa90886b2283eace09b4b46708048b) | Callback type for subscribe_gps_info.
+[Handle](classmavsdk_1_1_handle.md)< [GpsInfo](structmavsdk_1_1_telemetry_1_1_gps_info.md) > [GpsInfoHandle](#classmavsdk_1_1_telemetry_1a87598b504f6ddf3ba0620b0458f2d39c) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_gps_info.
+std::function< void([RawGps](structmavsdk_1_1_telemetry_1_1_raw_gps.md))> [RawGpsCallback](#classmavsdk_1_1_telemetry_1a915868d562ed445fa30beaa9140ea97c) | Callback type for subscribe_raw_gps.
+[Handle](classmavsdk_1_1_handle.md)< [RawGps](structmavsdk_1_1_telemetry_1_1_raw_gps.md) > [RawGpsHandle](#classmavsdk_1_1_telemetry_1a75a62eb3624bf77ea6860d5d965636fd) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_raw_gps.
+std::function< void([Battery](structmavsdk_1_1_telemetry_1_1_battery.md))> [BatteryCallback](#classmavsdk_1_1_telemetry_1af4b121c576ef2ae567b1d571b12dff9d) | Callback type for subscribe_battery.
+[Handle](classmavsdk_1_1_handle.md)< [Battery](structmavsdk_1_1_telemetry_1_1_battery.md) > [BatteryHandle](#classmavsdk_1_1_telemetry_1ad9c79c3a89de6f28aabc771a2b5cc92f) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_battery.
+std::function< void([FlightMode](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fe))> [FlightModeCallback](#classmavsdk_1_1_telemetry_1a2d7318d0823771b7a586c40199bdb482) | Callback type for subscribe_flight_mode.
+[Handle](classmavsdk_1_1_handle.md)< [FlightMode](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fe) > [FlightModeHandle](#classmavsdk_1_1_telemetry_1add61cde1555ed1cec93a34bbdadeef5c) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_flight_mode.
+std::function< void([Health](structmavsdk_1_1_telemetry_1_1_health.md))> [HealthCallback](#classmavsdk_1_1_telemetry_1a7a120dd053091c644e0e2e47fdcbeb75) | Callback type for subscribe_health.
+[Handle](classmavsdk_1_1_handle.md)< [Health](structmavsdk_1_1_telemetry_1_1_health.md) > [HealthHandle](#classmavsdk_1_1_telemetry_1a52869d9dd1a240385b0d213a7057f3df) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_health.
+std::function< void([RcStatus](structmavsdk_1_1_telemetry_1_1_rc_status.md))> [RcStatusCallback](#classmavsdk_1_1_telemetry_1aafcd706b805898301b574ffa2b909b85) | Callback type for subscribe_rc_status.
+[Handle](classmavsdk_1_1_handle.md)< [RcStatus](structmavsdk_1_1_telemetry_1_1_rc_status.md) > [RcStatusHandle](#classmavsdk_1_1_telemetry_1ae3bd26bbc4c12eddc7f90f42482078de) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_rc_status.
+std::function< void([StatusText](structmavsdk_1_1_telemetry_1_1_status_text.md))> [StatusTextCallback](#classmavsdk_1_1_telemetry_1a46e51ff90fe779990ed09a593c1c7898) | Callback type for subscribe_status_text.
+[Handle](classmavsdk_1_1_handle.md)< [StatusText](structmavsdk_1_1_telemetry_1_1_status_text.md) > [StatusTextHandle](#classmavsdk_1_1_telemetry_1a5c2b31499961747b784664b87b851e04) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_status_text.
+std::function< void([ActuatorControlTarget](structmavsdk_1_1_telemetry_1_1_actuator_control_target.md))> [ActuatorControlTargetCallback](#classmavsdk_1_1_telemetry_1ada6af3de1b60b93a709345c3a8ede551) | Callback type for subscribe_actuator_control_target.
+[Handle](classmavsdk_1_1_handle.md)< [ActuatorControlTarget](structmavsdk_1_1_telemetry_1_1_actuator_control_target.md) > [ActuatorControlTargetHandle](#classmavsdk_1_1_telemetry_1a01438bbc123454e745b8874bc91bf874) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_actuator_control_target.
+std::function< void([ActuatorOutputStatus](structmavsdk_1_1_telemetry_1_1_actuator_output_status.md))> [ActuatorOutputStatusCallback](#classmavsdk_1_1_telemetry_1a2b1e800ce1ba6fb776351416340ac8b9) | Callback type for subscribe_actuator_output_status.
+[Handle](classmavsdk_1_1_handle.md)< [ActuatorOutputStatus](structmavsdk_1_1_telemetry_1_1_actuator_output_status.md) > [ActuatorOutputStatusHandle](#classmavsdk_1_1_telemetry_1ac0bbbb060195848f41de50600489713f) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_actuator_output_status.
+std::function< void([Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md))> [OdometryCallback](#classmavsdk_1_1_telemetry_1a8cd23f7364f8f5cb22869155da67c65d) | Callback type for subscribe_odometry.
+[Handle](classmavsdk_1_1_handle.md)< [Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md) > [OdometryHandle](#classmavsdk_1_1_telemetry_1a23b33f337ed73ec584e8ac8868c72f86) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_odometry.
+std::function< void([PositionVelocityNed](structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md))> [PositionVelocityNedCallback](#classmavsdk_1_1_telemetry_1a5a38deb284622ff6926703e1e5c96a74) | Callback type for subscribe_position_velocity_ned.
+[Handle](classmavsdk_1_1_handle.md)< [PositionVelocityNed](structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md) > [PositionVelocityNedHandle](#classmavsdk_1_1_telemetry_1aef1424caca3967e67336140af395e59c) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_position_velocity_ned.
+std::function< void([GroundTruth](structmavsdk_1_1_telemetry_1_1_ground_truth.md))> [GroundTruthCallback](#classmavsdk_1_1_telemetry_1a222aae53852a2c535f6d69ed57221f13) | Callback type for subscribe_ground_truth.
+[Handle](classmavsdk_1_1_handle.md)< [GroundTruth](structmavsdk_1_1_telemetry_1_1_ground_truth.md) > [GroundTruthHandle](#classmavsdk_1_1_telemetry_1a373568d10564c5a3c3d325e5975a3a23) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_ground_truth.
+std::function< void([FixedwingMetrics](structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md))> [FixedwingMetricsCallback](#classmavsdk_1_1_telemetry_1a5b42dbef0ef6d8c1768d503d0437f1e3) | Callback type for subscribe_fixedwing_metrics.
+[Handle](classmavsdk_1_1_handle.md)< [FixedwingMetrics](structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md) > [FixedwingMetricsHandle](#classmavsdk_1_1_telemetry_1ab180a383ee3e17f20bb1b026b667db04) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_fixedwing_metrics.
+std::function< void([Imu](structmavsdk_1_1_telemetry_1_1_imu.md))> [ImuCallback](#classmavsdk_1_1_telemetry_1a4fbc2ad274fd5a8af077004d2d7bd984) | Callback type for subscribe_imu.
+[Handle](classmavsdk_1_1_handle.md)< [Imu](structmavsdk_1_1_telemetry_1_1_imu.md) > [ImuHandle](#classmavsdk_1_1_telemetry_1a5b45a4c22abb67617d37ae56efdf8360) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_imu.
+std::function< void([Imu](structmavsdk_1_1_telemetry_1_1_imu.md))> [ScaledImuCallback](#classmavsdk_1_1_telemetry_1a26159a775adcfbc42302234b7108d94f) | Callback type for subscribe_scaled_imu.
+[Handle](classmavsdk_1_1_handle.md)< [Imu](structmavsdk_1_1_telemetry_1_1_imu.md) > [ScaledImuHandle](#classmavsdk_1_1_telemetry_1a4968d9d418d48a4368f2915023ca0014) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_scaled_imu.
+std::function< void([Imu](structmavsdk_1_1_telemetry_1_1_imu.md))> [RawImuCallback](#classmavsdk_1_1_telemetry_1a92711da85d343cb58b73561e6b730c76) | Callback type for subscribe_raw_imu.
+[Handle](classmavsdk_1_1_handle.md)< [Imu](structmavsdk_1_1_telemetry_1_1_imu.md) > [RawImuHandle](#classmavsdk_1_1_telemetry_1a416f5b4dc6c51d78d05572d5cc18f3fb) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_raw_imu.
+std::function< void(bool)> [HealthAllOkCallback](#classmavsdk_1_1_telemetry_1a71cdcadfaa988dc14029e0b9fdbe742d) | Callback type for subscribe_health_all_ok.
+[Handle](classmavsdk_1_1_handle.md)< bool > [HealthAllOkHandle](#classmavsdk_1_1_telemetry_1aa882d4938eb491cce5b7ca6aead2384c) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_health_all_ok.
+std::function< void(uint64_t)> [UnixEpochTimeCallback](#classmavsdk_1_1_telemetry_1a321c7d809ae8f56bb8a361d5e5ce6391) | Callback type for subscribe_unix_epoch_time.
+[Handle](classmavsdk_1_1_handle.md)< uint64_t > [UnixEpochTimeHandle](#classmavsdk_1_1_telemetry_1a4c4b00adfab9b7f04530133aafbafbd5) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_unix_epoch_time.
+std::function< void([DistanceSensor](structmavsdk_1_1_telemetry_1_1_distance_sensor.md))> [DistanceSensorCallback](#classmavsdk_1_1_telemetry_1aacfdb5e2cce7f3f77c68b36f020ed1f2) | Callback type for subscribe_distance_sensor.
+[Handle](classmavsdk_1_1_handle.md)< [DistanceSensor](structmavsdk_1_1_telemetry_1_1_distance_sensor.md) > [DistanceSensorHandle](#classmavsdk_1_1_telemetry_1aaa6bd0660aeb7d3f1d12240ce0710878) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_distance_sensor.
+std::function< void([ScaledPressure](structmavsdk_1_1_telemetry_1_1_scaled_pressure.md))> [ScaledPressureCallback](#classmavsdk_1_1_telemetry_1ac123edc254bb1874edc08a0f531f82b1) | Callback type for subscribe_scaled_pressure.
+[Handle](classmavsdk_1_1_handle.md)< [ScaledPressure](structmavsdk_1_1_telemetry_1_1_scaled_pressure.md) > [ScaledPressureHandle](#classmavsdk_1_1_telemetry_1ad19871b63833f64bed071db6017e4a22) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_scaled_pressure.
+std::function< void([Heading](structmavsdk_1_1_telemetry_1_1_heading.md))> [HeadingCallback](#classmavsdk_1_1_telemetry_1aa3bca0adab525a4c733c1e7f5c5dd8b3) | Callback type for subscribe_heading.
+[Handle](classmavsdk_1_1_handle.md)< [Heading](structmavsdk_1_1_telemetry_1_1_heading.md) > [HeadingHandle](#classmavsdk_1_1_telemetry_1a11cc43135c8162fd8478ba76a5b3166d) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_heading.
+std::function< void([Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md))> [AltitudeCallback](#classmavsdk_1_1_telemetry_1a868986de0ab3990d4fe1ec842bce6adf) | Callback type for subscribe_altitude.
+[Handle](classmavsdk_1_1_handle.md)< [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) > [AltitudeHandle](#classmavsdk_1_1_telemetry_1ae0714c14e07a08b4748c96ea20f1d12f) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_altitude.
+std::function< void([Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75), [GpsGlobalOrigin](structmavsdk_1_1_telemetry_1_1_gps_global_origin.md))> [GetGpsGlobalOriginCallback](#classmavsdk_1_1_telemetry_1a350ee89a7e30a691e130e29ace8917ef) | Callback type for get_gps_global_origin_async.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Telemetry](#classmavsdk_1_1_telemetry_1a6c8c8ed8759fc8c6e9fd4e7644c63cbe) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Telemetry](#classmavsdk_1_1_telemetry_1af78f18fbb117c82d5ffe21e015535067) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Telemetry](#classmavsdk_1_1_telemetry_1a6ffca3dba4c6102ae6602822a140c8fc) () override | Destructor (internal use only).
+&nbsp; | [Telemetry](#classmavsdk_1_1_telemetry_1ad734f199b82a9928c63230676c9789e9) (const [Telemetry](classmavsdk_1_1_telemetry.md) & other) | Copy constructor.
+[PositionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a7d82a98ea53c2aa254624bc943ec22f1) | [subscribe_position](#classmavsdk_1_1_telemetry_1a647f3d61b4f3301fd8c2aca1afcafb31) (const [PositionCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a978b371d636226e198995462afa63552) & callback) | Subscribe to 'position' updates.
+void | [unsubscribe_position](#classmavsdk_1_1_telemetry_1abf10cb55e2c477bbb875c0944938b76c) ([PositionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a7d82a98ea53c2aa254624bc943ec22f1) handle) | Unsubscribe from subscribe_position.
+[Position](structmavsdk_1_1_telemetry_1_1_position.md) | [position](#classmavsdk_1_1_telemetry_1a2299da1bc63313c429f07ab0fdbe5335) () const | Poll for '[Position](structmavsdk_1_1_telemetry_1_1_position.md)' (blocking).
+[HomeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a7a2b3a8b50d66e911870700ea3fe007d) | [subscribe_home](#classmavsdk_1_1_telemetry_1ae57e4c8741ba7ae05961cadfabc82875) (const [HomeCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aaac029969c37a001d43e2788a6abf634) & callback) | Subscribe to 'home position' updates.
+void | [unsubscribe_home](#classmavsdk_1_1_telemetry_1a83feb66aa64946b954ca305b6cc2f7ea) ([HomeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a7a2b3a8b50d66e911870700ea3fe007d) handle) | Unsubscribe from subscribe_home.
+[Position](structmavsdk_1_1_telemetry_1_1_position.md) | [home](#classmavsdk_1_1_telemetry_1ad5c239b93aa1923edd1b97494a3fbfe7) () const | Poll for '[Position](structmavsdk_1_1_telemetry_1_1_position.md)' (blocking).
+[InAirHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a17582f68fabac027ab354073e0eca8e5) | [subscribe_in_air](#classmavsdk_1_1_telemetry_1a0fc586a0c90141e125a305fd8211e8d8) (const [InAirCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1af96cca452305dd8f51b42d4663f15a26) & callback) | Subscribe to in-air updates.
+void | [unsubscribe_in_air](#classmavsdk_1_1_telemetry_1a2e23bf258ef69c267ab5b8dee203bd95) ([InAirHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a17582f68fabac027ab354073e0eca8e5) handle) | Unsubscribe from subscribe_in_air.
+bool | [in_air](#classmavsdk_1_1_telemetry_1a909738ff2fbe104c6eb4524cc9bf2dd5) () const | Poll for 'bool' (blocking).
+[LandedStateHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a125f2ecfe3f5ce588e6d1799392a5fd7) | [subscribe_landed_state](#classmavsdk_1_1_telemetry_1ae618a7ba0ed197e3d5c3427a63c3cfa0) (const [LandedStateCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a0cd8ef17abdd7c3d6a9ee761ccc6ae5e) & callback) | Subscribe to landed state updates.
+void | [unsubscribe_landed_state](#classmavsdk_1_1_telemetry_1a17df3b1e3917f788725f39cf879145f6) ([LandedStateHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a125f2ecfe3f5ce588e6d1799392a5fd7) handle) | Unsubscribe from subscribe_landed_state.
+[LandedState](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046) | [landed_state](#classmavsdk_1_1_telemetry_1af7d7c385852db38d6320516508ce7465) () const | Poll for 'LandedState' (blocking).
+[ArmedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a3cfe4b90e156fb055066f8164985311c) | [subscribe_armed](#classmavsdk_1_1_telemetry_1a2ea3978439ed7e21973a41e1f2c2b24f) (const [ArmedCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a9d23a4092d94e50694390e9f41b8c419) & callback) | Subscribe to armed updates.
+void | [unsubscribe_armed](#classmavsdk_1_1_telemetry_1a8c6080d520f6d2fdac9cb97279ffcbb9) ([ArmedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a3cfe4b90e156fb055066f8164985311c) handle) | Unsubscribe from subscribe_armed.
+bool | [armed](#classmavsdk_1_1_telemetry_1a6620142adc47f069262e5bf69dbb3876) () const | Poll for 'bool' (blocking).
+[VtolStateHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a824bab94514afa56334acf41b6f7d244) | [subscribe_vtol_state](#classmavsdk_1_1_telemetry_1a956eb63dc90a2cf905590f6f309edb36) (const [VtolStateCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1abf52126ce4d4efb99560aa8e8e58f20c) & callback) | subscribe to vtol state Updates
+void | [unsubscribe_vtol_state](#classmavsdk_1_1_telemetry_1a932eb8b43e90e64bd131b3257f747963) ([VtolStateHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a824bab94514afa56334acf41b6f7d244) handle) | Unsubscribe from subscribe_vtol_state.
+[VtolState](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a256f951d993aa120c437d989a6e94166) | [vtol_state](#classmavsdk_1_1_telemetry_1a6d3fd68f3e639a2bf9940e9f38f220c3) () const | Poll for 'VtolState' (blocking).
+[AttitudeQuaternionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a0ce62986aedcd06d845406a2d99257d3) | [subscribe_attitude_quaternion](#classmavsdk_1_1_telemetry_1a9248befe3416252c7d8fb63b19842421) (const [AttitudeQuaternionCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad16e61245511a99e930d6fdcbd761a30) & callback) | Subscribe to 'attitude' updates (quaternion).
+void | [unsubscribe_attitude_quaternion](#classmavsdk_1_1_telemetry_1a06034401ac16901d50b850ded0b064b5) ([AttitudeQuaternionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a0ce62986aedcd06d845406a2d99257d3) handle) | Unsubscribe from subscribe_attitude_quaternion.
+[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) | [attitude_quaternion](#classmavsdk_1_1_telemetry_1aae76890957b33727be72a39807448c88) () const | Poll for '[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md)' (blocking).
+[AttitudeEulerHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae73f3d3ac224438a6cd07344fda9543b) | [subscribe_attitude_euler](#classmavsdk_1_1_telemetry_1aaf90ca9cc8adcc9cb1963293bdfcefd6) (const [AttitudeEulerCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a321c7607922369926fbd5f2821986cba) & callback) | Subscribe to 'attitude' updates (Euler).
+void | [unsubscribe_attitude_euler](#classmavsdk_1_1_telemetry_1aa770088117b037446efa8cbfe058e54d) ([AttitudeEulerHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae73f3d3ac224438a6cd07344fda9543b) handle) | Unsubscribe from subscribe_attitude_euler.
+[EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md) | [attitude_euler](#classmavsdk_1_1_telemetry_1a03035bb72324e843372eb69cf7899ce5) () const | Poll for '[EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md)' (blocking).
+[AttitudeAngularVelocityBodyHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2328e39c1a96ce9a090cb19283d3ffc1) | [subscribe_attitude_angular_velocity_body](#classmavsdk_1_1_telemetry_1a3bbefcdb4e9cd9af9692626984504cb7) (const [AttitudeAngularVelocityBodyCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a35ff8def3048faeab7f732153d51085f) & callback) | Subscribe to 'attitude' updates (angular velocity)
+void | [unsubscribe_attitude_angular_velocity_body](#classmavsdk_1_1_telemetry_1a2319d78b4e214e5b2f3ef55a1c32e2c5) ([AttitudeAngularVelocityBodyHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2328e39c1a96ce9a090cb19283d3ffc1) handle) | Unsubscribe from subscribe_attitude_angular_velocity_body.
+[AngularVelocityBody](structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md) | [attitude_angular_velocity_body](#classmavsdk_1_1_telemetry_1a8d9e2489b79c2cdbabaef8b6bb8e2952) () const | Poll for '[AngularVelocityBody](structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md)' (blocking).
+[CameraAttitudeQuaternionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aeb2a99828961bf2a4d5c24753e020358) | [subscribe_camera_attitude_quaternion](#classmavsdk_1_1_telemetry_1a9b7517e15c841765fbb8b1230e73bf82) (const [CameraAttitudeQuaternionCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aa83dafa14e9b5179573a574f6fbdd973) & callback) | Subscribe to 'camera attitude' updates (quaternion).
+void | [unsubscribe_camera_attitude_quaternion](#classmavsdk_1_1_telemetry_1aa92270b8a30b22271f65d92e9a7ed9a1) ([CameraAttitudeQuaternionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aeb2a99828961bf2a4d5c24753e020358) handle) | Unsubscribe from subscribe_camera_attitude_quaternion.
+[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) | [camera_attitude_quaternion](#classmavsdk_1_1_telemetry_1a3c07447351d3b6195d5e2526e7b128b3) () const | Poll for '[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md)' (blocking).
+[CameraAttitudeEulerHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a76471c91115d6e03e6165a3e1315808b) | [subscribe_camera_attitude_euler](#classmavsdk_1_1_telemetry_1aa50015ba9b1decb825d45e459191c342) (const [CameraAttitudeEulerCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aa29f9bb0767ba8c384bfe1df69f2fdd9) & callback) | Subscribe to 'camera attitude' updates (Euler).
+void | [unsubscribe_camera_attitude_euler](#classmavsdk_1_1_telemetry_1a90b8dfe6b83afc908e4c236bbbc32930) ([CameraAttitudeEulerHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a76471c91115d6e03e6165a3e1315808b) handle) | Unsubscribe from subscribe_camera_attitude_euler.
+[EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md) | [camera_attitude_euler](#classmavsdk_1_1_telemetry_1a635643d955f0cd9a805914501f819796) () const | Poll for '[EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md)' (blocking).
+[VelocityNedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2c3898f33bfa1bffe86681aaca33343e) | [subscribe_velocity_ned](#classmavsdk_1_1_telemetry_1a9b5e6bd8fb05324fd7a99d0260933c9d) (const [VelocityNedCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ab5859d2f6a9c9bd81282166b3de92342) & callback) | Subscribe to 'ground speed' updates (NED).
+void | [unsubscribe_velocity_ned](#classmavsdk_1_1_telemetry_1ae14a663f3b4820e891a4d83c2f8aa2c3) ([VelocityNedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2c3898f33bfa1bffe86681aaca33343e) handle) | Unsubscribe from subscribe_velocity_ned.
+[VelocityNed](structmavsdk_1_1_telemetry_1_1_velocity_ned.md) | [velocity_ned](#classmavsdk_1_1_telemetry_1a40a86062c0322d6be7c86d8e15a52f28) () const | Poll for '[VelocityNed](structmavsdk_1_1_telemetry_1_1_velocity_ned.md)' (blocking).
+[GpsInfoHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a87598b504f6ddf3ba0620b0458f2d39c) | [subscribe_gps_info](#classmavsdk_1_1_telemetry_1a1933fa5b008856b5d621489d785c68e7) (const [GpsInfoCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad8fa90886b2283eace09b4b46708048b) & callback) | Subscribe to 'GPS info' updates.
+void | [unsubscribe_gps_info](#classmavsdk_1_1_telemetry_1a96ba022d27983893a814ad4a787bfa51) ([GpsInfoHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a87598b504f6ddf3ba0620b0458f2d39c) handle) | Unsubscribe from subscribe_gps_info.
+[GpsInfo](structmavsdk_1_1_telemetry_1_1_gps_info.md) | [gps_info](#classmavsdk_1_1_telemetry_1a983dabc1aed50745b326072662c419e8) () const | Poll for '[GpsInfo](structmavsdk_1_1_telemetry_1_1_gps_info.md)' (blocking).
+[RawGpsHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a75a62eb3624bf77ea6860d5d965636fd) | [subscribe_raw_gps](#classmavsdk_1_1_telemetry_1a39c324fdd723a2b5c5559ddadad597f0) (const [RawGpsCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a915868d562ed445fa30beaa9140ea97c) & callback) | Subscribe to 'Raw GPS' updates.
+void | [unsubscribe_raw_gps](#classmavsdk_1_1_telemetry_1acc6c03a6d27b268f609c72b66aa48a09) ([RawGpsHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a75a62eb3624bf77ea6860d5d965636fd) handle) | Unsubscribe from subscribe_raw_gps.
+[RawGps](structmavsdk_1_1_telemetry_1_1_raw_gps.md) | [raw_gps](#classmavsdk_1_1_telemetry_1ac43c29e435b6c1a6594854adc6a1bf6c) () const | Poll for '[RawGps](structmavsdk_1_1_telemetry_1_1_raw_gps.md)' (blocking).
+[BatteryHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad9c79c3a89de6f28aabc771a2b5cc92f) | [subscribe_battery](#classmavsdk_1_1_telemetry_1ad7e7ceb85181aaac7bf5553af7f45e2a) (const [BatteryCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1af4b121c576ef2ae567b1d571b12dff9d) & callback) | Subscribe to 'battery' updates.
+void | [unsubscribe_battery](#classmavsdk_1_1_telemetry_1a72ddd509a9480ba59f073fa8f1ee5dbc) ([BatteryHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad9c79c3a89de6f28aabc771a2b5cc92f) handle) | Unsubscribe from subscribe_battery.
+[Battery](structmavsdk_1_1_telemetry_1_1_battery.md) | [battery](#classmavsdk_1_1_telemetry_1afb3bad3c7a36c14ae97492df3f6bbd54) () const | Poll for '[Battery](structmavsdk_1_1_telemetry_1_1_battery.md)' (blocking).
+[FlightModeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1add61cde1555ed1cec93a34bbdadeef5c) | [subscribe_flight_mode](#classmavsdk_1_1_telemetry_1accd831cbb9134c845744a5c70da1b418) (const [FlightModeCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2d7318d0823771b7a586c40199bdb482) & callback) | Subscribe to 'flight mode' updates.
+void | [unsubscribe_flight_mode](#classmavsdk_1_1_telemetry_1a64dc8d45d06b23332ba6353d50c9cc17) ([FlightModeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1add61cde1555ed1cec93a34bbdadeef5c) handle) | Unsubscribe from subscribe_flight_mode.
+[FlightMode](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fe) | [flight_mode](#classmavsdk_1_1_telemetry_1a4972a3968e379d565e7700f2f51158dd) () const | Poll for 'FlightMode' (blocking).
+[HealthHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a52869d9dd1a240385b0d213a7057f3df) | [subscribe_health](#classmavsdk_1_1_telemetry_1a093a702abd1370ff97f4d9ebce449942) (const [HealthCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a7a120dd053091c644e0e2e47fdcbeb75) & callback) | Subscribe to 'health' updates.
+void | [unsubscribe_health](#classmavsdk_1_1_telemetry_1af7830aff90366a0255e71117c07f5484) ([HealthHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a52869d9dd1a240385b0d213a7057f3df) handle) | Unsubscribe from subscribe_health.
+[Health](structmavsdk_1_1_telemetry_1_1_health.md) | [health](#classmavsdk_1_1_telemetry_1aae4824c9eeb72603b197c864b5cc5df5) () const | Poll for '[Health](structmavsdk_1_1_telemetry_1_1_health.md)' (blocking).
+[RcStatusHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae3bd26bbc4c12eddc7f90f42482078de) | [subscribe_rc_status](#classmavsdk_1_1_telemetry_1a0252d9434190edab26fc5b3874bdcc1c) (const [RcStatusCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aafcd706b805898301b574ffa2b909b85) & callback) | Subscribe to 'RC status' updates.
+void | [unsubscribe_rc_status](#classmavsdk_1_1_telemetry_1a975a70f6345f73a37894aa7a49495dc7) ([RcStatusHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae3bd26bbc4c12eddc7f90f42482078de) handle) | Unsubscribe from subscribe_rc_status.
+[RcStatus](structmavsdk_1_1_telemetry_1_1_rc_status.md) | [rc_status](#classmavsdk_1_1_telemetry_1a59cd497c69f1d32be29a940a2d34a474) () const | Poll for '[RcStatus](structmavsdk_1_1_telemetry_1_1_rc_status.md)' (blocking).
+[StatusTextHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5c2b31499961747b784664b87b851e04) | [subscribe_status_text](#classmavsdk_1_1_telemetry_1a56e54b5dc245cb07da6088a3033d45f8) (const [StatusTextCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a46e51ff90fe779990ed09a593c1c7898) & callback) | Subscribe to 'status text' updates.
+void | [unsubscribe_status_text](#classmavsdk_1_1_telemetry_1a972adcc6c0c88ddb6aefdd372bc06418) ([StatusTextHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5c2b31499961747b784664b87b851e04) handle) | Unsubscribe from subscribe_status_text.
+[StatusText](structmavsdk_1_1_telemetry_1_1_status_text.md) | [status_text](#classmavsdk_1_1_telemetry_1a2f31c0668ed1ac1bfdfa4b2e9a2023a9) () const | Poll for '[StatusText](structmavsdk_1_1_telemetry_1_1_status_text.md)' (blocking).
+[ActuatorControlTargetHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a01438bbc123454e745b8874bc91bf874) | [subscribe_actuator_control_target](#classmavsdk_1_1_telemetry_1ae9754c6f90e3fd95a9cab766ca588e0d) (const [ActuatorControlTargetCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ada6af3de1b60b93a709345c3a8ede551) & callback) | Subscribe to 'actuator control target' updates.
+void | [unsubscribe_actuator_control_target](#classmavsdk_1_1_telemetry_1a13672a6c91e4bb74bf92fe9c779eeb40) ([ActuatorControlTargetHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a01438bbc123454e745b8874bc91bf874) handle) | Unsubscribe from subscribe_actuator_control_target.
+[ActuatorControlTarget](structmavsdk_1_1_telemetry_1_1_actuator_control_target.md) | [actuator_control_target](#classmavsdk_1_1_telemetry_1af4ffa70ff58c46b50be93a0fbf960f95) () const | Poll for '[ActuatorControlTarget](structmavsdk_1_1_telemetry_1_1_actuator_control_target.md)' (blocking).
+[ActuatorOutputStatusHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ac0bbbb060195848f41de50600489713f) | [subscribe_actuator_output_status](#classmavsdk_1_1_telemetry_1a65bbf4a157aa8898beeb57440808bbe6) (const [ActuatorOutputStatusCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2b1e800ce1ba6fb776351416340ac8b9) & callback) | Subscribe to 'actuator output status' updates.
+void | [unsubscribe_actuator_output_status](#classmavsdk_1_1_telemetry_1aa40e1ff8e1eb2c9d0b6a8f36db6823b6) ([ActuatorOutputStatusHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ac0bbbb060195848f41de50600489713f) handle) | Unsubscribe from subscribe_actuator_output_status.
+[ActuatorOutputStatus](structmavsdk_1_1_telemetry_1_1_actuator_output_status.md) | [actuator_output_status](#classmavsdk_1_1_telemetry_1a68fa1619dfad0a7cfcc2725025669252) () const | Poll for '[ActuatorOutputStatus](structmavsdk_1_1_telemetry_1_1_actuator_output_status.md)' (blocking).
+[OdometryHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a23b33f337ed73ec584e8ac8868c72f86) | [subscribe_odometry](#classmavsdk_1_1_telemetry_1a6def40a24f3eb85ca0cb076c5a576677) (const [OdometryCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a8cd23f7364f8f5cb22869155da67c65d) & callback) | Subscribe to 'odometry' updates.
+void | [unsubscribe_odometry](#classmavsdk_1_1_telemetry_1a235d029cb79a071d137c7cfb03afb4b6) ([OdometryHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a23b33f337ed73ec584e8ac8868c72f86) handle) | Unsubscribe from subscribe_odometry.
+[Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md) | [odometry](#classmavsdk_1_1_telemetry_1a715b6e8ba1206059706f08844a0b96d2) () const | Poll for '[Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md)' (blocking).
+[PositionVelocityNedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aef1424caca3967e67336140af395e59c) | [subscribe_position_velocity_ned](#classmavsdk_1_1_telemetry_1a70f1331b7df5e5bda2711b1141d86d68) (const [PositionVelocityNedCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5a38deb284622ff6926703e1e5c96a74) & callback) | Subscribe to 'position velocity' updates.
+void | [unsubscribe_position_velocity_ned](#classmavsdk_1_1_telemetry_1ab561338c465b3b3e1d060fdd8c078306) ([PositionVelocityNedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aef1424caca3967e67336140af395e59c) handle) | Unsubscribe from subscribe_position_velocity_ned.
+[PositionVelocityNed](structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md) | [position_velocity_ned](#classmavsdk_1_1_telemetry_1af9b06944ca73ad09caadacd9f4fae950) () const | Poll for '[PositionVelocityNed](structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md)' (blocking).
+[GroundTruthHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a373568d10564c5a3c3d325e5975a3a23) | [subscribe_ground_truth](#classmavsdk_1_1_telemetry_1a3853c0b62fe26202e13896f94af4f72c) (const [GroundTruthCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a222aae53852a2c535f6d69ed57221f13) & callback) | Subscribe to 'ground truth' updates.
+void | [unsubscribe_ground_truth](#classmavsdk_1_1_telemetry_1a69dedf60328c385dedae208e7ca3e2b5) ([GroundTruthHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a373568d10564c5a3c3d325e5975a3a23) handle) | Unsubscribe from subscribe_ground_truth.
+[GroundTruth](structmavsdk_1_1_telemetry_1_1_ground_truth.md) | [ground_truth](#classmavsdk_1_1_telemetry_1a1b5f387edc39e33b86954f2048133f71) () const | Poll for '[GroundTruth](structmavsdk_1_1_telemetry_1_1_ground_truth.md)' (blocking).
+[FixedwingMetricsHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ab180a383ee3e17f20bb1b026b667db04) | [subscribe_fixedwing_metrics](#classmavsdk_1_1_telemetry_1ac5117bf112c932f47ffe283df7aac7f1) (const [FixedwingMetricsCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5b42dbef0ef6d8c1768d503d0437f1e3) & callback) | Subscribe to 'fixedwing metrics' updates.
+void | [unsubscribe_fixedwing_metrics](#classmavsdk_1_1_telemetry_1a40a910811684cffe050f8dea0d682565) ([FixedwingMetricsHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ab180a383ee3e17f20bb1b026b667db04) handle) | Unsubscribe from subscribe_fixedwing_metrics.
+[FixedwingMetrics](structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md) | [fixedwing_metrics](#classmavsdk_1_1_telemetry_1a2ab8d2a8d017d46e77d49c4f899c7cbf) () const | Poll for '[FixedwingMetrics](structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md)' (blocking).
+[ImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5b45a4c22abb67617d37ae56efdf8360) | [subscribe_imu](#classmavsdk_1_1_telemetry_1a24d0904fd8529724a76f8a4fda5bdb70) (const [ImuCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a4fbc2ad274fd5a8af077004d2d7bd984) & callback) | Subscribe to 'IMU' updates (in SI units in NED body frame).
+void | [unsubscribe_imu](#classmavsdk_1_1_telemetry_1a2af03957c69efd9b5cbb7537def56155) ([ImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5b45a4c22abb67617d37ae56efdf8360) handle) | Unsubscribe from subscribe_imu.
+[Imu](structmavsdk_1_1_telemetry_1_1_imu.md) | [imu](#classmavsdk_1_1_telemetry_1a1a4e43b7bdcd988442955d2a5465b977) () const | Poll for '[Imu](structmavsdk_1_1_telemetry_1_1_imu.md)' (blocking).
+[ScaledImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a4968d9d418d48a4368f2915023ca0014) | [subscribe_scaled_imu](#classmavsdk_1_1_telemetry_1a61bd540f505a3a6acd858ca169e868b3) (const [ScaledImuCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a26159a775adcfbc42302234b7108d94f) & callback) | Subscribe to 'Scaled IMU' updates.
+void | [unsubscribe_scaled_imu](#classmavsdk_1_1_telemetry_1a69acf5d201425f0a318a36ad6230fb46) ([ScaledImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a4968d9d418d48a4368f2915023ca0014) handle) | Unsubscribe from subscribe_scaled_imu.
+[Imu](structmavsdk_1_1_telemetry_1_1_imu.md) | [scaled_imu](#classmavsdk_1_1_telemetry_1ab6a515ba85a67bc80e6e1c9a05d1f94d) () const | Poll for '[Imu](structmavsdk_1_1_telemetry_1_1_imu.md)' (blocking).
+[RawImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a416f5b4dc6c51d78d05572d5cc18f3fb) | [subscribe_raw_imu](#classmavsdk_1_1_telemetry_1a98db826585b84957478a6195d46f0491) (const [RawImuCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a92711da85d343cb58b73561e6b730c76) & callback) | Subscribe to 'Raw IMU' updates.
+void | [unsubscribe_raw_imu](#classmavsdk_1_1_telemetry_1aec5b5fbbb37654bb6dae9607451929d7) ([RawImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a416f5b4dc6c51d78d05572d5cc18f3fb) handle) | Unsubscribe from subscribe_raw_imu.
+[Imu](structmavsdk_1_1_telemetry_1_1_imu.md) | [raw_imu](#classmavsdk_1_1_telemetry_1a691464f001ddf8d02b97bcf137f5cf8a) () const | Poll for '[Imu](structmavsdk_1_1_telemetry_1_1_imu.md)' (blocking).
+[HealthAllOkHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aa882d4938eb491cce5b7ca6aead2384c) | [subscribe_health_all_ok](#classmavsdk_1_1_telemetry_1acc64edfa8230926024cdefe93ab10c7f) (const [HealthAllOkCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a71cdcadfaa988dc14029e0b9fdbe742d) & callback) | Subscribe to 'HealthAllOk' updates.
+void | [unsubscribe_health_all_ok](#classmavsdk_1_1_telemetry_1ab0dd814f6ca883ded70839bf7ec0010c) ([HealthAllOkHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aa882d4938eb491cce5b7ca6aead2384c) handle) | Unsubscribe from subscribe_health_all_ok.
+bool | [health_all_ok](#classmavsdk_1_1_telemetry_1ad6d833741b5576f07204d268c5cd4d06) () const | Poll for 'bool' (blocking).
+[UnixEpochTimeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a4c4b00adfab9b7f04530133aafbafbd5) | [subscribe_unix_epoch_time](#classmavsdk_1_1_telemetry_1a172eb7793c61744a8195e38c0612ec1f) (const [UnixEpochTimeCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a321c7d809ae8f56bb8a361d5e5ce6391) & callback) | Subscribe to 'unix epoch time' updates.
+void | [unsubscribe_unix_epoch_time](#classmavsdk_1_1_telemetry_1acba0439f1175aa29c072d85efa0c68c6) ([UnixEpochTimeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a4c4b00adfab9b7f04530133aafbafbd5) handle) | Unsubscribe from subscribe_unix_epoch_time.
+uint64_t | [unix_epoch_time](#classmavsdk_1_1_telemetry_1ab5ea5f6bb35b5670e34d5697d8c880f4) () const | Poll for 'uint64_t' (blocking).
+[DistanceSensorHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aaa6bd0660aeb7d3f1d12240ce0710878) | [subscribe_distance_sensor](#classmavsdk_1_1_telemetry_1a07cb00743cab5df75f0a656eb2ebaed1) (const [DistanceSensorCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aacfdb5e2cce7f3f77c68b36f020ed1f2) & callback) | Subscribe to 'Distance Sensor' updates.
+void | [unsubscribe_distance_sensor](#classmavsdk_1_1_telemetry_1a726d49ea6b63128e7d16f781e016c192) ([DistanceSensorHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aaa6bd0660aeb7d3f1d12240ce0710878) handle) | Unsubscribe from subscribe_distance_sensor.
+[DistanceSensor](structmavsdk_1_1_telemetry_1_1_distance_sensor.md) | [distance_sensor](#classmavsdk_1_1_telemetry_1aa01828c0ffcb4727b884ffeae8fef59a) () const | Poll for '[DistanceSensor](structmavsdk_1_1_telemetry_1_1_distance_sensor.md)' (blocking).
+[ScaledPressureHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad19871b63833f64bed071db6017e4a22) | [subscribe_scaled_pressure](#classmavsdk_1_1_telemetry_1a934fe2b50a79219e3c6d404fc7d6825d) (const [ScaledPressureCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ac123edc254bb1874edc08a0f531f82b1) & callback) | Subscribe to 'Scaled Pressure' updates.
+void | [unsubscribe_scaled_pressure](#classmavsdk_1_1_telemetry_1a725b8f4f2bdda5eca799a0829f287848) ([ScaledPressureHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad19871b63833f64bed071db6017e4a22) handle) | Unsubscribe from subscribe_scaled_pressure.
+[ScaledPressure](structmavsdk_1_1_telemetry_1_1_scaled_pressure.md) | [scaled_pressure](#classmavsdk_1_1_telemetry_1a825ecb6af46663034f982c3c3d6da022) () const | Poll for '[ScaledPressure](structmavsdk_1_1_telemetry_1_1_scaled_pressure.md)' (blocking).
+[HeadingHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a11cc43135c8162fd8478ba76a5b3166d) | [subscribe_heading](#classmavsdk_1_1_telemetry_1a0ebfabba364867869314e389b118584b) (const [HeadingCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aa3bca0adab525a4c733c1e7f5c5dd8b3) & callback) | Subscribe to '[Heading](structmavsdk_1_1_telemetry_1_1_heading.md)' updates.
+void | [unsubscribe_heading](#classmavsdk_1_1_telemetry_1afe400d67b33f60a43d3bd823f598c0e9) ([HeadingHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a11cc43135c8162fd8478ba76a5b3166d) handle) | Unsubscribe from subscribe_heading.
+[Heading](structmavsdk_1_1_telemetry_1_1_heading.md) | [heading](#classmavsdk_1_1_telemetry_1a2aec80b167a3076903be4fe52847a4d3) () const | Poll for '[Heading](structmavsdk_1_1_telemetry_1_1_heading.md)' (blocking).
+[AltitudeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae0714c14e07a08b4748c96ea20f1d12f) | [subscribe_altitude](#classmavsdk_1_1_telemetry_1ae50ada2726b9a074157c73ddf0894b23) (const [AltitudeCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a868986de0ab3990d4fe1ec842bce6adf) & callback) | Subscribe to '[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md)' updates.
+void | [unsubscribe_altitude](#classmavsdk_1_1_telemetry_1aee258bae5149771cf37a6e5b5d63415c) ([AltitudeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae0714c14e07a08b4748c96ea20f1d12f) handle) | Unsubscribe from subscribe_altitude.
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) | [altitude](#classmavsdk_1_1_telemetry_1a53f3c06d9b4e0f737f69c060c2be621d) () const | Poll for '[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md)' (blocking).
+void | [set_rate_position_async](#classmavsdk_1_1_telemetry_1ad7e5b576edb9398c8f5f2f14626b984a) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'position' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_position](#classmavsdk_1_1_telemetry_1a665439f3d5f8c58b3ef3dd427cf4782b) (double rate_hz)const | Set rate to 'position' updates.
+void | [set_rate_home_async](#classmavsdk_1_1_telemetry_1a098f4c4f50fc3ac2c153ef152208fbbe) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'home position' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_home](#classmavsdk_1_1_telemetry_1af90e28ad8a8f05401176c98e427eecfc) (double rate_hz)const | Set rate to 'home position' updates.
+void | [set_rate_in_air_async](#classmavsdk_1_1_telemetry_1a9ea77b7ef64acd1e25b05e593e638c70) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to in-air updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_in_air](#classmavsdk_1_1_telemetry_1a8f179e8397b395e61a48529ceeba2b14) (double rate_hz)const | Set rate to in-air updates.
+void | [set_rate_landed_state_async](#classmavsdk_1_1_telemetry_1a180fff93b120a67c16ad5993f0b38847) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to landed state updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_landed_state](#classmavsdk_1_1_telemetry_1a53a3428c602c1f91cfcffdba188a4e51) (double rate_hz)const | Set rate to landed state updates.
+void | [set_rate_vtol_state_async](#classmavsdk_1_1_telemetry_1a18f47beba583e6814061f95e68a3851d) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to VTOL state updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_vtol_state](#classmavsdk_1_1_telemetry_1a943c2e32a12098a117c4bd4eed7cdc22) (double rate_hz)const | Set rate to VTOL state updates.
+void | [set_rate_attitude_quaternion_async](#classmavsdk_1_1_telemetry_1a1eb6bc9b25d1043405ac30e13172a272) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'attitude euler angle' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_attitude_quaternion](#classmavsdk_1_1_telemetry_1adfc8e1a3bfa0f459350640630283716d) (double rate_hz)const | Set rate to 'attitude euler angle' updates.
+void | [set_rate_attitude_euler_async](#classmavsdk_1_1_telemetry_1aabf20f904d9c65582cdf167f7b0275a9) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'attitude quaternion' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_attitude_euler](#classmavsdk_1_1_telemetry_1adc7a43d7143261df5f97fdc8a882fdf3) (double rate_hz)const | Set rate to 'attitude quaternion' updates.
+void | [set_rate_camera_attitude_async](#classmavsdk_1_1_telemetry_1a520f15e42f5f1b3987ca2a9cd94a3d9a) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate of camera attitude updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_camera_attitude](#classmavsdk_1_1_telemetry_1a427da223d16ce07a61b07d4e5af1ab04) (double rate_hz)const | Set rate of camera attitude updates.
+void | [set_rate_velocity_ned_async](#classmavsdk_1_1_telemetry_1a9429ffa784fa56adee69c5017abedee4) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'ground speed' updates (NED).
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_velocity_ned](#classmavsdk_1_1_telemetry_1ab5cb79fd53f27f245808a6bb9ed3225d) (double rate_hz)const | Set rate to 'ground speed' updates (NED).
+void | [set_rate_gps_info_async](#classmavsdk_1_1_telemetry_1ae6ada3cd6d4e9835dd4d1d712f1195e4) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'GPS info' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_gps_info](#classmavsdk_1_1_telemetry_1a14510bcb6fe3c31d91653d32d354613f) (double rate_hz)const | Set rate to 'GPS info' updates.
+void | [set_rate_battery_async](#classmavsdk_1_1_telemetry_1a5615e21f616997dfca1318c96a7e550e) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'battery' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_battery](#classmavsdk_1_1_telemetry_1ae781d2e950a535a465f2bc1575e9f893) (double rate_hz)const | Set rate to 'battery' updates.
+void | [set_rate_rc_status_async](#classmavsdk_1_1_telemetry_1a8cf84eaca875626bc53ed03e98d6eb7e) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'RC status' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_rc_status](#classmavsdk_1_1_telemetry_1acbfc54792f79c5fd2a9855278981f8ca) (double rate_hz)const | Set rate to 'RC status' updates.
+void | [set_rate_actuator_control_target_async](#classmavsdk_1_1_telemetry_1aa44e3a76c482f273a2f1bc1a09bec27c) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'actuator control target' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_actuator_control_target](#classmavsdk_1_1_telemetry_1aa43efb510038f1bb95241953ae09c998) (double rate_hz)const | Set rate to 'actuator control target' updates.
+void | [set_rate_actuator_output_status_async](#classmavsdk_1_1_telemetry_1a2ad19c1101962ed7cfeec89b7fae0f9c) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'actuator output status' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_actuator_output_status](#classmavsdk_1_1_telemetry_1a48b3e3a288ba6a8d38914c4827124006) (double rate_hz)const | Set rate to 'actuator output status' updates.
+void | [set_rate_odometry_async](#classmavsdk_1_1_telemetry_1a23e507e1d53c6603479701f5e2af49ce) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'odometry' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_odometry](#classmavsdk_1_1_telemetry_1a4368bf825cec3bc9369d57546a45391e) (double rate_hz)const | Set rate to 'odometry' updates.
+void | [set_rate_position_velocity_ned_async](#classmavsdk_1_1_telemetry_1a9a4c3b6affa497dd22e464f515ca278c) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'position velocity' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_position_velocity_ned](#classmavsdk_1_1_telemetry_1a64fe3457589cd208a9f7bd5dea763da1) (double rate_hz)const | Set rate to 'position velocity' updates.
+void | [set_rate_ground_truth_async](#classmavsdk_1_1_telemetry_1a16b28ebdc6d211a5b182bd8d0abb4d2e) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'ground truth' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_ground_truth](#classmavsdk_1_1_telemetry_1a23b2962e5b7681ece3fcbc72220d6b48) (double rate_hz)const | Set rate to 'ground truth' updates.
+void | [set_rate_fixedwing_metrics_async](#classmavsdk_1_1_telemetry_1a1484ccdcf4ba20a151e380e7bd7b9869) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'fixedwing metrics' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_fixedwing_metrics](#classmavsdk_1_1_telemetry_1ab345a5925d132c27e0a5e1ab65a1e2c1) (double rate_hz)const | Set rate to 'fixedwing metrics' updates.
+void | [set_rate_imu_async](#classmavsdk_1_1_telemetry_1a7dca435daa0de2db2d2e9d588c6bed99) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'IMU' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_imu](#classmavsdk_1_1_telemetry_1a4e0d1dc2350e06f68f472d85dc69d175) (double rate_hz)const | Set rate to 'IMU' updates.
+void | [set_rate_scaled_imu_async](#classmavsdk_1_1_telemetry_1aebbf2eb2e5d117d8b40f21075845467c) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'Scaled IMU' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_scaled_imu](#classmavsdk_1_1_telemetry_1af8dc4f38bf7cc89f700c985a04e03237) (double rate_hz)const | Set rate to 'Scaled IMU' updates.
+void | [set_rate_raw_imu_async](#classmavsdk_1_1_telemetry_1a36d19058a0f71d711de3e50ba718704e) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'Raw IMU' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_raw_imu](#classmavsdk_1_1_telemetry_1a020cb8760e6f00b759c8ef564d8801ad) (double rate_hz)const | Set rate to 'Raw IMU' updates.
+void | [set_rate_unix_epoch_time_async](#classmavsdk_1_1_telemetry_1a74b18cd8a5faed4d46b244db0a6e3c50) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'unix epoch time' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_unix_epoch_time](#classmavsdk_1_1_telemetry_1a340ac34547672ee07131bca34cbbb820) (double rate_hz)const | Set rate to 'unix epoch time' updates.
+void | [set_rate_distance_sensor_async](#classmavsdk_1_1_telemetry_1a0371c470866b539b3aa1e254c974aa43) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to 'Distance Sensor' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_distance_sensor](#classmavsdk_1_1_telemetry_1a7f536359536478691d7db980ffe49e49) (double rate_hz)const | Set rate to 'Distance Sensor' updates.
+void | [set_rate_altitude_async](#classmavsdk_1_1_telemetry_1a15461dd3f64aef2b921c9f06ee144bc1) (double rate_hz, const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) callback) | Set rate to '[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md)' updates.
+[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) | [set_rate_altitude](#classmavsdk_1_1_telemetry_1a100fc786b86637385c6188ea53121b98) (double rate_hz)const | Set rate to '[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md)' updates.
+void | [get_gps_global_origin_async](#classmavsdk_1_1_telemetry_1a60cca43e2f87e3fd3a9e170ff2b64e0a) (const [GetGpsGlobalOriginCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a350ee89a7e30a691e130e29ace8917ef) callback) | Get the GPS location of where the estimator has been initialized.
+std::pair< [Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75), [Telemetry::GpsGlobalOrigin](structmavsdk_1_1_telemetry_1_1_gps_global_origin.md) > | [get_gps_global_origin](#classmavsdk_1_1_telemetry_1a77747e7cea5a4d644bd6bec9441c7bfb) () const | Get the GPS location of where the estimator has been initialized.
+const [Telemetry](classmavsdk_1_1_telemetry.md) & | [operator=](#classmavsdk_1_1_telemetry_1a703ac978c925be8806921925cf16aca9) (const [Telemetry](classmavsdk_1_1_telemetry.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Telemetry() {#classmavsdk_1_1_telemetry_1a6c8c8ed8759fc8c6e9fd4e7644c63cbe}
+```cpp
+mavsdk::Telemetry::Telemetry(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto telemetry = Telemetry(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Telemetry() {#classmavsdk_1_1_telemetry_1af78f18fbb117c82d5ffe21e015535067}
+```cpp
+mavsdk::Telemetry::Telemetry(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto telemetry = Telemetry(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Telemetry() {#classmavsdk_1_1_telemetry_1a6ffca3dba4c6102ae6602822a140c8fc}
+```cpp
+mavsdk::Telemetry::~Telemetry() override
+```
+
+
+Destructor (internal use only).
+
+
+### Telemetry() {#classmavsdk_1_1_telemetry_1ad734f199b82a9928c63230676c9789e9}
+```cpp
+mavsdk::Telemetry::Telemetry(const Telemetry &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Telemetry](classmavsdk_1_1_telemetry.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b}
+
+```cpp
+using mavsdk::Telemetry::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Telemetry](classmavsdk_1_1_telemetry.md) calls.
+
+
+### typedef PositionCallback {#classmavsdk_1_1_telemetry_1a978b371d636226e198995462afa63552}
+
+```cpp
+using mavsdk::Telemetry::PositionCallback =  std::function<void(Position)>
+```
+
+
+Callback type for subscribe_position.
+
+
+### typedef PositionHandle {#classmavsdk_1_1_telemetry_1a7d82a98ea53c2aa254624bc943ec22f1}
+
+```cpp
+using mavsdk::Telemetry::PositionHandle =  Handle<Position>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_position.
+
+
+### typedef HomeCallback {#classmavsdk_1_1_telemetry_1aaac029969c37a001d43e2788a6abf634}
+
+```cpp
+using mavsdk::Telemetry::HomeCallback =  std::function<void(Position)>
+```
+
+
+Callback type for subscribe_home.
+
+
+### typedef HomeHandle {#classmavsdk_1_1_telemetry_1a7a2b3a8b50d66e911870700ea3fe007d}
+
+```cpp
+using mavsdk::Telemetry::HomeHandle =  Handle<Position>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_home.
+
+
+### typedef InAirCallback {#classmavsdk_1_1_telemetry_1af96cca452305dd8f51b42d4663f15a26}
+
+```cpp
+using mavsdk::Telemetry::InAirCallback =  std::function<void(bool)>
+```
+
+
+Callback type for subscribe_in_air.
+
+
+### typedef InAirHandle {#classmavsdk_1_1_telemetry_1a17582f68fabac027ab354073e0eca8e5}
+
+```cpp
+using mavsdk::Telemetry::InAirHandle =  Handle<bool>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_in_air.
+
+
+### typedef LandedStateCallback {#classmavsdk_1_1_telemetry_1a0cd8ef17abdd7c3d6a9ee761ccc6ae5e}
+
+```cpp
+using mavsdk::Telemetry::LandedStateCallback =  std::function<void(LandedState)>
+```
+
+
+Callback type for subscribe_landed_state.
+
+
+### typedef LandedStateHandle {#classmavsdk_1_1_telemetry_1a125f2ecfe3f5ce588e6d1799392a5fd7}
+
+```cpp
+using mavsdk::Telemetry::LandedStateHandle =  Handle<LandedState>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_landed_state.
+
+
+### typedef ArmedCallback {#classmavsdk_1_1_telemetry_1a9d23a4092d94e50694390e9f41b8c419}
+
+```cpp
+using mavsdk::Telemetry::ArmedCallback =  std::function<void(bool)>
+```
+
+
+Callback type for subscribe_armed.
+
+
+### typedef ArmedHandle {#classmavsdk_1_1_telemetry_1a3cfe4b90e156fb055066f8164985311c}
+
+```cpp
+using mavsdk::Telemetry::ArmedHandle =  Handle<bool>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_armed.
+
+
+### typedef VtolStateCallback {#classmavsdk_1_1_telemetry_1abf52126ce4d4efb99560aa8e8e58f20c}
+
+```cpp
+using mavsdk::Telemetry::VtolStateCallback =  std::function<void(VtolState)>
+```
+
+
+Callback type for subscribe_vtol_state.
+
+
+### typedef VtolStateHandle {#classmavsdk_1_1_telemetry_1a824bab94514afa56334acf41b6f7d244}
+
+```cpp
+using mavsdk::Telemetry::VtolStateHandle =  Handle<VtolState>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_vtol_state.
+
+
+### typedef AttitudeQuaternionCallback {#classmavsdk_1_1_telemetry_1ad16e61245511a99e930d6fdcbd761a30}
+
+```cpp
+using mavsdk::Telemetry::AttitudeQuaternionCallback =  std::function<void(Quaternion)>
+```
+
+
+Callback type for subscribe_attitude_quaternion.
+
+
+### typedef AttitudeQuaternionHandle {#classmavsdk_1_1_telemetry_1a0ce62986aedcd06d845406a2d99257d3}
+
+```cpp
+using mavsdk::Telemetry::AttitudeQuaternionHandle =  Handle<Quaternion>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_attitude_quaternion.
+
+
+### typedef AttitudeEulerCallback {#classmavsdk_1_1_telemetry_1a321c7607922369926fbd5f2821986cba}
+
+```cpp
+using mavsdk::Telemetry::AttitudeEulerCallback =  std::function<void(EulerAngle)>
+```
+
+
+Callback type for subscribe_attitude_euler.
+
+
+### typedef AttitudeEulerHandle {#classmavsdk_1_1_telemetry_1ae73f3d3ac224438a6cd07344fda9543b}
+
+```cpp
+using mavsdk::Telemetry::AttitudeEulerHandle =  Handle<EulerAngle>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_attitude_euler.
+
+
+### typedef AttitudeAngularVelocityBodyCallback {#classmavsdk_1_1_telemetry_1a35ff8def3048faeab7f732153d51085f}
+
+```cpp
+using mavsdk::Telemetry::AttitudeAngularVelocityBodyCallback =  std::function<void(AngularVelocityBody)>
+```
+
+
+Callback type for subscribe_attitude_angular_velocity_body.
+
+
+### typedef AttitudeAngularVelocityBodyHandle {#classmavsdk_1_1_telemetry_1a2328e39c1a96ce9a090cb19283d3ffc1}
+
+```cpp
+using mavsdk::Telemetry::AttitudeAngularVelocityBodyHandle =  Handle<AngularVelocityBody>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_attitude_angular_velocity_body.
+
+
+### typedef CameraAttitudeQuaternionCallback {#classmavsdk_1_1_telemetry_1aa83dafa14e9b5179573a574f6fbdd973}
+
+```cpp
+using mavsdk::Telemetry::CameraAttitudeQuaternionCallback =  std::function<void(Quaternion)>
+```
+
+
+Callback type for subscribe_camera_attitude_quaternion.
+
+
+### typedef CameraAttitudeQuaternionHandle {#classmavsdk_1_1_telemetry_1aeb2a99828961bf2a4d5c24753e020358}
+
+```cpp
+using mavsdk::Telemetry::CameraAttitudeQuaternionHandle =  Handle<Quaternion>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_camera_attitude_quaternion.
+
+
+### typedef CameraAttitudeEulerCallback {#classmavsdk_1_1_telemetry_1aa29f9bb0767ba8c384bfe1df69f2fdd9}
+
+```cpp
+using mavsdk::Telemetry::CameraAttitudeEulerCallback =  std::function<void(EulerAngle)>
+```
+
+
+Callback type for subscribe_camera_attitude_euler.
+
+
+### typedef CameraAttitudeEulerHandle {#classmavsdk_1_1_telemetry_1a76471c91115d6e03e6165a3e1315808b}
+
+```cpp
+using mavsdk::Telemetry::CameraAttitudeEulerHandle =  Handle<EulerAngle>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_camera_attitude_euler.
+
+
+### typedef VelocityNedCallback {#classmavsdk_1_1_telemetry_1ab5859d2f6a9c9bd81282166b3de92342}
+
+```cpp
+using mavsdk::Telemetry::VelocityNedCallback =  std::function<void(VelocityNed)>
+```
+
+
+Callback type for subscribe_velocity_ned.
+
+
+### typedef VelocityNedHandle {#classmavsdk_1_1_telemetry_1a2c3898f33bfa1bffe86681aaca33343e}
+
+```cpp
+using mavsdk::Telemetry::VelocityNedHandle =  Handle<VelocityNed>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_velocity_ned.
+
+
+### typedef GpsInfoCallback {#classmavsdk_1_1_telemetry_1ad8fa90886b2283eace09b4b46708048b}
+
+```cpp
+using mavsdk::Telemetry::GpsInfoCallback =  std::function<void(GpsInfo)>
+```
+
+
+Callback type for subscribe_gps_info.
+
+
+### typedef GpsInfoHandle {#classmavsdk_1_1_telemetry_1a87598b504f6ddf3ba0620b0458f2d39c}
+
+```cpp
+using mavsdk::Telemetry::GpsInfoHandle =  Handle<GpsInfo>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_gps_info.
+
+
+### typedef RawGpsCallback {#classmavsdk_1_1_telemetry_1a915868d562ed445fa30beaa9140ea97c}
+
+```cpp
+using mavsdk::Telemetry::RawGpsCallback =  std::function<void(RawGps)>
+```
+
+
+Callback type for subscribe_raw_gps.
+
+
+### typedef RawGpsHandle {#classmavsdk_1_1_telemetry_1a75a62eb3624bf77ea6860d5d965636fd}
+
+```cpp
+using mavsdk::Telemetry::RawGpsHandle =  Handle<RawGps>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_raw_gps.
+
+
+### typedef BatteryCallback {#classmavsdk_1_1_telemetry_1af4b121c576ef2ae567b1d571b12dff9d}
+
+```cpp
+using mavsdk::Telemetry::BatteryCallback =  std::function<void(Battery)>
+```
+
+
+Callback type for subscribe_battery.
+
+
+### typedef BatteryHandle {#classmavsdk_1_1_telemetry_1ad9c79c3a89de6f28aabc771a2b5cc92f}
+
+```cpp
+using mavsdk::Telemetry::BatteryHandle =  Handle<Battery>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_battery.
+
+
+### typedef FlightModeCallback {#classmavsdk_1_1_telemetry_1a2d7318d0823771b7a586c40199bdb482}
+
+```cpp
+using mavsdk::Telemetry::FlightModeCallback =  std::function<void(FlightMode)>
+```
+
+
+Callback type for subscribe_flight_mode.
+
+
+### typedef FlightModeHandle {#classmavsdk_1_1_telemetry_1add61cde1555ed1cec93a34bbdadeef5c}
+
+```cpp
+using mavsdk::Telemetry::FlightModeHandle =  Handle<FlightMode>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_flight_mode.
+
+
+### typedef HealthCallback {#classmavsdk_1_1_telemetry_1a7a120dd053091c644e0e2e47fdcbeb75}
+
+```cpp
+using mavsdk::Telemetry::HealthCallback =  std::function<void(Health)>
+```
+
+
+Callback type for subscribe_health.
+
+
+### typedef HealthHandle {#classmavsdk_1_1_telemetry_1a52869d9dd1a240385b0d213a7057f3df}
+
+```cpp
+using mavsdk::Telemetry::HealthHandle =  Handle<Health>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_health.
+
+
+### typedef RcStatusCallback {#classmavsdk_1_1_telemetry_1aafcd706b805898301b574ffa2b909b85}
+
+```cpp
+using mavsdk::Telemetry::RcStatusCallback =  std::function<void(RcStatus)>
+```
+
+
+Callback type for subscribe_rc_status.
+
+
+### typedef RcStatusHandle {#classmavsdk_1_1_telemetry_1ae3bd26bbc4c12eddc7f90f42482078de}
+
+```cpp
+using mavsdk::Telemetry::RcStatusHandle =  Handle<RcStatus>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_rc_status.
+
+
+### typedef StatusTextCallback {#classmavsdk_1_1_telemetry_1a46e51ff90fe779990ed09a593c1c7898}
+
+```cpp
+using mavsdk::Telemetry::StatusTextCallback =  std::function<void(StatusText)>
+```
+
+
+Callback type for subscribe_status_text.
+
+
+### typedef StatusTextHandle {#classmavsdk_1_1_telemetry_1a5c2b31499961747b784664b87b851e04}
+
+```cpp
+using mavsdk::Telemetry::StatusTextHandle =  Handle<StatusText>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_status_text.
+
+
+### typedef ActuatorControlTargetCallback {#classmavsdk_1_1_telemetry_1ada6af3de1b60b93a709345c3a8ede551}
+
+```cpp
+using mavsdk::Telemetry::ActuatorControlTargetCallback =  std::function<void(ActuatorControlTarget)>
+```
+
+
+Callback type for subscribe_actuator_control_target.
+
+
+### typedef ActuatorControlTargetHandle {#classmavsdk_1_1_telemetry_1a01438bbc123454e745b8874bc91bf874}
+
+```cpp
+using mavsdk::Telemetry::ActuatorControlTargetHandle =  Handle<ActuatorControlTarget>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_actuator_control_target.
+
+
+### typedef ActuatorOutputStatusCallback {#classmavsdk_1_1_telemetry_1a2b1e800ce1ba6fb776351416340ac8b9}
+
+```cpp
+using mavsdk::Telemetry::ActuatorOutputStatusCallback =  std::function<void(ActuatorOutputStatus)>
+```
+
+
+Callback type for subscribe_actuator_output_status.
+
+
+### typedef ActuatorOutputStatusHandle {#classmavsdk_1_1_telemetry_1ac0bbbb060195848f41de50600489713f}
+
+```cpp
+using mavsdk::Telemetry::ActuatorOutputStatusHandle =  Handle<ActuatorOutputStatus>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_actuator_output_status.
+
+
+### typedef OdometryCallback {#classmavsdk_1_1_telemetry_1a8cd23f7364f8f5cb22869155da67c65d}
+
+```cpp
+using mavsdk::Telemetry::OdometryCallback =  std::function<void(Odometry)>
+```
+
+
+Callback type for subscribe_odometry.
+
+
+### typedef OdometryHandle {#classmavsdk_1_1_telemetry_1a23b33f337ed73ec584e8ac8868c72f86}
+
+```cpp
+using mavsdk::Telemetry::OdometryHandle =  Handle<Odometry>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_odometry.
+
+
+### typedef PositionVelocityNedCallback {#classmavsdk_1_1_telemetry_1a5a38deb284622ff6926703e1e5c96a74}
+
+```cpp
+using mavsdk::Telemetry::PositionVelocityNedCallback =  std::function<void(PositionVelocityNed)>
+```
+
+
+Callback type for subscribe_position_velocity_ned.
+
+
+### typedef PositionVelocityNedHandle {#classmavsdk_1_1_telemetry_1aef1424caca3967e67336140af395e59c}
+
+```cpp
+using mavsdk::Telemetry::PositionVelocityNedHandle =  Handle<PositionVelocityNed>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_position_velocity_ned.
+
+
+### typedef GroundTruthCallback {#classmavsdk_1_1_telemetry_1a222aae53852a2c535f6d69ed57221f13}
+
+```cpp
+using mavsdk::Telemetry::GroundTruthCallback =  std::function<void(GroundTruth)>
+```
+
+
+Callback type for subscribe_ground_truth.
+
+
+### typedef GroundTruthHandle {#classmavsdk_1_1_telemetry_1a373568d10564c5a3c3d325e5975a3a23}
+
+```cpp
+using mavsdk::Telemetry::GroundTruthHandle =  Handle<GroundTruth>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_ground_truth.
+
+
+### typedef FixedwingMetricsCallback {#classmavsdk_1_1_telemetry_1a5b42dbef0ef6d8c1768d503d0437f1e3}
+
+```cpp
+using mavsdk::Telemetry::FixedwingMetricsCallback =  std::function<void(FixedwingMetrics)>
+```
+
+
+Callback type for subscribe_fixedwing_metrics.
+
+
+### typedef FixedwingMetricsHandle {#classmavsdk_1_1_telemetry_1ab180a383ee3e17f20bb1b026b667db04}
+
+```cpp
+using mavsdk::Telemetry::FixedwingMetricsHandle =  Handle<FixedwingMetrics>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_fixedwing_metrics.
+
+
+### typedef ImuCallback {#classmavsdk_1_1_telemetry_1a4fbc2ad274fd5a8af077004d2d7bd984}
+
+```cpp
+using mavsdk::Telemetry::ImuCallback =  std::function<void(Imu)>
+```
+
+
+Callback type for subscribe_imu.
+
+
+### typedef ImuHandle {#classmavsdk_1_1_telemetry_1a5b45a4c22abb67617d37ae56efdf8360}
+
+```cpp
+using mavsdk::Telemetry::ImuHandle =  Handle<Imu>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_imu.
+
+
+### typedef ScaledImuCallback {#classmavsdk_1_1_telemetry_1a26159a775adcfbc42302234b7108d94f}
+
+```cpp
+using mavsdk::Telemetry::ScaledImuCallback =  std::function<void(Imu)>
+```
+
+
+Callback type for subscribe_scaled_imu.
+
+
+### typedef ScaledImuHandle {#classmavsdk_1_1_telemetry_1a4968d9d418d48a4368f2915023ca0014}
+
+```cpp
+using mavsdk::Telemetry::ScaledImuHandle =  Handle<Imu>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_scaled_imu.
+
+
+### typedef RawImuCallback {#classmavsdk_1_1_telemetry_1a92711da85d343cb58b73561e6b730c76}
+
+```cpp
+using mavsdk::Telemetry::RawImuCallback =  std::function<void(Imu)>
+```
+
+
+Callback type for subscribe_raw_imu.
+
+
+### typedef RawImuHandle {#classmavsdk_1_1_telemetry_1a416f5b4dc6c51d78d05572d5cc18f3fb}
+
+```cpp
+using mavsdk::Telemetry::RawImuHandle =  Handle<Imu>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_raw_imu.
+
+
+### typedef HealthAllOkCallback {#classmavsdk_1_1_telemetry_1a71cdcadfaa988dc14029e0b9fdbe742d}
+
+```cpp
+using mavsdk::Telemetry::HealthAllOkCallback =  std::function<void(bool)>
+```
+
+
+Callback type for subscribe_health_all_ok.
+
+
+### typedef HealthAllOkHandle {#classmavsdk_1_1_telemetry_1aa882d4938eb491cce5b7ca6aead2384c}
+
+```cpp
+using mavsdk::Telemetry::HealthAllOkHandle =  Handle<bool>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_health_all_ok.
+
+
+### typedef UnixEpochTimeCallback {#classmavsdk_1_1_telemetry_1a321c7d809ae8f56bb8a361d5e5ce6391}
+
+```cpp
+using mavsdk::Telemetry::UnixEpochTimeCallback =  std::function<void(uint64_t)>
+```
+
+
+Callback type for subscribe_unix_epoch_time.
+
+
+### typedef UnixEpochTimeHandle {#classmavsdk_1_1_telemetry_1a4c4b00adfab9b7f04530133aafbafbd5}
+
+```cpp
+using mavsdk::Telemetry::UnixEpochTimeHandle =  Handle<uint64_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_unix_epoch_time.
+
+
+### typedef DistanceSensorCallback {#classmavsdk_1_1_telemetry_1aacfdb5e2cce7f3f77c68b36f020ed1f2}
+
+```cpp
+using mavsdk::Telemetry::DistanceSensorCallback =  std::function<void(DistanceSensor)>
+```
+
+
+Callback type for subscribe_distance_sensor.
+
+
+### typedef DistanceSensorHandle {#classmavsdk_1_1_telemetry_1aaa6bd0660aeb7d3f1d12240ce0710878}
+
+```cpp
+using mavsdk::Telemetry::DistanceSensorHandle =  Handle<DistanceSensor>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_distance_sensor.
+
+
+### typedef ScaledPressureCallback {#classmavsdk_1_1_telemetry_1ac123edc254bb1874edc08a0f531f82b1}
+
+```cpp
+using mavsdk::Telemetry::ScaledPressureCallback =  std::function<void(ScaledPressure)>
+```
+
+
+Callback type for subscribe_scaled_pressure.
+
+
+### typedef ScaledPressureHandle {#classmavsdk_1_1_telemetry_1ad19871b63833f64bed071db6017e4a22}
+
+```cpp
+using mavsdk::Telemetry::ScaledPressureHandle =  Handle<ScaledPressure>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_scaled_pressure.
+
+
+### typedef HeadingCallback {#classmavsdk_1_1_telemetry_1aa3bca0adab525a4c733c1e7f5c5dd8b3}
+
+```cpp
+using mavsdk::Telemetry::HeadingCallback =  std::function<void(Heading)>
+```
+
+
+Callback type for subscribe_heading.
+
+
+### typedef HeadingHandle {#classmavsdk_1_1_telemetry_1a11cc43135c8162fd8478ba76a5b3166d}
+
+```cpp
+using mavsdk::Telemetry::HeadingHandle =  Handle<Heading>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_heading.
+
+
+### typedef AltitudeCallback {#classmavsdk_1_1_telemetry_1a868986de0ab3990d4fe1ec842bce6adf}
+
+```cpp
+using mavsdk::Telemetry::AltitudeCallback =  std::function<void(Altitude)>
+```
+
+
+Callback type for subscribe_altitude.
+
+
+### typedef AltitudeHandle {#classmavsdk_1_1_telemetry_1ae0714c14e07a08b4748c96ea20f1d12f}
+
+```cpp
+using mavsdk::Telemetry::AltitudeHandle =  Handle<Altitude>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_altitude.
+
+
+### typedef GetGpsGlobalOriginCallback {#classmavsdk_1_1_telemetry_1a350ee89a7e30a691e130e29ace8917ef}
+
+```cpp
+using mavsdk::Telemetry::GetGpsGlobalOriginCallback =  std::function<void(Result, GpsGlobalOrigin)>
+```
+
+
+Callback type for get_gps_global_origin_async.
+
+
+## Member Enumeration Documentation
+
+
+### enum FixType {#classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639de}
+
+
+GPS fix type.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639deaeb42b0f27d1fc2ca9bd645212a14c874"></span> `NoGps` | No GPS connected. 
+<span id="classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639dea7458f6cf09e53df9495d3ee0d11868c4"></span> `NoFix` | No position information, GPS is connected. 
+<span id="classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639dead6800eded02a7eaceb638929dbd9ea55"></span> `Fix2D` | 2D position. 
+<span id="classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639dead791aa90d108c9b0c76ec28cd4dfbb0f"></span> `Fix3D` | 3D position. 
+<span id="classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639dea8372860807abaec59412bd6376f51b5f"></span> `FixDgps` | DGPS/SBAS aided 3D position. 
+<span id="classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639dea1eacb557d24c49af2ec6832c5fc32413"></span> `RtkFloat` | RTK float, 3D position. 
+<span id="classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639dea9effa0afed44833d540fec2c57e67426"></span> `RtkFixed` | RTK Fixed, 3D position. 
+
+### enum FlightMode {#classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fe}
+
+
+Flight modes.
+
+For more information about flight modes, check out [https://docs.px4.io/master/en/config/flight_mode.html](https://docs.px4.io/master/en/config/flight_mode.html).
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fea88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Mode not known. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4feae7d31fc0602fb2ede144d18cdffd816b"></span> `Ready` | Armed and ready to take off. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fea56373a80447c41b9a29e500e62d6884e"></span> `Takeoff` | Taking off. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4feabcd8db575b47c838e5d551e3973db4ac"></span> `Hold` | Holding (hovering in place (or circling for fixed-wing vehicles). 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fea70d529695c253d17e992cb9265abc57f"></span> `Mission` | In mission. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fea146115c3278581584dcbaac1a77a2588"></span> `ReturnToLaunch` | Returning to launch position (then landing). 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fea512ef7c688a2c8572d5e16f44e17e869"></span> `Land` | Landing. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4feabb085f1e0d3843dda2a4c70437ad1410"></span> `Offboard` | In 'offboard' mode. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fea08bb3de7dafcf47f05b8c5a9dc0983c0"></span> `FollowMe` | In 'follow-me' mode. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4feae1ba155a9f2e8c3be94020eef32a0301"></span> `Manual` | In 'Manual' mode. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4feaa7a697581399b9be37a545416d4cd2d9"></span> `Altctl` | In '[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) Control' mode. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fea46780e4f8c113481c868da4dd16fcd41"></span> `Posctl` | In '[Position](structmavsdk_1_1_telemetry_1_1_position.md) Control' mode. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4feae10e0f017fee32a9bb2fa9fae53afd70"></span> `Acro` | In 'Acro' mode. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4feafda22026db89cdc5e88b262ad9424b41"></span> `Stabilized` | In 'Stabilize' mode. 
+<span id="classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fea1e0c225e976316373c8c08ddc7a154fa"></span> `Rattitude` | In 'Rattitude' mode. 
+
+### enum StatusTextType {#classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8}
+
+
+Status types.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8aa603905470e2a5b8c13e96b579ef0dba"></span> `Debug` | Debug. 
+<span id="classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8a4059b0251f66a18cb56f544728796875"></span> `Info` | Information. 
+<span id="classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8a24efa7ee4511563b16144f39706d594f"></span> `Notice` | Notice. 
+<span id="classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8a0eaadb4fcb48a0a0ed7bc9868be9fbaa"></span> `Warning` | Warning. 
+<span id="classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8a902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | Error. 
+<span id="classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8a278d01e5af56273bae1bb99a98b370cd"></span> `Critical` | Critical. 
+<span id="classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8ab92071d61c88498171928745ca53078b"></span> `Alert` | Alert. 
+<span id="classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8aa3fa706f20bc0b7858b7ae6932261940"></span> `Emergency` | Emergency. 
+
+### enum LandedState {#classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046}
+
+
+Landed State enumeration.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Landed state is unknown. 
+<span id="classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046a2b9beed57034f5727573d7ded76cf777"></span> `OnGround` | The vehicle is on the ground. 
+<span id="classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046aee4e669a07b061d70b9b79dfed9cb5e7"></span> `InAir` | The vehicle is in the air. 
+<span id="classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046a85916c5f3400cfa25d988f05b6736a94"></span> `TakingOff` | The vehicle is taking off. 
+<span id="classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046a41bd61e268fedccfb0d91dd571dd28b2"></span> `Landing` | The vehicle is landing. 
+
+### enum VtolState {#classmavsdk_1_1_telemetry_1a256f951d993aa120c437d989a6e94166}
+
+
+VTOL State enumeration.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_1a256f951d993aa120c437d989a6e94166aec0fc0100c4fc1ce4eea230c3dc10360"></span> `Undefined` | MAV is not configured as VTOL. 
+<span id="classmavsdk_1_1_telemetry_1a256f951d993aa120c437d989a6e94166a45f439a04f9144adc1dcf5a4fbda0026"></span> `TransitionToFw` | VTOL is in transition from multicopter to fixed-wing. 
+<span id="classmavsdk_1_1_telemetry_1a256f951d993aa120c437d989a6e94166af3abadebd9602a0acb33350f64fa7661"></span> `TransitionToMc` | VTOL is in transition from fixed-wing to multicopter. 
+<span id="classmavsdk_1_1_telemetry_1a256f951d993aa120c437d989a6e94166aac81adaad0b2a7d6077edd5c319a6048"></span> `Mc` | VTOL is in multicopter state. 
+<span id="classmavsdk_1_1_telemetry_1a256f951d993aa120c437d989a6e94166a9b5de99abdffa3a42bd6517ed1a034e4"></span> `Fw` | VTOL is in fixed-wing state. 
+
+### enum Result {#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75}
+
+
+Possible results returned for telemetry requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Success: the telemetry command was accepted by the vehicle. 
+<span id="classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+<span id="classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75a3398e12855176d55f43d53e04f472c8a"></span> `CommandDenied` | Command refused by vehicle. 
+<span id="classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75ab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | Request not supported. 
+
+## Member Function Documentation
+
+
+### subscribe_position() {#classmavsdk_1_1_telemetry_1a647f3d61b4f3301fd8c2aca1afcafb31}
+```cpp
+PositionHandle mavsdk::Telemetry::subscribe_position(const PositionCallback &callback)
+```
+
+
+Subscribe to 'position' updates.
+
+
+**Parameters**
+
+* const [PositionCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a978b371d636226e198995462afa63552)& **callback** - 
+
+**Returns**
+
+&emsp;[PositionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a7d82a98ea53c2aa254624bc943ec22f1) - 
+
+### unsubscribe_position() {#classmavsdk_1_1_telemetry_1abf10cb55e2c477bbb875c0944938b76c}
+```cpp
+void mavsdk::Telemetry::unsubscribe_position(PositionHandle handle)
+```
+
+
+Unsubscribe from subscribe_position.
+
+
+**Parameters**
+
+* [PositionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a7d82a98ea53c2aa254624bc943ec22f1) **handle** - 
+
+### position() {#classmavsdk_1_1_telemetry_1a2299da1bc63313c429f07ab0fdbe5335}
+```cpp
+Position mavsdk::Telemetry::position() const
+```
+
+
+Poll for '[Position](structmavsdk_1_1_telemetry_1_1_position.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Position](structmavsdk_1_1_telemetry_1_1_position.md) - One [Position](structmavsdk_1_1_telemetry_1_1_position.md) update.
+
+### subscribe_home() {#classmavsdk_1_1_telemetry_1ae57e4c8741ba7ae05961cadfabc82875}
+```cpp
+HomeHandle mavsdk::Telemetry::subscribe_home(const HomeCallback &callback)
+```
+
+
+Subscribe to 'home position' updates.
+
+
+**Parameters**
+
+* const [HomeCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aaac029969c37a001d43e2788a6abf634)& **callback** - 
+
+**Returns**
+
+&emsp;[HomeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a7a2b3a8b50d66e911870700ea3fe007d) - 
+
+### unsubscribe_home() {#classmavsdk_1_1_telemetry_1a83feb66aa64946b954ca305b6cc2f7ea}
+```cpp
+void mavsdk::Telemetry::unsubscribe_home(HomeHandle handle)
+```
+
+
+Unsubscribe from subscribe_home.
+
+
+**Parameters**
+
+* [HomeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a7a2b3a8b50d66e911870700ea3fe007d) **handle** - 
+
+### home() {#classmavsdk_1_1_telemetry_1ad5c239b93aa1923edd1b97494a3fbfe7}
+```cpp
+Position mavsdk::Telemetry::home() const
+```
+
+
+Poll for '[Position](structmavsdk_1_1_telemetry_1_1_position.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Position](structmavsdk_1_1_telemetry_1_1_position.md) - One [Position](structmavsdk_1_1_telemetry_1_1_position.md) update.
+
+### subscribe_in_air() {#classmavsdk_1_1_telemetry_1a0fc586a0c90141e125a305fd8211e8d8}
+```cpp
+InAirHandle mavsdk::Telemetry::subscribe_in_air(const InAirCallback &callback)
+```
+
+
+Subscribe to in-air updates.
+
+
+**Parameters**
+
+* const [InAirCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1af96cca452305dd8f51b42d4663f15a26)& **callback** - 
+
+**Returns**
+
+&emsp;[InAirHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a17582f68fabac027ab354073e0eca8e5) - 
+
+### unsubscribe_in_air() {#classmavsdk_1_1_telemetry_1a2e23bf258ef69c267ab5b8dee203bd95}
+```cpp
+void mavsdk::Telemetry::unsubscribe_in_air(InAirHandle handle)
+```
+
+
+Unsubscribe from subscribe_in_air.
+
+
+**Parameters**
+
+* [InAirHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a17582f68fabac027ab354073e0eca8e5) **handle** - 
+
+### in_air() {#classmavsdk_1_1_telemetry_1a909738ff2fbe104c6eb4524cc9bf2dd5}
+```cpp
+bool mavsdk::Telemetry::in_air() const
+```
+
+
+Poll for 'bool' (blocking).
+
+
+**Returns**
+
+&emsp;bool - One bool update.
+
+### subscribe_landed_state() {#classmavsdk_1_1_telemetry_1ae618a7ba0ed197e3d5c3427a63c3cfa0}
+```cpp
+LandedStateHandle mavsdk::Telemetry::subscribe_landed_state(const LandedStateCallback &callback)
+```
+
+
+Subscribe to landed state updates.
+
+
+**Parameters**
+
+* const [LandedStateCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a0cd8ef17abdd7c3d6a9ee761ccc6ae5e)& **callback** - 
+
+**Returns**
+
+&emsp;[LandedStateHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a125f2ecfe3f5ce588e6d1799392a5fd7) - 
+
+### unsubscribe_landed_state() {#classmavsdk_1_1_telemetry_1a17df3b1e3917f788725f39cf879145f6}
+```cpp
+void mavsdk::Telemetry::unsubscribe_landed_state(LandedStateHandle handle)
+```
+
+
+Unsubscribe from subscribe_landed_state.
+
+
+**Parameters**
+
+* [LandedStateHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a125f2ecfe3f5ce588e6d1799392a5fd7) **handle** - 
+
+### landed_state() {#classmavsdk_1_1_telemetry_1af7d7c385852db38d6320516508ce7465}
+```cpp
+LandedState mavsdk::Telemetry::landed_state() const
+```
+
+
+Poll for 'LandedState' (blocking).
+
+
+**Returns**
+
+&emsp;[LandedState](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ac6639935bc3b35b1da553cde41e8f046) - One LandedState update.
+
+### subscribe_armed() {#classmavsdk_1_1_telemetry_1a2ea3978439ed7e21973a41e1f2c2b24f}
+```cpp
+ArmedHandle mavsdk::Telemetry::subscribe_armed(const ArmedCallback &callback)
+```
+
+
+Subscribe to armed updates.
+
+
+**Parameters**
+
+* const [ArmedCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a9d23a4092d94e50694390e9f41b8c419)& **callback** - 
+
+**Returns**
+
+&emsp;[ArmedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a3cfe4b90e156fb055066f8164985311c) - 
+
+### unsubscribe_armed() {#classmavsdk_1_1_telemetry_1a8c6080d520f6d2fdac9cb97279ffcbb9}
+```cpp
+void mavsdk::Telemetry::unsubscribe_armed(ArmedHandle handle)
+```
+
+
+Unsubscribe from subscribe_armed.
+
+
+**Parameters**
+
+* [ArmedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a3cfe4b90e156fb055066f8164985311c) **handle** - 
+
+### armed() {#classmavsdk_1_1_telemetry_1a6620142adc47f069262e5bf69dbb3876}
+```cpp
+bool mavsdk::Telemetry::armed() const
+```
+
+
+Poll for 'bool' (blocking).
+
+
+**Returns**
+
+&emsp;bool - One bool update.
+
+### subscribe_vtol_state() {#classmavsdk_1_1_telemetry_1a956eb63dc90a2cf905590f6f309edb36}
+```cpp
+VtolStateHandle mavsdk::Telemetry::subscribe_vtol_state(const VtolStateCallback &callback)
+```
+
+
+subscribe to vtol state Updates
+
+
+**Parameters**
+
+* const [VtolStateCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1abf52126ce4d4efb99560aa8e8e58f20c)& **callback** - 
+
+**Returns**
+
+&emsp;[VtolStateHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a824bab94514afa56334acf41b6f7d244) - 
+
+### unsubscribe_vtol_state() {#classmavsdk_1_1_telemetry_1a932eb8b43e90e64bd131b3257f747963}
+```cpp
+void mavsdk::Telemetry::unsubscribe_vtol_state(VtolStateHandle handle)
+```
+
+
+Unsubscribe from subscribe_vtol_state.
+
+
+**Parameters**
+
+* [VtolStateHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a824bab94514afa56334acf41b6f7d244) **handle** - 
+
+### vtol_state() {#classmavsdk_1_1_telemetry_1a6d3fd68f3e639a2bf9940e9f38f220c3}
+```cpp
+VtolState mavsdk::Telemetry::vtol_state() const
+```
+
+
+Poll for 'VtolState' (blocking).
+
+
+**Returns**
+
+&emsp;[VtolState](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a256f951d993aa120c437d989a6e94166) - One VtolState update.
+
+### subscribe_attitude_quaternion() {#classmavsdk_1_1_telemetry_1a9248befe3416252c7d8fb63b19842421}
+```cpp
+AttitudeQuaternionHandle mavsdk::Telemetry::subscribe_attitude_quaternion(const AttitudeQuaternionCallback &callback)
+```
+
+
+Subscribe to 'attitude' updates (quaternion).
+
+
+**Parameters**
+
+* const [AttitudeQuaternionCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad16e61245511a99e930d6fdcbd761a30)& **callback** - 
+
+**Returns**
+
+&emsp;[AttitudeQuaternionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a0ce62986aedcd06d845406a2d99257d3) - 
+
+### unsubscribe_attitude_quaternion() {#classmavsdk_1_1_telemetry_1a06034401ac16901d50b850ded0b064b5}
+```cpp
+void mavsdk::Telemetry::unsubscribe_attitude_quaternion(AttitudeQuaternionHandle handle)
+```
+
+
+Unsubscribe from subscribe_attitude_quaternion.
+
+
+**Parameters**
+
+* [AttitudeQuaternionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a0ce62986aedcd06d845406a2d99257d3) **handle** - 
+
+### attitude_quaternion() {#classmavsdk_1_1_telemetry_1aae76890957b33727be72a39807448c88}
+```cpp
+Quaternion mavsdk::Telemetry::attitude_quaternion() const
+```
+
+
+Poll for '[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) - One [Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) update.
+
+### subscribe_attitude_euler() {#classmavsdk_1_1_telemetry_1aaf90ca9cc8adcc9cb1963293bdfcefd6}
+```cpp
+AttitudeEulerHandle mavsdk::Telemetry::subscribe_attitude_euler(const AttitudeEulerCallback &callback)
+```
+
+
+Subscribe to 'attitude' updates (Euler).
+
+
+**Parameters**
+
+* const [AttitudeEulerCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a321c7607922369926fbd5f2821986cba)& **callback** - 
+
+**Returns**
+
+&emsp;[AttitudeEulerHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae73f3d3ac224438a6cd07344fda9543b) - 
+
+### unsubscribe_attitude_euler() {#classmavsdk_1_1_telemetry_1aa770088117b037446efa8cbfe058e54d}
+```cpp
+void mavsdk::Telemetry::unsubscribe_attitude_euler(AttitudeEulerHandle handle)
+```
+
+
+Unsubscribe from subscribe_attitude_euler.
+
+
+**Parameters**
+
+* [AttitudeEulerHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae73f3d3ac224438a6cd07344fda9543b) **handle** - 
+
+### attitude_euler() {#classmavsdk_1_1_telemetry_1a03035bb72324e843372eb69cf7899ce5}
+```cpp
+EulerAngle mavsdk::Telemetry::attitude_euler() const
+```
+
+
+Poll for '[EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md) - One [EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md) update.
+
+### subscribe_attitude_angular_velocity_body() {#classmavsdk_1_1_telemetry_1a3bbefcdb4e9cd9af9692626984504cb7}
+```cpp
+AttitudeAngularVelocityBodyHandle mavsdk::Telemetry::subscribe_attitude_angular_velocity_body(const AttitudeAngularVelocityBodyCallback &callback)
+```
+
+
+Subscribe to 'attitude' updates (angular velocity)
+
+
+**Parameters**
+
+* const [AttitudeAngularVelocityBodyCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a35ff8def3048faeab7f732153d51085f)& **callback** - 
+
+**Returns**
+
+&emsp;[AttitudeAngularVelocityBodyHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2328e39c1a96ce9a090cb19283d3ffc1) - 
+
+### unsubscribe_attitude_angular_velocity_body() {#classmavsdk_1_1_telemetry_1a2319d78b4e214e5b2f3ef55a1c32e2c5}
+```cpp
+void mavsdk::Telemetry::unsubscribe_attitude_angular_velocity_body(AttitudeAngularVelocityBodyHandle handle)
+```
+
+
+Unsubscribe from subscribe_attitude_angular_velocity_body.
+
+
+**Parameters**
+
+* [AttitudeAngularVelocityBodyHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2328e39c1a96ce9a090cb19283d3ffc1) **handle** - 
+
+### attitude_angular_velocity_body() {#classmavsdk_1_1_telemetry_1a8d9e2489b79c2cdbabaef8b6bb8e2952}
+```cpp
+AngularVelocityBody mavsdk::Telemetry::attitude_angular_velocity_body() const
+```
+
+
+Poll for '[AngularVelocityBody](structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[AngularVelocityBody](structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md) - One [AngularVelocityBody](structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md) update.
+
+### subscribe_camera_attitude_quaternion() {#classmavsdk_1_1_telemetry_1a9b7517e15c841765fbb8b1230e73bf82}
+```cpp
+CameraAttitudeQuaternionHandle mavsdk::Telemetry::subscribe_camera_attitude_quaternion(const CameraAttitudeQuaternionCallback &callback)
+```
+
+
+Subscribe to 'camera attitude' updates (quaternion).
+
+
+**Parameters**
+
+* const [CameraAttitudeQuaternionCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aa83dafa14e9b5179573a574f6fbdd973)& **callback** - 
+
+**Returns**
+
+&emsp;[CameraAttitudeQuaternionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aeb2a99828961bf2a4d5c24753e020358) - 
+
+### unsubscribe_camera_attitude_quaternion() {#classmavsdk_1_1_telemetry_1aa92270b8a30b22271f65d92e9a7ed9a1}
+```cpp
+void mavsdk::Telemetry::unsubscribe_camera_attitude_quaternion(CameraAttitudeQuaternionHandle handle)
+```
+
+
+Unsubscribe from subscribe_camera_attitude_quaternion.
+
+
+**Parameters**
+
+* [CameraAttitudeQuaternionHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aeb2a99828961bf2a4d5c24753e020358) **handle** - 
+
+### camera_attitude_quaternion() {#classmavsdk_1_1_telemetry_1a3c07447351d3b6195d5e2526e7b128b3}
+```cpp
+Quaternion mavsdk::Telemetry::camera_attitude_quaternion() const
+```
+
+
+Poll for '[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) - One [Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) update.
+
+### subscribe_camera_attitude_euler() {#classmavsdk_1_1_telemetry_1aa50015ba9b1decb825d45e459191c342}
+```cpp
+CameraAttitudeEulerHandle mavsdk::Telemetry::subscribe_camera_attitude_euler(const CameraAttitudeEulerCallback &callback)
+```
+
+
+Subscribe to 'camera attitude' updates (Euler).
+
+
+**Parameters**
+
+* const [CameraAttitudeEulerCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aa29f9bb0767ba8c384bfe1df69f2fdd9)& **callback** - 
+
+**Returns**
+
+&emsp;[CameraAttitudeEulerHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a76471c91115d6e03e6165a3e1315808b) - 
+
+### unsubscribe_camera_attitude_euler() {#classmavsdk_1_1_telemetry_1a90b8dfe6b83afc908e4c236bbbc32930}
+```cpp
+void mavsdk::Telemetry::unsubscribe_camera_attitude_euler(CameraAttitudeEulerHandle handle)
+```
+
+
+Unsubscribe from subscribe_camera_attitude_euler.
+
+
+**Parameters**
+
+* [CameraAttitudeEulerHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a76471c91115d6e03e6165a3e1315808b) **handle** - 
+
+### camera_attitude_euler() {#classmavsdk_1_1_telemetry_1a635643d955f0cd9a805914501f819796}
+```cpp
+EulerAngle mavsdk::Telemetry::camera_attitude_euler() const
+```
+
+
+Poll for '[EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md) - One [EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md) update.
+
+### subscribe_velocity_ned() {#classmavsdk_1_1_telemetry_1a9b5e6bd8fb05324fd7a99d0260933c9d}
+```cpp
+VelocityNedHandle mavsdk::Telemetry::subscribe_velocity_ned(const VelocityNedCallback &callback)
+```
+
+
+Subscribe to 'ground speed' updates (NED).
+
+
+**Parameters**
+
+* const [VelocityNedCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ab5859d2f6a9c9bd81282166b3de92342)& **callback** - 
+
+**Returns**
+
+&emsp;[VelocityNedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2c3898f33bfa1bffe86681aaca33343e) - 
+
+### unsubscribe_velocity_ned() {#classmavsdk_1_1_telemetry_1ae14a663f3b4820e891a4d83c2f8aa2c3}
+```cpp
+void mavsdk::Telemetry::unsubscribe_velocity_ned(VelocityNedHandle handle)
+```
+
+
+Unsubscribe from subscribe_velocity_ned.
+
+
+**Parameters**
+
+* [VelocityNedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2c3898f33bfa1bffe86681aaca33343e) **handle** - 
+
+### velocity_ned() {#classmavsdk_1_1_telemetry_1a40a86062c0322d6be7c86d8e15a52f28}
+```cpp
+VelocityNed mavsdk::Telemetry::velocity_ned() const
+```
+
+
+Poll for '[VelocityNed](structmavsdk_1_1_telemetry_1_1_velocity_ned.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[VelocityNed](structmavsdk_1_1_telemetry_1_1_velocity_ned.md) - One [VelocityNed](structmavsdk_1_1_telemetry_1_1_velocity_ned.md) update.
+
+### subscribe_gps_info() {#classmavsdk_1_1_telemetry_1a1933fa5b008856b5d621489d785c68e7}
+```cpp
+GpsInfoHandle mavsdk::Telemetry::subscribe_gps_info(const GpsInfoCallback &callback)
+```
+
+
+Subscribe to 'GPS info' updates.
+
+
+**Parameters**
+
+* const [GpsInfoCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad8fa90886b2283eace09b4b46708048b)& **callback** - 
+
+**Returns**
+
+&emsp;[GpsInfoHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a87598b504f6ddf3ba0620b0458f2d39c) - 
+
+### unsubscribe_gps_info() {#classmavsdk_1_1_telemetry_1a96ba022d27983893a814ad4a787bfa51}
+```cpp
+void mavsdk::Telemetry::unsubscribe_gps_info(GpsInfoHandle handle)
+```
+
+
+Unsubscribe from subscribe_gps_info.
+
+
+**Parameters**
+
+* [GpsInfoHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a87598b504f6ddf3ba0620b0458f2d39c) **handle** - 
+
+### gps_info() {#classmavsdk_1_1_telemetry_1a983dabc1aed50745b326072662c419e8}
+```cpp
+GpsInfo mavsdk::Telemetry::gps_info() const
+```
+
+
+Poll for '[GpsInfo](structmavsdk_1_1_telemetry_1_1_gps_info.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[GpsInfo](structmavsdk_1_1_telemetry_1_1_gps_info.md) - One [GpsInfo](structmavsdk_1_1_telemetry_1_1_gps_info.md) update.
+
+### subscribe_raw_gps() {#classmavsdk_1_1_telemetry_1a39c324fdd723a2b5c5559ddadad597f0}
+```cpp
+RawGpsHandle mavsdk::Telemetry::subscribe_raw_gps(const RawGpsCallback &callback)
+```
+
+
+Subscribe to 'Raw GPS' updates.
+
+
+**Parameters**
+
+* const [RawGpsCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a915868d562ed445fa30beaa9140ea97c)& **callback** - 
+
+**Returns**
+
+&emsp;[RawGpsHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a75a62eb3624bf77ea6860d5d965636fd) - 
+
+### unsubscribe_raw_gps() {#classmavsdk_1_1_telemetry_1acc6c03a6d27b268f609c72b66aa48a09}
+```cpp
+void mavsdk::Telemetry::unsubscribe_raw_gps(RawGpsHandle handle)
+```
+
+
+Unsubscribe from subscribe_raw_gps.
+
+
+**Parameters**
+
+* [RawGpsHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a75a62eb3624bf77ea6860d5d965636fd) **handle** - 
+
+### raw_gps() {#classmavsdk_1_1_telemetry_1ac43c29e435b6c1a6594854adc6a1bf6c}
+```cpp
+RawGps mavsdk::Telemetry::raw_gps() const
+```
+
+
+Poll for '[RawGps](structmavsdk_1_1_telemetry_1_1_raw_gps.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[RawGps](structmavsdk_1_1_telemetry_1_1_raw_gps.md) - One [RawGps](structmavsdk_1_1_telemetry_1_1_raw_gps.md) update.
+
+### subscribe_battery() {#classmavsdk_1_1_telemetry_1ad7e7ceb85181aaac7bf5553af7f45e2a}
+```cpp
+BatteryHandle mavsdk::Telemetry::subscribe_battery(const BatteryCallback &callback)
+```
+
+
+Subscribe to 'battery' updates.
+
+
+**Parameters**
+
+* const [BatteryCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1af4b121c576ef2ae567b1d571b12dff9d)& **callback** - 
+
+**Returns**
+
+&emsp;[BatteryHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad9c79c3a89de6f28aabc771a2b5cc92f) - 
+
+### unsubscribe_battery() {#classmavsdk_1_1_telemetry_1a72ddd509a9480ba59f073fa8f1ee5dbc}
+```cpp
+void mavsdk::Telemetry::unsubscribe_battery(BatteryHandle handle)
+```
+
+
+Unsubscribe from subscribe_battery.
+
+
+**Parameters**
+
+* [BatteryHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad9c79c3a89de6f28aabc771a2b5cc92f) **handle** - 
+
+### battery() {#classmavsdk_1_1_telemetry_1afb3bad3c7a36c14ae97492df3f6bbd54}
+```cpp
+Battery mavsdk::Telemetry::battery() const
+```
+
+
+Poll for '[Battery](structmavsdk_1_1_telemetry_1_1_battery.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Battery](structmavsdk_1_1_telemetry_1_1_battery.md) - One [Battery](structmavsdk_1_1_telemetry_1_1_battery.md) update.
+
+### subscribe_flight_mode() {#classmavsdk_1_1_telemetry_1accd831cbb9134c845744a5c70da1b418}
+```cpp
+FlightModeHandle mavsdk::Telemetry::subscribe_flight_mode(const FlightModeCallback &callback)
+```
+
+
+Subscribe to 'flight mode' updates.
+
+
+**Parameters**
+
+* const [FlightModeCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2d7318d0823771b7a586c40199bdb482)& **callback** - 
+
+**Returns**
+
+&emsp;[FlightModeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1add61cde1555ed1cec93a34bbdadeef5c) - 
+
+### unsubscribe_flight_mode() {#classmavsdk_1_1_telemetry_1a64dc8d45d06b23332ba6353d50c9cc17}
+```cpp
+void mavsdk::Telemetry::unsubscribe_flight_mode(FlightModeHandle handle)
+```
+
+
+Unsubscribe from subscribe_flight_mode.
+
+
+**Parameters**
+
+* [FlightModeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1add61cde1555ed1cec93a34bbdadeef5c) **handle** - 
+
+### flight_mode() {#classmavsdk_1_1_telemetry_1a4972a3968e379d565e7700f2f51158dd}
+```cpp
+FlightMode mavsdk::Telemetry::flight_mode() const
+```
+
+
+Poll for 'FlightMode' (blocking).
+
+
+**Returns**
+
+&emsp;[FlightMode](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a8317d953a82a23654db6f14509acb4fe) - One FlightMode update.
+
+### subscribe_health() {#classmavsdk_1_1_telemetry_1a093a702abd1370ff97f4d9ebce449942}
+```cpp
+HealthHandle mavsdk::Telemetry::subscribe_health(const HealthCallback &callback)
+```
+
+
+Subscribe to 'health' updates.
+
+
+**Parameters**
+
+* const [HealthCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a7a120dd053091c644e0e2e47fdcbeb75)& **callback** - 
+
+**Returns**
+
+&emsp;[HealthHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a52869d9dd1a240385b0d213a7057f3df) - 
+
+### unsubscribe_health() {#classmavsdk_1_1_telemetry_1af7830aff90366a0255e71117c07f5484}
+```cpp
+void mavsdk::Telemetry::unsubscribe_health(HealthHandle handle)
+```
+
+
+Unsubscribe from subscribe_health.
+
+
+**Parameters**
+
+* [HealthHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a52869d9dd1a240385b0d213a7057f3df) **handle** - 
+
+### health() {#classmavsdk_1_1_telemetry_1aae4824c9eeb72603b197c864b5cc5df5}
+```cpp
+Health mavsdk::Telemetry::health() const
+```
+
+
+Poll for '[Health](structmavsdk_1_1_telemetry_1_1_health.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Health](structmavsdk_1_1_telemetry_1_1_health.md) - One [Health](structmavsdk_1_1_telemetry_1_1_health.md) update.
+
+### subscribe_rc_status() {#classmavsdk_1_1_telemetry_1a0252d9434190edab26fc5b3874bdcc1c}
+```cpp
+RcStatusHandle mavsdk::Telemetry::subscribe_rc_status(const RcStatusCallback &callback)
+```
+
+
+Subscribe to 'RC status' updates.
+
+
+**Parameters**
+
+* const [RcStatusCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aafcd706b805898301b574ffa2b909b85)& **callback** - 
+
+**Returns**
+
+&emsp;[RcStatusHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae3bd26bbc4c12eddc7f90f42482078de) - 
+
+### unsubscribe_rc_status() {#classmavsdk_1_1_telemetry_1a975a70f6345f73a37894aa7a49495dc7}
+```cpp
+void mavsdk::Telemetry::unsubscribe_rc_status(RcStatusHandle handle)
+```
+
+
+Unsubscribe from subscribe_rc_status.
+
+
+**Parameters**
+
+* [RcStatusHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae3bd26bbc4c12eddc7f90f42482078de) **handle** - 
+
+### rc_status() {#classmavsdk_1_1_telemetry_1a59cd497c69f1d32be29a940a2d34a474}
+```cpp
+RcStatus mavsdk::Telemetry::rc_status() const
+```
+
+
+Poll for '[RcStatus](structmavsdk_1_1_telemetry_1_1_rc_status.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[RcStatus](structmavsdk_1_1_telemetry_1_1_rc_status.md) - One [RcStatus](structmavsdk_1_1_telemetry_1_1_rc_status.md) update.
+
+### subscribe_status_text() {#classmavsdk_1_1_telemetry_1a56e54b5dc245cb07da6088a3033d45f8}
+```cpp
+StatusTextHandle mavsdk::Telemetry::subscribe_status_text(const StatusTextCallback &callback)
+```
+
+
+Subscribe to 'status text' updates.
+
+
+**Parameters**
+
+* const [StatusTextCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a46e51ff90fe779990ed09a593c1c7898)& **callback** - 
+
+**Returns**
+
+&emsp;[StatusTextHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5c2b31499961747b784664b87b851e04) - 
+
+### unsubscribe_status_text() {#classmavsdk_1_1_telemetry_1a972adcc6c0c88ddb6aefdd372bc06418}
+```cpp
+void mavsdk::Telemetry::unsubscribe_status_text(StatusTextHandle handle)
+```
+
+
+Unsubscribe from subscribe_status_text.
+
+
+**Parameters**
+
+* [StatusTextHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5c2b31499961747b784664b87b851e04) **handle** - 
+
+### status_text() {#classmavsdk_1_1_telemetry_1a2f31c0668ed1ac1bfdfa4b2e9a2023a9}
+```cpp
+StatusText mavsdk::Telemetry::status_text() const
+```
+
+
+Poll for '[StatusText](structmavsdk_1_1_telemetry_1_1_status_text.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[StatusText](structmavsdk_1_1_telemetry_1_1_status_text.md) - One [StatusText](structmavsdk_1_1_telemetry_1_1_status_text.md) update.
+
+### subscribe_actuator_control_target() {#classmavsdk_1_1_telemetry_1ae9754c6f90e3fd95a9cab766ca588e0d}
+```cpp
+ActuatorControlTargetHandle mavsdk::Telemetry::subscribe_actuator_control_target(const ActuatorControlTargetCallback &callback)
+```
+
+
+Subscribe to 'actuator control target' updates.
+
+
+**Parameters**
+
+* const [ActuatorControlTargetCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ada6af3de1b60b93a709345c3a8ede551)& **callback** - 
+
+**Returns**
+
+&emsp;[ActuatorControlTargetHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a01438bbc123454e745b8874bc91bf874) - 
+
+### unsubscribe_actuator_control_target() {#classmavsdk_1_1_telemetry_1a13672a6c91e4bb74bf92fe9c779eeb40}
+```cpp
+void mavsdk::Telemetry::unsubscribe_actuator_control_target(ActuatorControlTargetHandle handle)
+```
+
+
+Unsubscribe from subscribe_actuator_control_target.
+
+
+**Parameters**
+
+* [ActuatorControlTargetHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a01438bbc123454e745b8874bc91bf874) **handle** - 
+
+### actuator_control_target() {#classmavsdk_1_1_telemetry_1af4ffa70ff58c46b50be93a0fbf960f95}
+```cpp
+ActuatorControlTarget mavsdk::Telemetry::actuator_control_target() const
+```
+
+
+Poll for '[ActuatorControlTarget](structmavsdk_1_1_telemetry_1_1_actuator_control_target.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[ActuatorControlTarget](structmavsdk_1_1_telemetry_1_1_actuator_control_target.md) - One [ActuatorControlTarget](structmavsdk_1_1_telemetry_1_1_actuator_control_target.md) update.
+
+### subscribe_actuator_output_status() {#classmavsdk_1_1_telemetry_1a65bbf4a157aa8898beeb57440808bbe6}
+```cpp
+ActuatorOutputStatusHandle mavsdk::Telemetry::subscribe_actuator_output_status(const ActuatorOutputStatusCallback &callback)
+```
+
+
+Subscribe to 'actuator output status' updates.
+
+
+**Parameters**
+
+* const [ActuatorOutputStatusCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a2b1e800ce1ba6fb776351416340ac8b9)& **callback** - 
+
+**Returns**
+
+&emsp;[ActuatorOutputStatusHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ac0bbbb060195848f41de50600489713f) - 
+
+### unsubscribe_actuator_output_status() {#classmavsdk_1_1_telemetry_1aa40e1ff8e1eb2c9d0b6a8f36db6823b6}
+```cpp
+void mavsdk::Telemetry::unsubscribe_actuator_output_status(ActuatorOutputStatusHandle handle)
+```
+
+
+Unsubscribe from subscribe_actuator_output_status.
+
+
+**Parameters**
+
+* [ActuatorOutputStatusHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ac0bbbb060195848f41de50600489713f) **handle** - 
+
+### actuator_output_status() {#classmavsdk_1_1_telemetry_1a68fa1619dfad0a7cfcc2725025669252}
+```cpp
+ActuatorOutputStatus mavsdk::Telemetry::actuator_output_status() const
+```
+
+
+Poll for '[ActuatorOutputStatus](structmavsdk_1_1_telemetry_1_1_actuator_output_status.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[ActuatorOutputStatus](structmavsdk_1_1_telemetry_1_1_actuator_output_status.md) - One [ActuatorOutputStatus](structmavsdk_1_1_telemetry_1_1_actuator_output_status.md) update.
+
+### subscribe_odometry() {#classmavsdk_1_1_telemetry_1a6def40a24f3eb85ca0cb076c5a576677}
+```cpp
+OdometryHandle mavsdk::Telemetry::subscribe_odometry(const OdometryCallback &callback)
+```
+
+
+Subscribe to 'odometry' updates.
+
+
+**Parameters**
+
+* const [OdometryCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a8cd23f7364f8f5cb22869155da67c65d)& **callback** - 
+
+**Returns**
+
+&emsp;[OdometryHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a23b33f337ed73ec584e8ac8868c72f86) - 
+
+### unsubscribe_odometry() {#classmavsdk_1_1_telemetry_1a235d029cb79a071d137c7cfb03afb4b6}
+```cpp
+void mavsdk::Telemetry::unsubscribe_odometry(OdometryHandle handle)
+```
+
+
+Unsubscribe from subscribe_odometry.
+
+
+**Parameters**
+
+* [OdometryHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a23b33f337ed73ec584e8ac8868c72f86) **handle** - 
+
+### odometry() {#classmavsdk_1_1_telemetry_1a715b6e8ba1206059706f08844a0b96d2}
+```cpp
+Odometry mavsdk::Telemetry::odometry() const
+```
+
+
+Poll for '[Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md) - One [Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md) update.
+
+### subscribe_position_velocity_ned() {#classmavsdk_1_1_telemetry_1a70f1331b7df5e5bda2711b1141d86d68}
+```cpp
+PositionVelocityNedHandle mavsdk::Telemetry::subscribe_position_velocity_ned(const PositionVelocityNedCallback &callback)
+```
+
+
+Subscribe to 'position velocity' updates.
+
+
+**Parameters**
+
+* const [PositionVelocityNedCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5a38deb284622ff6926703e1e5c96a74)& **callback** - 
+
+**Returns**
+
+&emsp;[PositionVelocityNedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aef1424caca3967e67336140af395e59c) - 
+
+### unsubscribe_position_velocity_ned() {#classmavsdk_1_1_telemetry_1ab561338c465b3b3e1d060fdd8c078306}
+```cpp
+void mavsdk::Telemetry::unsubscribe_position_velocity_ned(PositionVelocityNedHandle handle)
+```
+
+
+Unsubscribe from subscribe_position_velocity_ned.
+
+
+**Parameters**
+
+* [PositionVelocityNedHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aef1424caca3967e67336140af395e59c) **handle** - 
+
+### position_velocity_ned() {#classmavsdk_1_1_telemetry_1af9b06944ca73ad09caadacd9f4fae950}
+```cpp
+PositionVelocityNed mavsdk::Telemetry::position_velocity_ned() const
+```
+
+
+Poll for '[PositionVelocityNed](structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[PositionVelocityNed](structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md) - One [PositionVelocityNed](structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md) update.
+
+### subscribe_ground_truth() {#classmavsdk_1_1_telemetry_1a3853c0b62fe26202e13896f94af4f72c}
+```cpp
+GroundTruthHandle mavsdk::Telemetry::subscribe_ground_truth(const GroundTruthCallback &callback)
+```
+
+
+Subscribe to 'ground truth' updates.
+
+
+**Parameters**
+
+* const [GroundTruthCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a222aae53852a2c535f6d69ed57221f13)& **callback** - 
+
+**Returns**
+
+&emsp;[GroundTruthHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a373568d10564c5a3c3d325e5975a3a23) - 
+
+### unsubscribe_ground_truth() {#classmavsdk_1_1_telemetry_1a69dedf60328c385dedae208e7ca3e2b5}
+```cpp
+void mavsdk::Telemetry::unsubscribe_ground_truth(GroundTruthHandle handle)
+```
+
+
+Unsubscribe from subscribe_ground_truth.
+
+
+**Parameters**
+
+* [GroundTruthHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a373568d10564c5a3c3d325e5975a3a23) **handle** - 
+
+### ground_truth() {#classmavsdk_1_1_telemetry_1a1b5f387edc39e33b86954f2048133f71}
+```cpp
+GroundTruth mavsdk::Telemetry::ground_truth() const
+```
+
+
+Poll for '[GroundTruth](structmavsdk_1_1_telemetry_1_1_ground_truth.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[GroundTruth](structmavsdk_1_1_telemetry_1_1_ground_truth.md) - One [GroundTruth](structmavsdk_1_1_telemetry_1_1_ground_truth.md) update.
+
+### subscribe_fixedwing_metrics() {#classmavsdk_1_1_telemetry_1ac5117bf112c932f47ffe283df7aac7f1}
+```cpp
+FixedwingMetricsHandle mavsdk::Telemetry::subscribe_fixedwing_metrics(const FixedwingMetricsCallback &callback)
+```
+
+
+Subscribe to 'fixedwing metrics' updates.
+
+
+**Parameters**
+
+* const [FixedwingMetricsCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5b42dbef0ef6d8c1768d503d0437f1e3)& **callback** - 
+
+**Returns**
+
+&emsp;[FixedwingMetricsHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ab180a383ee3e17f20bb1b026b667db04) - 
+
+### unsubscribe_fixedwing_metrics() {#classmavsdk_1_1_telemetry_1a40a910811684cffe050f8dea0d682565}
+```cpp
+void mavsdk::Telemetry::unsubscribe_fixedwing_metrics(FixedwingMetricsHandle handle)
+```
+
+
+Unsubscribe from subscribe_fixedwing_metrics.
+
+
+**Parameters**
+
+* [FixedwingMetricsHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ab180a383ee3e17f20bb1b026b667db04) **handle** - 
+
+### fixedwing_metrics() {#classmavsdk_1_1_telemetry_1a2ab8d2a8d017d46e77d49c4f899c7cbf}
+```cpp
+FixedwingMetrics mavsdk::Telemetry::fixedwing_metrics() const
+```
+
+
+Poll for '[FixedwingMetrics](structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[FixedwingMetrics](structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md) - One [FixedwingMetrics](structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md) update.
+
+### subscribe_imu() {#classmavsdk_1_1_telemetry_1a24d0904fd8529724a76f8a4fda5bdb70}
+```cpp
+ImuHandle mavsdk::Telemetry::subscribe_imu(const ImuCallback &callback)
+```
+
+
+Subscribe to 'IMU' updates (in SI units in NED body frame).
+
+
+**Parameters**
+
+* const [ImuCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a4fbc2ad274fd5a8af077004d2d7bd984)& **callback** - 
+
+**Returns**
+
+&emsp;[ImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5b45a4c22abb67617d37ae56efdf8360) - 
+
+### unsubscribe_imu() {#classmavsdk_1_1_telemetry_1a2af03957c69efd9b5cbb7537def56155}
+```cpp
+void mavsdk::Telemetry::unsubscribe_imu(ImuHandle handle)
+```
+
+
+Unsubscribe from subscribe_imu.
+
+
+**Parameters**
+
+* [ImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a5b45a4c22abb67617d37ae56efdf8360) **handle** - 
+
+### imu() {#classmavsdk_1_1_telemetry_1a1a4e43b7bdcd988442955d2a5465b977}
+```cpp
+Imu mavsdk::Telemetry::imu() const
+```
+
+
+Poll for '[Imu](structmavsdk_1_1_telemetry_1_1_imu.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Imu](structmavsdk_1_1_telemetry_1_1_imu.md) - One [Imu](structmavsdk_1_1_telemetry_1_1_imu.md) update.
+
+### subscribe_scaled_imu() {#classmavsdk_1_1_telemetry_1a61bd540f505a3a6acd858ca169e868b3}
+```cpp
+ScaledImuHandle mavsdk::Telemetry::subscribe_scaled_imu(const ScaledImuCallback &callback)
+```
+
+
+Subscribe to 'Scaled IMU' updates.
+
+
+**Parameters**
+
+* const [ScaledImuCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a26159a775adcfbc42302234b7108d94f)& **callback** - 
+
+**Returns**
+
+&emsp;[ScaledImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a4968d9d418d48a4368f2915023ca0014) - 
+
+### unsubscribe_scaled_imu() {#classmavsdk_1_1_telemetry_1a69acf5d201425f0a318a36ad6230fb46}
+```cpp
+void mavsdk::Telemetry::unsubscribe_scaled_imu(ScaledImuHandle handle)
+```
+
+
+Unsubscribe from subscribe_scaled_imu.
+
+
+**Parameters**
+
+* [ScaledImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a4968d9d418d48a4368f2915023ca0014) **handle** - 
+
+### scaled_imu() {#classmavsdk_1_1_telemetry_1ab6a515ba85a67bc80e6e1c9a05d1f94d}
+```cpp
+Imu mavsdk::Telemetry::scaled_imu() const
+```
+
+
+Poll for '[Imu](structmavsdk_1_1_telemetry_1_1_imu.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Imu](structmavsdk_1_1_telemetry_1_1_imu.md) - One [Imu](structmavsdk_1_1_telemetry_1_1_imu.md) update.
+
+### subscribe_raw_imu() {#classmavsdk_1_1_telemetry_1a98db826585b84957478a6195d46f0491}
+```cpp
+RawImuHandle mavsdk::Telemetry::subscribe_raw_imu(const RawImuCallback &callback)
+```
+
+
+Subscribe to 'Raw IMU' updates.
+
+
+**Parameters**
+
+* const [RawImuCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a92711da85d343cb58b73561e6b730c76)& **callback** - 
+
+**Returns**
+
+&emsp;[RawImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a416f5b4dc6c51d78d05572d5cc18f3fb) - 
+
+### unsubscribe_raw_imu() {#classmavsdk_1_1_telemetry_1aec5b5fbbb37654bb6dae9607451929d7}
+```cpp
+void mavsdk::Telemetry::unsubscribe_raw_imu(RawImuHandle handle)
+```
+
+
+Unsubscribe from subscribe_raw_imu.
+
+
+**Parameters**
+
+* [RawImuHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a416f5b4dc6c51d78d05572d5cc18f3fb) **handle** - 
+
+### raw_imu() {#classmavsdk_1_1_telemetry_1a691464f001ddf8d02b97bcf137f5cf8a}
+```cpp
+Imu mavsdk::Telemetry::raw_imu() const
+```
+
+
+Poll for '[Imu](structmavsdk_1_1_telemetry_1_1_imu.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Imu](structmavsdk_1_1_telemetry_1_1_imu.md) - One [Imu](structmavsdk_1_1_telemetry_1_1_imu.md) update.
+
+### subscribe_health_all_ok() {#classmavsdk_1_1_telemetry_1acc64edfa8230926024cdefe93ab10c7f}
+```cpp
+HealthAllOkHandle mavsdk::Telemetry::subscribe_health_all_ok(const HealthAllOkCallback &callback)
+```
+
+
+Subscribe to 'HealthAllOk' updates.
+
+
+**Parameters**
+
+* const [HealthAllOkCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a71cdcadfaa988dc14029e0b9fdbe742d)& **callback** - 
+
+**Returns**
+
+&emsp;[HealthAllOkHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aa882d4938eb491cce5b7ca6aead2384c) - 
+
+### unsubscribe_health_all_ok() {#classmavsdk_1_1_telemetry_1ab0dd814f6ca883ded70839bf7ec0010c}
+```cpp
+void mavsdk::Telemetry::unsubscribe_health_all_ok(HealthAllOkHandle handle)
+```
+
+
+Unsubscribe from subscribe_health_all_ok.
+
+
+**Parameters**
+
+* [HealthAllOkHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aa882d4938eb491cce5b7ca6aead2384c) **handle** - 
+
+### health_all_ok() {#classmavsdk_1_1_telemetry_1ad6d833741b5576f07204d268c5cd4d06}
+```cpp
+bool mavsdk::Telemetry::health_all_ok() const
+```
+
+
+Poll for 'bool' (blocking).
+
+
+**Returns**
+
+&emsp;bool - One bool update.
+
+### subscribe_unix_epoch_time() {#classmavsdk_1_1_telemetry_1a172eb7793c61744a8195e38c0612ec1f}
+```cpp
+UnixEpochTimeHandle mavsdk::Telemetry::subscribe_unix_epoch_time(const UnixEpochTimeCallback &callback)
+```
+
+
+Subscribe to 'unix epoch time' updates.
+
+
+**Parameters**
+
+* const [UnixEpochTimeCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a321c7d809ae8f56bb8a361d5e5ce6391)& **callback** - 
+
+**Returns**
+
+&emsp;[UnixEpochTimeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a4c4b00adfab9b7f04530133aafbafbd5) - 
+
+### unsubscribe_unix_epoch_time() {#classmavsdk_1_1_telemetry_1acba0439f1175aa29c072d85efa0c68c6}
+```cpp
+void mavsdk::Telemetry::unsubscribe_unix_epoch_time(UnixEpochTimeHandle handle)
+```
+
+
+Unsubscribe from subscribe_unix_epoch_time.
+
+
+**Parameters**
+
+* [UnixEpochTimeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a4c4b00adfab9b7f04530133aafbafbd5) **handle** - 
+
+### unix_epoch_time() {#classmavsdk_1_1_telemetry_1ab5ea5f6bb35b5670e34d5697d8c880f4}
+```cpp
+uint64_t mavsdk::Telemetry::unix_epoch_time() const
+```
+
+
+Poll for 'uint64_t' (blocking).
+
+
+**Returns**
+
+&emsp;uint64_t - One uint64_t update.
+
+### subscribe_distance_sensor() {#classmavsdk_1_1_telemetry_1a07cb00743cab5df75f0a656eb2ebaed1}
+```cpp
+DistanceSensorHandle mavsdk::Telemetry::subscribe_distance_sensor(const DistanceSensorCallback &callback)
+```
+
+
+Subscribe to 'Distance Sensor' updates.
+
+
+**Parameters**
+
+* const [DistanceSensorCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aacfdb5e2cce7f3f77c68b36f020ed1f2)& **callback** - 
+
+**Returns**
+
+&emsp;[DistanceSensorHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aaa6bd0660aeb7d3f1d12240ce0710878) - 
+
+### unsubscribe_distance_sensor() {#classmavsdk_1_1_telemetry_1a726d49ea6b63128e7d16f781e016c192}
+```cpp
+void mavsdk::Telemetry::unsubscribe_distance_sensor(DistanceSensorHandle handle)
+```
+
+
+Unsubscribe from subscribe_distance_sensor.
+
+
+**Parameters**
+
+* [DistanceSensorHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aaa6bd0660aeb7d3f1d12240ce0710878) **handle** - 
+
+### distance_sensor() {#classmavsdk_1_1_telemetry_1aa01828c0ffcb4727b884ffeae8fef59a}
+```cpp
+DistanceSensor mavsdk::Telemetry::distance_sensor() const
+```
+
+
+Poll for '[DistanceSensor](structmavsdk_1_1_telemetry_1_1_distance_sensor.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[DistanceSensor](structmavsdk_1_1_telemetry_1_1_distance_sensor.md) - One [DistanceSensor](structmavsdk_1_1_telemetry_1_1_distance_sensor.md) update.
+
+### subscribe_scaled_pressure() {#classmavsdk_1_1_telemetry_1a934fe2b50a79219e3c6d404fc7d6825d}
+```cpp
+ScaledPressureHandle mavsdk::Telemetry::subscribe_scaled_pressure(const ScaledPressureCallback &callback)
+```
+
+
+Subscribe to 'Scaled Pressure' updates.
+
+
+**Parameters**
+
+* const [ScaledPressureCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ac123edc254bb1874edc08a0f531f82b1)& **callback** - 
+
+**Returns**
+
+&emsp;[ScaledPressureHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad19871b63833f64bed071db6017e4a22) - 
+
+### unsubscribe_scaled_pressure() {#classmavsdk_1_1_telemetry_1a725b8f4f2bdda5eca799a0829f287848}
+```cpp
+void mavsdk::Telemetry::unsubscribe_scaled_pressure(ScaledPressureHandle handle)
+```
+
+
+Unsubscribe from subscribe_scaled_pressure.
+
+
+**Parameters**
+
+* [ScaledPressureHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad19871b63833f64bed071db6017e4a22) **handle** - 
+
+### scaled_pressure() {#classmavsdk_1_1_telemetry_1a825ecb6af46663034f982c3c3d6da022}
+```cpp
+ScaledPressure mavsdk::Telemetry::scaled_pressure() const
+```
+
+
+Poll for '[ScaledPressure](structmavsdk_1_1_telemetry_1_1_scaled_pressure.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[ScaledPressure](structmavsdk_1_1_telemetry_1_1_scaled_pressure.md) - One [ScaledPressure](structmavsdk_1_1_telemetry_1_1_scaled_pressure.md) update.
+
+### subscribe_heading() {#classmavsdk_1_1_telemetry_1a0ebfabba364867869314e389b118584b}
+```cpp
+HeadingHandle mavsdk::Telemetry::subscribe_heading(const HeadingCallback &callback)
+```
+
+
+Subscribe to '[Heading](structmavsdk_1_1_telemetry_1_1_heading.md)' updates.
+
+
+**Parameters**
+
+* const [HeadingCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1aa3bca0adab525a4c733c1e7f5c5dd8b3)& **callback** - 
+
+**Returns**
+
+&emsp;[HeadingHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a11cc43135c8162fd8478ba76a5b3166d) - 
+
+### unsubscribe_heading() {#classmavsdk_1_1_telemetry_1afe400d67b33f60a43d3bd823f598c0e9}
+```cpp
+void mavsdk::Telemetry::unsubscribe_heading(HeadingHandle handle)
+```
+
+
+Unsubscribe from subscribe_heading.
+
+
+**Parameters**
+
+* [HeadingHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a11cc43135c8162fd8478ba76a5b3166d) **handle** - 
+
+### heading() {#classmavsdk_1_1_telemetry_1a2aec80b167a3076903be4fe52847a4d3}
+```cpp
+Heading mavsdk::Telemetry::heading() const
+```
+
+
+Poll for '[Heading](structmavsdk_1_1_telemetry_1_1_heading.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Heading](structmavsdk_1_1_telemetry_1_1_heading.md) - One [Heading](structmavsdk_1_1_telemetry_1_1_heading.md) update.
+
+### subscribe_altitude() {#classmavsdk_1_1_telemetry_1ae50ada2726b9a074157c73ddf0894b23}
+```cpp
+AltitudeHandle mavsdk::Telemetry::subscribe_altitude(const AltitudeCallback &callback)
+```
+
+
+Subscribe to '[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md)' updates.
+
+
+**Parameters**
+
+* const [AltitudeCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a868986de0ab3990d4fe1ec842bce6adf)& **callback** - 
+
+**Returns**
+
+&emsp;[AltitudeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae0714c14e07a08b4748c96ea20f1d12f) - 
+
+### unsubscribe_altitude() {#classmavsdk_1_1_telemetry_1aee258bae5149771cf37a6e5b5d63415c}
+```cpp
+void mavsdk::Telemetry::unsubscribe_altitude(AltitudeHandle handle)
+```
+
+
+Unsubscribe from subscribe_altitude.
+
+
+**Parameters**
+
+* [AltitudeHandle](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ae0714c14e07a08b4748c96ea20f1d12f) **handle** - 
+
+### altitude() {#classmavsdk_1_1_telemetry_1a53f3c06d9b4e0f737f69c060c2be621d}
+```cpp
+Altitude mavsdk::Telemetry::altitude() const
+```
+
+
+Poll for '[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) - One [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) update.
+
+### set_rate_position_async() {#classmavsdk_1_1_telemetry_1ad7e5b576edb9398c8f5f2f14626b984a}
+```cpp
+void mavsdk::Telemetry::set_rate_position_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'position' updates.
+
+This function is non-blocking. See 'set_rate_position' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_position() {#classmavsdk_1_1_telemetry_1a665439f3d5f8c58b3ef3dd427cf4782b}
+```cpp
+Result mavsdk::Telemetry::set_rate_position(double rate_hz) const
+```
+
+
+Set rate to 'position' updates.
+
+This function is blocking. See 'set_rate_position_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_home_async() {#classmavsdk_1_1_telemetry_1a098f4c4f50fc3ac2c153ef152208fbbe}
+```cpp
+void mavsdk::Telemetry::set_rate_home_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'home position' updates.
+
+This function is non-blocking. See 'set_rate_home' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_home() {#classmavsdk_1_1_telemetry_1af90e28ad8a8f05401176c98e427eecfc}
+```cpp
+Result mavsdk::Telemetry::set_rate_home(double rate_hz) const
+```
+
+
+Set rate to 'home position' updates.
+
+This function is blocking. See 'set_rate_home_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_in_air_async() {#classmavsdk_1_1_telemetry_1a9ea77b7ef64acd1e25b05e593e638c70}
+```cpp
+void mavsdk::Telemetry::set_rate_in_air_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to in-air updates.
+
+This function is non-blocking. See 'set_rate_in_air' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_in_air() {#classmavsdk_1_1_telemetry_1a8f179e8397b395e61a48529ceeba2b14}
+```cpp
+Result mavsdk::Telemetry::set_rate_in_air(double rate_hz) const
+```
+
+
+Set rate to in-air updates.
+
+This function is blocking. See 'set_rate_in_air_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_landed_state_async() {#classmavsdk_1_1_telemetry_1a180fff93b120a67c16ad5993f0b38847}
+```cpp
+void mavsdk::Telemetry::set_rate_landed_state_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to landed state updates.
+
+This function is non-blocking. See 'set_rate_landed_state' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_landed_state() {#classmavsdk_1_1_telemetry_1a53a3428c602c1f91cfcffdba188a4e51}
+```cpp
+Result mavsdk::Telemetry::set_rate_landed_state(double rate_hz) const
+```
+
+
+Set rate to landed state updates.
+
+This function is blocking. See 'set_rate_landed_state_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_vtol_state_async() {#classmavsdk_1_1_telemetry_1a18f47beba583e6814061f95e68a3851d}
+```cpp
+void mavsdk::Telemetry::set_rate_vtol_state_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to VTOL state updates.
+
+This function is non-blocking. See 'set_rate_vtol_state' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_vtol_state() {#classmavsdk_1_1_telemetry_1a943c2e32a12098a117c4bd4eed7cdc22}
+```cpp
+Result mavsdk::Telemetry::set_rate_vtol_state(double rate_hz) const
+```
+
+
+Set rate to VTOL state updates.
+
+This function is blocking. See 'set_rate_vtol_state_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_attitude_quaternion_async() {#classmavsdk_1_1_telemetry_1a1eb6bc9b25d1043405ac30e13172a272}
+```cpp
+void mavsdk::Telemetry::set_rate_attitude_quaternion_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'attitude euler angle' updates.
+
+This function is non-blocking. See 'set_rate_attitude_quaternion' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_attitude_quaternion() {#classmavsdk_1_1_telemetry_1adfc8e1a3bfa0f459350640630283716d}
+```cpp
+Result mavsdk::Telemetry::set_rate_attitude_quaternion(double rate_hz) const
+```
+
+
+Set rate to 'attitude euler angle' updates.
+
+This function is blocking. See 'set_rate_attitude_quaternion_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_attitude_euler_async() {#classmavsdk_1_1_telemetry_1aabf20f904d9c65582cdf167f7b0275a9}
+```cpp
+void mavsdk::Telemetry::set_rate_attitude_euler_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'attitude quaternion' updates.
+
+This function is non-blocking. See 'set_rate_attitude_euler' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_attitude_euler() {#classmavsdk_1_1_telemetry_1adc7a43d7143261df5f97fdc8a882fdf3}
+```cpp
+Result mavsdk::Telemetry::set_rate_attitude_euler(double rate_hz) const
+```
+
+
+Set rate to 'attitude quaternion' updates.
+
+This function is blocking. See 'set_rate_attitude_euler_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_camera_attitude_async() {#classmavsdk_1_1_telemetry_1a520f15e42f5f1b3987ca2a9cd94a3d9a}
+```cpp
+void mavsdk::Telemetry::set_rate_camera_attitude_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate of camera attitude updates.
+
+This function is non-blocking. See 'set_rate_camera_attitude' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_camera_attitude() {#classmavsdk_1_1_telemetry_1a427da223d16ce07a61b07d4e5af1ab04}
+```cpp
+Result mavsdk::Telemetry::set_rate_camera_attitude(double rate_hz) const
+```
+
+
+Set rate of camera attitude updates.
+
+This function is blocking. See 'set_rate_camera_attitude_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_velocity_ned_async() {#classmavsdk_1_1_telemetry_1a9429ffa784fa56adee69c5017abedee4}
+```cpp
+void mavsdk::Telemetry::set_rate_velocity_ned_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'ground speed' updates (NED).
+
+This function is non-blocking. See 'set_rate_velocity_ned' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_velocity_ned() {#classmavsdk_1_1_telemetry_1ab5cb79fd53f27f245808a6bb9ed3225d}
+```cpp
+Result mavsdk::Telemetry::set_rate_velocity_ned(double rate_hz) const
+```
+
+
+Set rate to 'ground speed' updates (NED).
+
+This function is blocking. See 'set_rate_velocity_ned_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_gps_info_async() {#classmavsdk_1_1_telemetry_1ae6ada3cd6d4e9835dd4d1d712f1195e4}
+```cpp
+void mavsdk::Telemetry::set_rate_gps_info_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'GPS info' updates.
+
+This function is non-blocking. See 'set_rate_gps_info' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_gps_info() {#classmavsdk_1_1_telemetry_1a14510bcb6fe3c31d91653d32d354613f}
+```cpp
+Result mavsdk::Telemetry::set_rate_gps_info(double rate_hz) const
+```
+
+
+Set rate to 'GPS info' updates.
+
+This function is blocking. See 'set_rate_gps_info_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_battery_async() {#classmavsdk_1_1_telemetry_1a5615e21f616997dfca1318c96a7e550e}
+```cpp
+void mavsdk::Telemetry::set_rate_battery_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'battery' updates.
+
+This function is non-blocking. See 'set_rate_battery' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_battery() {#classmavsdk_1_1_telemetry_1ae781d2e950a535a465f2bc1575e9f893}
+```cpp
+Result mavsdk::Telemetry::set_rate_battery(double rate_hz) const
+```
+
+
+Set rate to 'battery' updates.
+
+This function is blocking. See 'set_rate_battery_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_rc_status_async() {#classmavsdk_1_1_telemetry_1a8cf84eaca875626bc53ed03e98d6eb7e}
+```cpp
+void mavsdk::Telemetry::set_rate_rc_status_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'RC status' updates.
+
+This function is non-blocking. See 'set_rate_rc_status' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_rc_status() {#classmavsdk_1_1_telemetry_1acbfc54792f79c5fd2a9855278981f8ca}
+```cpp
+Result mavsdk::Telemetry::set_rate_rc_status(double rate_hz) const
+```
+
+
+Set rate to 'RC status' updates.
+
+This function is blocking. See 'set_rate_rc_status_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_actuator_control_target_async() {#classmavsdk_1_1_telemetry_1aa44e3a76c482f273a2f1bc1a09bec27c}
+```cpp
+void mavsdk::Telemetry::set_rate_actuator_control_target_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'actuator control target' updates.
+
+This function is non-blocking. See 'set_rate_actuator_control_target' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_actuator_control_target() {#classmavsdk_1_1_telemetry_1aa43efb510038f1bb95241953ae09c998}
+```cpp
+Result mavsdk::Telemetry::set_rate_actuator_control_target(double rate_hz) const
+```
+
+
+Set rate to 'actuator control target' updates.
+
+This function is blocking. See 'set_rate_actuator_control_target_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_actuator_output_status_async() {#classmavsdk_1_1_telemetry_1a2ad19c1101962ed7cfeec89b7fae0f9c}
+```cpp
+void mavsdk::Telemetry::set_rate_actuator_output_status_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'actuator output status' updates.
+
+This function is non-blocking. See 'set_rate_actuator_output_status' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_actuator_output_status() {#classmavsdk_1_1_telemetry_1a48b3e3a288ba6a8d38914c4827124006}
+```cpp
+Result mavsdk::Telemetry::set_rate_actuator_output_status(double rate_hz) const
+```
+
+
+Set rate to 'actuator output status' updates.
+
+This function is blocking. See 'set_rate_actuator_output_status_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_odometry_async() {#classmavsdk_1_1_telemetry_1a23e507e1d53c6603479701f5e2af49ce}
+```cpp
+void mavsdk::Telemetry::set_rate_odometry_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'odometry' updates.
+
+This function is non-blocking. See 'set_rate_odometry' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_odometry() {#classmavsdk_1_1_telemetry_1a4368bf825cec3bc9369d57546a45391e}
+```cpp
+Result mavsdk::Telemetry::set_rate_odometry(double rate_hz) const
+```
+
+
+Set rate to 'odometry' updates.
+
+This function is blocking. See 'set_rate_odometry_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_position_velocity_ned_async() {#classmavsdk_1_1_telemetry_1a9a4c3b6affa497dd22e464f515ca278c}
+```cpp
+void mavsdk::Telemetry::set_rate_position_velocity_ned_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'position velocity' updates.
+
+This function is non-blocking. See 'set_rate_position_velocity_ned' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_position_velocity_ned() {#classmavsdk_1_1_telemetry_1a64fe3457589cd208a9f7bd5dea763da1}
+```cpp
+Result mavsdk::Telemetry::set_rate_position_velocity_ned(double rate_hz) const
+```
+
+
+Set rate to 'position velocity' updates.
+
+This function is blocking. See 'set_rate_position_velocity_ned_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_ground_truth_async() {#classmavsdk_1_1_telemetry_1a16b28ebdc6d211a5b182bd8d0abb4d2e}
+```cpp
+void mavsdk::Telemetry::set_rate_ground_truth_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'ground truth' updates.
+
+This function is non-blocking. See 'set_rate_ground_truth' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_ground_truth() {#classmavsdk_1_1_telemetry_1a23b2962e5b7681ece3fcbc72220d6b48}
+```cpp
+Result mavsdk::Telemetry::set_rate_ground_truth(double rate_hz) const
+```
+
+
+Set rate to 'ground truth' updates.
+
+This function is blocking. See 'set_rate_ground_truth_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_fixedwing_metrics_async() {#classmavsdk_1_1_telemetry_1a1484ccdcf4ba20a151e380e7bd7b9869}
+```cpp
+void mavsdk::Telemetry::set_rate_fixedwing_metrics_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'fixedwing metrics' updates.
+
+This function is non-blocking. See 'set_rate_fixedwing_metrics' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_fixedwing_metrics() {#classmavsdk_1_1_telemetry_1ab345a5925d132c27e0a5e1ab65a1e2c1}
+```cpp
+Result mavsdk::Telemetry::set_rate_fixedwing_metrics(double rate_hz) const
+```
+
+
+Set rate to 'fixedwing metrics' updates.
+
+This function is blocking. See 'set_rate_fixedwing_metrics_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_imu_async() {#classmavsdk_1_1_telemetry_1a7dca435daa0de2db2d2e9d588c6bed99}
+```cpp
+void mavsdk::Telemetry::set_rate_imu_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'IMU' updates.
+
+This function is non-blocking. See 'set_rate_imu' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_imu() {#classmavsdk_1_1_telemetry_1a4e0d1dc2350e06f68f472d85dc69d175}
+```cpp
+Result mavsdk::Telemetry::set_rate_imu(double rate_hz) const
+```
+
+
+Set rate to 'IMU' updates.
+
+This function is blocking. See 'set_rate_imu_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_scaled_imu_async() {#classmavsdk_1_1_telemetry_1aebbf2eb2e5d117d8b40f21075845467c}
+```cpp
+void mavsdk::Telemetry::set_rate_scaled_imu_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'Scaled IMU' updates.
+
+This function is non-blocking. See 'set_rate_scaled_imu' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_scaled_imu() {#classmavsdk_1_1_telemetry_1af8dc4f38bf7cc89f700c985a04e03237}
+```cpp
+Result mavsdk::Telemetry::set_rate_scaled_imu(double rate_hz) const
+```
+
+
+Set rate to 'Scaled IMU' updates.
+
+This function is blocking. See 'set_rate_scaled_imu_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_raw_imu_async() {#classmavsdk_1_1_telemetry_1a36d19058a0f71d711de3e50ba718704e}
+```cpp
+void mavsdk::Telemetry::set_rate_raw_imu_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'Raw IMU' updates.
+
+This function is non-blocking. See 'set_rate_raw_imu' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_raw_imu() {#classmavsdk_1_1_telemetry_1a020cb8760e6f00b759c8ef564d8801ad}
+```cpp
+Result mavsdk::Telemetry::set_rate_raw_imu(double rate_hz) const
+```
+
+
+Set rate to 'Raw IMU' updates.
+
+This function is blocking. See 'set_rate_raw_imu_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_unix_epoch_time_async() {#classmavsdk_1_1_telemetry_1a74b18cd8a5faed4d46b244db0a6e3c50}
+```cpp
+void mavsdk::Telemetry::set_rate_unix_epoch_time_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'unix epoch time' updates.
+
+This function is non-blocking. See 'set_rate_unix_epoch_time' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_unix_epoch_time() {#classmavsdk_1_1_telemetry_1a340ac34547672ee07131bca34cbbb820}
+```cpp
+Result mavsdk::Telemetry::set_rate_unix_epoch_time(double rate_hz) const
+```
+
+
+Set rate to 'unix epoch time' updates.
+
+This function is blocking. See 'set_rate_unix_epoch_time_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_distance_sensor_async() {#classmavsdk_1_1_telemetry_1a0371c470866b539b3aa1e254c974aa43}
+```cpp
+void mavsdk::Telemetry::set_rate_distance_sensor_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'Distance Sensor' updates.
+
+This function is non-blocking. See 'set_rate_distance_sensor' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_distance_sensor() {#classmavsdk_1_1_telemetry_1a7f536359536478691d7db980ffe49e49}
+```cpp
+Result mavsdk::Telemetry::set_rate_distance_sensor(double rate_hz) const
+```
+
+
+Set rate to 'Distance Sensor' updates.
+
+This function is blocking. See 'set_rate_distance_sensor_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### set_rate_altitude_async() {#classmavsdk_1_1_telemetry_1a15461dd3f64aef2b921c9f06ee144bc1}
+```cpp
+void mavsdk::Telemetry::set_rate_altitude_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to '[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md)' updates.
+
+This function is non-blocking. See 'set_rate_altitude' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a166e81c6573532978e5940eafdfcec0b) **callback** - 
+
+### set_rate_altitude() {#classmavsdk_1_1_telemetry_1a100fc786b86637385c6188ea53121b98}
+```cpp
+Result mavsdk::Telemetry::set_rate_altitude(double rate_hz) const
+```
+
+
+Set rate to '[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md)' updates.
+
+This function is blocking. See 'set_rate_altitude_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75) - Result of request.
+
+### get_gps_global_origin_async() {#classmavsdk_1_1_telemetry_1a60cca43e2f87e3fd3a9e170ff2b64e0a}
+```cpp
+void mavsdk::Telemetry::get_gps_global_origin_async(const GetGpsGlobalOriginCallback callback)
+```
+
+
+Get the GPS location of where the estimator has been initialized.
+
+This function is non-blocking. See 'get_gps_global_origin' for the blocking counterpart.
+
+**Parameters**
+
+* const [GetGpsGlobalOriginCallback](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a350ee89a7e30a691e130e29ace8917ef) **callback** - 
+
+### get_gps_global_origin() {#classmavsdk_1_1_telemetry_1a77747e7cea5a4d644bd6bec9441c7bfb}
+```cpp
+std::pair<Result, Telemetry::GpsGlobalOrigin> mavsdk::Telemetry::get_gps_global_origin() const
+```
+
+
+Get the GPS location of where the estimator has been initialized.
+
+This function is blocking. See 'get_gps_global_origin_async' for the non-blocking counterpart.
+
+**Returns**
+
+&emsp;std::pair< [Result](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a241427df9a06234df2d3020fb524db75), [Telemetry::GpsGlobalOrigin](structmavsdk_1_1_telemetry_1_1_gps_global_origin.md) > - Result of request.
+
+### operator=() {#classmavsdk_1_1_telemetry_1a703ac978c925be8806921925cf16aca9}
+```cpp
+const Telemetry& mavsdk::Telemetry::operator=(const Telemetry &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Telemetry](classmavsdk_1_1_telemetry.md)&  - 
+
+**Returns**
+
+&emsp;const [Telemetry](classmavsdk_1_1_telemetry.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_telemetry_server.md b/docs/en/cpp/api_reference/classmavsdk_1_1_telemetry_server.md
new file mode 100644
index 0000000000..dd7cb09558
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_telemetry_server.md
@@ -0,0 +1,539 @@
+# mavsdk::TelemetryServer Class Reference
+`#include: telemetry_server.h`
+
+----
+
+
+Allow users to provide vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates. 
+
+
+## Data Structures
+
+
+struct [AccelerationFrd](structmavsdk_1_1_telemetry_server_1_1_acceleration_frd.md)
+
+struct [ActuatorControlTarget](structmavsdk_1_1_telemetry_server_1_1_actuator_control_target.md)
+
+struct [ActuatorOutputStatus](structmavsdk_1_1_telemetry_server_1_1_actuator_output_status.md)
+
+struct [AngularVelocityBody](structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body.md)
+
+struct [AngularVelocityFrd](structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd.md)
+
+struct [Battery](structmavsdk_1_1_telemetry_server_1_1_battery.md)
+
+struct [Covariance](structmavsdk_1_1_telemetry_server_1_1_covariance.md)
+
+struct [DistanceSensor](structmavsdk_1_1_telemetry_server_1_1_distance_sensor.md)
+
+struct [EulerAngle](structmavsdk_1_1_telemetry_server_1_1_euler_angle.md)
+
+struct [FixedwingMetrics](structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics.md)
+
+struct [GpsInfo](structmavsdk_1_1_telemetry_server_1_1_gps_info.md)
+
+struct [GroundTruth](structmavsdk_1_1_telemetry_server_1_1_ground_truth.md)
+
+struct [Heading](structmavsdk_1_1_telemetry_server_1_1_heading.md)
+
+struct [Imu](structmavsdk_1_1_telemetry_server_1_1_imu.md)
+
+struct [MagneticFieldFrd](structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd.md)
+
+struct [Odometry](structmavsdk_1_1_telemetry_server_1_1_odometry.md)
+
+struct [Position](structmavsdk_1_1_telemetry_server_1_1_position.md)
+
+struct [PositionBody](structmavsdk_1_1_telemetry_server_1_1_position_body.md)
+
+struct [PositionNed](structmavsdk_1_1_telemetry_server_1_1_position_ned.md)
+
+struct [PositionVelocityNed](structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned.md)
+
+struct [Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md)
+
+struct [RawGps](structmavsdk_1_1_telemetry_server_1_1_raw_gps.md)
+
+struct [RcStatus](structmavsdk_1_1_telemetry_server_1_1_rc_status.md)
+
+struct [ScaledPressure](structmavsdk_1_1_telemetry_server_1_1_scaled_pressure.md)
+
+struct [StatusText](structmavsdk_1_1_telemetry_server_1_1_status_text.md)
+
+struct [VelocityBody](structmavsdk_1_1_telemetry_server_1_1_velocity_body.md)
+
+struct [VelocityNed](structmavsdk_1_1_telemetry_server_1_1_velocity_ned.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [FixType](#classmavsdk_1_1_telemetry_server_1ac3acfa87349708ecf8b53c8e7426e36e) | GPS fix type.
+enum [VtolState](#classmavsdk_1_1_telemetry_server_1a8ca81cee4e0f7702ab854c10bec91fda) | Maps to MAV_VTOL_STATE.
+enum [StatusTextType](#classmavsdk_1_1_telemetry_server_1a31ddd2e06b5f7c41eeaab4967f550c55) | Status types.
+enum [LandedState](#classmavsdk_1_1_telemetry_server_1a28e2047a3a679c5fcca3945a44f66bdb) | Landed State enumeration.
+enum [Result](#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | Possible results returned for telemetry requests.
+std::function< void([Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a))> [ResultCallback](#classmavsdk_1_1_telemetry_server_1a47ca7112b0b88f42b0cf7e51fa79d010) | Callback type for asynchronous [TelemetryServer](classmavsdk_1_1_telemetry_server.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [TelemetryServer](#classmavsdk_1_1_telemetry_server_1a49e68672755eaa7a4b0b42108bc8761a) (std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > server_component) | Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+&nbsp; | [~TelemetryServer](#classmavsdk_1_1_telemetry_server_1a459bdc50c062ae94060a331c1a1d8ed8) () override | Destructor (internal use only).
+&nbsp; | [TelemetryServer](#classmavsdk_1_1_telemetry_server_1a412c886b49f0c7b0cf64c13e7664cc7f) (const [TelemetryServer](classmavsdk_1_1_telemetry_server.md) & other) | Copy constructor.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_position](#classmavsdk_1_1_telemetry_server_1ac323f672bf90a210f62bc460f45ce1b4) ([Position](structmavsdk_1_1_telemetry_server_1_1_position.md) position, [VelocityNed](structmavsdk_1_1_telemetry_server_1_1_velocity_ned.md) velocity_ned, [Heading](structmavsdk_1_1_telemetry_server_1_1_heading.md) heading)const | Publish to 'position' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_home](#classmavsdk_1_1_telemetry_server_1a4a7a504dc665a134b85ea82f90c4e1ac) ([Position](structmavsdk_1_1_telemetry_server_1_1_position.md) home)const | Publish to 'home position' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_sys_status](#classmavsdk_1_1_telemetry_server_1a4abd61400c28d53c0e244c8b7ad07730) ([Battery](structmavsdk_1_1_telemetry_server_1_1_battery.md) battery, bool rc_receiver_status, bool gyro_status, bool accel_status, bool mag_status, bool gps_status)const | Publish 'sys status' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_extended_sys_state](#classmavsdk_1_1_telemetry_server_1a8bcb2315e9b2f2f0999d83d61c951961) ([VtolState](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a8ca81cee4e0f7702ab854c10bec91fda) vtol_state, [LandedState](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a28e2047a3a679c5fcca3945a44f66bdb) landed_state)const | Publish 'extended sys state' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_raw_gps](#classmavsdk_1_1_telemetry_server_1a9a81a55e3da3a79251c03baf8838623f) ([RawGps](structmavsdk_1_1_telemetry_server_1_1_raw_gps.md) raw_gps, [GpsInfo](structmavsdk_1_1_telemetry_server_1_1_gps_info.md) gps_info)const | Publish to 'Raw GPS' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_battery](#classmavsdk_1_1_telemetry_server_1ae4a6bb3929517e74f01cfcbfc2bdd9e1) ([Battery](structmavsdk_1_1_telemetry_server_1_1_battery.md) battery)const | Publish to 'battery' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_status_text](#classmavsdk_1_1_telemetry_server_1a63de339cba22f7ead00cad6021f476c8) ([StatusText](structmavsdk_1_1_telemetry_server_1_1_status_text.md) status_text)const | Publish to 'status text' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_odometry](#classmavsdk_1_1_telemetry_server_1a5663a04d971242dcd4aeb0241304279c) ([Odometry](structmavsdk_1_1_telemetry_server_1_1_odometry.md) odometry)const | Publish to 'odometry' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_position_velocity_ned](#classmavsdk_1_1_telemetry_server_1ac20e6bd7250de7c1290ccf9d18b02b96) ([PositionVelocityNed](structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned.md) position_velocity_ned)const | Publish to 'position velocity' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_ground_truth](#classmavsdk_1_1_telemetry_server_1af882e6fa87294895f6afb7da8c9f6761) ([GroundTruth](structmavsdk_1_1_telemetry_server_1_1_ground_truth.md) ground_truth)const | Publish to 'ground truth' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_imu](#classmavsdk_1_1_telemetry_server_1a077f33d7fdbdb0cc9b091bdf8e647969) ([Imu](structmavsdk_1_1_telemetry_server_1_1_imu.md) imu)const | Publish to 'IMU' updates (in SI units in NED body frame).
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_scaled_imu](#classmavsdk_1_1_telemetry_server_1aff52c34112c885662c711cda94b7c985) ([Imu](structmavsdk_1_1_telemetry_server_1_1_imu.md) imu)const | Publish to 'Scaled IMU' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_raw_imu](#classmavsdk_1_1_telemetry_server_1a92f3fcb090ffc96c70ce35d433a1a2a5) ([Imu](structmavsdk_1_1_telemetry_server_1_1_imu.md) imu)const | Publish to 'Raw IMU' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_unix_epoch_time](#classmavsdk_1_1_telemetry_server_1a27b1b901cd8baf91380029c2b95b2dac) (uint64_t time_us)const | Publish to 'unix epoch time' updates.
+[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) | [publish_distance_sensor](#classmavsdk_1_1_telemetry_server_1a7532d068284fb7f55c00804a4a996a6d) ([DistanceSensor](structmavsdk_1_1_telemetry_server_1_1_distance_sensor.md) distance_sensor)const | Publish to "distance sensor" updates.
+const [TelemetryServer](classmavsdk_1_1_telemetry_server.md) & | [operator=](#classmavsdk_1_1_telemetry_server_1a479502f1ce3bdc2c5be486911a20ca25) (const [TelemetryServer](classmavsdk_1_1_telemetry_server.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### TelemetryServer() {#classmavsdk_1_1_telemetry_server_1a49e68672755eaa7a4b0b42108bc8761a}
+```cpp
+mavsdk::TelemetryServer::TelemetryServer(std::shared_ptr< ServerComponent > server_component)
+```
+
+
+Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto telemetry_server = TelemetryServer(server_component);
+```
+
+**Parameters**
+
+* std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > **server_component** - The [ServerComponent](classmavsdk_1_1_server_component.md) instance associated with this server plugin.
+
+### ~TelemetryServer() {#classmavsdk_1_1_telemetry_server_1a459bdc50c062ae94060a331c1a1d8ed8}
+```cpp
+mavsdk::TelemetryServer::~TelemetryServer() override
+```
+
+
+Destructor (internal use only).
+
+
+### TelemetryServer() {#classmavsdk_1_1_telemetry_server_1a412c886b49f0c7b0cf64c13e7664cc7f}
+```cpp
+mavsdk::TelemetryServer::TelemetryServer(const TelemetryServer &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [TelemetryServer](classmavsdk_1_1_telemetry_server.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_telemetry_server_1a47ca7112b0b88f42b0cf7e51fa79d010}
+
+```cpp
+using mavsdk::TelemetryServer::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [TelemetryServer](classmavsdk_1_1_telemetry_server.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum FixType {#classmavsdk_1_1_telemetry_server_1ac3acfa87349708ecf8b53c8e7426e36e}
+
+
+GPS fix type.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_server_1ac3acfa87349708ecf8b53c8e7426e36eaeb42b0f27d1fc2ca9bd645212a14c874"></span> `NoGps` | No GPS connected. 
+<span id="classmavsdk_1_1_telemetry_server_1ac3acfa87349708ecf8b53c8e7426e36ea7458f6cf09e53df9495d3ee0d11868c4"></span> `NoFix` | No position information, GPS is connected. 
+<span id="classmavsdk_1_1_telemetry_server_1ac3acfa87349708ecf8b53c8e7426e36ead6800eded02a7eaceb638929dbd9ea55"></span> `Fix2D` | 2D position. 
+<span id="classmavsdk_1_1_telemetry_server_1ac3acfa87349708ecf8b53c8e7426e36ead791aa90d108c9b0c76ec28cd4dfbb0f"></span> `Fix3D` | 3D position. 
+<span id="classmavsdk_1_1_telemetry_server_1ac3acfa87349708ecf8b53c8e7426e36ea8372860807abaec59412bd6376f51b5f"></span> `FixDgps` | DGPS/SBAS aided 3D position. 
+<span id="classmavsdk_1_1_telemetry_server_1ac3acfa87349708ecf8b53c8e7426e36ea1eacb557d24c49af2ec6832c5fc32413"></span> `RtkFloat` | RTK float, 3D position. 
+<span id="classmavsdk_1_1_telemetry_server_1ac3acfa87349708ecf8b53c8e7426e36ea9effa0afed44833d540fec2c57e67426"></span> `RtkFixed` | RTK Fixed, 3D position. 
+
+### enum VtolState {#classmavsdk_1_1_telemetry_server_1a8ca81cee4e0f7702ab854c10bec91fda}
+
+
+Maps to MAV_VTOL_STATE.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_server_1a8ca81cee4e0f7702ab854c10bec91fdaaec0fc0100c4fc1ce4eea230c3dc10360"></span> `Undefined` | Not VTOL. 
+<span id="classmavsdk_1_1_telemetry_server_1a8ca81cee4e0f7702ab854c10bec91fdaa45f439a04f9144adc1dcf5a4fbda0026"></span> `TransitionToFw` | Transitioning to fixed-wing. 
+<span id="classmavsdk_1_1_telemetry_server_1a8ca81cee4e0f7702ab854c10bec91fdaaf3abadebd9602a0acb33350f64fa7661"></span> `TransitionToMc` | Transitioning to multi-copter. 
+<span id="classmavsdk_1_1_telemetry_server_1a8ca81cee4e0f7702ab854c10bec91fdaaac81adaad0b2a7d6077edd5c319a6048"></span> `Mc` | Multi-copter. 
+<span id="classmavsdk_1_1_telemetry_server_1a8ca81cee4e0f7702ab854c10bec91fdaa9b5de99abdffa3a42bd6517ed1a034e4"></span> `Fw` | Fixed-wing. 
+
+### enum StatusTextType {#classmavsdk_1_1_telemetry_server_1a31ddd2e06b5f7c41eeaab4967f550c55}
+
+
+Status types.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_server_1a31ddd2e06b5f7c41eeaab4967f550c55aa603905470e2a5b8c13e96b579ef0dba"></span> `Debug` | Debug. 
+<span id="classmavsdk_1_1_telemetry_server_1a31ddd2e06b5f7c41eeaab4967f550c55a4059b0251f66a18cb56f544728796875"></span> `Info` | Information. 
+<span id="classmavsdk_1_1_telemetry_server_1a31ddd2e06b5f7c41eeaab4967f550c55a24efa7ee4511563b16144f39706d594f"></span> `Notice` | Notice. 
+<span id="classmavsdk_1_1_telemetry_server_1a31ddd2e06b5f7c41eeaab4967f550c55a0eaadb4fcb48a0a0ed7bc9868be9fbaa"></span> `Warning` | Warning. 
+<span id="classmavsdk_1_1_telemetry_server_1a31ddd2e06b5f7c41eeaab4967f550c55a902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | Error. 
+<span id="classmavsdk_1_1_telemetry_server_1a31ddd2e06b5f7c41eeaab4967f550c55a278d01e5af56273bae1bb99a98b370cd"></span> `Critical` | Critical. 
+<span id="classmavsdk_1_1_telemetry_server_1a31ddd2e06b5f7c41eeaab4967f550c55ab92071d61c88498171928745ca53078b"></span> `Alert` | Alert. 
+<span id="classmavsdk_1_1_telemetry_server_1a31ddd2e06b5f7c41eeaab4967f550c55aa3fa706f20bc0b7858b7ae6932261940"></span> `Emergency` | Emergency. 
+
+### enum LandedState {#classmavsdk_1_1_telemetry_server_1a28e2047a3a679c5fcca3945a44f66bdb}
+
+
+Landed State enumeration.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_server_1a28e2047a3a679c5fcca3945a44f66bdba88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Landed state is unknown. 
+<span id="classmavsdk_1_1_telemetry_server_1a28e2047a3a679c5fcca3945a44f66bdba2b9beed57034f5727573d7ded76cf777"></span> `OnGround` | The vehicle is on the ground. 
+<span id="classmavsdk_1_1_telemetry_server_1a28e2047a3a679c5fcca3945a44f66bdbaee4e669a07b061d70b9b79dfed9cb5e7"></span> `InAir` | The vehicle is in the air. 
+<span id="classmavsdk_1_1_telemetry_server_1a28e2047a3a679c5fcca3945a44f66bdba85916c5f3400cfa25d988f05b6736a94"></span> `TakingOff` | The vehicle is taking off. 
+<span id="classmavsdk_1_1_telemetry_server_1a28e2047a3a679c5fcca3945a44f66bdba41bd61e268fedccfb0d91dd571dd28b2"></span> `Landing` | The vehicle is landing. 
+
+### enum Result {#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a}
+
+
+Possible results returned for telemetry requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8aa88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8aa505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Success: the telemetry command was accepted by the vehicle. 
+<span id="classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8aa1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+<span id="classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8aa094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8aad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8aa3398e12855176d55f43d53e04f472c8a"></span> `CommandDenied` | Command refused by vehicle. 
+<span id="classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8aac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8aab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | Request not supported. 
+
+## Member Function Documentation
+
+
+### publish_position() {#classmavsdk_1_1_telemetry_server_1ac323f672bf90a210f62bc460f45ce1b4}
+```cpp
+Result mavsdk::TelemetryServer::publish_position(Position position, VelocityNed velocity_ned, Heading heading) const
+```
+
+
+Publish to 'position' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) **position** - 
+* [VelocityNed](structmavsdk_1_1_telemetry_server_1_1_velocity_ned.md) **velocity_ned** - 
+* [Heading](structmavsdk_1_1_telemetry_server_1_1_heading.md) **heading** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_home() {#classmavsdk_1_1_telemetry_server_1a4a7a504dc665a134b85ea82f90c4e1ac}
+```cpp
+Result mavsdk::TelemetryServer::publish_home(Position home) const
+```
+
+
+Publish to 'home position' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) **home** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_sys_status() {#classmavsdk_1_1_telemetry_server_1a4abd61400c28d53c0e244c8b7ad07730}
+```cpp
+Result mavsdk::TelemetryServer::publish_sys_status(Battery battery, bool rc_receiver_status, bool gyro_status, bool accel_status, bool mag_status, bool gps_status) const
+```
+
+
+Publish 'sys status' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [Battery](structmavsdk_1_1_telemetry_server_1_1_battery.md) **battery** - 
+* bool **rc_receiver_status** - 
+* bool **gyro_status** - 
+* bool **accel_status** - 
+* bool **mag_status** - 
+* bool **gps_status** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_extended_sys_state() {#classmavsdk_1_1_telemetry_server_1a8bcb2315e9b2f2f0999d83d61c951961}
+```cpp
+Result mavsdk::TelemetryServer::publish_extended_sys_state(VtolState vtol_state, LandedState landed_state) const
+```
+
+
+Publish 'extended sys state' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [VtolState](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a8ca81cee4e0f7702ab854c10bec91fda) **vtol_state** - 
+* [LandedState](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a28e2047a3a679c5fcca3945a44f66bdb) **landed_state** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_raw_gps() {#classmavsdk_1_1_telemetry_server_1a9a81a55e3da3a79251c03baf8838623f}
+```cpp
+Result mavsdk::TelemetryServer::publish_raw_gps(RawGps raw_gps, GpsInfo gps_info) const
+```
+
+
+Publish to 'Raw GPS' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [RawGps](structmavsdk_1_1_telemetry_server_1_1_raw_gps.md) **raw_gps** - 
+* [GpsInfo](structmavsdk_1_1_telemetry_server_1_1_gps_info.md) **gps_info** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_battery() {#classmavsdk_1_1_telemetry_server_1ae4a6bb3929517e74f01cfcbfc2bdd9e1}
+```cpp
+Result mavsdk::TelemetryServer::publish_battery(Battery battery) const
+```
+
+
+Publish to 'battery' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [Battery](structmavsdk_1_1_telemetry_server_1_1_battery.md) **battery** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_status_text() {#classmavsdk_1_1_telemetry_server_1a63de339cba22f7ead00cad6021f476c8}
+```cpp
+Result mavsdk::TelemetryServer::publish_status_text(StatusText status_text) const
+```
+
+
+Publish to 'status text' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [StatusText](structmavsdk_1_1_telemetry_server_1_1_status_text.md) **status_text** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_odometry() {#classmavsdk_1_1_telemetry_server_1a5663a04d971242dcd4aeb0241304279c}
+```cpp
+Result mavsdk::TelemetryServer::publish_odometry(Odometry odometry) const
+```
+
+
+Publish to 'odometry' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [Odometry](structmavsdk_1_1_telemetry_server_1_1_odometry.md) **odometry** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_position_velocity_ned() {#classmavsdk_1_1_telemetry_server_1ac20e6bd7250de7c1290ccf9d18b02b96}
+```cpp
+Result mavsdk::TelemetryServer::publish_position_velocity_ned(PositionVelocityNed position_velocity_ned) const
+```
+
+
+Publish to 'position velocity' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [PositionVelocityNed](structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned.md) **position_velocity_ned** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_ground_truth() {#classmavsdk_1_1_telemetry_server_1af882e6fa87294895f6afb7da8c9f6761}
+```cpp
+Result mavsdk::TelemetryServer::publish_ground_truth(GroundTruth ground_truth) const
+```
+
+
+Publish to 'ground truth' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [GroundTruth](structmavsdk_1_1_telemetry_server_1_1_ground_truth.md) **ground_truth** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_imu() {#classmavsdk_1_1_telemetry_server_1a077f33d7fdbdb0cc9b091bdf8e647969}
+```cpp
+Result mavsdk::TelemetryServer::publish_imu(Imu imu) const
+```
+
+
+Publish to 'IMU' updates (in SI units in NED body frame).
+
+This function is blocking.
+
+**Parameters**
+
+* [Imu](structmavsdk_1_1_telemetry_server_1_1_imu.md) **imu** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_scaled_imu() {#classmavsdk_1_1_telemetry_server_1aff52c34112c885662c711cda94b7c985}
+```cpp
+Result mavsdk::TelemetryServer::publish_scaled_imu(Imu imu) const
+```
+
+
+Publish to 'Scaled IMU' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [Imu](structmavsdk_1_1_telemetry_server_1_1_imu.md) **imu** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_raw_imu() {#classmavsdk_1_1_telemetry_server_1a92f3fcb090ffc96c70ce35d433a1a2a5}
+```cpp
+Result mavsdk::TelemetryServer::publish_raw_imu(Imu imu) const
+```
+
+
+Publish to 'Raw IMU' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [Imu](structmavsdk_1_1_telemetry_server_1_1_imu.md) **imu** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_unix_epoch_time() {#classmavsdk_1_1_telemetry_server_1a27b1b901cd8baf91380029c2b95b2dac}
+```cpp
+Result mavsdk::TelemetryServer::publish_unix_epoch_time(uint64_t time_us) const
+```
+
+
+Publish to 'unix epoch time' updates.
+
+This function is blocking.
+
+**Parameters**
+
+* uint64_t **time_us** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### publish_distance_sensor() {#classmavsdk_1_1_telemetry_server_1a7532d068284fb7f55c00804a4a996a6d}
+```cpp
+Result mavsdk::TelemetryServer::publish_distance_sensor(DistanceSensor distance_sensor) const
+```
+
+
+Publish to "distance sensor" updates.
+
+This function is blocking.
+
+**Parameters**
+
+* [DistanceSensor](structmavsdk_1_1_telemetry_server_1_1_distance_sensor.md) **distance_sensor** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a39d62e69bdc289d55b73b0e4c3a3ac8a) - Result of request.
+
+### operator=() {#classmavsdk_1_1_telemetry_server_1a479502f1ce3bdc2c5be486911a20ca25}
+```cpp
+const TelemetryServer& mavsdk::TelemetryServer::operator=(const TelemetryServer &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [TelemetryServer](classmavsdk_1_1_telemetry_server.md)&  - 
+
+**Returns**
+
+&emsp;const [TelemetryServer](classmavsdk_1_1_telemetry_server.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_tracking_server.md b/docs/en/cpp/api_reference/classmavsdk_1_1_tracking_server.md
new file mode 100644
index 0000000000..48864c9ee6
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_tracking_server.md
@@ -0,0 +1,401 @@
+# mavsdk::TrackingServer Class Reference
+`#include: tracking_server.h`
+
+----
+
+
+API for an onboard image tracking software. 
+
+
+## Data Structures
+
+
+struct [TrackPoint](structmavsdk_1_1_tracking_server_1_1_track_point.md)
+
+struct [TrackRectangle](structmavsdk_1_1_tracking_server_1_1_track_rectangle.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [CommandAnswer](#classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61) | Answer to respond to an incoming command.
+enum [Result](#classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2) | Possible results returned for tracking_server requests.
+std::function< void([Result](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2))> [ResultCallback](#classmavsdk_1_1_tracking_server_1a5f726eec45daac754660d557f43e8b99) | Callback type for asynchronous [TrackingServer](classmavsdk_1_1_tracking_server.md) calls.
+std::function< void([TrackPoint](structmavsdk_1_1_tracking_server_1_1_track_point.md))> [TrackingPointCommandCallback](#classmavsdk_1_1_tracking_server_1afc190d231e0cd23d22055d5f5319f00d) | Callback type for subscribe_tracking_point_command.
+[Handle](classmavsdk_1_1_handle.md)< [TrackPoint](structmavsdk_1_1_tracking_server_1_1_track_point.md) > [TrackingPointCommandHandle](#classmavsdk_1_1_tracking_server_1abd57fbc319036028db3f1b3802bfa184) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_tracking_point_command.
+std::function< void([TrackRectangle](structmavsdk_1_1_tracking_server_1_1_track_rectangle.md))> [TrackingRectangleCommandCallback](#classmavsdk_1_1_tracking_server_1ad9a54dd2042c28046a03c8b1c5ba5b41) | Callback type for subscribe_tracking_rectangle_command.
+[Handle](classmavsdk_1_1_handle.md)< [TrackRectangle](structmavsdk_1_1_tracking_server_1_1_track_rectangle.md) > [TrackingRectangleCommandHandle](#classmavsdk_1_1_tracking_server_1a0bc52069d6d7fe1f5ae2760568c1ed5d) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_tracking_rectangle_command.
+std::function< void(int32_t)> [TrackingOffCommandCallback](#classmavsdk_1_1_tracking_server_1a585e63bb331d1a5c3e0108b505c6e2e7) | Callback type for subscribe_tracking_off_command.
+[Handle](classmavsdk_1_1_handle.md)< int32_t > [TrackingOffCommandHandle](#classmavsdk_1_1_tracking_server_1a7fd355b3ec3e7f0f4a08da194d9ae625) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_tracking_off_command.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [TrackingServer](#classmavsdk_1_1_tracking_server_1a8e3a87d4bf33fd4ca94dc7c1bf8f50a9) (std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > server_component) | Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+&nbsp; | [~TrackingServer](#classmavsdk_1_1_tracking_server_1af459f9f101561ab3a837e3783e56457a) () override | Destructor (internal use only).
+&nbsp; | [TrackingServer](#classmavsdk_1_1_tracking_server_1ade3caff75ba75c18637b30944d7fbb25) (const [TrackingServer](classmavsdk_1_1_tracking_server.md) & other) | Copy constructor.
+void | [set_tracking_point_status](#classmavsdk_1_1_tracking_server_1a76404bc162c15dbfb50b7afbb2d3de4e) ([TrackPoint](structmavsdk_1_1_tracking_server_1_1_track_point.md) tracked_point)const | Set/update the current point tracking status.
+void | [set_tracking_rectangle_status](#classmavsdk_1_1_tracking_server_1ae3f0696613834aecdd5dbd99a346b9a0) ([TrackRectangle](structmavsdk_1_1_tracking_server_1_1_track_rectangle.md) tracked_rectangle)const | Set/update the current rectangle tracking status.
+void | [set_tracking_off_status](#classmavsdk_1_1_tracking_server_1a2d77454965d854f68704e29da645bf94) () const | Set the current tracking status to off.
+[TrackingPointCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1abd57fbc319036028db3f1b3802bfa184) | [subscribe_tracking_point_command](#classmavsdk_1_1_tracking_server_1a7fc9f06c0d13ce0a73b8a36c3b39591c) (const [TrackingPointCommandCallback](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1afc190d231e0cd23d22055d5f5319f00d) & callback) | Subscribe to incoming tracking point command.
+void | [unsubscribe_tracking_point_command](#classmavsdk_1_1_tracking_server_1aaf00344b10e8bbb0c6cd7b5bfd43806b) ([TrackingPointCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1abd57fbc319036028db3f1b3802bfa184) handle) | Unsubscribe from subscribe_tracking_point_command.
+[TrackingRectangleCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a0bc52069d6d7fe1f5ae2760568c1ed5d) | [subscribe_tracking_rectangle_command](#classmavsdk_1_1_tracking_server_1a5a36aa7b26085834ed56ea1aa80f42b8) (const [TrackingRectangleCommandCallback](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1ad9a54dd2042c28046a03c8b1c5ba5b41) & callback) | Subscribe to incoming tracking rectangle command.
+void | [unsubscribe_tracking_rectangle_command](#classmavsdk_1_1_tracking_server_1a35d2617d48c378c176e36f1c8db9594d) ([TrackingRectangleCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a0bc52069d6d7fe1f5ae2760568c1ed5d) handle) | Unsubscribe from subscribe_tracking_rectangle_command.
+[TrackingOffCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a7fd355b3ec3e7f0f4a08da194d9ae625) | [subscribe_tracking_off_command](#classmavsdk_1_1_tracking_server_1ad8c9ea7f6b62e56e862d59532b7edf0d) (const [TrackingOffCommandCallback](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a585e63bb331d1a5c3e0108b505c6e2e7) & callback) | Subscribe to incoming tracking off command.
+void | [unsubscribe_tracking_off_command](#classmavsdk_1_1_tracking_server_1a9ac5db837aa263dcc8c98fcf0aafa170) ([TrackingOffCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a7fd355b3ec3e7f0f4a08da194d9ae625) handle) | Unsubscribe from subscribe_tracking_off_command.
+[Result](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2) | [respond_tracking_point_command](#classmavsdk_1_1_tracking_server_1a75ec8813d5c5dac5dc3fcd3590a62e2a) ([CommandAnswer](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61) command_answer)const | Respond to an incoming tracking point command.
+[Result](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2) | [respond_tracking_rectangle_command](#classmavsdk_1_1_tracking_server_1a6388d3a7bafeb0fbb58343a09495fc7c) ([CommandAnswer](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61) command_answer)const | Respond to an incoming tracking rectangle command.
+[Result](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2) | [respond_tracking_off_command](#classmavsdk_1_1_tracking_server_1a113b2d4adf5b62a5f167b81c39474da4) ([CommandAnswer](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61) command_answer)const | Respond to an incoming tracking off command.
+const [TrackingServer](classmavsdk_1_1_tracking_server.md) & | [operator=](#classmavsdk_1_1_tracking_server_1a9ea0947f9038e3affbd4129f5d6f671d) (const [TrackingServer](classmavsdk_1_1_tracking_server.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### TrackingServer() {#classmavsdk_1_1_tracking_server_1a8e3a87d4bf33fd4ca94dc7c1bf8f50a9}
+```cpp
+mavsdk::TrackingServer::TrackingServer(std::shared_ptr< ServerComponent > server_component)
+```
+
+
+Constructor. Creates the plugin for a [ServerComponent](classmavsdk_1_1_server_component.md) instance.
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto tracking_server = TrackingServer(server_component);
+```
+
+**Parameters**
+
+* std::shared_ptr< [ServerComponent](classmavsdk_1_1_server_component.md) > **server_component** - The [ServerComponent](classmavsdk_1_1_server_component.md) instance associated with this server plugin.
+
+### ~TrackingServer() {#classmavsdk_1_1_tracking_server_1af459f9f101561ab3a837e3783e56457a}
+```cpp
+mavsdk::TrackingServer::~TrackingServer() override
+```
+
+
+Destructor (internal use only).
+
+
+### TrackingServer() {#classmavsdk_1_1_tracking_server_1ade3caff75ba75c18637b30944d7fbb25}
+```cpp
+mavsdk::TrackingServer::TrackingServer(const TrackingServer &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [TrackingServer](classmavsdk_1_1_tracking_server.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_tracking_server_1a5f726eec45daac754660d557f43e8b99}
+
+```cpp
+using mavsdk::TrackingServer::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [TrackingServer](classmavsdk_1_1_tracking_server.md) calls.
+
+
+### typedef TrackingPointCommandCallback {#classmavsdk_1_1_tracking_server_1afc190d231e0cd23d22055d5f5319f00d}
+
+```cpp
+using mavsdk::TrackingServer::TrackingPointCommandCallback =  std::function<void(TrackPoint)>
+```
+
+
+Callback type for subscribe_tracking_point_command.
+
+
+### typedef TrackingPointCommandHandle {#classmavsdk_1_1_tracking_server_1abd57fbc319036028db3f1b3802bfa184}
+
+```cpp
+using mavsdk::TrackingServer::TrackingPointCommandHandle =  Handle<TrackPoint>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_tracking_point_command.
+
+
+### typedef TrackingRectangleCommandCallback {#classmavsdk_1_1_tracking_server_1ad9a54dd2042c28046a03c8b1c5ba5b41}
+
+```cpp
+using mavsdk::TrackingServer::TrackingRectangleCommandCallback =  std::function<void(TrackRectangle)>
+```
+
+
+Callback type for subscribe_tracking_rectangle_command.
+
+
+### typedef TrackingRectangleCommandHandle {#classmavsdk_1_1_tracking_server_1a0bc52069d6d7fe1f5ae2760568c1ed5d}
+
+```cpp
+using mavsdk::TrackingServer::TrackingRectangleCommandHandle =  Handle<TrackRectangle>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_tracking_rectangle_command.
+
+
+### typedef TrackingOffCommandCallback {#classmavsdk_1_1_tracking_server_1a585e63bb331d1a5c3e0108b505c6e2e7}
+
+```cpp
+using mavsdk::TrackingServer::TrackingOffCommandCallback =  std::function<void(int32_t)>
+```
+
+
+Callback type for subscribe_tracking_off_command.
+
+
+### typedef TrackingOffCommandHandle {#classmavsdk_1_1_tracking_server_1a7fd355b3ec3e7f0f4a08da194d9ae625}
+
+```cpp
+using mavsdk::TrackingServer::TrackingOffCommandHandle =  Handle<int32_t>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_tracking_off_command.
+
+
+## Member Enumeration Documentation
+
+
+### enum CommandAnswer {#classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61}
+
+
+Answer to respond to an incoming command.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61a382ab522931673c11e398ead1b7b1678"></span> `Accepted` | Command accepted. 
+<span id="classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61a387d4d8f4b53febb38cc54fc6c361a3f"></span> `TemporarilyRejected` | Command temporarily rejected. 
+<span id="classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61a58d036b9b7f0e7eb38cfb90f1cc70a73"></span> `Denied` | Command denied. 
+<span id="classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61ab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | Command unsupported. 
+<span id="classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61ad7c8c85bf79bbe1b7188497c32c3b0ca"></span> `Failed` | Command failed. 
+
+### enum Result {#classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2}
+
+
+Possible results returned for tracking_server requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+
+## Member Function Documentation
+
+
+### set_tracking_point_status() {#classmavsdk_1_1_tracking_server_1a76404bc162c15dbfb50b7afbb2d3de4e}
+```cpp
+void mavsdk::TrackingServer::set_tracking_point_status(TrackPoint tracked_point) const
+```
+
+
+Set/update the current point tracking status.
+
+This function is blocking.
+
+**Parameters**
+
+* [TrackPoint](structmavsdk_1_1_tracking_server_1_1_track_point.md) **tracked_point** - 
+
+### set_tracking_rectangle_status() {#classmavsdk_1_1_tracking_server_1ae3f0696613834aecdd5dbd99a346b9a0}
+```cpp
+void mavsdk::TrackingServer::set_tracking_rectangle_status(TrackRectangle tracked_rectangle) const
+```
+
+
+Set/update the current rectangle tracking status.
+
+This function is blocking.
+
+**Parameters**
+
+* [TrackRectangle](structmavsdk_1_1_tracking_server_1_1_track_rectangle.md) **tracked_rectangle** - 
+
+### set_tracking_off_status() {#classmavsdk_1_1_tracking_server_1a2d77454965d854f68704e29da645bf94}
+```cpp
+void mavsdk::TrackingServer::set_tracking_off_status() const
+```
+
+
+Set the current tracking status to off.
+
+This function is blocking.
+
+### subscribe_tracking_point_command() {#classmavsdk_1_1_tracking_server_1a7fc9f06c0d13ce0a73b8a36c3b39591c}
+```cpp
+TrackingPointCommandHandle mavsdk::TrackingServer::subscribe_tracking_point_command(const TrackingPointCommandCallback &callback)
+```
+
+
+Subscribe to incoming tracking point command.
+
+
+**Parameters**
+
+* const [TrackingPointCommandCallback](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1afc190d231e0cd23d22055d5f5319f00d)& **callback** - 
+
+**Returns**
+
+&emsp;[TrackingPointCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1abd57fbc319036028db3f1b3802bfa184) - 
+
+### unsubscribe_tracking_point_command() {#classmavsdk_1_1_tracking_server_1aaf00344b10e8bbb0c6cd7b5bfd43806b}
+```cpp
+void mavsdk::TrackingServer::unsubscribe_tracking_point_command(TrackingPointCommandHandle handle)
+```
+
+
+Unsubscribe from subscribe_tracking_point_command.
+
+
+**Parameters**
+
+* [TrackingPointCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1abd57fbc319036028db3f1b3802bfa184) **handle** - 
+
+### subscribe_tracking_rectangle_command() {#classmavsdk_1_1_tracking_server_1a5a36aa7b26085834ed56ea1aa80f42b8}
+```cpp
+TrackingRectangleCommandHandle mavsdk::TrackingServer::subscribe_tracking_rectangle_command(const TrackingRectangleCommandCallback &callback)
+```
+
+
+Subscribe to incoming tracking rectangle command.
+
+
+**Parameters**
+
+* const [TrackingRectangleCommandCallback](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1ad9a54dd2042c28046a03c8b1c5ba5b41)& **callback** - 
+
+**Returns**
+
+&emsp;[TrackingRectangleCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a0bc52069d6d7fe1f5ae2760568c1ed5d) - 
+
+### unsubscribe_tracking_rectangle_command() {#classmavsdk_1_1_tracking_server_1a35d2617d48c378c176e36f1c8db9594d}
+```cpp
+void mavsdk::TrackingServer::unsubscribe_tracking_rectangle_command(TrackingRectangleCommandHandle handle)
+```
+
+
+Unsubscribe from subscribe_tracking_rectangle_command.
+
+
+**Parameters**
+
+* [TrackingRectangleCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a0bc52069d6d7fe1f5ae2760568c1ed5d) **handle** - 
+
+### subscribe_tracking_off_command() {#classmavsdk_1_1_tracking_server_1ad8c9ea7f6b62e56e862d59532b7edf0d}
+```cpp
+TrackingOffCommandHandle mavsdk::TrackingServer::subscribe_tracking_off_command(const TrackingOffCommandCallback &callback)
+```
+
+
+Subscribe to incoming tracking off command.
+
+
+**Parameters**
+
+* const [TrackingOffCommandCallback](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a585e63bb331d1a5c3e0108b505c6e2e7)& **callback** - 
+
+**Returns**
+
+&emsp;[TrackingOffCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a7fd355b3ec3e7f0f4a08da194d9ae625) - 
+
+### unsubscribe_tracking_off_command() {#classmavsdk_1_1_tracking_server_1a9ac5db837aa263dcc8c98fcf0aafa170}
+```cpp
+void mavsdk::TrackingServer::unsubscribe_tracking_off_command(TrackingOffCommandHandle handle)
+```
+
+
+Unsubscribe from subscribe_tracking_off_command.
+
+
+**Parameters**
+
+* [TrackingOffCommandHandle](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a7fd355b3ec3e7f0f4a08da194d9ae625) **handle** - 
+
+### respond_tracking_point_command() {#classmavsdk_1_1_tracking_server_1a75ec8813d5c5dac5dc3fcd3590a62e2a}
+```cpp
+Result mavsdk::TrackingServer::respond_tracking_point_command(CommandAnswer command_answer) const
+```
+
+
+Respond to an incoming tracking point command.
+
+This function is blocking.
+
+**Parameters**
+
+* [CommandAnswer](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61) **command_answer** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2) - Result of request.
+
+### respond_tracking_rectangle_command() {#classmavsdk_1_1_tracking_server_1a6388d3a7bafeb0fbb58343a09495fc7c}
+```cpp
+Result mavsdk::TrackingServer::respond_tracking_rectangle_command(CommandAnswer command_answer) const
+```
+
+
+Respond to an incoming tracking rectangle command.
+
+This function is blocking.
+
+**Parameters**
+
+* [CommandAnswer](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61) **command_answer** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2) - Result of request.
+
+### respond_tracking_off_command() {#classmavsdk_1_1_tracking_server_1a113b2d4adf5b62a5f167b81c39474da4}
+```cpp
+Result mavsdk::TrackingServer::respond_tracking_off_command(CommandAnswer command_answer) const
+```
+
+
+Respond to an incoming tracking off command.
+
+This function is blocking.
+
+**Parameters**
+
+* [CommandAnswer](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1abe88efaef492f9b549a57b5b05666d61) **command_answer** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_tracking_server.md#classmavsdk_1_1_tracking_server_1a1a288ecd74fd52a6f0ffbf24e8da2cc2) - Result of request.
+
+### operator=() {#classmavsdk_1_1_tracking_server_1a9ea0947f9038e3affbd4129f5d6f671d}
+```cpp
+const TrackingServer& mavsdk::TrackingServer::operator=(const TrackingServer &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [TrackingServer](classmavsdk_1_1_tracking_server.md)&  - 
+
+**Returns**
+
+&emsp;const [TrackingServer](classmavsdk_1_1_tracking_server.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_transponder.md b/docs/en/cpp/api_reference/classmavsdk_1_1_transponder.md
new file mode 100644
index 0000000000..9afd92c33b
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_transponder.md
@@ -0,0 +1,291 @@
+# mavsdk::Transponder Class Reference
+`#include: transponder.h`
+
+----
+
+
+Allow users to get ADS-B information and set ADS-B update rates. 
+
+
+## Data Structures
+
+
+struct [AdsbVehicle](structmavsdk_1_1_transponder_1_1_adsb_vehicle.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [AdsbEmitterType](#classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039) | ADSB classification for the type of vehicle emitting the transponder signal.
+enum [AdsbAltitudeType](#classmavsdk_1_1_transponder_1a64af76be070a2496e0db1c201ece9313) | Altitude type used in [AdsbVehicle](structmavsdk_1_1_transponder_1_1_adsb_vehicle.md) message.
+enum [Result](#classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8) | Possible results returned for transponder requests.
+std::function< void([Result](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8))> [ResultCallback](#classmavsdk_1_1_transponder_1a57166e61c37ad92ecd5420bc1b7972a5) | Callback type for asynchronous [Transponder](classmavsdk_1_1_transponder.md) calls.
+std::function< void([AdsbVehicle](structmavsdk_1_1_transponder_1_1_adsb_vehicle.md))> [TransponderCallback](#classmavsdk_1_1_transponder_1a239211c3cf8ce383d0f5c82b671aed34) | Callback type for subscribe_transponder.
+[Handle](classmavsdk_1_1_handle.md)< [AdsbVehicle](structmavsdk_1_1_transponder_1_1_adsb_vehicle.md) > [TransponderHandle](#classmavsdk_1_1_transponder_1abd96184c88f8bcb8bbb0aa138c3355b7) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_transponder.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Transponder](#classmavsdk_1_1_transponder_1a14df6f56a65f692f0a77e12255aa5813) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Transponder](#classmavsdk_1_1_transponder_1aa24bac9cdb6a648e83630a58feee120c) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Transponder](#classmavsdk_1_1_transponder_1a2bd5706f4b1bd5cf773fdd8870d5c457) () override | Destructor (internal use only).
+&nbsp; | [Transponder](#classmavsdk_1_1_transponder_1a610383ecbf848dd7ef214b13c445e170) (const [Transponder](classmavsdk_1_1_transponder.md) & other) | Copy constructor.
+[TransponderHandle](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1abd96184c88f8bcb8bbb0aa138c3355b7) | [subscribe_transponder](#classmavsdk_1_1_transponder_1a1854383cab590dbc28cb18bb8bf3415f) (const [TransponderCallback](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1a239211c3cf8ce383d0f5c82b671aed34) & callback) | Subscribe to 'transponder' updates.
+void | [unsubscribe_transponder](#classmavsdk_1_1_transponder_1a28735123acd679533a315a39dd096db0) ([TransponderHandle](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1abd96184c88f8bcb8bbb0aa138c3355b7) handle) | Unsubscribe from subscribe_transponder.
+[AdsbVehicle](structmavsdk_1_1_transponder_1_1_adsb_vehicle.md) | [transponder](#classmavsdk_1_1_transponder_1a1674c21928af3368e2be84bd182251d9) () const | Poll for '[AdsbVehicle](structmavsdk_1_1_transponder_1_1_adsb_vehicle.md)' (blocking).
+void | [set_rate_transponder_async](#classmavsdk_1_1_transponder_1a098f5692a3f2b76a201ce0b22a56f0ec) (double rate_hz, const [ResultCallback](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1a57166e61c37ad92ecd5420bc1b7972a5) callback) | Set rate to 'transponder' updates.
+[Result](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8) | [set_rate_transponder](#classmavsdk_1_1_transponder_1a9d9f4b4899ef61b6d13d9e25f44dbecd) (double rate_hz)const | Set rate to 'transponder' updates.
+const [Transponder](classmavsdk_1_1_transponder.md) & | [operator=](#classmavsdk_1_1_transponder_1aaee71763de213002fadeb9dec3ec9fb6) (const [Transponder](classmavsdk_1_1_transponder.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Transponder() {#classmavsdk_1_1_transponder_1a14df6f56a65f692f0a77e12255aa5813}
+```cpp
+mavsdk::Transponder::Transponder(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto transponder = Transponder(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Transponder() {#classmavsdk_1_1_transponder_1aa24bac9cdb6a648e83630a58feee120c}
+```cpp
+mavsdk::Transponder::Transponder(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto transponder = Transponder(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Transponder() {#classmavsdk_1_1_transponder_1a2bd5706f4b1bd5cf773fdd8870d5c457}
+```cpp
+mavsdk::Transponder::~Transponder() override
+```
+
+
+Destructor (internal use only).
+
+
+### Transponder() {#classmavsdk_1_1_transponder_1a610383ecbf848dd7ef214b13c445e170}
+```cpp
+mavsdk::Transponder::Transponder(const Transponder &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Transponder](classmavsdk_1_1_transponder.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_transponder_1a57166e61c37ad92ecd5420bc1b7972a5}
+
+```cpp
+using mavsdk::Transponder::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Transponder](classmavsdk_1_1_transponder.md) calls.
+
+
+### typedef TransponderCallback {#classmavsdk_1_1_transponder_1a239211c3cf8ce383d0f5c82b671aed34}
+
+```cpp
+using mavsdk::Transponder::TransponderCallback =  std::function<void(AdsbVehicle)>
+```
+
+
+Callback type for subscribe_transponder.
+
+
+### typedef TransponderHandle {#classmavsdk_1_1_transponder_1abd96184c88f8bcb8bbb0aa138c3355b7}
+
+```cpp
+using mavsdk::Transponder::TransponderHandle =  Handle<AdsbVehicle>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_transponder.
+
+
+## Member Enumeration Documentation
+
+
+### enum AdsbEmitterType {#classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039}
+
+
+ADSB classification for the type of vehicle emitting the transponder signal.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a625e050b8bdbcdaf58be79b116182983"></span> `NoInfo` | No emitter info.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a9914a0ce04a7b7b6a8e39bec55064b82"></span> `Light` | Light emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a2660064e68655415da2628c2ae2f7592"></span> `Small` | Small emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a3a69b34ce86dacb205936a8094f6c743"></span> `Large` | Large emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039addfd92ad877929bcac04af0b597509bc"></span> `HighVortexLarge` | High vortex emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039af9ffe67a20da9cbff56b420fca4bd491"></span> `Heavy` | Heavy emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039ab6743b28ad73d2ca0cad014b8d85f253"></span> `HighlyManuv` | Highly maneuverable emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a39cd0f9efe12f4f3193f0291b7c1689f"></span> `Rotocraft` | Rotorcraft emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a3476bf9c3af766198bfbd4f065a51e69"></span> `Unassigned` | Unassigned emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a4478825cc7d5fe8b90892985f941acdf"></span> `Glider` | Glider emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a8981b42b85c4619a269d92771467c5d1"></span> `LighterAir` | Lighter air emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a889d6c668249b544803bafc6c18dbf34"></span> `Parachute` | Parachute emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a076f18af3899aa85725250ed87f5edd5"></span> `UltraLight` | Ultra light emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039aba7f6d4d8fa7dc539c768ddb96a735a7"></span> `Unassigned2` | Unassigned2 emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a1b9adcd5e46391adeb16755deed0c1e9"></span> `Uav` | UAV emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039ad511f8439ecde36647437fbba67a4394"></span> `Space` | Space emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a2962ccaa2e25a976b4604df8a62ca4b3"></span> `Unassgined3` | Unassigned3 emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039aacb0de550adaedb2c0e48bbf7d7fdb86"></span> `EmergencySurface` | Emergency emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a4897a01e8c93f52319e630dd79259517"></span> `ServiceSurface` | Service surface emitter.. 
+<span id="classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039a30f9fbea6febbed04f700fdba031b165"></span> `PointObstacle` | Point obstacle emitter.. 
+
+### enum AdsbAltitudeType {#classmavsdk_1_1_transponder_1a64af76be070a2496e0db1c201ece9313}
+
+
+Altitude type used in [AdsbVehicle](structmavsdk_1_1_transponder_1_1_adsb_vehicle.md) message.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_transponder_1a64af76be070a2496e0db1c201ece9313ada779575df55e1b05ec9e4468ed0d232"></span> `PressureQnh` | Altitude reported from a Baro source using QNH reference. 
+<span id="classmavsdk_1_1_transponder_1a64af76be070a2496e0db1c201ece9313aadf9f772a73f364e4ce6c52b9fae740d"></span> `Geometric` | Altitude reported from a GNSS source. 
+
+### enum Result {#classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8}
+
+
+Possible results returned for transponder requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Success: the transponder command was accepted by the vehicle. 
+<span id="classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+<span id="classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Vehicle is busy. 
+<span id="classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8a3398e12855176d55f43d53e04f472c8a"></span> `CommandDenied` | Command refused by vehicle. 
+<span id="classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+
+## Member Function Documentation
+
+
+### subscribe_transponder() {#classmavsdk_1_1_transponder_1a1854383cab590dbc28cb18bb8bf3415f}
+```cpp
+TransponderHandle mavsdk::Transponder::subscribe_transponder(const TransponderCallback &callback)
+```
+
+
+Subscribe to 'transponder' updates.
+
+
+**Parameters**
+
+* const [TransponderCallback](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1a239211c3cf8ce383d0f5c82b671aed34)& **callback** - 
+
+**Returns**
+
+&emsp;[TransponderHandle](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1abd96184c88f8bcb8bbb0aa138c3355b7) - 
+
+### unsubscribe_transponder() {#classmavsdk_1_1_transponder_1a28735123acd679533a315a39dd096db0}
+```cpp
+void mavsdk::Transponder::unsubscribe_transponder(TransponderHandle handle)
+```
+
+
+Unsubscribe from subscribe_transponder.
+
+
+**Parameters**
+
+* [TransponderHandle](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1abd96184c88f8bcb8bbb0aa138c3355b7) **handle** - 
+
+### transponder() {#classmavsdk_1_1_transponder_1a1674c21928af3368e2be84bd182251d9}
+```cpp
+AdsbVehicle mavsdk::Transponder::transponder() const
+```
+
+
+Poll for '[AdsbVehicle](structmavsdk_1_1_transponder_1_1_adsb_vehicle.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[AdsbVehicle](structmavsdk_1_1_transponder_1_1_adsb_vehicle.md) - One [AdsbVehicle](structmavsdk_1_1_transponder_1_1_adsb_vehicle.md) update.
+
+### set_rate_transponder_async() {#classmavsdk_1_1_transponder_1a098f5692a3f2b76a201ce0b22a56f0ec}
+```cpp
+void mavsdk::Transponder::set_rate_transponder_async(double rate_hz, const ResultCallback callback)
+```
+
+
+Set rate to 'transponder' updates.
+
+This function is non-blocking. See 'set_rate_transponder' for the blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+* const [ResultCallback](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1a57166e61c37ad92ecd5420bc1b7972a5) **callback** - 
+
+### set_rate_transponder() {#classmavsdk_1_1_transponder_1a9d9f4b4899ef61b6d13d9e25f44dbecd}
+```cpp
+Result mavsdk::Transponder::set_rate_transponder(double rate_hz) const
+```
+
+
+Set rate to 'transponder' updates.
+
+This function is blocking. See 'set_rate_transponder_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* double **rate_hz** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1a683477ab9a02d00b2524bc2dcea3ecc8) - Result of request.
+
+### operator=() {#classmavsdk_1_1_transponder_1aaee71763de213002fadeb9dec3ec9fb6}
+```cpp
+const Transponder& mavsdk::Transponder::operator=(const Transponder &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Transponder](classmavsdk_1_1_transponder.md)&  - 
+
+**Returns**
+
+&emsp;const [Transponder](classmavsdk_1_1_transponder.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_tune.md b/docs/en/cpp/api_reference/classmavsdk_1_1_tune.md
new file mode 100644
index 0000000000..100b1943ba
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_tune.md
@@ -0,0 +1,211 @@
+# mavsdk::Tune Class Reference
+`#include: tune.h`
+
+----
+
+
+Enable creating and sending a tune to be played on the system. 
+
+
+## Data Structures
+
+
+struct [TuneDescription](structmavsdk_1_1_tune_1_1_tune_description.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [SongElement](#classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57) | An element of the tune.
+enum [Result](#classmavsdk_1_1_tune_1aed2b008974298098cedd69b7e95e909d) | Possible results returned for tune requests.
+std::function< void([Result](classmavsdk_1_1_tune.md#classmavsdk_1_1_tune_1aed2b008974298098cedd69b7e95e909d))> [ResultCallback](#classmavsdk_1_1_tune_1aa283f6824bee43d341fec56d7ff70985) | Callback type for asynchronous [Tune](classmavsdk_1_1_tune.md) calls.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Tune](#classmavsdk_1_1_tune_1a1f60ea360006940e2bbae055733cc40a) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Tune](#classmavsdk_1_1_tune_1ae53cb416ec500a56d796e85376420c0a) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Tune](#classmavsdk_1_1_tune_1a5f157ec4a056b0dad4fb7c15542a555f) () override | Destructor (internal use only).
+&nbsp; | [Tune](#classmavsdk_1_1_tune_1ae3fb9d4ec2116f1c9543c0e09371b2e0) (const [Tune](classmavsdk_1_1_tune.md) & other) | Copy constructor.
+void | [play_tune_async](#classmavsdk_1_1_tune_1a6a88b2cfe944a4c1e4ab6945b06620d5) ([TuneDescription](structmavsdk_1_1_tune_1_1_tune_description.md) tune_description, const [ResultCallback](classmavsdk_1_1_tune.md#classmavsdk_1_1_tune_1aa283f6824bee43d341fec56d7ff70985) callback) | Send a tune to be played by the system.
+[Result](classmavsdk_1_1_tune.md#classmavsdk_1_1_tune_1aed2b008974298098cedd69b7e95e909d) | [play_tune](#classmavsdk_1_1_tune_1a94df5e7c5d8f5ca49fd9844557060695) ([TuneDescription](structmavsdk_1_1_tune_1_1_tune_description.md) tune_description)const | Send a tune to be played by the system.
+const [Tune](classmavsdk_1_1_tune.md) & | [operator=](#classmavsdk_1_1_tune_1ae4a076da0417c6858df6fb59fa5110b5) (const [Tune](classmavsdk_1_1_tune.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Tune() {#classmavsdk_1_1_tune_1a1f60ea360006940e2bbae055733cc40a}
+```cpp
+mavsdk::Tune::Tune(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto tune = Tune(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Tune() {#classmavsdk_1_1_tune_1ae53cb416ec500a56d796e85376420c0a}
+```cpp
+mavsdk::Tune::Tune(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto tune = Tune(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Tune() {#classmavsdk_1_1_tune_1a5f157ec4a056b0dad4fb7c15542a555f}
+```cpp
+mavsdk::Tune::~Tune() override
+```
+
+
+Destructor (internal use only).
+
+
+### Tune() {#classmavsdk_1_1_tune_1ae3fb9d4ec2116f1c9543c0e09371b2e0}
+```cpp
+mavsdk::Tune::Tune(const Tune &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Tune](classmavsdk_1_1_tune.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_tune_1aa283f6824bee43d341fec56d7ff70985}
+
+```cpp
+using mavsdk::Tune::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Tune](classmavsdk_1_1_tune.md) calls.
+
+
+## Member Enumeration Documentation
+
+
+### enum SongElement {#classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57}
+
+
+An element of the tune.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57ac830472147f0e7d7a397f4ebe1efa6f3"></span> `StyleLegato` | After this element, start playing legato. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a8cb71997964d545dec42802f02c1e5af"></span> `StyleNormal` | After this element, start playing normal. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57acca75620eab0dffb73ec1a4b2b7a334c"></span> `StyleStaccato` | After this element, start playing staccato. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a63787476eb9cebc1d976e06c4a89085d"></span> `Duration1` | After this element, set the note duration to 1. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57ab60dc533a85bdbf419ac39982fae8ce8"></span> `Duration2` | After this element, set the note duration to 2. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a48914c473999e8240f09b96c63c37a84"></span> `Duration4` | After this element, set the note duration to 4. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a5c027e5349ad17104491057d3b153192"></span> `Duration8` | After this element, set the note duration to 8. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57add80adb2a6a9aae642795959bb077b19"></span> `Duration16` | After this element, set the note duration to 16. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a5238379d32263441c68c00fefb9fee74"></span> `Duration32` | After this element, set the note duration to 32. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57adae7803873ef1a4be05a28fd47f928cc"></span> `NoteA` | Play note A. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57adf0f2ea8b78208955005301fabc40578"></span> `NoteB` | Play note B. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a96efe8adf521933e0ee897b2526f1040"></span> `NoteC` | Play note C. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a8dc7aeb7d481ca13b24b89ea5781d5f0"></span> `NoteD` | Play note D. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a8499410b04b4830cc664546160bbee41"></span> `NoteE` | Play note E. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57adff4ed70eb41ce84bd176316cb3c82f8"></span> `NoteF` | Play note F. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a57afabb08eebc4b8052efdb10878fa88"></span> `NoteG` | Play note G. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a24dfb97f7be37bc76be4233a0d18440b"></span> `NotePause` | Play a rest. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a60c17eb98355db0fe5ce016db6c6f444"></span> `Sharp` | After this element, sharp the note (half a step up). 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a745e3db6a7ffd50e1a72b39482f0882d"></span> `Flat` | After this element, flat the note (half a step down). 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57a1713d26780742b9524fdc6e40c6ef6cd"></span> `OctaveUp` | After this element, shift the note 1 octave up. 
+<span id="classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57ab41646df7c887cc0e3647ba5f8b26afe"></span> `OctaveDown` | After this element, shift the note 1 octave down. 
+
+### enum Result {#classmavsdk_1_1_tune_1aed2b008974298098cedd69b7e95e909d}
+
+
+Possible results returned for tune requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_tune_1aed2b008974298098cedd69b7e95e909da88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_tune_1aed2b008974298098cedd69b7e95e909da505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded. 
+<span id="classmavsdk_1_1_tune_1aed2b008974298098cedd69b7e95e909dab94ce655e90ee954ba1c4c5d0e13659e"></span> `InvalidTempo` | Invalid tempo (range: 32 - 255). 
+<span id="classmavsdk_1_1_tune_1aed2b008974298098cedd69b7e95e909da088c77b60655734bff629e03e1968495"></span> `TuneTooLong` | Invalid tune: encoded string must be at most 247 chars. 
+<span id="classmavsdk_1_1_tune_1aed2b008974298098cedd69b7e95e909da902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | Failed to send the request. 
+<span id="classmavsdk_1_1_tune_1aed2b008974298098cedd69b7e95e909da1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected. 
+
+## Member Function Documentation
+
+
+### play_tune_async() {#classmavsdk_1_1_tune_1a6a88b2cfe944a4c1e4ab6945b06620d5}
+```cpp
+void mavsdk::Tune::play_tune_async(TuneDescription tune_description, const ResultCallback callback)
+```
+
+
+Send a tune to be played by the system.
+
+This function is non-blocking. See 'play_tune' for the blocking counterpart.
+
+**Parameters**
+
+* [TuneDescription](structmavsdk_1_1_tune_1_1_tune_description.md) **tune_description** - 
+* const [ResultCallback](classmavsdk_1_1_tune.md#classmavsdk_1_1_tune_1aa283f6824bee43d341fec56d7ff70985) **callback** - 
+
+### play_tune() {#classmavsdk_1_1_tune_1a94df5e7c5d8f5ca49fd9844557060695}
+```cpp
+Result mavsdk::Tune::play_tune(TuneDescription tune_description) const
+```
+
+
+Send a tune to be played by the system.
+
+This function is blocking. See 'play_tune_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* [TuneDescription](structmavsdk_1_1_tune_1_1_tune_description.md) **tune_description** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_tune.md#classmavsdk_1_1_tune_1aed2b008974298098cedd69b7e95e909d) - Result of request.
+
+### operator=() {#classmavsdk_1_1_tune_1ae4a076da0417c6858df6fb59fa5110b5}
+```cpp
+const Tune& mavsdk::Tune::operator=(const Tune &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Tune](classmavsdk_1_1_tune.md)&  - 
+
+**Returns**
+
+&emsp;const [Tune](classmavsdk_1_1_tune.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1_winch.md b/docs/en/cpp/api_reference/classmavsdk_1_1_winch.md
new file mode 100644
index 0000000000..1e5799eea5
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1_winch.md
@@ -0,0 +1,598 @@
+# mavsdk::Winch Class Reference
+`#include: winch.h`
+
+----
+
+
+Allows users to send winch actions, as well as receive status information from winch systems. 
+
+
+## Data Structures
+
+
+struct [Status](structmavsdk_1_1_winch_1_1_status.md)
+
+struct [StatusFlags](structmavsdk_1_1_winch_1_1_status_flags.md)
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [WinchAction](#classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83) | [Winch](classmavsdk_1_1_winch.md) [Action](classmavsdk_1_1_action.md) type.
+enum [Result](#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | Possible results returned for winch action requests.
+std::function< void([Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091))> [ResultCallback](#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) | Callback type for asynchronous [Winch](classmavsdk_1_1_winch.md) calls.
+std::function< void([Status](structmavsdk_1_1_winch_1_1_status.md))> [StatusCallback](#classmavsdk_1_1_winch_1a6c84089eac00fc9de890ab7e8c0eb32a) | Callback type for subscribe_status.
+[Handle](classmavsdk_1_1_handle.md)< [Status](structmavsdk_1_1_winch_1_1_status.md) > [StatusHandle](#classmavsdk_1_1_winch_1a78284180b73b3092c37e45b3c2bdc2ab) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_status.
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [Winch](#classmavsdk_1_1_winch_1a222e543b5ef54c89ee41411e800d3b88) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [Winch](#classmavsdk_1_1_winch_1a7546040a07899cc9fe3edb00cb1b2007) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+&nbsp; | [~Winch](#classmavsdk_1_1_winch_1a06330946e884dae7415003aa89c3010e) () override | Destructor (internal use only).
+&nbsp; | [Winch](#classmavsdk_1_1_winch_1a9125a173b929f9a1a2e5ca0199961fb4) (const [Winch](classmavsdk_1_1_winch.md) & other) | Copy constructor.
+[StatusHandle](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a78284180b73b3092c37e45b3c2bdc2ab) | [subscribe_status](#classmavsdk_1_1_winch_1a92363df861842edf0b81aa18fba26bc8) (const [StatusCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a6c84089eac00fc9de890ab7e8c0eb32a) & callback) | Subscribe to 'winch status' updates.
+void | [unsubscribe_status](#classmavsdk_1_1_winch_1af1176a4992e0a6850dbd44ea2b1f0bad) ([StatusHandle](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a78284180b73b3092c37e45b3c2bdc2ab) handle) | Unsubscribe from subscribe_status.
+[Status](structmavsdk_1_1_winch_1_1_status.md) | [status](#classmavsdk_1_1_winch_1aa24ccd5e6e44db1fbf96e4aca6947689) () const | Poll for '[Status](structmavsdk_1_1_winch_1_1_status.md)' (blocking).
+void | [relax_async](#classmavsdk_1_1_winch_1a48eec9e1fb693620e452234e0a740989) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Allow motor to freewheel.
+[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [relax](#classmavsdk_1_1_winch_1ae1fa0d57d8d72e3bbbb4833770047ab3) (uint32_t instance)const | Allow motor to freewheel.
+void | [relative_length_control_async](#classmavsdk_1_1_winch_1aa2cb382d36cda8e0fe918ae07fb7a9ec) (uint32_t instance, float length_m, float rate_m_s, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Wind or unwind specified length of line, optionally using specified rate.
+[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [relative_length_control](#classmavsdk_1_1_winch_1ae39f5844dd5b6d93b6ccf3953781cee0) (uint32_t instance, float length_m, float rate_m_s)const | Wind or unwind specified length of line, optionally using specified rate.
+void | [rate_control_async](#classmavsdk_1_1_winch_1a21ce05ef8cedd2601d22209d31a980f8) (uint32_t instance, float rate_m_s, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Wind or unwind line at specified rate.
+[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [rate_control](#classmavsdk_1_1_winch_1aaec8a2bac41941e1f696cd9541abd4ca) (uint32_t instance, float rate_m_s)const | Wind or unwind line at specified rate.
+void | [lock_async](#classmavsdk_1_1_winch_1a0ff91279058752931bee2bc5dfd7c711) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Perform the locking sequence to relieve motor while in the fully retracted position.
+[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [lock](#classmavsdk_1_1_winch_1ad0f907f0164a724f8e8a57fe9796ecb3) (uint32_t instance)const | Perform the locking sequence to relieve motor while in the fully retracted position.
+void | [deliver_async](#classmavsdk_1_1_winch_1acbd43a3f00ab1e910b6b05654afc9458) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Sequence of drop, slow down, touch down, reel up, lock.
+[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [deliver](#classmavsdk_1_1_winch_1a8910df835085243a366290dbc4492680) (uint32_t instance)const | Sequence of drop, slow down, touch down, reel up, lock.
+void | [hold_async](#classmavsdk_1_1_winch_1a6c97626d33532469871a687e8043e27e) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Engage motor and hold current position.
+[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [hold](#classmavsdk_1_1_winch_1a2e7ae05d09b82964024c70211b1920d9) (uint32_t instance)const | Engage motor and hold current position.
+void | [retract_async](#classmavsdk_1_1_winch_1a6485b743115d441b43f3d0e39341412d) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Return the reel to the fully retracted position.
+[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [retract](#classmavsdk_1_1_winch_1a353cad0259d2eb8201e2884e037422eb) (uint32_t instance)const | Return the reel to the fully retracted position.
+void | [load_line_async](#classmavsdk_1_1_winch_1ad0588792ef3fbd469511f99988140637) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Load the reel with line.
+[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [load_line](#classmavsdk_1_1_winch_1aabeb779b2e03632176799c92058adb92) (uint32_t instance)const | Load the reel with line.
+void | [abandon_line_async](#classmavsdk_1_1_winch_1a3970c74e067d3734ba8dd3382c534b0a) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Spool out the entire length of the line.
+[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [abandon_line](#classmavsdk_1_1_winch_1a625f6d58d5447afbe0c40e3d896071b0) (uint32_t instance)const | Spool out the entire length of the line.
+void | [load_payload_async](#classmavsdk_1_1_winch_1af715b6c01dc75c44868c2936af04d40a) (uint32_t instance, const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) callback) | Spools out just enough to present the hook to the user to load the payload.
+[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) | [load_payload](#classmavsdk_1_1_winch_1a01fec2758f7f09d8aef5de23f4566d47) (uint32_t instance)const | Spools out just enough to present the hook to the user to load the payload.
+const [Winch](classmavsdk_1_1_winch.md) & | [operator=](#classmavsdk_1_1_winch_1a5216eb2d1533b1e737ad30f31b7eff7a) (const [Winch](classmavsdk_1_1_winch.md) &)=delete | Equality operator (object is not copyable).
+
+
+## Constructor & Destructor Documentation
+
+
+### Winch() {#classmavsdk_1_1_winch_1a222e543b5ef54c89ee41411e800d3b88}
+```cpp
+mavsdk::Winch::Winch(System &system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto winch = Winch(system);
+```
+
+**Parameters**
+
+* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
+
+### Winch() {#classmavsdk_1_1_winch_1a7546040a07899cc9fe3edb00cb1b2007}
+```cpp
+mavsdk::Winch::Winch(std::shared_ptr< System > system)
+```
+
+
+Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
+
+The plugin is typically created as shown below: 
+
+```cpp
+auto winch = Winch(system);
+```
+
+**Parameters**
+
+* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
+
+### ~Winch() {#classmavsdk_1_1_winch_1a06330946e884dae7415003aa89c3010e}
+```cpp
+mavsdk::Winch::~Winch() override
+```
+
+
+Destructor (internal use only).
+
+
+### Winch() {#classmavsdk_1_1_winch_1a9125a173b929f9a1a2e5ca0199961fb4}
+```cpp
+mavsdk::Winch::Winch(const Winch &other)
+```
+
+
+Copy constructor.
+
+
+**Parameters**
+
+* const [Winch](classmavsdk_1_1_winch.md)& **other** - 
+
+## Member Typdef Documentation
+
+
+### typedef ResultCallback {#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7}
+
+```cpp
+using mavsdk::Winch::ResultCallback =  std::function<void(Result)>
+```
+
+
+Callback type for asynchronous [Winch](classmavsdk_1_1_winch.md) calls.
+
+
+### typedef StatusCallback {#classmavsdk_1_1_winch_1a6c84089eac00fc9de890ab7e8c0eb32a}
+
+```cpp
+using mavsdk::Winch::StatusCallback =  std::function<void(Status)>
+```
+
+
+Callback type for subscribe_status.
+
+
+### typedef StatusHandle {#classmavsdk_1_1_winch_1a78284180b73b3092c37e45b3c2bdc2ab}
+
+```cpp
+using mavsdk::Winch::StatusHandle =  Handle<Status>
+```
+
+
+[Handle](classmavsdk_1_1_handle.md) type for subscribe_status.
+
+
+## Member Enumeration Documentation
+
+
+### enum WinchAction {#classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83}
+
+
+[Winch](classmavsdk_1_1_winch.md) [Action](classmavsdk_1_1_action.md) type.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83a4160be5df3fc34c3b165f28616f1bd16"></span> `Relaxed` | Allow motor to freewheel. 
+<span id="classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83afd7ed80d3677cf91582f0a9e6ce3477b"></span> `RelativeLengthControl` | Wind or unwind specified length of line, optionally using specified rate. 
+<span id="classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83aae2b389b99e74cc32f0fabded761cda6"></span> `RateControl` | Wind or unwind line at specified rate. 
+<span id="classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83ab485167c5b0e59d47009a16f90fe2659"></span> `Lock` | Perform the locking sequence to relieve motor while in the fully retracted position. 
+<span id="classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83a55f090686d433b9f61cdbacc4a741375"></span> `Deliver` | Sequence of drop, slow down, touch down, reel up, lock. 
+<span id="classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83abcd8db575b47c838e5d551e3973db4ac"></span> `Hold` | Engage motor and hold current position. 
+<span id="classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83a0dfc45bc99de47ebc26a3a7752eb1e19"></span> `Retract` | Return the reel to the fully retracted position. 
+<span id="classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83a460a2503753c200a2324d95a61c14e38"></span> `LoadLine` | Load the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. 
+<span id="classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83af0ac1672e2a313e081a0dbdfcce6c23e"></span> `AbandonLine` | Spool out the entire length of the line. 
+<span id="classmavsdk_1_1_winch_1a2c63ccb04edf046026919d5b3db77a83aa296461c9776b8003324a6fb508d30bd"></span> `LoadPayload` | Spools out just enough to present the hook to the user to load the payload. 
+
+### enum Result {#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091}
+
+
+Possible results returned for winch action requests.
+
+
+Value | Description
+--- | ---
+<span id="classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result. 
+<span id="classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request was successful. 
+<span id="classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system is connected. 
+<span id="classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091ad8a942ef2b04672adfafef0ad817a407"></span> `Busy` | Temporarily rejected. 
+<span id="classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out. 
+<span id="classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091ab4080bdf74febf04d578ff105cce9d3f"></span> `Unsupported` | [Action](classmavsdk_1_1_action.md) not supported. 
+<span id="classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091ad7c8c85bf79bbe1b7188497c32c3b0ca"></span> `Failed` | [Action](classmavsdk_1_1_action.md) failed. 
+
+## Member Function Documentation
+
+
+### subscribe_status() {#classmavsdk_1_1_winch_1a92363df861842edf0b81aa18fba26bc8}
+```cpp
+StatusHandle mavsdk::Winch::subscribe_status(const StatusCallback &callback)
+```
+
+
+Subscribe to 'winch status' updates.
+
+
+**Parameters**
+
+* const [StatusCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a6c84089eac00fc9de890ab7e8c0eb32a)& **callback** - 
+
+**Returns**
+
+&emsp;[StatusHandle](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a78284180b73b3092c37e45b3c2bdc2ab) - 
+
+### unsubscribe_status() {#classmavsdk_1_1_winch_1af1176a4992e0a6850dbd44ea2b1f0bad}
+```cpp
+void mavsdk::Winch::unsubscribe_status(StatusHandle handle)
+```
+
+
+Unsubscribe from subscribe_status.
+
+
+**Parameters**
+
+* [StatusHandle](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a78284180b73b3092c37e45b3c2bdc2ab) **handle** - 
+
+### status() {#classmavsdk_1_1_winch_1aa24ccd5e6e44db1fbf96e4aca6947689}
+```cpp
+Status mavsdk::Winch::status() const
+```
+
+
+Poll for '[Status](structmavsdk_1_1_winch_1_1_status.md)' (blocking).
+
+
+**Returns**
+
+&emsp;[Status](structmavsdk_1_1_winch_1_1_status.md) - One [Status](structmavsdk_1_1_winch_1_1_status.md) update.
+
+### relax_async() {#classmavsdk_1_1_winch_1a48eec9e1fb693620e452234e0a740989}
+```cpp
+void mavsdk::Winch::relax_async(uint32_t instance, const ResultCallback callback)
+```
+
+
+Allow motor to freewheel.
+
+This function is non-blocking. See 'relax' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - 
+
+### relax() {#classmavsdk_1_1_winch_1ae1fa0d57d8d72e3bbbb4833770047ab3}
+```cpp
+Result mavsdk::Winch::relax(uint32_t instance) const
+```
+
+
+Allow motor to freewheel.
+
+This function is blocking. See 'relax_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request.
+
+### relative_length_control_async() {#classmavsdk_1_1_winch_1aa2cb382d36cda8e0fe918ae07fb7a9ec}
+```cpp
+void mavsdk::Winch::relative_length_control_async(uint32_t instance, float length_m, float rate_m_s, const ResultCallback callback)
+```
+
+
+Wind or unwind specified length of line, optionally using specified rate.
+
+This function is non-blocking. See 'relative_length_control' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* float **length_m** - 
+* float **rate_m_s** - 
+* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - 
+
+### relative_length_control() {#classmavsdk_1_1_winch_1ae39f5844dd5b6d93b6ccf3953781cee0}
+```cpp
+Result mavsdk::Winch::relative_length_control(uint32_t instance, float length_m, float rate_m_s) const
+```
+
+
+Wind or unwind specified length of line, optionally using specified rate.
+
+This function is blocking. See 'relative_length_control_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* float **length_m** - 
+* float **rate_m_s** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request.
+
+### rate_control_async() {#classmavsdk_1_1_winch_1a21ce05ef8cedd2601d22209d31a980f8}
+```cpp
+void mavsdk::Winch::rate_control_async(uint32_t instance, float rate_m_s, const ResultCallback callback)
+```
+
+
+Wind or unwind line at specified rate.
+
+This function is non-blocking. See 'rate_control' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* float **rate_m_s** - 
+* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - 
+
+### rate_control() {#classmavsdk_1_1_winch_1aaec8a2bac41941e1f696cd9541abd4ca}
+```cpp
+Result mavsdk::Winch::rate_control(uint32_t instance, float rate_m_s) const
+```
+
+
+Wind or unwind line at specified rate.
+
+This function is blocking. See 'rate_control_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* float **rate_m_s** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request.
+
+### lock_async() {#classmavsdk_1_1_winch_1a0ff91279058752931bee2bc5dfd7c711}
+```cpp
+void mavsdk::Winch::lock_async(uint32_t instance, const ResultCallback callback)
+```
+
+
+Perform the locking sequence to relieve motor while in the fully retracted position.
+
+This function is non-blocking. See 'lock' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - 
+
+### lock() {#classmavsdk_1_1_winch_1ad0f907f0164a724f8e8a57fe9796ecb3}
+```cpp
+Result mavsdk::Winch::lock(uint32_t instance) const
+```
+
+
+Perform the locking sequence to relieve motor while in the fully retracted position.
+
+This function is blocking. See 'lock_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request.
+
+### deliver_async() {#classmavsdk_1_1_winch_1acbd43a3f00ab1e910b6b05654afc9458}
+```cpp
+void mavsdk::Winch::deliver_async(uint32_t instance, const ResultCallback callback)
+```
+
+
+Sequence of drop, slow down, touch down, reel up, lock.
+
+This function is non-blocking. See 'deliver' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - 
+
+### deliver() {#classmavsdk_1_1_winch_1a8910df835085243a366290dbc4492680}
+```cpp
+Result mavsdk::Winch::deliver(uint32_t instance) const
+```
+
+
+Sequence of drop, slow down, touch down, reel up, lock.
+
+This function is blocking. See 'deliver_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request.
+
+### hold_async() {#classmavsdk_1_1_winch_1a6c97626d33532469871a687e8043e27e}
+```cpp
+void mavsdk::Winch::hold_async(uint32_t instance, const ResultCallback callback)
+```
+
+
+Engage motor and hold current position.
+
+This function is non-blocking. See 'hold' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - 
+
+### hold() {#classmavsdk_1_1_winch_1a2e7ae05d09b82964024c70211b1920d9}
+```cpp
+Result mavsdk::Winch::hold(uint32_t instance) const
+```
+
+
+Engage motor and hold current position.
+
+This function is blocking. See 'hold_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request.
+
+### retract_async() {#classmavsdk_1_1_winch_1a6485b743115d441b43f3d0e39341412d}
+```cpp
+void mavsdk::Winch::retract_async(uint32_t instance, const ResultCallback callback)
+```
+
+
+Return the reel to the fully retracted position.
+
+This function is non-blocking. See 'retract' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - 
+
+### retract() {#classmavsdk_1_1_winch_1a353cad0259d2eb8201e2884e037422eb}
+```cpp
+Result mavsdk::Winch::retract(uint32_t instance) const
+```
+
+
+Return the reel to the fully retracted position.
+
+This function is blocking. See 'retract_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request.
+
+### load_line_async() {#classmavsdk_1_1_winch_1ad0588792ef3fbd469511f99988140637}
+```cpp
+void mavsdk::Winch::load_line_async(uint32_t instance, const ResultCallback callback)
+```
+
+
+Load the reel with line.
+
+The winch will calculate the total loaded length and stop when the tension exceeds a threshold.
+
+
+This function is non-blocking. See 'load_line' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - 
+
+### load_line() {#classmavsdk_1_1_winch_1aabeb779b2e03632176799c92058adb92}
+```cpp
+Result mavsdk::Winch::load_line(uint32_t instance) const
+```
+
+
+Load the reel with line.
+
+The winch will calculate the total loaded length and stop when the tension exceeds a threshold.
+
+
+This function is blocking. See 'load_line_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request.
+
+### abandon_line_async() {#classmavsdk_1_1_winch_1a3970c74e067d3734ba8dd3382c534b0a}
+```cpp
+void mavsdk::Winch::abandon_line_async(uint32_t instance, const ResultCallback callback)
+```
+
+
+Spool out the entire length of the line.
+
+This function is non-blocking. See 'abandon_line' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - 
+
+### abandon_line() {#classmavsdk_1_1_winch_1a625f6d58d5447afbe0c40e3d896071b0}
+```cpp
+Result mavsdk::Winch::abandon_line(uint32_t instance) const
+```
+
+
+Spool out the entire length of the line.
+
+This function is blocking. See 'abandon_line_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request.
+
+### load_payload_async() {#classmavsdk_1_1_winch_1af715b6c01dc75c44868c2936af04d40a}
+```cpp
+void mavsdk::Winch::load_payload_async(uint32_t instance, const ResultCallback callback)
+```
+
+
+Spools out just enough to present the hook to the user to load the payload.
+
+This function is non-blocking. See 'load_payload' for the blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+* const [ResultCallback](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a683fc7d385d461efb059df917622a6b7) **callback** - 
+
+### load_payload() {#classmavsdk_1_1_winch_1a01fec2758f7f09d8aef5de23f4566d47}
+```cpp
+Result mavsdk::Winch::load_payload(uint32_t instance) const
+```
+
+
+Spools out just enough to present the hook to the user to load the payload.
+
+This function is blocking. See 'load_payload_async' for the non-blocking counterpart.
+
+**Parameters**
+
+* uint32_t **instance** - 
+
+**Returns**
+
+&emsp;[Result](classmavsdk_1_1_winch.md#classmavsdk_1_1_winch_1a48edb6e5176dc8d5e95bd30eacd7a091) - Result of request.
+
+### operator=() {#classmavsdk_1_1_winch_1a5216eb2d1533b1e737ad30f31b7eff7a}
+```cpp
+const Winch& mavsdk::Winch::operator=(const Winch &)=delete
+```
+
+
+Equality operator (object is not copyable).
+
+
+**Parameters**
+
+* const [Winch](classmavsdk_1_1_winch.md)&  - 
+
+**Returns**
+
+&emsp;const [Winch](classmavsdk_1_1_winch.md) & - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/classmavsdk_1_1geometry_1_1_coordinate_transformation.md b/docs/en/cpp/api_reference/classmavsdk_1_1geometry_1_1_coordinate_transformation.md
new file mode 100644
index 0000000000..c24a66e43b
--- /dev/null
+++ b/docs/en/cpp/api_reference/classmavsdk_1_1geometry_1_1_coordinate_transformation.md
@@ -0,0 +1,101 @@
+# mavsdk::geometry::CoordinateTransformation Class Reference
+`#include: geometry.h`
+
+----
+
+
+This is a utility class for coordinate transformations. 
+
+
+The projections used to transform from global (lat/lon) to local (meter) coordinates are taken from: [http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html](http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html) and inspired by the implementations in: [https://github.com/PX4/ecl/blob/master/geo/geo.cpp](https://github.com/PX4/ecl/blob/master/geo/geo.cpp) 
+
+
+## Data Structures
+
+
+struct [GlobalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md)
+
+struct [LocalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.md)
+
+## Public Member Functions
+
+
+Type | Name | Description
+---: | --- | ---
+&nbsp; | [CoordinateTransformation](#classmavsdk_1_1geometry_1_1_coordinate_transformation_1a1e4d767efd8da2270bdac68e11671826) ()=delete | Default constructor not available.
+&nbsp; | [CoordinateTransformation](#classmavsdk_1_1geometry_1_1_coordinate_transformation_1a33af8b4b2db7e00677e405a59d413261) ([GlobalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md) reference) | Constructor to initialize projection reference.
+&nbsp; | [~CoordinateTransformation](#classmavsdk_1_1geometry_1_1_coordinate_transformation_1a91a4e007c7b0e314dbd2f211b5e4e0c5) ()=default | Destructor.
+[LocalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.md) | [local_from_global](#classmavsdk_1_1geometry_1_1_coordinate_transformation_1aedab88f8af68a2e0135d480b70ee6fbc) ([GlobalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md) global_coordinate)const | Calculate local coordinates from global coordinates.
+[GlobalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md) | [global_from_local](#classmavsdk_1_1geometry_1_1_coordinate_transformation_1a8555f4bd4557b49d82a39b5b0273122f) ([LocalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.md) local_coordinate)const | Calculate global coordinates from local coordinates.
+
+
+## Constructor & Destructor Documentation
+
+
+### CoordinateTransformation() {#classmavsdk_1_1geometry_1_1_coordinate_transformation_1a1e4d767efd8da2270bdac68e11671826}
+```cpp
+mavsdk::geometry::CoordinateTransformation::CoordinateTransformation()=delete
+```
+
+
+Default constructor not available.
+
+
+### CoordinateTransformation() {#classmavsdk_1_1geometry_1_1_coordinate_transformation_1a33af8b4b2db7e00677e405a59d413261}
+```cpp
+mavsdk::geometry::CoordinateTransformation::CoordinateTransformation(GlobalCoordinate reference)
+```
+
+
+Constructor to initialize projection reference.
+
+
+**Parameters**
+
+* [GlobalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md) **reference** - Reference coordinate to project from.
+
+### ~CoordinateTransformation() {#classmavsdk_1_1geometry_1_1_coordinate_transformation_1a91a4e007c7b0e314dbd2f211b5e4e0c5}
+```cpp
+mavsdk::geometry::CoordinateTransformation::~CoordinateTransformation()=default
+```
+
+
+Destructor.
+
+
+## Member Function Documentation
+
+
+### local_from_global() {#classmavsdk_1_1geometry_1_1_coordinate_transformation_1aedab88f8af68a2e0135d480b70ee6fbc}
+```cpp
+LocalCoordinate mavsdk::geometry::CoordinateTransformation::local_from_global(GlobalCoordinate global_coordinate) const
+```
+
+
+Calculate local coordinates from global coordinates.
+
+
+**Parameters**
+
+* [GlobalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md) **global_coordinate** - The global coordinate to project from.
+
+**Returns**
+
+&emsp;[LocalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.md) - 
+
+### global_from_local() {#classmavsdk_1_1geometry_1_1_coordinate_transformation_1a8555f4bd4557b49d82a39b5b0273122f}
+```cpp
+GlobalCoordinate mavsdk::geometry::CoordinateTransformation::global_from_local(LocalCoordinate local_coordinate) const
+```
+
+
+Calculate global coordinates from local coordinates.
+
+
+**Parameters**
+
+* [LocalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.md) **local_coordinate** - The local coordinate to project from.
+
+**Returns**
+
+&emsp;[GlobalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md) - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/index.md b/docs/en/cpp/api_reference/index.md
new file mode 100644
index 0000000000..a3ad23887f
--- /dev/null
+++ b/docs/en/cpp/api_reference/index.md
@@ -0,0 +1,194 @@
+# C++ API Reference
+
+* [class Mavsdk](classmavsdk_1_1_mavsdk.md)
+  * [class Mavsdk::Configuration](classmavsdk_1_1_mavsdk_1_1_configuration.md)
+  * [struct MavlinkAddress](struct_mavlink_address.md)
+* [class Action](classmavsdk_1_1_action.md)
+* [class ActionServer](classmavsdk_1_1_action_server.md)
+  * [struct AllowableFlightModes](structmavsdk_1_1_action_server_1_1_allowable_flight_modes.md)
+  * [struct ArmDisarm](structmavsdk_1_1_action_server_1_1_arm_disarm.md)
+* [class Calibration](classmavsdk_1_1_calibration.md)
+  * [struct ProgressData](structmavsdk_1_1_calibration_1_1_progress_data.md)
+* [class Camera](classmavsdk_1_1_camera.md)
+  * [struct Information](structmavsdk_1_1_camera_1_1_information.md)
+  * [struct CaptureInfo](structmavsdk_1_1_camera_1_1_capture_info.md)
+  * [struct Position](structmavsdk_1_1_camera_1_1_position.md)
+  * [struct Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md)
+  * [struct EulerAngle](structmavsdk_1_1_camera_1_1_euler_angle.md)
+  * [struct Status](structmavsdk_1_1_camera_1_1_status.md)
+  * [struct VideoStreamInfo](structmavsdk_1_1_camera_1_1_video_stream_info.md)
+  * [struct VideoStreamSettings](structmavsdk_1_1_camera_1_1_video_stream_settings.md)
+  * [struct Option](structmavsdk_1_1_camera_1_1_option.md)
+  * [struct Setting](structmavsdk_1_1_camera_1_1_setting.md)
+  * [struct SettingOptions](structmavsdk_1_1_camera_1_1_setting_options.md)
+* [class CameraServer](classmavsdk_1_1_camera_server.md)
+  * [struct CaptureInfo](structmavsdk_1_1_camera_server_1_1_capture_info.md)
+  * [struct CaptureStatus](structmavsdk_1_1_camera_server_1_1_capture_status.md)
+  * [struct Information](structmavsdk_1_1_camera_server_1_1_information.md)
+  * [struct Position](structmavsdk_1_1_camera_server_1_1_position.md)
+  * [struct Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md)
+  * [struct StorageStatus](structmavsdk_1_1_camera_server_1_1_capture_status.md)
+  * [struct VideoStreaming](structmavsdk_1_1_camera_server_1_1_video_streaming.md)
+* [class ComponentInformation](classmavsdk_1_1_component_information.md)
+  * [struct FloatParam](structmavsdk_1_1_component_information_1_1_float_param.md)
+  * [struct FloatParamUpdate](structmavsdk_1_1_component_information_1_1_float_param_update.md)
+* [class ComponentInformationServer](classmavsdk_1_1_component_information_server.md)
+  * [struct FloatParam](structmavsdk_1_1_component_information_server_1_1_float_param.md)
+  * [struct FloatParamUpdate](structmavsdk_1_1_component_information_server_1_1_float_param_update.md)
+* [class Failure](classmavsdk_1_1_failure.md)
+* [class FollowMe](classmavsdk_1_1_follow_me.md)
+  * [struct Config](structmavsdk_1_1_follow_me_1_1_config.md)
+  * [struct TargetLocation](structmavsdk_1_1_follow_me_1_1_target_location.md)
+* [class Ftp](classmavsdk_1_1_ftp.md)
+* [class FtpServer](classmavsdk_1_1_ftp_server.md)
+* [class Geofence](classmavsdk_1_1_geofence.md)
+  * [struct Circle](structmavsdk_1_1_geofence_1_1_circle.md)
+  * [struct GeofenceData](structmavsdk_1_1_geofence_1_1_geofence_data.md)
+  * [struct Polygon](structmavsdk_1_1_geofence_1_1_polygon.md)
+  * [struct Point](structmavsdk_1_1_geofence_1_1_point.md)
+  * [struct ProgressData](structmavsdk_1_1_ftp_1_1_progress_data.md)
+* [class geometry::CoordinateTransformation](classmavsdk_1_1geometry_1_1_coordinate_transformation.md)
+  * [struct GlobalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md)
+  * [struct LocalCoordinate](structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.md)
+* [class Gimbal](classmavsdk_1_1_gimbal.md)
+  * [struct ControlStatus](structmavsdk_1_1_gimbal_1_1_control_status.md)
+* [class Gripper](classmavsdk_1_1_gripper.md)
+* [class Info](classmavsdk_1_1_info.md)
+  * [struct FlightInfo](structmavsdk_1_1_info_1_1_flight_info.md)
+  * [struct Identification](structmavsdk_1_1_info_1_1_identification.md)
+  * [struct Product](structmavsdk_1_1_info_1_1_product.md)
+  * [struct Version](structmavsdk_1_1_info_1_1_version.md)
+* [class LogFiles](classmavsdk_1_1_log_files.md)
+  * [struct Entry](structmavsdk_1_1_log_files_1_1_entry.md)
+  * [struct ProgressData](structmavsdk_1_1_log_files_1_1_progress_data.md)
+* [class ManualControl](classmavsdk_1_1_manual_control.md)
+* [class MavlinkPassthrough](classmavsdk_1_1_mavlink_passthrough.md)
+  * [struct CommandInt](structmavsdk_1_1_mavlink_passthrough_1_1_command_int.md)
+  * [struct CommandLong](structmavsdk_1_1_mavlink_passthrough_1_1_command_long.md)
+* [class Mission](classmavsdk_1_1_mission.md)
+  * [struct MissionItem](structmavsdk_1_1_mission_1_1_mission_item.md)
+  * [struct MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md)
+  * [struct MissionProgress](structmavsdk_1_1_mission_1_1_mission_progress.md)
+  * [struct ProgressData](structmavsdk_1_1_mission_1_1_progress_data.md)
+  * [struct ProgressDataOrMission](structmavsdk_1_1_mission_1_1_progress_data_or_mission.md)
+* [class MissionRaw](classmavsdk_1_1_mission_raw.md)
+  * [struct MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md)
+  * [struct MissionProgress](structmavsdk_1_1_mission_raw_1_1_mission_progress.md)
+* [class MissionRawServer](classmavsdk_1_1_mission_raw_server.md)
+  * [struct MissionItem](structmavsdk_1_1_mission_raw_server_1_1_mission_item.md)
+  * [struct MissionPlan](structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md)
+  * [struct MissionProgress](structmavsdk_1_1_mission_raw_server_1_1_mission_progress.md)
+* [class Mocap](classmavsdk_1_1_mocap.md)
+  * [struct AngleBody](structmavsdk_1_1_mocap_1_1_angle_body.md)
+  * [struct AngularVelocityBody](structmavsdk_1_1_mocap_1_1_angular_velocity_body.md)
+  * [struct AttitudePositionMocap](structmavsdk_1_1_mocap_1_1_attitude_position_mocap.md)
+  * [struct Covariance](structmavsdk_1_1_mocap_1_1_covariance.md)
+  * [struct Odometry](structmavsdk_1_1_mocap_1_1_odometry.md)
+  * [struct PositionBody](structmavsdk_1_1_mocap_1_1_position_body.md)
+  * [struct Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md)
+  * [struct SpeedBody](structmavsdk_1_1_mocap_1_1_speed_body.md)
+  * [struct VisionPositionEstimate](structmavsdk_1_1_mocap_1_1_vision_position_estimate.md)
+* [class Offboard](classmavsdk_1_1_offboard.md)
+  * [struct ActuatorControl](structmavsdk_1_1_offboard_1_1_actuator_control.md)
+  * [struct ActuatorControlGroup](structmavsdk_1_1_offboard_1_1_actuator_control_group.md)
+  * [struct Attitude](structmavsdk_1_1_offboard_1_1_attitude.md)
+  * [struct AttitudeRate](structmavsdk_1_1_offboard_1_1_attitude_rate.md)
+  * [struct VelocityBodyYawspeed](structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed.md)
+  * [struct VelocityNedYaw](structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md)
+  * [struct PositionNedYaw](structmavsdk_1_1_offboard_1_1_position_ned_yaw.md)
+  * [struct PositionGlobalYaw](structmavsdk_1_1_offboard_1_1_position_global_yaw.md)
+* [class Param](classmavsdk_1_1_param.md)
+  * [struct AllParams](structmavsdk_1_1_param_1_1_all_params.md)
+  * [struct CustomParam](structmavsdk_1_1_param_1_1_custom_param.md)
+  * [struct FloatParam](structmavsdk_1_1_param_1_1_float_param.md)
+  * [struct IntParam](structmavsdk_1_1_param_1_1_int_param.md)
+* [class ParamServer](classmavsdk_1_1_param_server.md)
+  * [struct AllParams](structmavsdk_1_1_param_server_1_1_all_params.md)
+  * [struct CustomParam](structmavsdk_1_1_param_server_1_1_custom_param.md)
+  * [struct FloatParam](structmavsdk_1_1_param_server_1_1_float_param.md)
+  * [struct IntParam](structmavsdk_1_1_param_server_1_1_int_param.md)
+* [class Rtk](classmavsdk_1_1_rtk.md)
+  * [struct RtcmData](structmavsdk_1_1_rtk_1_1_rtcm_data.md)
+* [class ServerUtility](classmavsdk_1_1_server_utility.md)
+* [class Shell](classmavsdk_1_1_shell.md)
+* [class System](classmavsdk_1_1_system.md)
+  * [struct AutopilotVersion](structmavsdk_1_1_system_1_1_autopilot_version.md)
+* [class Telemetry](classmavsdk_1_1_telemetry.md)
+  * [struct AccelerationFrd](structmavsdk_1_1_telemetry_1_1_acceleration_frd.md)
+  * [struct ActuatorControlTarget](structmavsdk_1_1_telemetry_1_1_actuator_control_target.md)
+  * [struct ActuatorOutputStatus](structmavsdk_1_1_telemetry_1_1_actuator_output_status.md)
+  * [struct Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md)
+  * [struct AngularVelocityBody](structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md)
+  * [struct AngularVelocityNed](structmavsdk_1_1_telemetry_1_1_angular_velocity_frd.md)
+  * [struct Battery](structmavsdk_1_1_telemetry_1_1_battery.md)
+  * [struct Covariance](structmavsdk_1_1_telemetry_1_1_covariance.md)
+  * [struct DistanceSensor](structmavsdk_1_1_telemetry_1_1_distance_sensor.md)
+  * [struct EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md)
+  * [struct FixedwingMetrics](structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md)
+  * [struct GpsInfo](structmavsdk_1_1_telemetry_1_1_gps_info.md)
+  * [struct GpsGlobalOrigin](structmavsdk_1_1_telemetry_1_1_gps_global_origin.md)
+  * [struct GroundTruth](structmavsdk_1_1_telemetry_1_1_ground_truth.md)
+  * [struct Heading](structmavsdk_1_1_telemetry_1_1_heading.md)
+  * [struct Health](structmavsdk_1_1_telemetry_1_1_health.md)
+  * [struct Imu](structmavsdk_1_1_telemetry_1_1_imu.md)
+  * [struct MagneticFieldFrd](structmavsdk_1_1_telemetry_1_1_magnetic_field_frd.md)
+  * [struct Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md)
+  * [struct Position](structmavsdk_1_1_telemetry_1_1_position.md)
+  * [struct PositionBody](structmavsdk_1_1_telemetry_1_1_position_body.md)
+  * [struct PositionNed](structmavsdk_1_1_telemetry_1_1_position_ned.md)
+  * [struct VelocityNed](structmavsdk_1_1_telemetry_1_1_velocity_ned.md)
+  * [struct VelocityBody](structmavsdk_1_1_telemetry_1_1_velocity_body.md)
+  * [struct PositionVelocityNed](structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md)
+  * [struct Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md)
+  * [struct RawGps](structmavsdk_1_1_telemetry_1_1_raw_gps.md)
+  * [struct RcStatus](structmavsdk_1_1_telemetry_1_1_rc_status.md)
+  * [struct ScaledPressure](structmavsdk_1_1_telemetry_1_1_scaled_pressure.md)
+  * [struct StatusText](structmavsdk_1_1_telemetry_1_1_status_text.md)
+* [class TelemetryServer](classmavsdk_1_1_telemetry_server.md)
+  * [struct AccelerationFrd](structmavsdk_1_1_telemetry_server_1_1_acceleration_frd.md)
+  * [struct ActuatorControlTarget](structmavsdk_1_1_telemetry_server_1_1_actuator_control_target.md)
+  * [struct ActuatorOutputStatus](structmavsdk_1_1_telemetry_server_1_1_actuator_output_status.md)
+  * [struct AngularVelocityBody](structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body.md)
+  * [struct AngularVelocityFrd](structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd.md)
+  * [struct Battery](structmavsdk_1_1_telemetry_server_1_1_battery.md)
+  * [struct Covariance](structmavsdk_1_1_telemetry_server_1_1_covariance.md)
+  * [struct DistanceSensor](structmavsdk_1_1_telemetry_server_1_1_distance_sensor.md)
+  * [struct EulerAngle](structmavsdk_1_1_telemetry_server_1_1_euler_angle.md)
+  * [struct FixedwingMetrics](structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics.md)
+  * [struct GpsInfo](structmavsdk_1_1_telemetry_server_1_1_gps_info.md)
+  * [struct GroundTruth](structmavsdk_1_1_telemetry_server_1_1_ground_truth.md)
+  * [struct Heading](structmavsdk_1_1_telemetry_server_1_1_heading.md)
+  * [struct Imu](structmavsdk_1_1_telemetry_server_1_1_imu.md)
+  * [struct MagneticFieldFrd](structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd.md)
+  * [struct Odometry](structmavsdk_1_1_telemetry_server_1_1_odometry.md)
+  * [struct Position](structmavsdk_1_1_telemetry_server_1_1_position.md)
+  * [struct PositionBody](structmavsdk_1_1_telemetry_server_1_1_position_body.md)
+  * [struct PositionNed](structmavsdk_1_1_telemetry_server_1_1_position_ned.md)
+  * [struct PositionVelocityNed](structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned.md)
+  * [struct Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md)
+  * [struct RawGps](structmavsdk_1_1_telemetry_server_1_1_raw_gps.md)
+  * [struct RcStatus](structmavsdk_1_1_telemetry_server_1_1_rc_status.md)
+  * [struct ScaledPressure](structmavsdk_1_1_telemetry_server_1_1_scaled_pressure.md)
+  * [struct StatusText](structmavsdk_1_1_telemetry_server_1_1_status_text.md)
+  * [struct VelocityBody](structmavsdk_1_1_telemetry_server_1_1_velocity_body.md)
+  * [struct VelocityNed](structmavsdk_1_1_telemetry_server_1_1_velocity_ned.md)
+* [class TrackingServer](classmavsdk_1_1_tracking_server.md)
+  * [struct TrackPoint](structmavsdk_1_1_tracking_server_1_1_track_point.md)
+  * [struct TrackRectangle](structmavsdk_1_1_tracking_server_1_1_track_rectangle.md)
+* [class Transponder](classmavsdk_1_1_transponder.md)
+  * [struct AdsbVehicle](structmavsdk_1_1_transponder_1_1_adsb_vehicle.md)
+* [class Tune](classmavsdk_1_1_tune.md)
+  * [struct TuneDescription](structmavsdk_1_1_tune_1_1_tune_description.md)
+* [class Winch](classmavsdk_1_1_winch.md)
+  * [struct Status](en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status.md)
+  * [struct StatusFlags](en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status_flags.md)
+* [class PluginBase](classmavsdk_1_1_plugin_base.md)
+* [class Overloaded](structmavsdk_1_1overloaded.md)
+* [class CallbackList](classmavsdk_1_1_callback_list.md)
+* [class CallbackListImpl](classmavsdk_1_1_callback_list_impl.md)
+* [class Handle](classmavsdk_1_1_handle.md)
+* [class FakeHandle](classmavsdk_1_1_fake_handle.md)
+* [class ServerComponent](classmavsdk_1_1_server_component.md)
+* [class ServerPluginBase](classmavsdk_1_1_server_plugin_base.md)
+* [namespace mavsdk (globals)](namespacemavsdk.md)
+
diff --git a/docs/en/cpp/api_reference/namespacemavsdk.md b/docs/en/cpp/api_reference/namespacemavsdk.md
new file mode 100644
index 0000000000..5014f40ba0
--- /dev/null
+++ b/docs/en/cpp/api_reference/namespacemavsdk.md
@@ -0,0 +1,155 @@
+# mavsdk Namespace Reference
+
+----
+
+Namespace for all mavsdk types.
+
+
+## Data Structures
+
+* [mavsdk::CallbackListImpl](classmavsdk_1_1_callback_list_impl.md)
+* [mavsdk::CallbackList](classmavsdk_1_1_callback_list.md)
+* [mavsdk::FakeHandle](classmavsdk_1_1_fake_handle.md)
+* [mavsdk::Handle](classmavsdk_1_1_handle.md)
+* [mavsdk::Mavsdk](classmavsdk_1_1_mavsdk.md)
+* [mavsdk::overloaded](structmavsdk_1_1overloaded.md)
+* [mavsdk::PluginBase](classmavsdk_1_1_plugin_base.md)
+* [mavsdk::Action](classmavsdk_1_1_action.md)
+* [mavsdk::ActionServer](classmavsdk_1_1_action_server.md)
+* [mavsdk::Calibration](classmavsdk_1_1_calibration.md)
+* [mavsdk::Camera](classmavsdk_1_1_camera.md)
+* [mavsdk::CameraServer](classmavsdk_1_1_camera_server.md)
+* [mavsdk::ComponentInformation](classmavsdk_1_1_component_information.md)
+* [mavsdk::ComponentInformationServer](classmavsdk_1_1_component_information_server.md)
+* [mavsdk::Failure](classmavsdk_1_1_failure.md)
+* [mavsdk::FollowMe](classmavsdk_1_1_follow_me.md)
+* [mavsdk::Ftp](classmavsdk_1_1_ftp.md)
+* [mavsdk::FtpServer](classmavsdk_1_1_ftp_server.md)
+* [mavsdk::Geofence](classmavsdk_1_1_geofence.md)
+* [mavsdk::Gimbal](classmavsdk_1_1_gimbal.md)
+* [mavsdk::Gripper](classmavsdk_1_1_gripper.md)
+* [mavsdk::Info](classmavsdk_1_1_info.md)
+* [mavsdk::LogFiles](classmavsdk_1_1_log_files.md)
+* [mavsdk::ManualControl](classmavsdk_1_1_manual_control.md)
+* [mavsdk::MavlinkPassthrough](classmavsdk_1_1_mavlink_passthrough.md)
+* [mavsdk::Mission](classmavsdk_1_1_mission.md)
+* [mavsdk::MissionRaw](classmavsdk_1_1_mission_raw.md)
+* [mavsdk::MissionRawServer](classmavsdk_1_1_mission_raw_server.md)
+* [mavsdk::Mocap](classmavsdk_1_1_mocap.md)
+* [mavsdk::Offboard](classmavsdk_1_1_offboard.md)
+* [mavsdk::Param](classmavsdk_1_1_param.md)
+* [mavsdk::ParamServer](classmavsdk_1_1_param_server.md)
+* [mavsdk::Rtk](classmavsdk_1_1_rtk.md)
+* [mavsdk::ServerUtility](classmavsdk_1_1_server_utility.md)
+* [mavsdk::Shell](classmavsdk_1_1_shell.md)
+* [mavsdk::Telemetry](classmavsdk_1_1_telemetry.md)
+* [mavsdk::TelemetryServer](classmavsdk_1_1_telemetry_server.md)
+* [mavsdk::TrackingServer](classmavsdk_1_1_tracking_server.md)
+* [mavsdk::Transponder](classmavsdk_1_1_transponder.md)
+* [mavsdk::Tune](classmavsdk_1_1_tune.md)
+* [mavsdk::Winch](classmavsdk_1_1_winch.md)
+* [mavsdk::ServerComponent](classmavsdk_1_1_server_component.md)
+* [mavsdk::ServerPluginBase](classmavsdk_1_1_server_plugin_base.md)
+* [mavsdk::System](classmavsdk_1_1_system.md)
+
+## Enumerations
+
+Type | Description
+--- | ---
+enum [ConnectionResult](#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) | Result type returned when adding a connection.
+enum [ForwardingOption](#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) | ForwardingOption for Connection, used to set message forwarding option.
+
+## Functions
+
+Type | Name | Description
+--- | --- | ---
+std::ostream & | [operator<<](#namespacemavsdk_1a3307e6cbeb3dba8551dcde4b873691d3) (std::ostream & str, const [ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) & result) | Stream operator to print information about a `ConnectionResult`.
+&nbsp; | [overloaded](#namespacemavsdk_1a724e321aaff91eb2ba28279e0292e552) (Ts...)-> overloaded< Ts... > | Template deduction helper for `overloaded`
+
+## Enumeration Type Documentation
+
+
+### enum ConnectionResult {#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992}
+
+```
+#include: connection_result.h
+```
+
+
+Result type returned when adding a connection.
+
+**Note**: [Mavsdk](classmavsdk_1_1_mavsdk.md) does not throw exceptions. Instead a result of this type will be returned when you add a connection: add_udp_connection().
+
+Value | Description
+--- | ---
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Connection succeeded. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Connection timed out. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992ad4a2b05c3c61121e1ce151feb647a0c6"></span> `SocketError` | Socket error. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a0e4f8eb16eec43ffd4fa88d49195664a"></span> `BindError` | Bind error. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a0e6a105b658bcf46443616f4ca8f51ee"></span> `SocketConnectionError` | Socket connection error. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a997ca4ce119685f40f03a9a8a6c5346e"></span> `NotImplemented` | Connection type not implemented. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a581519b813a8e38c88e0aeb9edcf4535"></span> `SystemNotConnected` | No system is connected. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a1c18a1a383bcd5a039b68b3751ac6d71"></span> `SystemBusy` | System is busy. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a3398e12855176d55f43d53e04f472c8a"></span> `CommandDenied` | Command is denied. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a5a36b75b17476943413af4c3f5b75ce3"></span> `DestinationIpUnknown` | Connection IP is unknown. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a63e76f04ccb26b3da08fc20176c8577c"></span> `ConnectionsExhausted` | Connections exhausted. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a4ffb87ccb1fd17d4d54d882a06885f49"></span> `ConnectionUrlInvalid` | URL invalid. 
+<span id="namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992a94a6b3fbdd01834703b52a5493535b1d"></span> `BaudrateUnknown` | Baudrate unknown. 
+
+### enum ForwardingOption {#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9}
+
+```
+#include: mavsdk.h
+```
+
+
+ForwardingOption for Connection, used to set message forwarding option.
+
+
+Value | Description
+--- | ---
+<span id="namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9a67cc131236b099b681048d4812558fca"></span> `ForwardingOff` |  
+<span id="namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9ac07f34e9a31f4a26b48711122e89cdb8"></span> `ForwardingOn` |  
+
+## Function Documentation
+
+
+### operator<<() {#namespacemavsdk_1a3307e6cbeb3dba8551dcde4b873691d3}
+
+```
+#include: connection_result.h
+```
+```cpp
+std::ostream& mavsdk::operator<<(std::ostream &str, const ConnectionResult &result)
+```
+
+
+Stream operator to print information about a `ConnectionResult`.
+
+
+**Parameters**
+
+* std::ostream& **str** - 
+* const [ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992)& **result** - 
+
+**Returns**
+
+&emsp;std::ostream & - A reference to the stream.
+
+### overloaded() {#namespacemavsdk_1a724e321aaff91eb2ba28279e0292e552}
+
+```
+#include: plugin_base.h
+```
+```cpp
+mavsdk::overloaded(Ts...) -> overloaded< Ts... >
+```
+
+
+Template deduction helper for `overloaded`
+
+
+**Parameters**
+
+* Ts...  - 
\ No newline at end of file
diff --git a/docs/en/cpp/api_reference/struct_mavlink_address.md b/docs/en/cpp/api_reference/struct_mavlink_address.md
new file mode 100644
index 0000000000..1c23eb4113
--- /dev/null
+++ b/docs/en/cpp/api_reference/struct_mavlink_address.md
@@ -0,0 +1,39 @@
+# MavlinkAddress Struct Reference
+`#include: mavlink_address.h`
+
+----
+
+
+Struct to represent a MAVLink address. 
+
+
+## Data Fields
+
+
+uint8_t [system_id](#struct_mavlink_address_1ace50a41854b60452a8cb8fddd86348af)  - System ID, also called sysid.
+
+uint8_t [component_id](#struct_mavlink_address_1a666949f3b25592649b66a96bebf1d82b)  - Component ID, also called compid.
+
+
+## Field Documentation
+
+
+### system_id {#struct_mavlink_address_1ace50a41854b60452a8cb8fddd86348af}
+
+```cpp
+uint8_t MavlinkAddress::system_id
+```
+
+
+System ID, also called sysid.
+
+
+### component_id {#struct_mavlink_address_1a666949f3b25592649b66a96bebf1d82b}
+
+```cpp
+uint8_t MavlinkAddress::component_id
+```
+
+
+Component ID, also called compid.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_action_server_1_1_allowable_flight_modes.md b/docs/en/cpp/api_reference/structmavsdk_1_1_action_server_1_1_allowable_flight_modes.md
new file mode 100644
index 0000000000..abf88fff80
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_action_server_1_1_allowable_flight_modes.md
@@ -0,0 +1,51 @@
+# mavsdk::ActionServer::AllowableFlightModes Struct Reference
+`#include: action_server.h`
+
+----
+
+
+State to check if the vehicle can transition to respective flightmodes. 
+
+
+## Data Fields
+
+
+bool [can_auto_mode](#structmavsdk_1_1_action_server_1_1_allowable_flight_modes_1ac953fe1b15d9cb4fc127e16f989d34ab) {} - Auto/mission mode.
+
+bool [can_guided_mode](#structmavsdk_1_1_action_server_1_1_allowable_flight_modes_1a1887755bf34cba572c96fc44dc4cae3b) {} - Guided mode.
+
+bool [can_stabilize_mode](#structmavsdk_1_1_action_server_1_1_allowable_flight_modes_1a341661c5e1d018f3f4595f8cc9e67ed3) {} - Stabilize mode.
+
+
+## Field Documentation
+
+
+### can_auto_mode {#structmavsdk_1_1_action_server_1_1_allowable_flight_modes_1ac953fe1b15d9cb4fc127e16f989d34ab}
+
+```cpp
+bool mavsdk::ActionServer::AllowableFlightModes::can_auto_mode {}
+```
+
+
+Auto/mission mode.
+
+
+### can_guided_mode {#structmavsdk_1_1_action_server_1_1_allowable_flight_modes_1a1887755bf34cba572c96fc44dc4cae3b}
+
+```cpp
+bool mavsdk::ActionServer::AllowableFlightModes::can_guided_mode {}
+```
+
+
+Guided mode.
+
+
+### can_stabilize_mode {#structmavsdk_1_1_action_server_1_1_allowable_flight_modes_1a341661c5e1d018f3f4595f8cc9e67ed3}
+
+```cpp
+bool mavsdk::ActionServer::AllowableFlightModes::can_stabilize_mode {}
+```
+
+
+Stabilize mode.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_action_server_1_1_arm_disarm.md b/docs/en/cpp/api_reference/structmavsdk_1_1_action_server_1_1_arm_disarm.md
new file mode 100644
index 0000000000..609669e21d
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_action_server_1_1_arm_disarm.md
@@ -0,0 +1,39 @@
+# mavsdk::ActionServer::ArmDisarm Struct Reference
+`#include: action_server.h`
+
+----
+
+
+Arming message type. 
+
+
+## Data Fields
+
+
+bool [arm](#structmavsdk_1_1_action_server_1_1_arm_disarm_1acfcd754fb8389f43830cc64505a2bdf1) {} - Should vehicle arm.
+
+bool [force](#structmavsdk_1_1_action_server_1_1_arm_disarm_1af36cd34928194ab74904e053721886e5) {} - Should arm override pre-flight checks.
+
+
+## Field Documentation
+
+
+### arm {#structmavsdk_1_1_action_server_1_1_arm_disarm_1acfcd754fb8389f43830cc64505a2bdf1}
+
+```cpp
+bool mavsdk::ActionServer::ArmDisarm::arm {}
+```
+
+
+Should vehicle arm.
+
+
+### force {#structmavsdk_1_1_action_server_1_1_arm_disarm_1af36cd34928194ab74904e053721886e5}
+
+```cpp
+bool mavsdk::ActionServer::ArmDisarm::force {}
+```
+
+
+Should arm override pre-flight checks.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_calibration_1_1_progress_data.md b/docs/en/cpp/api_reference/structmavsdk_1_1_calibration_1_1_progress_data.md
new file mode 100644
index 0000000000..7f7046732c
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_calibration_1_1_progress_data.md
@@ -0,0 +1,66 @@
+# mavsdk::Calibration::ProgressData Struct Reference
+`#include: calibration.h`
+
+----
+
+
+Progress data coming from calibration. 
+
+
+Can be a progress percentage, or an instruction text. 
+
+
+## Data Fields
+
+
+bool [has_progress](#structmavsdk_1_1_calibration_1_1_progress_data_1a1b34241aba778eb9e1e67ae9f3404249) { false} - Whether this [ProgressData](structmavsdk_1_1_calibration_1_1_progress_data.md) contains a 'progress' status or not.
+
+float [progress](#structmavsdk_1_1_calibration_1_1_progress_data_1a573b314b1440961d593881f931aeca32) {float(NAN)} - Progress (percentage)
+
+bool [has_status_text](#structmavsdk_1_1_calibration_1_1_progress_data_1ac6780fbc4f8e8eaea3a2ccf6290a2c78) { false} - Whether this [ProgressData](structmavsdk_1_1_calibration_1_1_progress_data.md) contains a 'status_text' or not.
+
+std::string [status_text](#structmavsdk_1_1_calibration_1_1_progress_data_1a8fae64b0166ed65158d045b07ed9b48d) {} - Instruction text.
+
+
+## Field Documentation
+
+
+### has_progress {#structmavsdk_1_1_calibration_1_1_progress_data_1a1b34241aba778eb9e1e67ae9f3404249}
+
+```cpp
+bool mavsdk::Calibration::ProgressData::has_progress { false}
+```
+
+
+Whether this [ProgressData](structmavsdk_1_1_calibration_1_1_progress_data.md) contains a 'progress' status or not.
+
+
+### progress {#structmavsdk_1_1_calibration_1_1_progress_data_1a573b314b1440961d593881f931aeca32}
+
+```cpp
+float mavsdk::Calibration::ProgressData::progress {float(NAN)}
+```
+
+
+Progress (percentage)
+
+
+### has_status_text {#structmavsdk_1_1_calibration_1_1_progress_data_1ac6780fbc4f8e8eaea3a2ccf6290a2c78}
+
+```cpp
+bool mavsdk::Calibration::ProgressData::has_status_text { false}
+```
+
+
+Whether this [ProgressData](structmavsdk_1_1_calibration_1_1_progress_data.md) contains a 'status_text' or not.
+
+
+### status_text {#structmavsdk_1_1_calibration_1_1_progress_data_1a8fae64b0166ed65158d045b07ed9b48d}
+
+```cpp
+std::string mavsdk::Calibration::ProgressData::status_text {}
+```
+
+
+Instruction text.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_capture_info.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_capture_info.md
new file mode 100644
index 0000000000..f9da429364
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_capture_info.md
@@ -0,0 +1,99 @@
+# mavsdk::Camera::CaptureInfo Struct Reference
+`#include: camera.h`
+
+----
+
+
+[Information](structmavsdk_1_1_camera_1_1_information.md) about a picture just captured. 
+
+
+## Data Fields
+
+
+[Position](structmavsdk_1_1_camera_1_1_position.md) [position](#structmavsdk_1_1_camera_1_1_capture_info_1a570779eaff94d3cf3c1a160938096d0f) {} - Location where the picture was taken.
+
+[Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md) [attitude_quaternion](#structmavsdk_1_1_camera_1_1_capture_info_1add20201828d0e0a82a6ee6366022abc4) {} - Attitude of the camera when the picture was taken (quaternion)
+
+[EulerAngle](structmavsdk_1_1_camera_1_1_euler_angle.md) [attitude_euler_angle](#structmavsdk_1_1_camera_1_1_capture_info_1a6265295864a8f4e7081a34edb070a531) {} - Attitude of the camera when the picture was taken (euler angle)
+
+uint64_t [time_utc_us](#structmavsdk_1_1_camera_1_1_capture_info_1ad0e92389ab305025ce3cebe0e35d0b51) {} - Timestamp in UTC (since UNIX epoch) in microseconds.
+
+bool [is_success](#structmavsdk_1_1_camera_1_1_capture_info_1a654b17853337aaa3e46b9e70394642d0) {} - True if the capture was successful.
+
+int32_t [index](#structmavsdk_1_1_camera_1_1_capture_info_1ad8d31a8640a824a6e8c449a49bdd4f82) {} - Zero-based index of this image since vehicle was armed.
+
+std::string [file_url](#structmavsdk_1_1_camera_1_1_capture_info_1a6fa362c6a13fe4fafe40d8cb5043407f) {} - Download URL of this image.
+
+
+## Field Documentation
+
+
+### position {#structmavsdk_1_1_camera_1_1_capture_info_1a570779eaff94d3cf3c1a160938096d0f}
+
+```cpp
+Position mavsdk::Camera::CaptureInfo::position {}
+```
+
+
+Location where the picture was taken.
+
+
+### attitude_quaternion {#structmavsdk_1_1_camera_1_1_capture_info_1add20201828d0e0a82a6ee6366022abc4}
+
+```cpp
+Quaternion mavsdk::Camera::CaptureInfo::attitude_quaternion {}
+```
+
+
+Attitude of the camera when the picture was taken (quaternion)
+
+
+### attitude_euler_angle {#structmavsdk_1_1_camera_1_1_capture_info_1a6265295864a8f4e7081a34edb070a531}
+
+```cpp
+EulerAngle mavsdk::Camera::CaptureInfo::attitude_euler_angle {}
+```
+
+
+Attitude of the camera when the picture was taken (euler angle)
+
+
+### time_utc_us {#structmavsdk_1_1_camera_1_1_capture_info_1ad0e92389ab305025ce3cebe0e35d0b51}
+
+```cpp
+uint64_t mavsdk::Camera::CaptureInfo::time_utc_us {}
+```
+
+
+Timestamp in UTC (since UNIX epoch) in microseconds.
+
+
+### is_success {#structmavsdk_1_1_camera_1_1_capture_info_1a654b17853337aaa3e46b9e70394642d0}
+
+```cpp
+bool mavsdk::Camera::CaptureInfo::is_success {}
+```
+
+
+True if the capture was successful.
+
+
+### index {#structmavsdk_1_1_camera_1_1_capture_info_1ad8d31a8640a824a6e8c449a49bdd4f82}
+
+```cpp
+int32_t mavsdk::Camera::CaptureInfo::index {}
+```
+
+
+Zero-based index of this image since vehicle was armed.
+
+
+### file_url {#structmavsdk_1_1_camera_1_1_capture_info_1a6fa362c6a13fe4fafe40d8cb5043407f}
+
+```cpp
+std::string mavsdk::Camera::CaptureInfo::file_url {}
+```
+
+
+Download URL of this image.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_euler_angle.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_euler_angle.md
new file mode 100644
index 0000000000..04f036f31a
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_euler_angle.md
@@ -0,0 +1,57 @@
+# mavsdk::Camera::EulerAngle Struct Reference
+`#include: camera.h`
+
+----
+
+
+Euler angle type. 
+
+
+All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.
+
+
+For more info see [https://en.wikipedia.org/wiki/Euler_angles](https://en.wikipedia.org/wiki/Euler_angles) 
+
+
+## Data Fields
+
+
+float [roll_deg](#structmavsdk_1_1_camera_1_1_euler_angle_1aa63fe9f7e9c4346686d554f37d47a178) {} - Roll angle in degrees, positive is banking to the right.
+
+float [pitch_deg](#structmavsdk_1_1_camera_1_1_euler_angle_1a682e6baf3c8051afefec07d620b510f2) {} - Pitch angle in degrees, positive is pitching nose up.
+
+float [yaw_deg](#structmavsdk_1_1_camera_1_1_euler_angle_1ad828494c6937d685ab33e02c04f529dd) {} - Yaw angle in degrees, positive is clock-wise seen from above.
+
+
+## Field Documentation
+
+
+### roll_deg {#structmavsdk_1_1_camera_1_1_euler_angle_1aa63fe9f7e9c4346686d554f37d47a178}
+
+```cpp
+float mavsdk::Camera::EulerAngle::roll_deg {}
+```
+
+
+Roll angle in degrees, positive is banking to the right.
+
+
+### pitch_deg {#structmavsdk_1_1_camera_1_1_euler_angle_1a682e6baf3c8051afefec07d620b510f2}
+
+```cpp
+float mavsdk::Camera::EulerAngle::pitch_deg {}
+```
+
+
+Pitch angle in degrees, positive is pitching nose up.
+
+
+### yaw_deg {#structmavsdk_1_1_camera_1_1_euler_angle_1ad828494c6937d685ab33e02c04f529dd}
+
+```cpp
+float mavsdk::Camera::EulerAngle::yaw_deg {}
+```
+
+
+Yaw angle in degrees, positive is clock-wise seen from above.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_information.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_information.md
new file mode 100644
index 0000000000..4b130d37e8
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_information.md
@@ -0,0 +1,99 @@
+# mavsdk::Camera::Information Struct Reference
+`#include: camera.h`
+
+----
+
+
+Type to represent a camera information. 
+
+
+## Data Fields
+
+
+std::string [vendor_name](#structmavsdk_1_1_camera_1_1_information_1a54c399e4a570ff8a96b4cd4c01651834) {} - Name of the camera vendor.
+
+std::string [model_name](#structmavsdk_1_1_camera_1_1_information_1a500232dfe9359366211cd303cc702eaa) {} - Name of the camera model.
+
+float [focal_length_mm](#structmavsdk_1_1_camera_1_1_information_1aa7a80af4dd54cd006c8ea1a2c44a0f57) {} - Focal length.
+
+float [horizontal_sensor_size_mm](#structmavsdk_1_1_camera_1_1_information_1a0fcd78494ebf68c865f2ced9d203f48a) {} - Horizontal sensor size.
+
+float [vertical_sensor_size_mm](#structmavsdk_1_1_camera_1_1_information_1aa3014269144bc0708e78685b57fca538) {} - Vertical sensor size.
+
+uint32_t [horizontal_resolution_px](#structmavsdk_1_1_camera_1_1_information_1a6e6a611961c63c1862bbdb790cd46afa) {} - Horizontal image resolution in pixels.
+
+uint32_t [vertical_resolution_px](#structmavsdk_1_1_camera_1_1_information_1a2c1f6d69ccd1c0ae216f810fc75551b2) {} - Vertical image resolution in pixels.
+
+
+## Field Documentation
+
+
+### vendor_name {#structmavsdk_1_1_camera_1_1_information_1a54c399e4a570ff8a96b4cd4c01651834}
+
+```cpp
+std::string mavsdk::Camera::Information::vendor_name {}
+```
+
+
+Name of the camera vendor.
+
+
+### model_name {#structmavsdk_1_1_camera_1_1_information_1a500232dfe9359366211cd303cc702eaa}
+
+```cpp
+std::string mavsdk::Camera::Information::model_name {}
+```
+
+
+Name of the camera model.
+
+
+### focal_length_mm {#structmavsdk_1_1_camera_1_1_information_1aa7a80af4dd54cd006c8ea1a2c44a0f57}
+
+```cpp
+float mavsdk::Camera::Information::focal_length_mm {}
+```
+
+
+Focal length.
+
+
+### horizontal_sensor_size_mm {#structmavsdk_1_1_camera_1_1_information_1a0fcd78494ebf68c865f2ced9d203f48a}
+
+```cpp
+float mavsdk::Camera::Information::horizontal_sensor_size_mm {}
+```
+
+
+Horizontal sensor size.
+
+
+### vertical_sensor_size_mm {#structmavsdk_1_1_camera_1_1_information_1aa3014269144bc0708e78685b57fca538}
+
+```cpp
+float mavsdk::Camera::Information::vertical_sensor_size_mm {}
+```
+
+
+Vertical sensor size.
+
+
+### horizontal_resolution_px {#structmavsdk_1_1_camera_1_1_information_1a6e6a611961c63c1862bbdb790cd46afa}
+
+```cpp
+uint32_t mavsdk::Camera::Information::horizontal_resolution_px {}
+```
+
+
+Horizontal image resolution in pixels.
+
+
+### vertical_resolution_px {#structmavsdk_1_1_camera_1_1_information_1a2c1f6d69ccd1c0ae216f810fc75551b2}
+
+```cpp
+uint32_t mavsdk::Camera::Information::vertical_resolution_px {}
+```
+
+
+Vertical image resolution in pixels.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_option.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_option.md
new file mode 100644
index 0000000000..1c6493decc
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_option.md
@@ -0,0 +1,39 @@
+# mavsdk::Camera::Option Struct Reference
+`#include: camera.h`
+
+----
+
+
+Type to represent a setting option. 
+
+
+## Data Fields
+
+
+std::string [option_id](#structmavsdk_1_1_camera_1_1_option_1aaa7f93e9d89a0b16c319a6ca695bc2e7) {} - Name of the option (machine readable)
+
+std::string [option_description](#structmavsdk_1_1_camera_1_1_option_1a72fc01f628a19a44fb730964ad50459e) {} - Description of the option (human readable)
+
+
+## Field Documentation
+
+
+### option_id {#structmavsdk_1_1_camera_1_1_option_1aaa7f93e9d89a0b16c319a6ca695bc2e7}
+
+```cpp
+std::string mavsdk::Camera::Option::option_id {}
+```
+
+
+Name of the option (machine readable)
+
+
+### option_description {#structmavsdk_1_1_camera_1_1_option_1a72fc01f628a19a44fb730964ad50459e}
+
+```cpp
+std::string mavsdk::Camera::Option::option_description {}
+```
+
+
+Description of the option (human readable)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_position.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_position.md
new file mode 100644
index 0000000000..d8eb2f2134
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_position.md
@@ -0,0 +1,63 @@
+# mavsdk::Camera::Position Struct Reference
+`#include: camera.h`
+
+----
+
+
+[Position](structmavsdk_1_1_camera_1_1_position.md) type in global coordinates. 
+
+
+## Data Fields
+
+
+double [latitude_deg](#structmavsdk_1_1_camera_1_1_position_1a6f8941d78449d5228fa43fe8c1182317) {} - Latitude in degrees (range: -90 to +90)
+
+double [longitude_deg](#structmavsdk_1_1_camera_1_1_position_1a7b464ed04437649533787e1442400264) {} - Longitude in degrees (range: -180 to +180)
+
+float [absolute_altitude_m](#structmavsdk_1_1_camera_1_1_position_1a543460f2a6039e6be3a4dfe50fd3b2d0) {} - Altitude AMSL (above mean sea level) in metres.
+
+float [relative_altitude_m](#structmavsdk_1_1_camera_1_1_position_1a07b0b2baef1707c4a99eaa29cd3912dd) {} - Altitude relative to takeoff altitude in metres.
+
+
+## Field Documentation
+
+
+### latitude_deg {#structmavsdk_1_1_camera_1_1_position_1a6f8941d78449d5228fa43fe8c1182317}
+
+```cpp
+double mavsdk::Camera::Position::latitude_deg {}
+```
+
+
+Latitude in degrees (range: -90 to +90)
+
+
+### longitude_deg {#structmavsdk_1_1_camera_1_1_position_1a7b464ed04437649533787e1442400264}
+
+```cpp
+double mavsdk::Camera::Position::longitude_deg {}
+```
+
+
+Longitude in degrees (range: -180 to +180)
+
+
+### absolute_altitude_m {#structmavsdk_1_1_camera_1_1_position_1a543460f2a6039e6be3a4dfe50fd3b2d0}
+
+```cpp
+float mavsdk::Camera::Position::absolute_altitude_m {}
+```
+
+
+Altitude AMSL (above mean sea level) in metres.
+
+
+### relative_altitude_m {#structmavsdk_1_1_camera_1_1_position_1a07b0b2baef1707c4a99eaa29cd3912dd}
+
+```cpp
+float mavsdk::Camera::Position::relative_altitude_m {}
+```
+
+
+Altitude relative to takeoff altitude in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_quaternion.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_quaternion.md
new file mode 100644
index 0000000000..3054de1c8a
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_quaternion.md
@@ -0,0 +1,69 @@
+# mavsdk::Camera::Quaternion Struct Reference
+`#include: camera.h`
+
+----
+
+
+[Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md) type. 
+
+
+All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.
+
+
+For more info see: [https://en.wikipedia.org/wiki/Quaternion](https://en.wikipedia.org/wiki/Quaternion) 
+
+
+## Data Fields
+
+
+float [w](#structmavsdk_1_1_camera_1_1_quaternion_1a1521eb9ca360cd59714a6dd0a38e8c74) {} - [Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md) entry 0, also denoted as a.
+
+float [x](#structmavsdk_1_1_camera_1_1_quaternion_1a1a8f92a67b3b55313dce82c214b66a86) {} - [Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md) entry 1, also denoted as b.
+
+float [y](#structmavsdk_1_1_camera_1_1_quaternion_1ab6e0c3eb312bc4f1c111b9f63ec41b79) {} - [Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md) entry 2, also denoted as c.
+
+float [z](#structmavsdk_1_1_camera_1_1_quaternion_1a03afdb3eed56e43d51d183f5d087d552) {} - [Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md) entry 3, also denoted as d.
+
+
+## Field Documentation
+
+
+### w {#structmavsdk_1_1_camera_1_1_quaternion_1a1521eb9ca360cd59714a6dd0a38e8c74}
+
+```cpp
+float mavsdk::Camera::Quaternion::w {}
+```
+
+
+[Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md) entry 0, also denoted as a.
+
+
+### x {#structmavsdk_1_1_camera_1_1_quaternion_1a1a8f92a67b3b55313dce82c214b66a86}
+
+```cpp
+float mavsdk::Camera::Quaternion::x {}
+```
+
+
+[Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md) entry 1, also denoted as b.
+
+
+### y {#structmavsdk_1_1_camera_1_1_quaternion_1ab6e0c3eb312bc4f1c111b9f63ec41b79}
+
+```cpp
+float mavsdk::Camera::Quaternion::y {}
+```
+
+
+[Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md) entry 2, also denoted as c.
+
+
+### z {#structmavsdk_1_1_camera_1_1_quaternion_1a03afdb3eed56e43d51d183f5d087d552}
+
+```cpp
+float mavsdk::Camera::Quaternion::z {}
+```
+
+
+[Quaternion](structmavsdk_1_1_camera_1_1_quaternion.md) entry 3, also denoted as d.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_setting.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_setting.md
new file mode 100644
index 0000000000..3519a71802
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_setting.md
@@ -0,0 +1,63 @@
+# mavsdk::Camera::Setting Struct Reference
+`#include: camera.h`
+
+----
+
+
+Type to represent a setting with a selected option. 
+
+
+## Data Fields
+
+
+std::string [setting_id](#structmavsdk_1_1_camera_1_1_setting_1a8dcb34e9a21bc0c72a38ff918d7d9efa) {} - Name of a setting (machine readable)
+
+std::string [setting_description](#structmavsdk_1_1_camera_1_1_setting_1a6a86a6d058b991d6df42b881315ace6c) {} - Description of the setting (human readable). This field is meant to be read from the drone, ignore it when setting.
+
+[Option](structmavsdk_1_1_camera_1_1_option.md) [option](#structmavsdk_1_1_camera_1_1_setting_1a7ae3fde46fe0446a52563e521ea3d3e7) {} - Selected option.
+
+bool [is_range](#structmavsdk_1_1_camera_1_1_setting_1ac11ee3ca5ed15460b27409a9d516a759) {} - If option is given as a range. This field is meant to be read from the drone, ignore it when setting.
+
+
+## Field Documentation
+
+
+### setting_id {#structmavsdk_1_1_camera_1_1_setting_1a8dcb34e9a21bc0c72a38ff918d7d9efa}
+
+```cpp
+std::string mavsdk::Camera::Setting::setting_id {}
+```
+
+
+Name of a setting (machine readable)
+
+
+### setting_description {#structmavsdk_1_1_camera_1_1_setting_1a6a86a6d058b991d6df42b881315ace6c}
+
+```cpp
+std::string mavsdk::Camera::Setting::setting_description {}
+```
+
+
+Description of the setting (human readable). This field is meant to be read from the drone, ignore it when setting.
+
+
+### option {#structmavsdk_1_1_camera_1_1_setting_1a7ae3fde46fe0446a52563e521ea3d3e7}
+
+```cpp
+Option mavsdk::Camera::Setting::option {}
+```
+
+
+Selected option.
+
+
+### is_range {#structmavsdk_1_1_camera_1_1_setting_1ac11ee3ca5ed15460b27409a9d516a759}
+
+```cpp
+bool mavsdk::Camera::Setting::is_range {}
+```
+
+
+If option is given as a range. This field is meant to be read from the drone, ignore it when setting.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_setting_options.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_setting_options.md
new file mode 100644
index 0000000000..c2f72a90d2
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_setting_options.md
@@ -0,0 +1,63 @@
+# mavsdk::Camera::SettingOptions Struct Reference
+`#include: camera.h`
+
+----
+
+
+Type to represent a setting with a list of options to choose from. 
+
+
+## Data Fields
+
+
+std::string [setting_id](#structmavsdk_1_1_camera_1_1_setting_options_1aca647af6e140ee78b41d85565d673f14) {} - Name of the setting (machine readable)
+
+std::string [setting_description](#structmavsdk_1_1_camera_1_1_setting_options_1a8902e7f9dfc25ee9c8363cf5f4775b92) {} - Description of the setting (human readable)
+
+std::vector< [Option](structmavsdk_1_1_camera_1_1_option.md) > [options](#structmavsdk_1_1_camera_1_1_setting_options_1a06b292df50c638625ef942b1a19917c3) {} - List of options or if range [min, max] or [min, max, interval].
+
+bool [is_range](#structmavsdk_1_1_camera_1_1_setting_options_1af6459fc1e354ec95f67f07248242a3b7) {} - If option is given as a range.
+
+
+## Field Documentation
+
+
+### setting_id {#structmavsdk_1_1_camera_1_1_setting_options_1aca647af6e140ee78b41d85565d673f14}
+
+```cpp
+std::string mavsdk::Camera::SettingOptions::setting_id {}
+```
+
+
+Name of the setting (machine readable)
+
+
+### setting_description {#structmavsdk_1_1_camera_1_1_setting_options_1a8902e7f9dfc25ee9c8363cf5f4775b92}
+
+```cpp
+std::string mavsdk::Camera::SettingOptions::setting_description {}
+```
+
+
+Description of the setting (human readable)
+
+
+### options {#structmavsdk_1_1_camera_1_1_setting_options_1a06b292df50c638625ef942b1a19917c3}
+
+```cpp
+std::vector<Option> mavsdk::Camera::SettingOptions::options {}
+```
+
+
+List of options or if range [min, max] or [min, max, interval].
+
+
+### is_range {#structmavsdk_1_1_camera_1_1_setting_options_1af6459fc1e354ec95f67f07248242a3b7}
+
+```cpp
+bool mavsdk::Camera::SettingOptions::is_range {}
+```
+
+
+If option is given as a range.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_status.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_status.md
new file mode 100644
index 0000000000..17355af0e0
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_status.md
@@ -0,0 +1,174 @@
+# mavsdk::Camera::Status Struct Reference
+`#include: camera.h`
+
+----
+
+
+[Information](structmavsdk_1_1_camera_1_1_information.md) about the camera status. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [StorageStatus](#structmavsdk_1_1_camera_1_1_status_1ae4e4a1e5622e75cce5813ffdf2ffcc52) | Storage status type.
+enum [StorageType](#structmavsdk_1_1_camera_1_1_status_1a2e4c017d9eb4449a1695269a401648fb) | Storage type.
+
+## Data Fields
+
+
+bool [video_on](#structmavsdk_1_1_camera_1_1_status_1a08db484755b36139b96d7a53620480c3) {} - Whether video recording is currently in process.
+
+bool [photo_interval_on](#structmavsdk_1_1_camera_1_1_status_1aa04f9bf95629beb73edc605ff6d0a244) {} - Whether a photo interval is currently in process.
+
+float [used_storage_mib](#structmavsdk_1_1_camera_1_1_status_1a235ad5628e6aac6f9e9614c29b3a86d9) {} - Used storage (in MiB)
+
+float [available_storage_mib](#structmavsdk_1_1_camera_1_1_status_1a41a3988f991a338a46d90df698358dd1) {} - Available storage (in MiB)
+
+float [total_storage_mib](#structmavsdk_1_1_camera_1_1_status_1a9ddfe7a46bc22616553bec58c6b6ecc1) {} - Total storage (in MiB)
+
+float [recording_time_s](#structmavsdk_1_1_camera_1_1_status_1a0c721ba431bb2708bc87f96c043a1a5d) {} - Elapsed time since starting the video recording (in seconds)
+
+std::string [media_folder_name](#structmavsdk_1_1_camera_1_1_status_1a37ed53027e526dececc6b06c2db1cddc) {} - Current folder name where media are saved.
+
+[StorageStatus](structmavsdk_1_1_camera_1_1_status.md#structmavsdk_1_1_camera_1_1_status_1ae4e4a1e5622e75cce5813ffdf2ffcc52) [storage_status](#structmavsdk_1_1_camera_1_1_status_1a7a8e6d37bce3e2a97c9e71d5b6ea6536) {} - Storage status.
+
+uint32_t [storage_id](#structmavsdk_1_1_camera_1_1_status_1a2abcc09bd9f5b657698d56cb4bd6ef4c) {} - Storage ID starting at 1.
+
+[StorageType](structmavsdk_1_1_camera_1_1_status.md#structmavsdk_1_1_camera_1_1_status_1a2e4c017d9eb4449a1695269a401648fb) [storage_type](#structmavsdk_1_1_camera_1_1_status_1a92decb1a85b16d505bd17e71740c221a) {} - Storage type.
+
+
+## Member Enumeration Documentation
+
+
+### enum StorageStatus {#structmavsdk_1_1_camera_1_1_status_1ae4e4a1e5622e75cce5813ffdf2ffcc52}
+
+
+Storage status type.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_camera_1_1_status_1ae4e4a1e5622e75cce5813ffdf2ffcc52a534ceac854da4ba59c4dc41b7ab732dc"></span> `NotAvailable` | [Status](structmavsdk_1_1_camera_1_1_status.md) not available. 
+<span id="structmavsdk_1_1_camera_1_1_status_1ae4e4a1e5622e75cce5813ffdf2ffcc52acbe526fde94ab97f641ac0cb6d4b624b"></span> `Unformatted` | Storage is not formatted (i.e. has no recognized file system). 
+<span id="structmavsdk_1_1_camera_1_1_status_1ae4e4a1e5622e75cce5813ffdf2ffcc52a550ed376863f4dfb07120a0aa2d249db"></span> `Formatted` | Storage is formatted (i.e. has recognized a file system). 
+<span id="structmavsdk_1_1_camera_1_1_status_1ae4e4a1e5622e75cce5813ffdf2ffcc52a9ed2d871602556951e39f3cebd08d6cb"></span> `NotSupported` | Storage status is not supported. 
+
+### enum StorageType {#structmavsdk_1_1_camera_1_1_status_1a2e4c017d9eb4449a1695269a401648fb}
+
+
+Storage type.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_camera_1_1_status_1a2e4c017d9eb4449a1695269a401648fba88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Storage type unknown. 
+<span id="structmavsdk_1_1_camera_1_1_status_1a2e4c017d9eb4449a1695269a401648fbabde95cc0c5bed9c67d73515b8d5d7532"></span> `UsbStick` | Storage type USB stick. 
+<span id="structmavsdk_1_1_camera_1_1_status_1a2e4c017d9eb4449a1695269a401648fba05c89bdbbeeae48a6daccce0d05257fd"></span> `Sd` | Storage type SD card. 
+<span id="structmavsdk_1_1_camera_1_1_status_1a2e4c017d9eb4449a1695269a401648fbad837d75833970e2240058444912a5f9a"></span> `Microsd` | Storage type MicroSD card. 
+<span id="structmavsdk_1_1_camera_1_1_status_1a2e4c017d9eb4449a1695269a401648fba9bae1e7e6957fa30f9258d6b590d936a"></span> `Hd` | Storage type HD mass storage. 
+<span id="structmavsdk_1_1_camera_1_1_status_1a2e4c017d9eb4449a1695269a401648fba6311ae17c1ee52b36e68aaf4ad066387"></span> `Other` | Storage type other, not listed. 
+
+## Field Documentation
+
+
+### video_on {#structmavsdk_1_1_camera_1_1_status_1a08db484755b36139b96d7a53620480c3}
+
+```cpp
+bool mavsdk::Camera::Status::video_on {}
+```
+
+
+Whether video recording is currently in process.
+
+
+### photo_interval_on {#structmavsdk_1_1_camera_1_1_status_1aa04f9bf95629beb73edc605ff6d0a244}
+
+```cpp
+bool mavsdk::Camera::Status::photo_interval_on {}
+```
+
+
+Whether a photo interval is currently in process.
+
+
+### used_storage_mib {#structmavsdk_1_1_camera_1_1_status_1a235ad5628e6aac6f9e9614c29b3a86d9}
+
+```cpp
+float mavsdk::Camera::Status::used_storage_mib {}
+```
+
+
+Used storage (in MiB)
+
+
+### available_storage_mib {#structmavsdk_1_1_camera_1_1_status_1a41a3988f991a338a46d90df698358dd1}
+
+```cpp
+float mavsdk::Camera::Status::available_storage_mib {}
+```
+
+
+Available storage (in MiB)
+
+
+### total_storage_mib {#structmavsdk_1_1_camera_1_1_status_1a9ddfe7a46bc22616553bec58c6b6ecc1}
+
+```cpp
+float mavsdk::Camera::Status::total_storage_mib {}
+```
+
+
+Total storage (in MiB)
+
+
+### recording_time_s {#structmavsdk_1_1_camera_1_1_status_1a0c721ba431bb2708bc87f96c043a1a5d}
+
+```cpp
+float mavsdk::Camera::Status::recording_time_s {}
+```
+
+
+Elapsed time since starting the video recording (in seconds)
+
+
+### media_folder_name {#structmavsdk_1_1_camera_1_1_status_1a37ed53027e526dececc6b06c2db1cddc}
+
+```cpp
+std::string mavsdk::Camera::Status::media_folder_name {}
+```
+
+
+Current folder name where media are saved.
+
+
+### storage_status {#structmavsdk_1_1_camera_1_1_status_1a7a8e6d37bce3e2a97c9e71d5b6ea6536}
+
+```cpp
+StorageStatus mavsdk::Camera::Status::storage_status {}
+```
+
+
+Storage status.
+
+
+### storage_id {#structmavsdk_1_1_camera_1_1_status_1a2abcc09bd9f5b657698d56cb4bd6ef4c}
+
+```cpp
+uint32_t mavsdk::Camera::Status::storage_id {}
+```
+
+
+Storage ID starting at 1.
+
+
+### storage_type {#structmavsdk_1_1_camera_1_1_status_1a92decb1a85b16d505bd17e71740c221a}
+
+```cpp
+StorageType mavsdk::Camera::Status::storage_type {}
+```
+
+
+Storage type.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_info.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_info.md
new file mode 100644
index 0000000000..fe28e17725
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_info.md
@@ -0,0 +1,85 @@
+# mavsdk::Camera::VideoStreamInfo Struct Reference
+`#include: camera.h`
+
+----
+
+
+[Information](structmavsdk_1_1_camera_1_1_information.md) about the video stream. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [VideoStreamStatus](#structmavsdk_1_1_camera_1_1_video_stream_info_1a1750d70ce75b862be98164b67026d85c) | Video stream status type.
+enum [VideoStreamSpectrum](#structmavsdk_1_1_camera_1_1_video_stream_info_1a51a8994b04aae4b78b3ba3279344584f) | Video stream light spectrum type.
+
+## Data Fields
+
+
+[VideoStreamSettings](structmavsdk_1_1_camera_1_1_video_stream_settings.md) [settings](#structmavsdk_1_1_camera_1_1_video_stream_info_1a11d9b81db8dc7b666ff9cd37d3835ead) {} - Video stream settings.
+
+[VideoStreamStatus](structmavsdk_1_1_camera_1_1_video_stream_info.md#structmavsdk_1_1_camera_1_1_video_stream_info_1a1750d70ce75b862be98164b67026d85c) [status](#structmavsdk_1_1_camera_1_1_video_stream_info_1a08c5a2c0f4109d9a61a7e0b7edffde96) {} - Current status of video streaming.
+
+[VideoStreamSpectrum](structmavsdk_1_1_camera_1_1_video_stream_info.md#structmavsdk_1_1_camera_1_1_video_stream_info_1a51a8994b04aae4b78b3ba3279344584f) [spectrum](#structmavsdk_1_1_camera_1_1_video_stream_info_1acedc8becdc55b9893c38ef5da6de5bb4) {} - Light-spectrum of the video stream.
+
+
+## Member Enumeration Documentation
+
+
+### enum VideoStreamStatus {#structmavsdk_1_1_camera_1_1_video_stream_info_1a1750d70ce75b862be98164b67026d85c}
+
+
+Video stream status type.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_camera_1_1_video_stream_info_1a1750d70ce75b862be98164b67026d85cae457ff7a83d0a8681fa483f898788515"></span> `NotRunning` | Video stream is not running. 
+<span id="structmavsdk_1_1_camera_1_1_video_stream_info_1a1750d70ce75b862be98164b67026d85ca12d868c18cb29bf58f02b504be9033fd"></span> `InProgress` | Video stream is running. 
+
+### enum VideoStreamSpectrum {#structmavsdk_1_1_camera_1_1_video_stream_info_1a51a8994b04aae4b78b3ba3279344584f}
+
+
+Video stream light spectrum type.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_camera_1_1_video_stream_info_1a51a8994b04aae4b78b3ba3279344584fa88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown. 
+<span id="structmavsdk_1_1_camera_1_1_video_stream_info_1a51a8994b04aae4b78b3ba3279344584fa6bed35ab1d605887f9774a728d47a23a"></span> `VisibleLight` | Visible light. 
+<span id="structmavsdk_1_1_camera_1_1_video_stream_info_1a51a8994b04aae4b78b3ba3279344584fade1c318db60bc972858577273c2d1ddd"></span> `Infrared` | Infrared. 
+
+## Field Documentation
+
+
+### settings {#structmavsdk_1_1_camera_1_1_video_stream_info_1a11d9b81db8dc7b666ff9cd37d3835ead}
+
+```cpp
+VideoStreamSettings mavsdk::Camera::VideoStreamInfo::settings {}
+```
+
+
+Video stream settings.
+
+
+### status {#structmavsdk_1_1_camera_1_1_video_stream_info_1a08c5a2c0f4109d9a61a7e0b7edffde96}
+
+```cpp
+VideoStreamStatus mavsdk::Camera::VideoStreamInfo::status {}
+```
+
+
+Current status of video streaming.
+
+
+### spectrum {#structmavsdk_1_1_camera_1_1_video_stream_info_1acedc8becdc55b9893c38ef5da6de5bb4}
+
+```cpp
+VideoStreamSpectrum mavsdk::Camera::VideoStreamInfo::spectrum {}
+```
+
+
+Light-spectrum of the video stream.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_settings.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_settings.md
new file mode 100644
index 0000000000..b32b918ee3
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_1_1_video_stream_settings.md
@@ -0,0 +1,99 @@
+# mavsdk::Camera::VideoStreamSettings Struct Reference
+`#include: camera.h`
+
+----
+
+
+Type for video stream settings. 
+
+
+## Data Fields
+
+
+float [frame_rate_hz](#structmavsdk_1_1_camera_1_1_video_stream_settings_1ae638dd09c73fb7b375871c37eac54959) {} - Frames per second.
+
+uint32_t [horizontal_resolution_pix](#structmavsdk_1_1_camera_1_1_video_stream_settings_1a4e0d6c3ee9a7c9798a63cabd63f97daf) {} - Horizontal resolution (in pixels)
+
+uint32_t [vertical_resolution_pix](#structmavsdk_1_1_camera_1_1_video_stream_settings_1abaf114324d371b1adeec18cfa6cf243a) {} - Vertical resolution (in pixels)
+
+uint32_t [bit_rate_b_s](#structmavsdk_1_1_camera_1_1_video_stream_settings_1af32e3577263d4a94cdc92839e3074d42) {} - Bit rate (in bits per second)
+
+uint32_t [rotation_deg](#structmavsdk_1_1_camera_1_1_video_stream_settings_1ac96202a9dabb5699322986d526d48d0a) {} - Video image rotation (clockwise, 0-359 degrees)
+
+std::string [uri](#structmavsdk_1_1_camera_1_1_video_stream_settings_1add3b459a45527b64b21eaf64757d7bf2) {} - Video stream URI.
+
+float [horizontal_fov_deg](#structmavsdk_1_1_camera_1_1_video_stream_settings_1a8375b4e6ff5a44ff0af61b8997de2897) {} - Horizontal fov in degrees.
+
+
+## Field Documentation
+
+
+### frame_rate_hz {#structmavsdk_1_1_camera_1_1_video_stream_settings_1ae638dd09c73fb7b375871c37eac54959}
+
+```cpp
+float mavsdk::Camera::VideoStreamSettings::frame_rate_hz {}
+```
+
+
+Frames per second.
+
+
+### horizontal_resolution_pix {#structmavsdk_1_1_camera_1_1_video_stream_settings_1a4e0d6c3ee9a7c9798a63cabd63f97daf}
+
+```cpp
+uint32_t mavsdk::Camera::VideoStreamSettings::horizontal_resolution_pix {}
+```
+
+
+Horizontal resolution (in pixels)
+
+
+### vertical_resolution_pix {#structmavsdk_1_1_camera_1_1_video_stream_settings_1abaf114324d371b1adeec18cfa6cf243a}
+
+```cpp
+uint32_t mavsdk::Camera::VideoStreamSettings::vertical_resolution_pix {}
+```
+
+
+Vertical resolution (in pixels)
+
+
+### bit_rate_b_s {#structmavsdk_1_1_camera_1_1_video_stream_settings_1af32e3577263d4a94cdc92839e3074d42}
+
+```cpp
+uint32_t mavsdk::Camera::VideoStreamSettings::bit_rate_b_s {}
+```
+
+
+Bit rate (in bits per second)
+
+
+### rotation_deg {#structmavsdk_1_1_camera_1_1_video_stream_settings_1ac96202a9dabb5699322986d526d48d0a}
+
+```cpp
+uint32_t mavsdk::Camera::VideoStreamSettings::rotation_deg {}
+```
+
+
+Video image rotation (clockwise, 0-359 degrees)
+
+
+### uri {#structmavsdk_1_1_camera_1_1_video_stream_settings_1add3b459a45527b64b21eaf64757d7bf2}
+
+```cpp
+std::string mavsdk::Camera::VideoStreamSettings::uri {}
+```
+
+
+Video stream URI.
+
+
+### horizontal_fov_deg {#structmavsdk_1_1_camera_1_1_video_stream_settings_1a8375b4e6ff5a44ff0af61b8997de2897}
+
+```cpp
+float mavsdk::Camera::VideoStreamSettings::horizontal_fov_deg {}
+```
+
+
+Horizontal fov in degrees.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_info.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_info.md
new file mode 100644
index 0000000000..49cd945590
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_info.md
@@ -0,0 +1,87 @@
+# mavsdk::CameraServer::CaptureInfo Struct Reference
+`#include: camera_server.h`
+
+----
+
+
+[Information](structmavsdk_1_1_camera_server_1_1_information.md) about a picture just captured. 
+
+
+## Data Fields
+
+
+[Position](structmavsdk_1_1_camera_server_1_1_position.md) [position](#structmavsdk_1_1_camera_server_1_1_capture_info_1a102ac2967a54137616bd1f80275a39d2) {} - Location where the picture was taken.
+
+[Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md) [attitude_quaternion](#structmavsdk_1_1_camera_server_1_1_capture_info_1a4a94c6c925f09106212b4af3ba3bde97) {} - Attitude of the camera when the picture was taken (quaternion)
+
+uint64_t [time_utc_us](#structmavsdk_1_1_camera_server_1_1_capture_info_1afbc9b59d9f231ae420fd36c0a847f466) {} - Timestamp in UTC (since UNIX epoch) in microseconds.
+
+bool [is_success](#structmavsdk_1_1_camera_server_1_1_capture_info_1a5622147d5467314a0b1e30a28b097484) {} - True if the capture was successful.
+
+int32_t [index](#structmavsdk_1_1_camera_server_1_1_capture_info_1acd2187b662182cc5f9b5d8b5b56b2ac0) {} - Index from TakePhotoResponse.
+
+std::string [file_url](#structmavsdk_1_1_camera_server_1_1_capture_info_1aed11ca12c1a2458b9b9b43d49d9581e9) {} - Download URL of this image.
+
+
+## Field Documentation
+
+
+### position {#structmavsdk_1_1_camera_server_1_1_capture_info_1a102ac2967a54137616bd1f80275a39d2}
+
+```cpp
+Position mavsdk::CameraServer::CaptureInfo::position {}
+```
+
+
+Location where the picture was taken.
+
+
+### attitude_quaternion {#structmavsdk_1_1_camera_server_1_1_capture_info_1a4a94c6c925f09106212b4af3ba3bde97}
+
+```cpp
+Quaternion mavsdk::CameraServer::CaptureInfo::attitude_quaternion {}
+```
+
+
+Attitude of the camera when the picture was taken (quaternion)
+
+
+### time_utc_us {#structmavsdk_1_1_camera_server_1_1_capture_info_1afbc9b59d9f231ae420fd36c0a847f466}
+
+```cpp
+uint64_t mavsdk::CameraServer::CaptureInfo::time_utc_us {}
+```
+
+
+Timestamp in UTC (since UNIX epoch) in microseconds.
+
+
+### is_success {#structmavsdk_1_1_camera_server_1_1_capture_info_1a5622147d5467314a0b1e30a28b097484}
+
+```cpp
+bool mavsdk::CameraServer::CaptureInfo::is_success {}
+```
+
+
+True if the capture was successful.
+
+
+### index {#structmavsdk_1_1_camera_server_1_1_capture_info_1acd2187b662182cc5f9b5d8b5b56b2ac0}
+
+```cpp
+int32_t mavsdk::CameraServer::CaptureInfo::index {}
+```
+
+
+Index from TakePhotoResponse.
+
+
+### file_url {#structmavsdk_1_1_camera_server_1_1_capture_info_1aed11ca12c1a2458b9b9b43d49d9581e9}
+
+```cpp
+std::string mavsdk::CameraServer::CaptureInfo::file_url {}
+```
+
+
+Download URL of this image.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_status.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_status.md
new file mode 100644
index 0000000000..7696752605
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_capture_status.md
@@ -0,0 +1,113 @@
+# mavsdk::CameraServer::CaptureStatus Struct Reference
+`#include: UNKNOWN`
+
+----
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [ImageStatus](#structmavsdk_1_1_camera_server_1_1_capture_status_1ab9567d4fc7a19f6549f233684f2657cc) | 
+enum [VideoStatus](#structmavsdk_1_1_camera_server_1_1_capture_status_1aa5805c521b56d734ab6d78be2084397a) | 
+
+## Data Fields
+
+
+float [image_interval_s](#structmavsdk_1_1_camera_server_1_1_capture_status_1a89f9eb4eddb220da0c29f7da2452ab81) {} - Image capture interval (in s)
+
+float [recording_time_s](#structmavsdk_1_1_camera_server_1_1_capture_status_1afcbb06ba085b5c7d85779712301edfda) {} - Elapsed time since recording started (in s)
+
+float [available_capacity_mib](#structmavsdk_1_1_camera_server_1_1_capture_status_1a1c6911a20d88dfbfd7ec46c97a490ea3) {} - Available storage capacity. (in MiB)
+
+[ImageStatus](structmavsdk_1_1_camera_server_1_1_capture_status.md#structmavsdk_1_1_camera_server_1_1_capture_status_1ab9567d4fc7a19f6549f233684f2657cc) [image_status](#structmavsdk_1_1_camera_server_1_1_capture_status_1a89d5deb5ae03057ac7275ce4278e4db9) {} - Current status of image capturing.
+
+[VideoStatus](structmavsdk_1_1_camera_server_1_1_capture_status.md#structmavsdk_1_1_camera_server_1_1_capture_status_1aa5805c521b56d734ab6d78be2084397a) [video_status](#structmavsdk_1_1_camera_server_1_1_capture_status_1ac8317772ba04bb716f96c1227a1cd2d4) {} - Current status of video capturing.
+
+int32_t [image_count](#structmavsdk_1_1_camera_server_1_1_capture_status_1a64feb9833b8f6df4ff6858109112ebbe) {} - Total number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT)
+
+
+## Member Enumeration Documentation
+
+
+### enum ImageStatus {#structmavsdk_1_1_camera_server_1_1_capture_status_1ab9567d4fc7a19f6549f233684f2657cc}
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_camera_server_1_1_capture_status_1ab9567d4fc7a19f6549f233684f2657ccae599161956d626eda4cb0a5ffb85271c"></span> `Idle` | idle. 
+<span id="structmavsdk_1_1_camera_server_1_1_capture_status_1ab9567d4fc7a19f6549f233684f2657cca8c7d049850f3989c571a22b4275dc28a"></span> `CaptureInProgress` | capture in progress. 
+<span id="structmavsdk_1_1_camera_server_1_1_capture_status_1ab9567d4fc7a19f6549f233684f2657cca0e4a71d453c1c14e09154a3fa101ec50"></span> `IntervalIdle` | interval set but idle. 
+<span id="structmavsdk_1_1_camera_server_1_1_capture_status_1ab9567d4fc7a19f6549f233684f2657cca485df5a54846e4125c2e1ca9dc2f1f1b"></span> `IntervalInProgress` | interval set and capture in progress). 
+
+### enum VideoStatus {#structmavsdk_1_1_camera_server_1_1_capture_status_1aa5805c521b56d734ab6d78be2084397a}
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_camera_server_1_1_capture_status_1aa5805c521b56d734ab6d78be2084397aae599161956d626eda4cb0a5ffb85271c"></span> `Idle` | idle. 
+<span id="structmavsdk_1_1_camera_server_1_1_capture_status_1aa5805c521b56d734ab6d78be2084397aa8c7d049850f3989c571a22b4275dc28a"></span> `CaptureInProgress` | capture in progress. 
+
+## Field Documentation
+
+
+### image_interval_s {#structmavsdk_1_1_camera_server_1_1_capture_status_1a89f9eb4eddb220da0c29f7da2452ab81}
+
+```cpp
+float mavsdk::CameraServer::CaptureStatus::image_interval_s {}
+```
+
+
+Image capture interval (in s)
+
+
+### recording_time_s {#structmavsdk_1_1_camera_server_1_1_capture_status_1afcbb06ba085b5c7d85779712301edfda}
+
+```cpp
+float mavsdk::CameraServer::CaptureStatus::recording_time_s {}
+```
+
+
+Elapsed time since recording started (in s)
+
+
+### available_capacity_mib {#structmavsdk_1_1_camera_server_1_1_capture_status_1a1c6911a20d88dfbfd7ec46c97a490ea3}
+
+```cpp
+float mavsdk::CameraServer::CaptureStatus::available_capacity_mib {}
+```
+
+
+Available storage capacity. (in MiB)
+
+
+### image_status {#structmavsdk_1_1_camera_server_1_1_capture_status_1a89d5deb5ae03057ac7275ce4278e4db9}
+
+```cpp
+ImageStatus mavsdk::CameraServer::CaptureStatus::image_status {}
+```
+
+
+Current status of image capturing.
+
+
+### video_status {#structmavsdk_1_1_camera_server_1_1_capture_status_1ac8317772ba04bb716f96c1227a1cd2d4}
+
+```cpp
+VideoStatus mavsdk::CameraServer::CaptureStatus::video_status {}
+```
+
+
+Current status of video capturing.
+
+
+### image_count {#structmavsdk_1_1_camera_server_1_1_capture_status_1a64feb9833b8f6df4ff6858109112ebbe}
+
+```cpp
+int32_t mavsdk::CameraServer::CaptureStatus::image_count {}
+```
+
+
+Total number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_information.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_information.md
new file mode 100644
index 0000000000..608e520cec
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_information.md
@@ -0,0 +1,147 @@
+# mavsdk::CameraServer::Information Struct Reference
+`#include: camera_server.h`
+
+----
+
+
+Type to represent a camera information. 
+
+
+## Data Fields
+
+
+std::string [vendor_name](#structmavsdk_1_1_camera_server_1_1_information_1a3f9431423765da73f6bcb44be29a8f2f) {} - Name of the camera vendor.
+
+std::string [model_name](#structmavsdk_1_1_camera_server_1_1_information_1ae1a12277b6b6bbe7c0fc7bedda3d985e) {} - Name of the camera model.
+
+std::string [firmware_version](#structmavsdk_1_1_camera_server_1_1_information_1a90137fa1a2141eec7c9dd74833fde8c2) {} - [Camera](classmavsdk_1_1_camera.md) firmware version in major[.minor[.patch[.dev]]] format.
+
+float [focal_length_mm](#structmavsdk_1_1_camera_server_1_1_information_1ac645588029a9106ec6aacb50cf45da8e) {} - Focal length.
+
+float [horizontal_sensor_size_mm](#structmavsdk_1_1_camera_server_1_1_information_1ace5df86c5f6beb1bacb5713a21f80945) {} - Horizontal sensor size.
+
+float [vertical_sensor_size_mm](#structmavsdk_1_1_camera_server_1_1_information_1aac983c253d311928cd97b2c939468074) {} - Vertical sensor size.
+
+uint32_t [horizontal_resolution_px](#structmavsdk_1_1_camera_server_1_1_information_1a7975af21c8e492c9f0558886660e04d3) {} - Horizontal image resolution in pixels.
+
+uint32_t [vertical_resolution_px](#structmavsdk_1_1_camera_server_1_1_information_1ae83a311d8fd37a16868803f9b65e1656) {} - Vertical image resolution in pixels.
+
+uint32_t [lens_id](#structmavsdk_1_1_camera_server_1_1_information_1a59d0a7f30a748175399caf751745c5ac) {} - Lens ID.
+
+uint32_t [definition_file_version](#structmavsdk_1_1_camera_server_1_1_information_1ad26af2024edddb500d5e1e340afb114c) {} - [Camera](classmavsdk_1_1_camera.md) definition file version (iteration)
+
+std::string [definition_file_uri](#structmavsdk_1_1_camera_server_1_1_information_1ac45dbba688c93cafe5750fc352917797) {} - [Camera](classmavsdk_1_1_camera.md) definition URI (http or mavlink ftp)
+
+
+## Field Documentation
+
+
+### vendor_name {#structmavsdk_1_1_camera_server_1_1_information_1a3f9431423765da73f6bcb44be29a8f2f}
+
+```cpp
+std::string mavsdk::CameraServer::Information::vendor_name {}
+```
+
+
+Name of the camera vendor.
+
+
+### model_name {#structmavsdk_1_1_camera_server_1_1_information_1ae1a12277b6b6bbe7c0fc7bedda3d985e}
+
+```cpp
+std::string mavsdk::CameraServer::Information::model_name {}
+```
+
+
+Name of the camera model.
+
+
+### firmware_version {#structmavsdk_1_1_camera_server_1_1_information_1a90137fa1a2141eec7c9dd74833fde8c2}
+
+```cpp
+std::string mavsdk::CameraServer::Information::firmware_version {}
+```
+
+
+[Camera](classmavsdk_1_1_camera.md) firmware version in major[.minor[.patch[.dev]]] format.
+
+
+### focal_length_mm {#structmavsdk_1_1_camera_server_1_1_information_1ac645588029a9106ec6aacb50cf45da8e}
+
+```cpp
+float mavsdk::CameraServer::Information::focal_length_mm {}
+```
+
+
+Focal length.
+
+
+### horizontal_sensor_size_mm {#structmavsdk_1_1_camera_server_1_1_information_1ace5df86c5f6beb1bacb5713a21f80945}
+
+```cpp
+float mavsdk::CameraServer::Information::horizontal_sensor_size_mm {}
+```
+
+
+Horizontal sensor size.
+
+
+### vertical_sensor_size_mm {#structmavsdk_1_1_camera_server_1_1_information_1aac983c253d311928cd97b2c939468074}
+
+```cpp
+float mavsdk::CameraServer::Information::vertical_sensor_size_mm {}
+```
+
+
+Vertical sensor size.
+
+
+### horizontal_resolution_px {#structmavsdk_1_1_camera_server_1_1_information_1a7975af21c8e492c9f0558886660e04d3}
+
+```cpp
+uint32_t mavsdk::CameraServer::Information::horizontal_resolution_px {}
+```
+
+
+Horizontal image resolution in pixels.
+
+
+### vertical_resolution_px {#structmavsdk_1_1_camera_server_1_1_information_1ae83a311d8fd37a16868803f9b65e1656}
+
+```cpp
+uint32_t mavsdk::CameraServer::Information::vertical_resolution_px {}
+```
+
+
+Vertical image resolution in pixels.
+
+
+### lens_id {#structmavsdk_1_1_camera_server_1_1_information_1a59d0a7f30a748175399caf751745c5ac}
+
+```cpp
+uint32_t mavsdk::CameraServer::Information::lens_id {}
+```
+
+
+Lens ID.
+
+
+### definition_file_version {#structmavsdk_1_1_camera_server_1_1_information_1ad26af2024edddb500d5e1e340afb114c}
+
+```cpp
+uint32_t mavsdk::CameraServer::Information::definition_file_version {}
+```
+
+
+[Camera](classmavsdk_1_1_camera.md) definition file version (iteration)
+
+
+### definition_file_uri {#structmavsdk_1_1_camera_server_1_1_information_1ac45dbba688c93cafe5750fc352917797}
+
+```cpp
+std::string mavsdk::CameraServer::Information::definition_file_uri {}
+```
+
+
+[Camera](classmavsdk_1_1_camera.md) definition URI (http or mavlink ftp)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_position.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_position.md
new file mode 100644
index 0000000000..cb37e71c8b
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_position.md
@@ -0,0 +1,63 @@
+# mavsdk::CameraServer::Position Struct Reference
+`#include: camera_server.h`
+
+----
+
+
+[Position](structmavsdk_1_1_camera_server_1_1_position.md) type in global coordinates. 
+
+
+## Data Fields
+
+
+double [latitude_deg](#structmavsdk_1_1_camera_server_1_1_position_1a879741c938a78d8e6feceb820e070205) {} - Latitude in degrees (range: -90 to +90)
+
+double [longitude_deg](#structmavsdk_1_1_camera_server_1_1_position_1a88229f67ee10f7fc8afae89ff7bda666) {} - Longitude in degrees (range: -180 to +180)
+
+float [absolute_altitude_m](#structmavsdk_1_1_camera_server_1_1_position_1a105d7b07865698601d31c13f02447ed8) {} - Altitude AMSL (above mean sea level) in metres.
+
+float [relative_altitude_m](#structmavsdk_1_1_camera_server_1_1_position_1a1c512c78274de0d7ca7ce4f7ca46c507) {} - Altitude relative to takeoff altitude in metres.
+
+
+## Field Documentation
+
+
+### latitude_deg {#structmavsdk_1_1_camera_server_1_1_position_1a879741c938a78d8e6feceb820e070205}
+
+```cpp
+double mavsdk::CameraServer::Position::latitude_deg {}
+```
+
+
+Latitude in degrees (range: -90 to +90)
+
+
+### longitude_deg {#structmavsdk_1_1_camera_server_1_1_position_1a88229f67ee10f7fc8afae89ff7bda666}
+
+```cpp
+double mavsdk::CameraServer::Position::longitude_deg {}
+```
+
+
+Longitude in degrees (range: -180 to +180)
+
+
+### absolute_altitude_m {#structmavsdk_1_1_camera_server_1_1_position_1a105d7b07865698601d31c13f02447ed8}
+
+```cpp
+float mavsdk::CameraServer::Position::absolute_altitude_m {}
+```
+
+
+Altitude AMSL (above mean sea level) in metres.
+
+
+### relative_altitude_m {#structmavsdk_1_1_camera_server_1_1_position_1a1c512c78274de0d7ca7ce4f7ca46c507}
+
+```cpp
+float mavsdk::CameraServer::Position::relative_altitude_m {}
+```
+
+
+Altitude relative to takeoff altitude in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_quaternion.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_quaternion.md
new file mode 100644
index 0000000000..95b033c757
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_quaternion.md
@@ -0,0 +1,69 @@
+# mavsdk::CameraServer::Quaternion Struct Reference
+`#include: camera_server.h`
+
+----
+
+
+[Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md) type. 
+
+
+All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.
+
+
+For more info see: [https://en.wikipedia.org/wiki/Quaternion](https://en.wikipedia.org/wiki/Quaternion) 
+
+
+## Data Fields
+
+
+float [w](#structmavsdk_1_1_camera_server_1_1_quaternion_1a9d572e8f6e023c8dcdf414878efb16b5) {} - [Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md) entry 0, also denoted as a.
+
+float [x](#structmavsdk_1_1_camera_server_1_1_quaternion_1a274d3a1d653d4fc0ffbb8bbb2b62228b) {} - [Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md) entry 1, also denoted as b.
+
+float [y](#structmavsdk_1_1_camera_server_1_1_quaternion_1a98ccc87856dbd0d71a5ea4b6ed579ab6) {} - [Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md) entry 2, also denoted as c.
+
+float [z](#structmavsdk_1_1_camera_server_1_1_quaternion_1aea6424dd0a1043565f122d89ef02e070) {} - [Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md) entry 3, also denoted as d.
+
+
+## Field Documentation
+
+
+### w {#structmavsdk_1_1_camera_server_1_1_quaternion_1a9d572e8f6e023c8dcdf414878efb16b5}
+
+```cpp
+float mavsdk::CameraServer::Quaternion::w {}
+```
+
+
+[Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md) entry 0, also denoted as a.
+
+
+### x {#structmavsdk_1_1_camera_server_1_1_quaternion_1a274d3a1d653d4fc0ffbb8bbb2b62228b}
+
+```cpp
+float mavsdk::CameraServer::Quaternion::x {}
+```
+
+
+[Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md) entry 1, also denoted as b.
+
+
+### y {#structmavsdk_1_1_camera_server_1_1_quaternion_1a98ccc87856dbd0d71a5ea4b6ed579ab6}
+
+```cpp
+float mavsdk::CameraServer::Quaternion::y {}
+```
+
+
+[Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md) entry 2, also denoted as c.
+
+
+### z {#structmavsdk_1_1_camera_server_1_1_quaternion_1aea6424dd0a1043565f122d89ef02e070}
+
+```cpp
+float mavsdk::CameraServer::Quaternion::z {}
+```
+
+
+[Quaternion](structmavsdk_1_1_camera_server_1_1_quaternion.md) entry 3, also denoted as d.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_storage_information.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_storage_information.md
new file mode 100644
index 0000000000..23fcec1ef9
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_storage_information.md
@@ -0,0 +1,150 @@
+# mavsdk::CameraServer::StorageInformation Struct Reference
+`#include: camera_server.h`
+
+----
+
+
+[Information](structmavsdk_1_1_camera_server_1_1_information.md) about the camera storage. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [StorageStatus](#structmavsdk_1_1_camera_server_1_1_storage_information_1a82d24373786c582c377ac9671282910f) | Storage status type.
+enum [StorageType](#structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7) | Storage type.
+
+## Data Fields
+
+
+float [used_storage_mib](#structmavsdk_1_1_camera_server_1_1_storage_information_1a94040916ab463c2ddba0d68852ea382a) {} - Used storage (in MiB)
+
+float [available_storage_mib](#structmavsdk_1_1_camera_server_1_1_storage_information_1ae781ac7b52fa2c140f2633e13dacf4b2) {} - Available storage (in MiB)
+
+float [total_storage_mib](#structmavsdk_1_1_camera_server_1_1_storage_information_1a72aa03291a20f7985ab73f933348d8cc) {} - Total storage (in MiB)
+
+[StorageStatus](structmavsdk_1_1_camera_server_1_1_storage_information.md#structmavsdk_1_1_camera_server_1_1_storage_information_1a82d24373786c582c377ac9671282910f) [storage_status](#structmavsdk_1_1_camera_server_1_1_storage_information_1a78f55db7073e7d96c4a606b65c304f2a) {} - Storage status.
+
+uint32_t [storage_id](#structmavsdk_1_1_camera_server_1_1_storage_information_1a3ba45bcbdd1bfd6402d09ee82828e56d) {} - Storage ID starting at 1.
+
+[StorageType](structmavsdk_1_1_camera_server_1_1_storage_information.md#structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7) [storage_type](#structmavsdk_1_1_camera_server_1_1_storage_information_1a12f4d2dfa4429adebe0a38749f052794) {} - Storage type.
+
+float [read_speed_mib_s](#structmavsdk_1_1_camera_server_1_1_storage_information_1a8df6bf66e2d436c388cb834a1e5bbe98) {} - Read speed [MiB/s].
+
+float [write_speed_mib_s](#structmavsdk_1_1_camera_server_1_1_storage_information_1ac7aeae4770a810cd226cb05f4d6db982) {} - Write speed [MiB/s].
+
+
+## Member Enumeration Documentation
+
+
+### enum StorageStatus {#structmavsdk_1_1_camera_server_1_1_storage_information_1a82d24373786c582c377ac9671282910f}
+
+
+Storage status type.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_camera_server_1_1_storage_information_1a82d24373786c582c377ac9671282910fa534ceac854da4ba59c4dc41b7ab732dc"></span> `NotAvailable` | Storage not available. 
+<span id="structmavsdk_1_1_camera_server_1_1_storage_information_1a82d24373786c582c377ac9671282910facbe526fde94ab97f641ac0cb6d4b624b"></span> `Unformatted` | Storage is not formatted (i.e. has no recognized file system). 
+<span id="structmavsdk_1_1_camera_server_1_1_storage_information_1a82d24373786c582c377ac9671282910fa550ed376863f4dfb07120a0aa2d249db"></span> `Formatted` | Storage is formatted (i.e. has recognized a file system). 
+<span id="structmavsdk_1_1_camera_server_1_1_storage_information_1a82d24373786c582c377ac9671282910fa9ed2d871602556951e39f3cebd08d6cb"></span> `NotSupported` | Storage status is not supported. 
+
+### enum StorageType {#structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7}
+
+
+Storage type.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Storage type unknown. 
+<span id="structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7abde95cc0c5bed9c67d73515b8d5d7532"></span> `UsbStick` | Storage type USB stick. 
+<span id="structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7a05c89bdbbeeae48a6daccce0d05257fd"></span> `Sd` | Storage type SD card. 
+<span id="structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7ad837d75833970e2240058444912a5f9a"></span> `Microsd` | Storage type MicroSD card. 
+<span id="structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7a9bae1e7e6957fa30f9258d6b590d936a"></span> `Hd` | Storage type HD mass storage. 
+<span id="structmavsdk_1_1_camera_server_1_1_storage_information_1af3105ba56bf0475a5c9c0530270341d7a6311ae17c1ee52b36e68aaf4ad066387"></span> `Other` | Storage type other, not listed. 
+
+## Field Documentation
+
+
+### used_storage_mib {#structmavsdk_1_1_camera_server_1_1_storage_information_1a94040916ab463c2ddba0d68852ea382a}
+
+```cpp
+float mavsdk::CameraServer::StorageInformation::used_storage_mib {}
+```
+
+
+Used storage (in MiB)
+
+
+### available_storage_mib {#structmavsdk_1_1_camera_server_1_1_storage_information_1ae781ac7b52fa2c140f2633e13dacf4b2}
+
+```cpp
+float mavsdk::CameraServer::StorageInformation::available_storage_mib {}
+```
+
+
+Available storage (in MiB)
+
+
+### total_storage_mib {#structmavsdk_1_1_camera_server_1_1_storage_information_1a72aa03291a20f7985ab73f933348d8cc}
+
+```cpp
+float mavsdk::CameraServer::StorageInformation::total_storage_mib {}
+```
+
+
+Total storage (in MiB)
+
+
+### storage_status {#structmavsdk_1_1_camera_server_1_1_storage_information_1a78f55db7073e7d96c4a606b65c304f2a}
+
+```cpp
+StorageStatus mavsdk::CameraServer::StorageInformation::storage_status {}
+```
+
+
+Storage status.
+
+
+### storage_id {#structmavsdk_1_1_camera_server_1_1_storage_information_1a3ba45bcbdd1bfd6402d09ee82828e56d}
+
+```cpp
+uint32_t mavsdk::CameraServer::StorageInformation::storage_id {}
+```
+
+
+Storage ID starting at 1.
+
+
+### storage_type {#structmavsdk_1_1_camera_server_1_1_storage_information_1a12f4d2dfa4429adebe0a38749f052794}
+
+```cpp
+StorageType mavsdk::CameraServer::StorageInformation::storage_type {}
+```
+
+
+Storage type.
+
+
+### read_speed_mib_s {#structmavsdk_1_1_camera_server_1_1_storage_information_1a8df6bf66e2d436c388cb834a1e5bbe98}
+
+```cpp
+float mavsdk::CameraServer::StorageInformation::read_speed_mib_s {}
+```
+
+
+Read speed [MiB/s].
+
+
+### write_speed_mib_s {#structmavsdk_1_1_camera_server_1_1_storage_information_1ac7aeae4770a810cd226cb05f4d6db982}
+
+```cpp
+float mavsdk::CameraServer::StorageInformation::write_speed_mib_s {}
+```
+
+
+Write speed [MiB/s].
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_video_streaming.md b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_video_streaming.md
new file mode 100644
index 0000000000..a4edeb303b
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_camera_server_1_1_video_streaming.md
@@ -0,0 +1,39 @@
+# mavsdk::CameraServer::VideoStreaming Struct Reference
+`#include: camera_server.h`
+
+----
+
+
+Type to represent video streaming settings. 
+
+
+## Data Fields
+
+
+bool [has_rtsp_server](#structmavsdk_1_1_camera_server_1_1_video_streaming_1aae5b34470f3594cf7e46404d77dc8bee) {} - True if the capture was successful.
+
+std::string [rtsp_uri](#structmavsdk_1_1_camera_server_1_1_video_streaming_1a29a2555577945dc6d64de15772c4a8ab) {} - RTSP URI (e.g. rtsp://192.168.1.42:8554/live)
+
+
+## Field Documentation
+
+
+### has_rtsp_server {#structmavsdk_1_1_camera_server_1_1_video_streaming_1aae5b34470f3594cf7e46404d77dc8bee}
+
+```cpp
+bool mavsdk::CameraServer::VideoStreaming::has_rtsp_server {}
+```
+
+
+True if the capture was successful.
+
+
+### rtsp_uri {#structmavsdk_1_1_camera_server_1_1_video_streaming_1a29a2555577945dc6d64de15772c4a8ab}
+
+```cpp
+std::string mavsdk::CameraServer::VideoStreaming::rtsp_uri {}
+```
+
+
+RTSP URI (e.g. rtsp://192.168.1.42:8554/live)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param.md b/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param.md
new file mode 100644
index 0000000000..04b5b3b4cb
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param.md
@@ -0,0 +1,123 @@
+# mavsdk::ComponentInformation::FloatParam Struct Reference
+`#include: component_information.h`
+
+----
+
+
+Meta information for parameter of type float. 
+
+
+## Data Fields
+
+
+std::string [name](#structmavsdk_1_1_component_information_1_1_float_param_1a8b8f1dd37502456363a1ff037d32ecd4) {} - Name (max 16 chars)
+
+std::string [short_description](#structmavsdk_1_1_component_information_1_1_float_param_1a7d2d7a41d1905b324570fa14cbd52a92) {} - Short description.
+
+std::string [long_description](#structmavsdk_1_1_component_information_1_1_float_param_1a9233602a3d5cb0cba6801ec97d9e4b3a) {} - Long description.
+
+std::string [unit](#structmavsdk_1_1_component_information_1_1_float_param_1a3bcff75ef0055cfbed0ad033ffc7d1e1) {} - Unit.
+
+int32_t [decimal_places](#structmavsdk_1_1_component_information_1_1_float_param_1a396958944eb0b431c3322a6e312f6fe0) {} - Decimal places for user to show.
+
+float [start_value](#structmavsdk_1_1_component_information_1_1_float_param_1aee892485217a4612e997c3003b5ef8b2) {} - Current/starting value.
+
+float [default_value](#structmavsdk_1_1_component_information_1_1_float_param_1a96119f1c35c17cbb95147acb12711997) {} - Default value.
+
+float [min_value](#structmavsdk_1_1_component_information_1_1_float_param_1ad5186ad76bd538580ed25259b8b4c236) {} - Minimum value.
+
+float [max_value](#structmavsdk_1_1_component_information_1_1_float_param_1a302486bbc172fd4aaf67a9bd0c4de259) {} - Maximum value.
+
+
+## Field Documentation
+
+
+### name {#structmavsdk_1_1_component_information_1_1_float_param_1a8b8f1dd37502456363a1ff037d32ecd4}
+
+```cpp
+std::string mavsdk::ComponentInformation::FloatParam::name {}
+```
+
+
+Name (max 16 chars)
+
+
+### short_description {#structmavsdk_1_1_component_information_1_1_float_param_1a7d2d7a41d1905b324570fa14cbd52a92}
+
+```cpp
+std::string mavsdk::ComponentInformation::FloatParam::short_description {}
+```
+
+
+Short description.
+
+
+### long_description {#structmavsdk_1_1_component_information_1_1_float_param_1a9233602a3d5cb0cba6801ec97d9e4b3a}
+
+```cpp
+std::string mavsdk::ComponentInformation::FloatParam::long_description {}
+```
+
+
+Long description.
+
+
+### unit {#structmavsdk_1_1_component_information_1_1_float_param_1a3bcff75ef0055cfbed0ad033ffc7d1e1}
+
+```cpp
+std::string mavsdk::ComponentInformation::FloatParam::unit {}
+```
+
+
+Unit.
+
+
+### decimal_places {#structmavsdk_1_1_component_information_1_1_float_param_1a396958944eb0b431c3322a6e312f6fe0}
+
+```cpp
+int32_t mavsdk::ComponentInformation::FloatParam::decimal_places {}
+```
+
+
+Decimal places for user to show.
+
+
+### start_value {#structmavsdk_1_1_component_information_1_1_float_param_1aee892485217a4612e997c3003b5ef8b2}
+
+```cpp
+float mavsdk::ComponentInformation::FloatParam::start_value {}
+```
+
+
+Current/starting value.
+
+
+### default_value {#structmavsdk_1_1_component_information_1_1_float_param_1a96119f1c35c17cbb95147acb12711997}
+
+```cpp
+float mavsdk::ComponentInformation::FloatParam::default_value {}
+```
+
+
+Default value.
+
+
+### min_value {#structmavsdk_1_1_component_information_1_1_float_param_1ad5186ad76bd538580ed25259b8b4c236}
+
+```cpp
+float mavsdk::ComponentInformation::FloatParam::min_value {}
+```
+
+
+Minimum value.
+
+
+### max_value {#structmavsdk_1_1_component_information_1_1_float_param_1a302486bbc172fd4aaf67a9bd0c4de259}
+
+```cpp
+float mavsdk::ComponentInformation::FloatParam::max_value {}
+```
+
+
+Maximum value.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param_update.md b/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param_update.md
new file mode 100644
index 0000000000..cde15f23dd
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_1_1_float_param_update.md
@@ -0,0 +1,39 @@
+# mavsdk::ComponentInformation::FloatParamUpdate Struct Reference
+`#include: component_information.h`
+
+----
+
+
+A float param that has been updated. 
+
+
+## Data Fields
+
+
+std::string [name](#structmavsdk_1_1_component_information_1_1_float_param_update_1ac4bb31341e4a4edd2072dd169cbd0412) {} - Name of param that changed.
+
+float [value](#structmavsdk_1_1_component_information_1_1_float_param_update_1aa764f57cf3dafdaf959abdf83b973709) {} - New value of param.
+
+
+## Field Documentation
+
+
+### name {#structmavsdk_1_1_component_information_1_1_float_param_update_1ac4bb31341e4a4edd2072dd169cbd0412}
+
+```cpp
+std::string mavsdk::ComponentInformation::FloatParamUpdate::name {}
+```
+
+
+Name of param that changed.
+
+
+### value {#structmavsdk_1_1_component_information_1_1_float_param_update_1aa764f57cf3dafdaf959abdf83b973709}
+
+```cpp
+float mavsdk::ComponentInformation::FloatParamUpdate::value {}
+```
+
+
+New value of param.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param.md b/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param.md
new file mode 100644
index 0000000000..78f0b1d98b
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param.md
@@ -0,0 +1,123 @@
+# mavsdk::ComponentInformationServer::FloatParam Struct Reference
+`#include: component_information_server.h`
+
+----
+
+
+Meta information for parameter of type float. 
+
+
+## Data Fields
+
+
+std::string [name](#structmavsdk_1_1_component_information_server_1_1_float_param_1a926dc62a3f6e70cb5cd7d766decefb80) {} - Name (max 16 chars)
+
+std::string [short_description](#structmavsdk_1_1_component_information_server_1_1_float_param_1af16e9d8b079cbe927c6db3197c1ca919) {} - Short description.
+
+std::string [long_description](#structmavsdk_1_1_component_information_server_1_1_float_param_1a979c36646ee823b0668ff6e0a3aa0d9b) {} - Long description.
+
+std::string [unit](#structmavsdk_1_1_component_information_server_1_1_float_param_1ae67230a5438cf60eca03fe94b554f12d) {} - Unit.
+
+int32_t [decimal_places](#structmavsdk_1_1_component_information_server_1_1_float_param_1aaca5f5795fef5737a2b7b5f120647329) {} - Decimal places for user to show.
+
+float [start_value](#structmavsdk_1_1_component_information_server_1_1_float_param_1ad511a434c255184c245e01249fb389d0) {} - Current/starting value.
+
+float [default_value](#structmavsdk_1_1_component_information_server_1_1_float_param_1a54937cafca787f7a441d839def64ee65) {} - Default value.
+
+float [min_value](#structmavsdk_1_1_component_information_server_1_1_float_param_1a78b075ab7e63547c730620ed23226c71) {} - Minimum value.
+
+float [max_value](#structmavsdk_1_1_component_information_server_1_1_float_param_1af60f9ed1a1b489c695d6604bbe5fee8f) {} - Maximum value.
+
+
+## Field Documentation
+
+
+### name {#structmavsdk_1_1_component_information_server_1_1_float_param_1a926dc62a3f6e70cb5cd7d766decefb80}
+
+```cpp
+std::string mavsdk::ComponentInformationServer::FloatParam::name {}
+```
+
+
+Name (max 16 chars)
+
+
+### short_description {#structmavsdk_1_1_component_information_server_1_1_float_param_1af16e9d8b079cbe927c6db3197c1ca919}
+
+```cpp
+std::string mavsdk::ComponentInformationServer::FloatParam::short_description {}
+```
+
+
+Short description.
+
+
+### long_description {#structmavsdk_1_1_component_information_server_1_1_float_param_1a979c36646ee823b0668ff6e0a3aa0d9b}
+
+```cpp
+std::string mavsdk::ComponentInformationServer::FloatParam::long_description {}
+```
+
+
+Long description.
+
+
+### unit {#structmavsdk_1_1_component_information_server_1_1_float_param_1ae67230a5438cf60eca03fe94b554f12d}
+
+```cpp
+std::string mavsdk::ComponentInformationServer::FloatParam::unit {}
+```
+
+
+Unit.
+
+
+### decimal_places {#structmavsdk_1_1_component_information_server_1_1_float_param_1aaca5f5795fef5737a2b7b5f120647329}
+
+```cpp
+int32_t mavsdk::ComponentInformationServer::FloatParam::decimal_places {}
+```
+
+
+Decimal places for user to show.
+
+
+### start_value {#structmavsdk_1_1_component_information_server_1_1_float_param_1ad511a434c255184c245e01249fb389d0}
+
+```cpp
+float mavsdk::ComponentInformationServer::FloatParam::start_value {}
+```
+
+
+Current/starting value.
+
+
+### default_value {#structmavsdk_1_1_component_information_server_1_1_float_param_1a54937cafca787f7a441d839def64ee65}
+
+```cpp
+float mavsdk::ComponentInformationServer::FloatParam::default_value {}
+```
+
+
+Default value.
+
+
+### min_value {#structmavsdk_1_1_component_information_server_1_1_float_param_1a78b075ab7e63547c730620ed23226c71}
+
+```cpp
+float mavsdk::ComponentInformationServer::FloatParam::min_value {}
+```
+
+
+Minimum value.
+
+
+### max_value {#structmavsdk_1_1_component_information_server_1_1_float_param_1af60f9ed1a1b489c695d6604bbe5fee8f}
+
+```cpp
+float mavsdk::ComponentInformationServer::FloatParam::max_value {}
+```
+
+
+Maximum value.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param_update.md b/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param_update.md
new file mode 100644
index 0000000000..d4fe00044e
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_component_information_server_1_1_float_param_update.md
@@ -0,0 +1,39 @@
+# mavsdk::ComponentInformationServer::FloatParamUpdate Struct Reference
+`#include: component_information_server.h`
+
+----
+
+
+A float param that has been updated. 
+
+
+## Data Fields
+
+
+std::string [name](#structmavsdk_1_1_component_information_server_1_1_float_param_update_1aec3ed754aca50cba04cbdcb5955b9ce3) {} - Name of param that changed.
+
+float [value](#structmavsdk_1_1_component_information_server_1_1_float_param_update_1ab0d10711fecc6b9868acbc6e1e3f1bd2) {} - New value of param.
+
+
+## Field Documentation
+
+
+### name {#structmavsdk_1_1_component_information_server_1_1_float_param_update_1aec3ed754aca50cba04cbdcb5955b9ce3}
+
+```cpp
+std::string mavsdk::ComponentInformationServer::FloatParamUpdate::name {}
+```
+
+
+Name of param that changed.
+
+
+### value {#structmavsdk_1_1_component_information_server_1_1_float_param_update_1ab0d10711fecc6b9868acbc6e1e3f1bd2}
+
+```cpp
+float mavsdk::ComponentInformationServer::FloatParamUpdate::value {}
+```
+
+
+New value of param.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_follow_me_1_1_config.md b/docs/en/cpp/api_reference/structmavsdk_1_1_follow_me_1_1_config.md
new file mode 100644
index 0000000000..0cdb160a41
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_follow_me_1_1_config.md
@@ -0,0 +1,109 @@
+# mavsdk::FollowMe::Config Struct Reference
+`#include: follow_me.h`
+
+----
+
+
+Configuration type. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [FollowAltitudeMode](#structmavsdk_1_1_follow_me_1_1_config_1a25f3b39bc6d0eda07891537478bed85b) | Altitude mode to configure which altitude the follow me will assume the target to be at.
+
+## Data Fields
+
+
+float [follow_height_m](#structmavsdk_1_1_follow_me_1_1_config_1a221d2136ba04ffc0e46cd17f992f0d86) { 8.0f} - [m] Follow height in meters (recommended minimum 8 meters)
+
+float [follow_distance_m](#structmavsdk_1_1_follow_me_1_1_config_1a2f1407099516da129f650875e676a7eb) {8.0f} - [m] Follow distance to target in meters (recommended minimum 4 meter)
+
+float [responsiveness](#structmavsdk_1_1_follow_me_1_1_config_1a3b0bced94506c4248cbaa9cc0894616a) {0.1f} - How responsive the vehicle is to the motion of the target, Lower value = More responsive (range 0.0 to 1.0)
+
+[FollowAltitudeMode](structmavsdk_1_1_follow_me_1_1_config.md#structmavsdk_1_1_follow_me_1_1_config_1a25f3b39bc6d0eda07891537478bed85b) [altitude_mode](#structmavsdk_1_1_follow_me_1_1_config_1a70d86547c8f23e1fbd2b66632b484dcd) {} - Follow Altitude control mode.
+
+float [max_tangential_vel_m_s](#structmavsdk_1_1_follow_me_1_1_config_1aa466aeef1806c3053a9558c9e1ebf8b9) { 8.0f} - [m/s] Maximum orbit tangential velocity relative to the target, in meters per second. Higher value = More aggressive follow angle tracking.
+
+float [follow_angle_deg](#structmavsdk_1_1_follow_me_1_1_config_1a15d09482cd57a3d4a51ce9896ac37143) { 180.0f} - [deg] Follow Angle relative to the target. 0 equals following in front of the target's direction. Angle increases in Clockwise direction, so following from right would be 90 degrees, from the left is -90 degrees, and so on.
+
+
+## Member Enumeration Documentation
+
+
+### enum FollowAltitudeMode {#structmavsdk_1_1_follow_me_1_1_config_1a25f3b39bc6d0eda07891537478bed85b}
+
+
+Altitude mode to configure which altitude the follow me will assume the target to be at.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_follow_me_1_1_config_1a25f3b39bc6d0eda07891537478bed85bacb17869fe51048b5a5c4c6106551a255"></span> `Constant` | Target assumed to be mobing at a constant altitude of home position (where the vehicle armed). 
+<span id="structmavsdk_1_1_follow_me_1_1_config_1a25f3b39bc6d0eda07891537478bed85ba4ccfea7a25fae3c1d31555f0856d2b42"></span> `Terrain` | Target assumed to be at the terrain level sensed by the distance sensor. 
+<span id="structmavsdk_1_1_follow_me_1_1_config_1a25f3b39bc6d0eda07891537478bed85ba3ee2c99c1564fda419307854d3417ac7"></span> `TargetGps` | Target GPS altitude taken into account to do 3D tracking. 
+
+## Field Documentation
+
+
+### follow_height_m {#structmavsdk_1_1_follow_me_1_1_config_1a221d2136ba04ffc0e46cd17f992f0d86}
+
+```cpp
+float mavsdk::FollowMe::Config::follow_height_m { 8.0f}
+```
+
+
+[m] Follow height in meters (recommended minimum 8 meters)
+
+
+### follow_distance_m {#structmavsdk_1_1_follow_me_1_1_config_1a2f1407099516da129f650875e676a7eb}
+
+```cpp
+float mavsdk::FollowMe::Config::follow_distance_m {8.0f}
+```
+
+
+[m] Follow distance to target in meters (recommended minimum 4 meter)
+
+
+### responsiveness {#structmavsdk_1_1_follow_me_1_1_config_1a3b0bced94506c4248cbaa9cc0894616a}
+
+```cpp
+float mavsdk::FollowMe::Config::responsiveness {0.1f}
+```
+
+
+How responsive the vehicle is to the motion of the target, Lower value = More responsive (range 0.0 to 1.0)
+
+
+### altitude_mode {#structmavsdk_1_1_follow_me_1_1_config_1a70d86547c8f23e1fbd2b66632b484dcd}
+
+```cpp
+FollowAltitudeMode mavsdk::FollowMe::Config::altitude_mode {}
+```
+
+
+Follow Altitude control mode.
+
+
+### max_tangential_vel_m_s {#structmavsdk_1_1_follow_me_1_1_config_1aa466aeef1806c3053a9558c9e1ebf8b9}
+
+```cpp
+float mavsdk::FollowMe::Config::max_tangential_vel_m_s { 8.0f}
+```
+
+
+[m/s] Maximum orbit tangential velocity relative to the target, in meters per second. Higher value = More aggressive follow angle tracking.
+
+
+### follow_angle_deg {#structmavsdk_1_1_follow_me_1_1_config_1a15d09482cd57a3d4a51ce9896ac37143}
+
+```cpp
+float mavsdk::FollowMe::Config::follow_angle_deg { 180.0f}
+```
+
+
+[deg] Follow Angle relative to the target. 0 equals following in front of the target's direction. Angle increases in Clockwise direction, so following from right would be 90 degrees, from the left is -90 degrees, and so on.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_follow_me_1_1_target_location.md b/docs/en/cpp/api_reference/structmavsdk_1_1_follow_me_1_1_target_location.md
new file mode 100644
index 0000000000..7d9cfebd51
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_follow_me_1_1_target_location.md
@@ -0,0 +1,87 @@
+# mavsdk::FollowMe::TargetLocation Struct Reference
+`#include: follow_me.h`
+
+----
+
+
+Target location for the vehicle to follow. 
+
+
+## Data Fields
+
+
+double [latitude_deg](#structmavsdk_1_1_follow_me_1_1_target_location_1a6ffc87bc16ccb643a220c3e3f3f6c85e) {double(NAN)} - Target latitude in degrees.
+
+double [longitude_deg](#structmavsdk_1_1_follow_me_1_1_target_location_1aaba4d25da010f0bb94caa08e7b5dbbe4) {double(NAN)} - Target longitude in degrees.
+
+float [absolute_altitude_m](#structmavsdk_1_1_follow_me_1_1_target_location_1a1c79b40cd21244db4edeb7b23f8c04a6) {float(NAN)} - Target altitude in meters above MSL.
+
+float [velocity_x_m_s](#structmavsdk_1_1_follow_me_1_1_target_location_1a7b1620783f345c2699f6275f8418a524) { float(NAN)} - Target velocity in X axis, in meters per second.
+
+float [velocity_y_m_s](#structmavsdk_1_1_follow_me_1_1_target_location_1a4e9a7aa72f0ac53a43b6f57376f57616) { float(NAN)} - Target velocity in Y axis, in meters per second.
+
+float [velocity_z_m_s](#structmavsdk_1_1_follow_me_1_1_target_location_1aabdcad8cc0de1d8008cab731d89de646) { float(NAN)} - Target velocity in Z axis, in meters per second.
+
+
+## Field Documentation
+
+
+### latitude_deg {#structmavsdk_1_1_follow_me_1_1_target_location_1a6ffc87bc16ccb643a220c3e3f3f6c85e}
+
+```cpp
+double mavsdk::FollowMe::TargetLocation::latitude_deg {double(NAN)}
+```
+
+
+Target latitude in degrees.
+
+
+### longitude_deg {#structmavsdk_1_1_follow_me_1_1_target_location_1aaba4d25da010f0bb94caa08e7b5dbbe4}
+
+```cpp
+double mavsdk::FollowMe::TargetLocation::longitude_deg {double(NAN)}
+```
+
+
+Target longitude in degrees.
+
+
+### absolute_altitude_m {#structmavsdk_1_1_follow_me_1_1_target_location_1a1c79b40cd21244db4edeb7b23f8c04a6}
+
+```cpp
+float mavsdk::FollowMe::TargetLocation::absolute_altitude_m {float(NAN)}
+```
+
+
+Target altitude in meters above MSL.
+
+
+### velocity_x_m_s {#structmavsdk_1_1_follow_me_1_1_target_location_1a7b1620783f345c2699f6275f8418a524}
+
+```cpp
+float mavsdk::FollowMe::TargetLocation::velocity_x_m_s { float(NAN)}
+```
+
+
+Target velocity in X axis, in meters per second.
+
+
+### velocity_y_m_s {#structmavsdk_1_1_follow_me_1_1_target_location_1a4e9a7aa72f0ac53a43b6f57376f57616}
+
+```cpp
+float mavsdk::FollowMe::TargetLocation::velocity_y_m_s { float(NAN)}
+```
+
+
+Target velocity in Y axis, in meters per second.
+
+
+### velocity_z_m_s {#structmavsdk_1_1_follow_me_1_1_target_location_1aabdcad8cc0de1d8008cab731d89de646}
+
+```cpp
+float mavsdk::FollowMe::TargetLocation::velocity_z_m_s { float(NAN)}
+```
+
+
+Target velocity in Z axis, in meters per second.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_ftp_1_1_progress_data.md b/docs/en/cpp/api_reference/structmavsdk_1_1_ftp_1_1_progress_data.md
new file mode 100644
index 0000000000..c01db80b20
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_ftp_1_1_progress_data.md
@@ -0,0 +1,39 @@
+# mavsdk::Ftp::ProgressData Struct Reference
+`#include: ftp.h`
+
+----
+
+
+Progress data type for file transfer. 
+
+
+## Data Fields
+
+
+uint32_t [bytes_transferred](#structmavsdk_1_1_ftp_1_1_progress_data_1adb932969454e78f82042335a55369c32) {} - The number of bytes already transferred.
+
+uint32_t [total_bytes](#structmavsdk_1_1_ftp_1_1_progress_data_1a836c96edb2cbb8e3afcdef979e8cc0e0) {} - The total bytes to transfer.
+
+
+## Field Documentation
+
+
+### bytes_transferred {#structmavsdk_1_1_ftp_1_1_progress_data_1adb932969454e78f82042335a55369c32}
+
+```cpp
+uint32_t mavsdk::Ftp::ProgressData::bytes_transferred {}
+```
+
+
+The number of bytes already transferred.
+
+
+### total_bytes {#structmavsdk_1_1_ftp_1_1_progress_data_1a836c96edb2cbb8e3afcdef979e8cc0e0}
+
+```cpp
+uint32_t mavsdk::Ftp::ProgressData::total_bytes {}
+```
+
+
+The total bytes to transfer.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_circle.md b/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_circle.md
new file mode 100644
index 0000000000..cd6c7d6240
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_circle.md
@@ -0,0 +1,51 @@
+# mavsdk::Geofence::Circle Struct Reference
+`#include: geofence.h`
+
+----
+
+
+Circular type. 
+
+
+## Data Fields
+
+
+[Point](structmavsdk_1_1_geofence_1_1_point.md) [point](#structmavsdk_1_1_geofence_1_1_circle_1a1a5f524763f0c53358c176772a6241c7) {} - [Point](structmavsdk_1_1_geofence_1_1_point.md) defining the center.
+
+float [radius](#structmavsdk_1_1_geofence_1_1_circle_1aa3aa9b0190d21db9a11f2f117ed42583) {float(NAN)} - Radius of the circular fence.
+
+[FenceType](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1a51196ded958aa9d4b3f25cde95da48e5) [fence_type](#structmavsdk_1_1_geofence_1_1_circle_1a52d26200a0a5098402f3a64760ed5f5f) {} - Fence type.
+
+
+## Field Documentation
+
+
+### point {#structmavsdk_1_1_geofence_1_1_circle_1a1a5f524763f0c53358c176772a6241c7}
+
+```cpp
+Point mavsdk::Geofence::Circle::point {}
+```
+
+
+[Point](structmavsdk_1_1_geofence_1_1_point.md) defining the center.
+
+
+### radius {#structmavsdk_1_1_geofence_1_1_circle_1aa3aa9b0190d21db9a11f2f117ed42583}
+
+```cpp
+float mavsdk::Geofence::Circle::radius {float(NAN)}
+```
+
+
+Radius of the circular fence.
+
+
+### fence_type {#structmavsdk_1_1_geofence_1_1_circle_1a52d26200a0a5098402f3a64760ed5f5f}
+
+```cpp
+FenceType mavsdk::Geofence::Circle::fence_type {}
+```
+
+
+Fence type.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_geofence_data.md b/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_geofence_data.md
new file mode 100644
index 0000000000..52b66ac82f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_geofence_data.md
@@ -0,0 +1,39 @@
+# mavsdk::Geofence::GeofenceData Struct Reference
+`#include: geofence.h`
+
+----
+
+
+[Geofence](classmavsdk_1_1_geofence.md) data type. 
+
+
+## Data Fields
+
+
+std::vector< [Polygon](structmavsdk_1_1_geofence_1_1_polygon.md) > [polygons](#structmavsdk_1_1_geofence_1_1_geofence_data_1afd56d809a063b2db3d8c10a52f335dc6) {} - Polygon(s) representing the geofence(s)
+
+std::vector< [Circle](structmavsdk_1_1_geofence_1_1_circle.md) > [circles](#structmavsdk_1_1_geofence_1_1_geofence_data_1a1cd2e75c86f477b217314e66929425f3) {} - Circle(s) representing the geofence(s)
+
+
+## Field Documentation
+
+
+### polygons {#structmavsdk_1_1_geofence_1_1_geofence_data_1afd56d809a063b2db3d8c10a52f335dc6}
+
+```cpp
+std::vector<Polygon> mavsdk::Geofence::GeofenceData::polygons {}
+```
+
+
+Polygon(s) representing the geofence(s)
+
+
+### circles {#structmavsdk_1_1_geofence_1_1_geofence_data_1a1cd2e75c86f477b217314e66929425f3}
+
+```cpp
+std::vector<Circle> mavsdk::Geofence::GeofenceData::circles {}
+```
+
+
+Circle(s) representing the geofence(s)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_point.md b/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_point.md
new file mode 100644
index 0000000000..a6ed236c75
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_point.md
@@ -0,0 +1,39 @@
+# mavsdk::Geofence::Point Struct Reference
+`#include: geofence.h`
+
+----
+
+
+[Point](structmavsdk_1_1_geofence_1_1_point.md) type. 
+
+
+## Data Fields
+
+
+double [latitude_deg](#structmavsdk_1_1_geofence_1_1_point_1a7946f6bf6d0b9bb7e1cff9c1e47afaae) {} - Latitude in degrees (range: -90 to +90)
+
+double [longitude_deg](#structmavsdk_1_1_geofence_1_1_point_1ad0283a71fd7f050269f64e8edba0d175) {} - Longitude in degrees (range: -180 to +180)
+
+
+## Field Documentation
+
+
+### latitude_deg {#structmavsdk_1_1_geofence_1_1_point_1a7946f6bf6d0b9bb7e1cff9c1e47afaae}
+
+```cpp
+double mavsdk::Geofence::Point::latitude_deg {}
+```
+
+
+Latitude in degrees (range: -90 to +90)
+
+
+### longitude_deg {#structmavsdk_1_1_geofence_1_1_point_1ad0283a71fd7f050269f64e8edba0d175}
+
+```cpp
+double mavsdk::Geofence::Point::longitude_deg {}
+```
+
+
+Longitude in degrees (range: -180 to +180)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_polygon.md b/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_polygon.md
new file mode 100644
index 0000000000..018f76d969
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_geofence_1_1_polygon.md
@@ -0,0 +1,39 @@
+# mavsdk::Geofence::Polygon Struct Reference
+`#include: geofence.h`
+
+----
+
+
+[Polygon](structmavsdk_1_1_geofence_1_1_polygon.md) type. 
+
+
+## Data Fields
+
+
+std::vector< [Point](structmavsdk_1_1_geofence_1_1_point.md) > [points](#structmavsdk_1_1_geofence_1_1_polygon_1a0dd2c3824a7f3486583b95702f71b1d2) {} - Points defining the polygon.
+
+[FenceType](classmavsdk_1_1_geofence.md#classmavsdk_1_1_geofence_1a51196ded958aa9d4b3f25cde95da48e5) [fence_type](#structmavsdk_1_1_geofence_1_1_polygon_1af61a1478f60ae8bb2d620a05c62995af) {} - Fence type.
+
+
+## Field Documentation
+
+
+### points {#structmavsdk_1_1_geofence_1_1_polygon_1a0dd2c3824a7f3486583b95702f71b1d2}
+
+```cpp
+std::vector<Point> mavsdk::Geofence::Polygon::points {}
+```
+
+
+Points defining the polygon.
+
+
+### fence_type {#structmavsdk_1_1_geofence_1_1_polygon_1af61a1478f60ae8bb2d620a05c62995af}
+
+```cpp
+FenceType mavsdk::Geofence::Polygon::fence_type {}
+```
+
+
+Fence type.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_gimbal_1_1_control_status.md b/docs/en/cpp/api_reference/structmavsdk_1_1_gimbal_1_1_control_status.md
new file mode 100644
index 0000000000..fb28b6470e
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_gimbal_1_1_control_status.md
@@ -0,0 +1,75 @@
+# mavsdk::Gimbal::ControlStatus Struct Reference
+`#include: gimbal.h`
+
+----
+
+
+Control status. 
+
+
+## Data Fields
+
+
+[ControlMode](classmavsdk_1_1_gimbal.md#classmavsdk_1_1_gimbal_1a01b721086d7de6089aefdeb0fda4cff3) [control_mode](#structmavsdk_1_1_gimbal_1_1_control_status_1a58ab8c223f8dd71268bbcfdc019fae8a) {} - Control mode (none, primary or secondary)
+
+int32_t [sysid_primary_control](#structmavsdk_1_1_gimbal_1_1_control_status_1a99fdfdc94af7663c03bd88ac4bde82c3) {} - Sysid of the component that has primary control over the gimbal (0 if no one is in control)
+
+int32_t [compid_primary_control](#structmavsdk_1_1_gimbal_1_1_control_status_1afe0b88101acc98f412553316a34d12fe) {} - Compid of the component that has primary control over the gimbal (0 if no one is in control)
+
+int32_t [sysid_secondary_control](#structmavsdk_1_1_gimbal_1_1_control_status_1a539dc995ffa028a7b31051f6077ffe65) {} - Sysid of the component that has secondary control over the gimbal (0 if no one is in control)
+
+int32_t [compid_secondary_control](#structmavsdk_1_1_gimbal_1_1_control_status_1a6d2db416b726ccb3cb21ce0a382bd733) {} - Compid of the component that has secondary control over the gimbal (0 if no one is in control)
+
+
+## Field Documentation
+
+
+### control_mode {#structmavsdk_1_1_gimbal_1_1_control_status_1a58ab8c223f8dd71268bbcfdc019fae8a}
+
+```cpp
+ControlMode mavsdk::Gimbal::ControlStatus::control_mode {}
+```
+
+
+Control mode (none, primary or secondary)
+
+
+### sysid_primary_control {#structmavsdk_1_1_gimbal_1_1_control_status_1a99fdfdc94af7663c03bd88ac4bde82c3}
+
+```cpp
+int32_t mavsdk::Gimbal::ControlStatus::sysid_primary_control {}
+```
+
+
+Sysid of the component that has primary control over the gimbal (0 if no one is in control)
+
+
+### compid_primary_control {#structmavsdk_1_1_gimbal_1_1_control_status_1afe0b88101acc98f412553316a34d12fe}
+
+```cpp
+int32_t mavsdk::Gimbal::ControlStatus::compid_primary_control {}
+```
+
+
+Compid of the component that has primary control over the gimbal (0 if no one is in control)
+
+
+### sysid_secondary_control {#structmavsdk_1_1_gimbal_1_1_control_status_1a539dc995ffa028a7b31051f6077ffe65}
+
+```cpp
+int32_t mavsdk::Gimbal::ControlStatus::sysid_secondary_control {}
+```
+
+
+Sysid of the component that has secondary control over the gimbal (0 if no one is in control)
+
+
+### compid_secondary_control {#structmavsdk_1_1_gimbal_1_1_control_status_1a6d2db416b726ccb3cb21ce0a382bd733}
+
+```cpp
+int32_t mavsdk::Gimbal::ControlStatus::compid_secondary_control {}
+```
+
+
+Compid of the component that has secondary control over the gimbal (0 if no one is in control)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_flight_info.md b/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_flight_info.md
new file mode 100644
index 0000000000..cc37b6b4d2
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_flight_info.md
@@ -0,0 +1,39 @@
+# mavsdk::Info::FlightInfo Struct Reference
+`#include: info.h`
+
+----
+
+
+[System](classmavsdk_1_1_system.md) flight information. 
+
+
+## Data Fields
+
+
+uint32_t [time_boot_ms](#structmavsdk_1_1_info_1_1_flight_info_1aa38f317ec1c38bc45a20522752a2838d) {} - Time since system boot.
+
+uint64_t [flight_uid](#structmavsdk_1_1_info_1_1_flight_info_1adfae0cbebc461eb3ab144d7173cca9e8) {} - Flight counter. Starts from zero, is incremented at every disarm and is never reset (even after reboot)
+
+
+## Field Documentation
+
+
+### time_boot_ms {#structmavsdk_1_1_info_1_1_flight_info_1aa38f317ec1c38bc45a20522752a2838d}
+
+```cpp
+uint32_t mavsdk::Info::FlightInfo::time_boot_ms {}
+```
+
+
+Time since system boot.
+
+
+### flight_uid {#structmavsdk_1_1_info_1_1_flight_info_1adfae0cbebc461eb3ab144d7173cca9e8}
+
+```cpp
+uint64_t mavsdk::Info::FlightInfo::flight_uid {}
+```
+
+
+Flight counter. Starts from zero, is incremented at every disarm and is never reset (even after reboot)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_identification.md b/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_identification.md
new file mode 100644
index 0000000000..6a8391fe54
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_identification.md
@@ -0,0 +1,39 @@
+# mavsdk::Info::Identification Struct Reference
+`#include: info.h`
+
+----
+
+
+[System](classmavsdk_1_1_system.md) identification. 
+
+
+## Data Fields
+
+
+std::string [hardware_uid](#structmavsdk_1_1_info_1_1_identification_1a68be9823aae193b5473191d287b5e385) {} - UID of the hardware. This refers to uid2 of MAVLink. If the system does not support uid2 yet, this is all zeros.
+
+uint64_t [legacy_uid](#structmavsdk_1_1_info_1_1_identification_1a2429c1ffc3fbda0d55e85fa5a6f79dc1) {} - Legacy UID of the hardware, referred to as uid in MAVLink (formerly exposed during system discovery as UUID).
+
+
+## Field Documentation
+
+
+### hardware_uid {#structmavsdk_1_1_info_1_1_identification_1a68be9823aae193b5473191d287b5e385}
+
+```cpp
+std::string mavsdk::Info::Identification::hardware_uid {}
+```
+
+
+UID of the hardware. This refers to uid2 of MAVLink. If the system does not support uid2 yet, this is all zeros.
+
+
+### legacy_uid {#structmavsdk_1_1_info_1_1_identification_1a2429c1ffc3fbda0d55e85fa5a6f79dc1}
+
+```cpp
+uint64_t mavsdk::Info::Identification::legacy_uid {}
+```
+
+
+Legacy UID of the hardware, referred to as uid in MAVLink (formerly exposed during system discovery as UUID).
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_product.md b/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_product.md
new file mode 100644
index 0000000000..85aab44b65
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_product.md
@@ -0,0 +1,63 @@
+# mavsdk::Info::Product Struct Reference
+`#include: info.h`
+
+----
+
+
+[System](classmavsdk_1_1_system.md) product information. 
+
+
+## Data Fields
+
+
+int32_t [vendor_id](#structmavsdk_1_1_info_1_1_product_1a11c7c62279f06e7d8ebebd7d84910975) {} - ID of the board vendor.
+
+std::string [vendor_name](#structmavsdk_1_1_info_1_1_product_1ad8d1aff25ef5f2b7d41c03adbd12f5f6) {} - Name of the vendor.
+
+int32_t [product_id](#structmavsdk_1_1_info_1_1_product_1af58025723d819323bc068732f54e0d25) {} - ID of the product.
+
+std::string [product_name](#structmavsdk_1_1_info_1_1_product_1a347e9b8800b5270c906c598f75e95df6) {} - Name of the product.
+
+
+## Field Documentation
+
+
+### vendor_id {#structmavsdk_1_1_info_1_1_product_1a11c7c62279f06e7d8ebebd7d84910975}
+
+```cpp
+int32_t mavsdk::Info::Product::vendor_id {}
+```
+
+
+ID of the board vendor.
+
+
+### vendor_name {#structmavsdk_1_1_info_1_1_product_1ad8d1aff25ef5f2b7d41c03adbd12f5f6}
+
+```cpp
+std::string mavsdk::Info::Product::vendor_name {}
+```
+
+
+Name of the vendor.
+
+
+### product_id {#structmavsdk_1_1_info_1_1_product_1af58025723d819323bc068732f54e0d25}
+
+```cpp
+int32_t mavsdk::Info::Product::product_id {}
+```
+
+
+ID of the product.
+
+
+### product_name {#structmavsdk_1_1_info_1_1_product_1a347e9b8800b5270c906c598f75e95df6}
+
+```cpp
+std::string mavsdk::Info::Product::product_name {}
+```
+
+
+Name of the product.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_version.md b/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_version.md
new file mode 100644
index 0000000000..f234cb618f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_info_1_1_version.md
@@ -0,0 +1,184 @@
+# mavsdk::Info::Version Struct Reference
+`#include: info.h`
+
+----
+
+
+[System](classmavsdk_1_1_system.md) version information. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [FlightSoftwareVersionType](#structmavsdk_1_1_info_1_1_version_1ae35252bd527add36f2babf5e6d815da9) | These values define the type of firmware/flight software release.
+
+## Data Fields
+
+
+int32_t [flight_sw_major](#structmavsdk_1_1_info_1_1_version_1a7f1fd24359024bb191f919cf65e5de62) {} - Flight software major version.
+
+int32_t [flight_sw_minor](#structmavsdk_1_1_info_1_1_version_1aabfb9cab57116cc258f4698cf8bb071a) {} - Flight software minor version.
+
+int32_t [flight_sw_patch](#structmavsdk_1_1_info_1_1_version_1a287e6f282f4f5283f1976801902a645b) {} - Flight software patch version.
+
+int32_t [flight_sw_vendor_major](#structmavsdk_1_1_info_1_1_version_1a7e7873f5c308cae0b1d96bb3184138ee) {} - Flight software vendor major version.
+
+int32_t [flight_sw_vendor_minor](#structmavsdk_1_1_info_1_1_version_1abef2aa4c5e8e80b51ae07a312b39cf7f) {} - Flight software vendor minor version.
+
+int32_t [flight_sw_vendor_patch](#structmavsdk_1_1_info_1_1_version_1a882878580fd5123653c20d92dfbd5282) {} - Flight software vendor patch version.
+
+int32_t [os_sw_major](#structmavsdk_1_1_info_1_1_version_1a8cc6c89673798b2b1e1e34a10dbf2574) {} - Operating system software major version.
+
+int32_t [os_sw_minor](#structmavsdk_1_1_info_1_1_version_1a8896fea440d503d930d254ebabd557d5) {} - Operating system software minor version.
+
+int32_t [os_sw_patch](#structmavsdk_1_1_info_1_1_version_1a1d990ecc76889c703f20fb134df5e476) {} - Operating system software patch version.
+
+std::string [flight_sw_git_hash](#structmavsdk_1_1_info_1_1_version_1a684d49782eeca4e9ae802a84a32b715f) {} - Flight software git hash.
+
+std::string [os_sw_git_hash](#structmavsdk_1_1_info_1_1_version_1ad6a2e4f45c02373ebca08ef5bd54cf47) {} - Operating system software git hash.
+
+[FlightSoftwareVersionType](structmavsdk_1_1_info_1_1_version.md#structmavsdk_1_1_info_1_1_version_1ae35252bd527add36f2babf5e6d815da9) [flight_sw_version_type](#structmavsdk_1_1_info_1_1_version_1ab563fb15dfd6b929504b642309a9e97b) {} - Flight software version type.
+
+
+## Member Enumeration Documentation
+
+
+### enum FlightSoftwareVersionType {#structmavsdk_1_1_info_1_1_version_1ae35252bd527add36f2babf5e6d815da9}
+
+
+These values define the type of firmware/flight software release.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_info_1_1_version_1ae35252bd527add36f2babf5e6d815da9a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown type. 
+<span id="structmavsdk_1_1_info_1_1_version_1ae35252bd527add36f2babf5e6d815da9a55f37d1fd483f6a85379640fe51aafa8"></span> `Dev` | Development release. 
+<span id="structmavsdk_1_1_info_1_1_version_1ae35252bd527add36f2babf5e6d815da9a6132295fcf5570fb8b0a944ef322a598"></span> `Alpha` | Alpha release. 
+<span id="structmavsdk_1_1_info_1_1_version_1ae35252bd527add36f2babf5e6d815da9a0b87d66b88c72957dfea8c9605016442"></span> `Beta` | Beta release. 
+<span id="structmavsdk_1_1_info_1_1_version_1ae35252bd527add36f2babf5e6d815da9a7c98274c63a1588cfa35ffb5c0adc833"></span> `Rc` | Release candidate. 
+<span id="structmavsdk_1_1_info_1_1_version_1ae35252bd527add36f2babf5e6d815da9ab8e7b465df7c5979dc731d06e84ce2cf"></span> `Release` | Official stable release. 
+
+## Field Documentation
+
+
+### flight_sw_major {#structmavsdk_1_1_info_1_1_version_1a7f1fd24359024bb191f919cf65e5de62}
+
+```cpp
+int32_t mavsdk::Info::Version::flight_sw_major {}
+```
+
+
+Flight software major version.
+
+
+### flight_sw_minor {#structmavsdk_1_1_info_1_1_version_1aabfb9cab57116cc258f4698cf8bb071a}
+
+```cpp
+int32_t mavsdk::Info::Version::flight_sw_minor {}
+```
+
+
+Flight software minor version.
+
+
+### flight_sw_patch {#structmavsdk_1_1_info_1_1_version_1a287e6f282f4f5283f1976801902a645b}
+
+```cpp
+int32_t mavsdk::Info::Version::flight_sw_patch {}
+```
+
+
+Flight software patch version.
+
+
+### flight_sw_vendor_major {#structmavsdk_1_1_info_1_1_version_1a7e7873f5c308cae0b1d96bb3184138ee}
+
+```cpp
+int32_t mavsdk::Info::Version::flight_sw_vendor_major {}
+```
+
+
+Flight software vendor major version.
+
+
+### flight_sw_vendor_minor {#structmavsdk_1_1_info_1_1_version_1abef2aa4c5e8e80b51ae07a312b39cf7f}
+
+```cpp
+int32_t mavsdk::Info::Version::flight_sw_vendor_minor {}
+```
+
+
+Flight software vendor minor version.
+
+
+### flight_sw_vendor_patch {#structmavsdk_1_1_info_1_1_version_1a882878580fd5123653c20d92dfbd5282}
+
+```cpp
+int32_t mavsdk::Info::Version::flight_sw_vendor_patch {}
+```
+
+
+Flight software vendor patch version.
+
+
+### os_sw_major {#structmavsdk_1_1_info_1_1_version_1a8cc6c89673798b2b1e1e34a10dbf2574}
+
+```cpp
+int32_t mavsdk::Info::Version::os_sw_major {}
+```
+
+
+Operating system software major version.
+
+
+### os_sw_minor {#structmavsdk_1_1_info_1_1_version_1a8896fea440d503d930d254ebabd557d5}
+
+```cpp
+int32_t mavsdk::Info::Version::os_sw_minor {}
+```
+
+
+Operating system software minor version.
+
+
+### os_sw_patch {#structmavsdk_1_1_info_1_1_version_1a1d990ecc76889c703f20fb134df5e476}
+
+```cpp
+int32_t mavsdk::Info::Version::os_sw_patch {}
+```
+
+
+Operating system software patch version.
+
+
+### flight_sw_git_hash {#structmavsdk_1_1_info_1_1_version_1a684d49782eeca4e9ae802a84a32b715f}
+
+```cpp
+std::string mavsdk::Info::Version::flight_sw_git_hash {}
+```
+
+
+Flight software git hash.
+
+
+### os_sw_git_hash {#structmavsdk_1_1_info_1_1_version_1ad6a2e4f45c02373ebca08ef5bd54cf47}
+
+```cpp
+std::string mavsdk::Info::Version::os_sw_git_hash {}
+```
+
+
+Operating system software git hash.
+
+
+### flight_sw_version_type {#structmavsdk_1_1_info_1_1_version_1ab563fb15dfd6b929504b642309a9e97b}
+
+```cpp
+FlightSoftwareVersionType mavsdk::Info::Version::flight_sw_version_type {}
+```
+
+
+Flight software version type.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_log_files_1_1_entry.md b/docs/en/cpp/api_reference/structmavsdk_1_1_log_files_1_1_entry.md
new file mode 100644
index 0000000000..97c791b7ec
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_log_files_1_1_entry.md
@@ -0,0 +1,51 @@
+# mavsdk::LogFiles::Entry Struct Reference
+`#include: log_files.h`
+
+----
+
+
+Log file entry type. 
+
+
+## Data Fields
+
+
+uint32_t [id](#structmavsdk_1_1_log_files_1_1_entry_1af70d624d97e7a94f3c0018c660c0d467) {} - ID of the log file, to specify a file to be downloaded.
+
+std::string [date](#structmavsdk_1_1_log_files_1_1_entry_1a5727aa32b382e3ce4be745a36efdd4bb) {} - Date of the log file in UTC in ISO 8601 format "yyyy-mm-ddThh:mm:ssZ".
+
+uint32_t [size_bytes](#structmavsdk_1_1_log_files_1_1_entry_1a3dab9428227b8674c0b55f7f7f9b98b4) {} - Size of file in bytes.
+
+
+## Field Documentation
+
+
+### id {#structmavsdk_1_1_log_files_1_1_entry_1af70d624d97e7a94f3c0018c660c0d467}
+
+```cpp
+uint32_t mavsdk::LogFiles::Entry::id {}
+```
+
+
+ID of the log file, to specify a file to be downloaded.
+
+
+### date {#structmavsdk_1_1_log_files_1_1_entry_1a5727aa32b382e3ce4be745a36efdd4bb}
+
+```cpp
+std::string mavsdk::LogFiles::Entry::date {}
+```
+
+
+Date of the log file in UTC in ISO 8601 format "yyyy-mm-ddThh:mm:ssZ".
+
+
+### size_bytes {#structmavsdk_1_1_log_files_1_1_entry_1a3dab9428227b8674c0b55f7f7f9b98b4}
+
+```cpp
+uint32_t mavsdk::LogFiles::Entry::size_bytes {}
+```
+
+
+Size of file in bytes.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_log_files_1_1_progress_data.md b/docs/en/cpp/api_reference/structmavsdk_1_1_log_files_1_1_progress_data.md
new file mode 100644
index 0000000000..2a7be6a2ce
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_log_files_1_1_progress_data.md
@@ -0,0 +1,27 @@
+# mavsdk::LogFiles::ProgressData Struct Reference
+`#include: log_files.h`
+
+----
+
+
+Progress data coming when downloading a log file. 
+
+
+## Data Fields
+
+
+float [progress](#structmavsdk_1_1_log_files_1_1_progress_data_1a2969c2bfeb88e59b902abb259beb9a71) {float(NAN)} - Progress from 0 to 1.
+
+
+## Field Documentation
+
+
+### progress {#structmavsdk_1_1_log_files_1_1_progress_data_1a2969c2bfeb88e59b902abb259beb9a71}
+
+```cpp
+float mavsdk::LogFiles::ProgressData::progress {float(NAN)}
+```
+
+
+Progress from 0 to 1.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_int.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_int.md
new file mode 100644
index 0000000000..4065dfdc35
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_int.md
@@ -0,0 +1,146 @@
+# mavsdk::MavlinkPassthrough::CommandInt Struct Reference
+`#include: mavlink_passthrough.h`
+
+----
+
+
+Type for MAVLink command_int. 
+
+
+## Data Fields
+
+
+uint8_t [target_sysid](#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a306288fb9fa75a3304ba16dd8d9bb0c6)  - [System](classmavsdk_1_1_system.md) ID to send command to.
+
+uint8_t [target_compid](#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1aa93fd091a743292535c2419579f62204)  - Component ID to send command to.
+
+uint16_t [command](#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a17dda91c83b7ae7d01dc64a3ed7fc7c0)  - command to send.
+
+MAV_FRAME [frame](#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a31cbea5392e711069d5f5c990d2cba92)  -
+
+float [param1](#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1af667d2f79bb1a196c5d1423869078203)  - param1.
+
+float [param2](#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a1dd4bce33e0281ec6468c97b7a7b03a1)  - param2.
+
+float [param3](#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1ab63eb6898d7ab2838567c52bd1339635)  - param3.
+
+float [param4](#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1acb8b24402f78d37eb6e1aae1a44ed86c)  - param4.
+
+int32_t [x](#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1aeb66966f4af3b080fa565094e2c9df51)  - x.
+
+int32_t [y](#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a2b7f8e7e6cf1905f096f5dea43c669ce)  - y.
+
+float [z](#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a06b57c3981c70b9b79fcc28b097ecdf6)  - z.
+
+
+## Field Documentation
+
+
+### target_sysid {#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a306288fb9fa75a3304ba16dd8d9bb0c6}
+
+```cpp
+uint8_t mavsdk::MavlinkPassthrough::CommandInt::target_sysid
+```
+
+
+[System](classmavsdk_1_1_system.md) ID to send command to.
+
+
+### target_compid {#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1aa93fd091a743292535c2419579f62204}
+
+```cpp
+uint8_t mavsdk::MavlinkPassthrough::CommandInt::target_compid
+```
+
+
+Component ID to send command to.
+
+
+### command {#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a17dda91c83b7ae7d01dc64a3ed7fc7c0}
+
+```cpp
+uint16_t mavsdk::MavlinkPassthrough::CommandInt::command
+```
+
+
+command to send.
+
+
+### frame {#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a31cbea5392e711069d5f5c990d2cba92}
+
+```cpp
+MAV_FRAME mavsdk::MavlinkPassthrough::CommandInt::frame
+```
+
+
+Frame of command.
+
+### param1 {#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1af667d2f79bb1a196c5d1423869078203}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandInt::param1
+```
+
+
+param1.
+
+
+### param2 {#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a1dd4bce33e0281ec6468c97b7a7b03a1}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandInt::param2
+```
+
+
+param2.
+
+
+### param3 {#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1ab63eb6898d7ab2838567c52bd1339635}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandInt::param3
+```
+
+
+param3.
+
+
+### param4 {#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1acb8b24402f78d37eb6e1aae1a44ed86c}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandInt::param4
+```
+
+
+param4.
+
+
+### x {#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1aeb66966f4af3b080fa565094e2c9df51}
+
+```cpp
+int32_t mavsdk::MavlinkPassthrough::CommandInt::x
+```
+
+
+x.
+
+
+### y {#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a2b7f8e7e6cf1905f096f5dea43c669ce}
+
+```cpp
+int32_t mavsdk::MavlinkPassthrough::CommandInt::y
+```
+
+
+y.
+
+
+### z {#structmavsdk_1_1_mavlink_passthrough_1_1_command_int_1a06b57c3981c70b9b79fcc28b097ecdf6}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandInt::z
+```
+
+
+z.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_long.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_long.md
new file mode 100644
index 0000000000..6180d883e7
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mavlink_passthrough_1_1_command_long.md
@@ -0,0 +1,135 @@
+# mavsdk::MavlinkPassthrough::CommandLong Struct Reference
+`#include: mavlink_passthrough.h`
+
+----
+
+
+Type for MAVLink command_long. 
+
+
+## Data Fields
+
+
+uint8_t [target_sysid](#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1aebaa87609491e270b8fd218bcf3213af)  - [System](classmavsdk_1_1_system.md) ID to send command to.
+
+uint8_t [target_compid](#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1a80b4cab8b3c4d208f8be5de283151d03)  - Component ID to send command to.
+
+uint16_t [command](#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1ac214b7c0f81b594cd7194a9c0c29affc)  - command to send.
+
+float [param1](#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1a8979c05331cea1225c8769b282901ed7)  - param1.
+
+float [param2](#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1a40fa07eee83e396f20c196387e450052)  - param2.
+
+float [param3](#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1acc766894ff7c5e184fd429dce878e016)  - param3.
+
+float [param4](#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1aed29bdc5c0a432a2f887b6301426ffb9)  - param4.
+
+float [param5](#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1ab822b5e98f531ed70f58ba5085761020)  - param5.
+
+float [param6](#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1a1e8f0fcca7abed03794e44e4723c2f4f)  - param6.
+
+float [param7](#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1ac4eef48263e49bafd3d2ac8fb6bf1bbc)  - param7.
+
+
+## Field Documentation
+
+
+### target_sysid {#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1aebaa87609491e270b8fd218bcf3213af}
+
+```cpp
+uint8_t mavsdk::MavlinkPassthrough::CommandLong::target_sysid
+```
+
+
+[System](classmavsdk_1_1_system.md) ID to send command to.
+
+
+### target_compid {#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1a80b4cab8b3c4d208f8be5de283151d03}
+
+```cpp
+uint8_t mavsdk::MavlinkPassthrough::CommandLong::target_compid
+```
+
+
+Component ID to send command to.
+
+
+### command {#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1ac214b7c0f81b594cd7194a9c0c29affc}
+
+```cpp
+uint16_t mavsdk::MavlinkPassthrough::CommandLong::command
+```
+
+
+command to send.
+
+
+### param1 {#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1a8979c05331cea1225c8769b282901ed7}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandLong::param1
+```
+
+
+param1.
+
+
+### param2 {#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1a40fa07eee83e396f20c196387e450052}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandLong::param2
+```
+
+
+param2.
+
+
+### param3 {#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1acc766894ff7c5e184fd429dce878e016}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandLong::param3
+```
+
+
+param3.
+
+
+### param4 {#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1aed29bdc5c0a432a2f887b6301426ffb9}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandLong::param4
+```
+
+
+param4.
+
+
+### param5 {#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1ab822b5e98f531ed70f58ba5085761020}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandLong::param5
+```
+
+
+param5.
+
+
+### param6 {#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1a1e8f0fcca7abed03794e44e4723c2f4f}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandLong::param6
+```
+
+
+param6.
+
+
+### param7 {#structmavsdk_1_1_mavlink_passthrough_1_1_command_long_1ac4eef48263e49bafd3d2ac8fb6bf1bbc}
+
+```cpp
+float mavsdk::MavlinkPassthrough::CommandLong::param7
+```
+
+
+param7.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_item.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_item.md
new file mode 100644
index 0000000000..71970fa0b2
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_item.md
@@ -0,0 +1,228 @@
+# mavsdk::Mission::MissionItem Struct Reference
+`#include: mission.h`
+
+----
+
+
+Type representing a mission item. 
+
+
+A [MissionItem](structmavsdk_1_1_mission_1_1_mission_item.md) can contain a position and/or actions. [Mission](classmavsdk_1_1_mission.md) items are building blocks to assemble a mission, which can be sent to (or received from) a system. They cannot be used independently. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [CameraAction](#structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4) | Possible camera actions at a mission item.
+enum [VehicleAction](#structmavsdk_1_1_mission_1_1_mission_item_1abf579024f942deef18ef902839513743) | Possible vehicle actions at a mission item.
+
+## Data Fields
+
+
+double [latitude_deg](#structmavsdk_1_1_mission_1_1_mission_item_1af39e7086391121ace640feea0bfdd289) {double(NAN)} - Latitude in degrees (range: -90 to +90)
+
+double [longitude_deg](#structmavsdk_1_1_mission_1_1_mission_item_1afecfad42d0976a85842cc9489694c062) {double(NAN)} - Longitude in degrees (range: -180 to +180)
+
+float [relative_altitude_m](#structmavsdk_1_1_mission_1_1_mission_item_1aeb6371f7a6fe5f81f96d4826db550602) { float(NAN)} - Altitude relative to takeoff altitude in metres.
+
+float [speed_m_s](#structmavsdk_1_1_mission_1_1_mission_item_1ab48b7ba0f5a85056ac516585f8df9729) { float(NAN)} - Speed to use after this mission item (in metres/second)
+
+bool [is_fly_through](#structmavsdk_1_1_mission_1_1_mission_item_1ac01a5fd31bee531537ec87658a4a3561) { false} - True will make the drone fly through without stopping, while false will make the drone stop on the waypoint.
+
+float [gimbal_pitch_deg](#structmavsdk_1_1_mission_1_1_mission_item_1af76dd7536ffd1fcad98c4e08fe33c791) {float(NAN)} - [Gimbal](classmavsdk_1_1_gimbal.md) pitch (in degrees)
+
+float [gimbal_yaw_deg](#structmavsdk_1_1_mission_1_1_mission_item_1a6c0cf351a535a5e77b8079e5d532974b) {float(NAN)} - [Gimbal](classmavsdk_1_1_gimbal.md) yaw (in degrees)
+
+[CameraAction](structmavsdk_1_1_mission_1_1_mission_item.md#structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4) [camera_action](#structmavsdk_1_1_mission_1_1_mission_item_1a2f38fdb200201180ab370d811bb21f2f) {} - [Camera](classmavsdk_1_1_camera.md) action to trigger at this mission item.
+
+float [loiter_time_s](#structmavsdk_1_1_mission_1_1_mission_item_1aa54196266e57f2a05ab46aa41fce1dd0) {float(NAN)} - Loiter time (in seconds)
+
+double [camera_photo_interval_s](#structmavsdk_1_1_mission_1_1_mission_item_1a7b48c46ecb52f115e5461a944f619612) { 1.0} - [Camera](classmavsdk_1_1_camera.md) photo interval to use after this mission item (in seconds)
+
+float [acceptance_radius_m](#structmavsdk_1_1_mission_1_1_mission_item_1a9114a16c5405dacb35f45ae37f343665) { float(NAN)} - Radius for completing a mission item (in metres)
+
+float [yaw_deg](#structmavsdk_1_1_mission_1_1_mission_item_1a40af7ff4f2a346492d276255febd92c7) {float(NAN)} - Absolute yaw angle (in degrees)
+
+float [camera_photo_distance_m](#structmavsdk_1_1_mission_1_1_mission_item_1a0a2802a1cab28552e8f49389f472e1a9) { NAN} - [Camera](classmavsdk_1_1_camera.md) photo distance to use after this mission item (in meters)
+
+[VehicleAction](structmavsdk_1_1_mission_1_1_mission_item.md#structmavsdk_1_1_mission_1_1_mission_item_1abf579024f942deef18ef902839513743) [vehicle_action](#structmavsdk_1_1_mission_1_1_mission_item_1a0892ef1c7dd89ea18535689f69d5493a) {} - Vehicle action to trigger at this mission item.
+
+
+## Member Enumeration Documentation
+
+
+### enum CameraAction {#structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4}
+
+
+Possible camera actions at a mission item.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4a6adf97f83acf6453d4a6a4b1070f3754"></span> `None` | No action. 
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4a32e4460786600f3883452550664c13af"></span> `TakePhoto` | Take a single photo. 
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4a7cd902daf19f053b0078caf0fb2977c3"></span> `StartPhotoInterval` | Start capturing photos at regular intervals. 
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4aa5ca4f2a945ea616f186b130f8f36a18"></span> `StopPhotoInterval` | Stop capturing photos at regular intervals. 
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4a7a9102c91e389c449d24a3ca0d8bdf4f"></span> `StartVideo` | Start capturing video. 
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4a3ab23501110c4bf07668c2178168da01"></span> `StopVideo` | Stop capturing video. 
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4a9aabe55729b070dbba61b3b7e9e8faa3"></span> `StartPhotoDistance` | Start capturing photos at regular distance. 
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4a3e66812860fd78f0707062e31b98cd1e"></span> `StopPhotoDistance` | Stop capturing photos at regular distance. 
+
+### enum VehicleAction {#structmavsdk_1_1_mission_1_1_mission_item_1abf579024f942deef18ef902839513743}
+
+
+Possible vehicle actions at a mission item.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1abf579024f942deef18ef902839513743a6adf97f83acf6453d4a6a4b1070f3754"></span> `None` | No action. 
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1abf579024f942deef18ef902839513743a56373a80447c41b9a29e500e62d6884e"></span> `Takeoff` | Vehicle will takeoff and go to defined waypoint. 
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1abf579024f942deef18ef902839513743a512ef7c688a2c8572d5e16f44e17e869"></span> `Land` | When a waypoint is reached vehicle will land at current position. 
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1abf579024f942deef18ef902839513743a45f439a04f9144adc1dcf5a4fbda0026"></span> `TransitionToFw` | When a waypoint is reached vehicle will transition to fixed-wing mode. 
+<span id="structmavsdk_1_1_mission_1_1_mission_item_1abf579024f942deef18ef902839513743af3abadebd9602a0acb33350f64fa7661"></span> `TransitionToMc` | When a waypoint is reached vehicle will transition to multi-copter mode. 
+
+## Field Documentation
+
+
+### latitude_deg {#structmavsdk_1_1_mission_1_1_mission_item_1af39e7086391121ace640feea0bfdd289}
+
+```cpp
+double mavsdk::Mission::MissionItem::latitude_deg {double(NAN)}
+```
+
+
+Latitude in degrees (range: -90 to +90)
+
+
+### longitude_deg {#structmavsdk_1_1_mission_1_1_mission_item_1afecfad42d0976a85842cc9489694c062}
+
+```cpp
+double mavsdk::Mission::MissionItem::longitude_deg {double(NAN)}
+```
+
+
+Longitude in degrees (range: -180 to +180)
+
+
+### relative_altitude_m {#structmavsdk_1_1_mission_1_1_mission_item_1aeb6371f7a6fe5f81f96d4826db550602}
+
+```cpp
+float mavsdk::Mission::MissionItem::relative_altitude_m { float(NAN)}
+```
+
+
+Altitude relative to takeoff altitude in metres.
+
+
+### speed_m_s {#structmavsdk_1_1_mission_1_1_mission_item_1ab48b7ba0f5a85056ac516585f8df9729}
+
+```cpp
+float mavsdk::Mission::MissionItem::speed_m_s { float(NAN)}
+```
+
+
+Speed to use after this mission item (in metres/second)
+
+
+### is_fly_through {#structmavsdk_1_1_mission_1_1_mission_item_1ac01a5fd31bee531537ec87658a4a3561}
+
+```cpp
+bool mavsdk::Mission::MissionItem::is_fly_through { false}
+```
+
+
+True will make the drone fly through without stopping, while false will make the drone stop on the waypoint.
+
+
+### gimbal_pitch_deg {#structmavsdk_1_1_mission_1_1_mission_item_1af76dd7536ffd1fcad98c4e08fe33c791}
+
+```cpp
+float mavsdk::Mission::MissionItem::gimbal_pitch_deg {float(NAN)}
+```
+
+
+[Gimbal](classmavsdk_1_1_gimbal.md) pitch (in degrees)
+
+
+### gimbal_yaw_deg {#structmavsdk_1_1_mission_1_1_mission_item_1a6c0cf351a535a5e77b8079e5d532974b}
+
+```cpp
+float mavsdk::Mission::MissionItem::gimbal_yaw_deg {float(NAN)}
+```
+
+
+[Gimbal](classmavsdk_1_1_gimbal.md) yaw (in degrees)
+
+
+### camera_action {#structmavsdk_1_1_mission_1_1_mission_item_1a2f38fdb200201180ab370d811bb21f2f}
+
+```cpp
+CameraAction mavsdk::Mission::MissionItem::camera_action {}
+```
+
+
+[Camera](classmavsdk_1_1_camera.md) action to trigger at this mission item.
+
+
+### loiter_time_s {#structmavsdk_1_1_mission_1_1_mission_item_1aa54196266e57f2a05ab46aa41fce1dd0}
+
+```cpp
+float mavsdk::Mission::MissionItem::loiter_time_s {float(NAN)}
+```
+
+
+Loiter time (in seconds)
+
+
+### camera_photo_interval_s {#structmavsdk_1_1_mission_1_1_mission_item_1a7b48c46ecb52f115e5461a944f619612}
+
+```cpp
+double mavsdk::Mission::MissionItem::camera_photo_interval_s { 1.0}
+```
+
+
+[Camera](classmavsdk_1_1_camera.md) photo interval to use after this mission item (in seconds)
+
+
+### acceptance_radius_m {#structmavsdk_1_1_mission_1_1_mission_item_1a9114a16c5405dacb35f45ae37f343665}
+
+```cpp
+float mavsdk::Mission::MissionItem::acceptance_radius_m { float(NAN)}
+```
+
+
+Radius for completing a mission item (in metres)
+
+
+### yaw_deg {#structmavsdk_1_1_mission_1_1_mission_item_1a40af7ff4f2a346492d276255febd92c7}
+
+```cpp
+float mavsdk::Mission::MissionItem::yaw_deg {float(NAN)}
+```
+
+
+Absolute yaw angle (in degrees)
+
+
+### camera_photo_distance_m {#structmavsdk_1_1_mission_1_1_mission_item_1a0a2802a1cab28552e8f49389f472e1a9}
+
+```cpp
+float mavsdk::Mission::MissionItem::camera_photo_distance_m { NAN}
+```
+
+
+[Camera](classmavsdk_1_1_camera.md) photo distance to use after this mission item (in meters)
+
+
+### vehicle_action {#structmavsdk_1_1_mission_1_1_mission_item_1a0892ef1c7dd89ea18535689f69d5493a}
+
+```cpp
+VehicleAction mavsdk::Mission::MissionItem::vehicle_action {}
+```
+
+
+Vehicle action to trigger at this mission item.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_plan.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_plan.md
new file mode 100644
index 0000000000..df4b714754
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_plan.md
@@ -0,0 +1,27 @@
+# mavsdk::Mission::MissionPlan Struct Reference
+`#include: mission.h`
+
+----
+
+
+[Mission](classmavsdk_1_1_mission.md) plan type. 
+
+
+## Data Fields
+
+
+std::vector< [MissionItem](structmavsdk_1_1_mission_1_1_mission_item.md) > [mission_items](#structmavsdk_1_1_mission_1_1_mission_plan_1ad27a316429e84b18fc9fceeda6694b6b) {} - The mission items.
+
+
+## Field Documentation
+
+
+### mission_items {#structmavsdk_1_1_mission_1_1_mission_plan_1ad27a316429e84b18fc9fceeda6694b6b}
+
+```cpp
+std::vector<MissionItem> mavsdk::Mission::MissionPlan::mission_items {}
+```
+
+
+The mission items.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_progress.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_progress.md
new file mode 100644
index 0000000000..6be6dd30ee
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_progress.md
@@ -0,0 +1,39 @@
+# mavsdk::Mission::MissionProgress Struct Reference
+`#include: mission.h`
+
+----
+
+
+[Mission](classmavsdk_1_1_mission.md) progress type. 
+
+
+## Data Fields
+
+
+int32_t [current](#structmavsdk_1_1_mission_1_1_mission_progress_1a5a68f76d6da0d32e9416c17ddd3a9178) {} - Current mission item index (0-based), if equal to total, the mission is finished.
+
+int32_t [total](#structmavsdk_1_1_mission_1_1_mission_progress_1aa9d57135c3d81ec2ee5e7c18805cedb2) {} - Total number of mission items.
+
+
+## Field Documentation
+
+
+### current {#structmavsdk_1_1_mission_1_1_mission_progress_1a5a68f76d6da0d32e9416c17ddd3a9178}
+
+```cpp
+int32_t mavsdk::Mission::MissionProgress::current {}
+```
+
+
+Current mission item index (0-based), if equal to total, the mission is finished.
+
+
+### total {#structmavsdk_1_1_mission_1_1_mission_progress_1aa9d57135c3d81ec2ee5e7c18805cedb2}
+
+```cpp
+int32_t mavsdk::Mission::MissionProgress::total {}
+```
+
+
+Total number of mission items.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data.md
new file mode 100644
index 0000000000..ec42a4179f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data.md
@@ -0,0 +1,27 @@
+# mavsdk::Mission::ProgressData Struct Reference
+`#include: mission.h`
+
+----
+
+
+Progress data coming from mission upload. 
+
+
+## Data Fields
+
+
+float [progress](#structmavsdk_1_1_mission_1_1_progress_data_1a0a3267e48efbe017fe4b9ff8f5b6ffd2) {float(NAN)} - Progress (0..1.0)
+
+
+## Field Documentation
+
+
+### progress {#structmavsdk_1_1_mission_1_1_progress_data_1a0a3267e48efbe017fe4b9ff8f5b6ffd2}
+
+```cpp
+float mavsdk::Mission::ProgressData::progress {float(NAN)}
+```
+
+
+Progress (0..1.0)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data_or_mission.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data_or_mission.md
new file mode 100644
index 0000000000..efd4aae599
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_progress_data_or_mission.md
@@ -0,0 +1,63 @@
+# mavsdk::Mission::ProgressDataOrMission Struct Reference
+`#include: mission.h`
+
+----
+
+
+Progress data coming from mission download, or the mission itself (if the transfer succeeds). 
+
+
+## Data Fields
+
+
+bool [has_progress](#structmavsdk_1_1_mission_1_1_progress_data_or_mission_1aa62b873987a36a1f0933d553eee8fc96) { false} - Whether this [ProgressData](structmavsdk_1_1_mission_1_1_progress_data.md) contains a 'progress' status or not.
+
+float [progress](#structmavsdk_1_1_mission_1_1_progress_data_or_mission_1a75ab9d493dfd9cda21df2018b5713eb9) {float(NAN)} - Progress (0..1.0)
+
+bool [has_mission](#structmavsdk_1_1_mission_1_1_progress_data_or_mission_1a3d404ffdc43a720c6dc56268af635a48) {} - Whether this [ProgressData](structmavsdk_1_1_mission_1_1_progress_data.md) contains a 'mission_plan' or not.
+
+[MissionPlan](structmavsdk_1_1_mission_1_1_mission_plan.md) [mission_plan](#structmavsdk_1_1_mission_1_1_progress_data_or_mission_1a2ba4b1a384bf61298a7c174ca90f703a) {} - [Mission](classmavsdk_1_1_mission.md) plan.
+
+
+## Field Documentation
+
+
+### has_progress {#structmavsdk_1_1_mission_1_1_progress_data_or_mission_1aa62b873987a36a1f0933d553eee8fc96}
+
+```cpp
+bool mavsdk::Mission::ProgressDataOrMission::has_progress { false}
+```
+
+
+Whether this [ProgressData](structmavsdk_1_1_mission_1_1_progress_data.md) contains a 'progress' status or not.
+
+
+### progress {#structmavsdk_1_1_mission_1_1_progress_data_or_mission_1a75ab9d493dfd9cda21df2018b5713eb9}
+
+```cpp
+float mavsdk::Mission::ProgressDataOrMission::progress {float(NAN)}
+```
+
+
+Progress (0..1.0)
+
+
+### has_mission {#structmavsdk_1_1_mission_1_1_progress_data_or_mission_1a3d404ffdc43a720c6dc56268af635a48}
+
+```cpp
+bool mavsdk::Mission::ProgressDataOrMission::has_mission {}
+```
+
+
+Whether this [ProgressData](structmavsdk_1_1_mission_1_1_progress_data.md) contains a 'mission_plan' or not.
+
+
+### mission_plan {#structmavsdk_1_1_mission_1_1_progress_data_or_mission_1a2ba4b1a384bf61298a7c174ca90f703a}
+
+```cpp
+MissionPlan mavsdk::Mission::ProgressDataOrMission::mission_plan {}
+```
+
+
+[Mission](classmavsdk_1_1_mission.md) plan.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_import_data.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_import_data.md
new file mode 100644
index 0000000000..8bf7f2421f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_import_data.md
@@ -0,0 +1,51 @@
+# mavsdk::MissionRaw::MissionImportData Struct Reference
+`#include: mission_raw.h`
+
+----
+
+
+[Mission](classmavsdk_1_1_mission.md) import data. 
+
+
+## Data Fields
+
+
+std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > [mission_items](#structmavsdk_1_1_mission_raw_1_1_mission_import_data_1a8d38765a236c81f683fe3941c46d6b17) {} - [Mission](classmavsdk_1_1_mission.md) items.
+
+std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > [geofence_items](#structmavsdk_1_1_mission_raw_1_1_mission_import_data_1a51dcd1c92bce56b688e8de027a4f76ca) {} - [Geofence](classmavsdk_1_1_geofence.md) items.
+
+std::vector< [MissionItem](structmavsdk_1_1_mission_raw_1_1_mission_item.md) > [rally_items](#structmavsdk_1_1_mission_raw_1_1_mission_import_data_1a64b74b33716be2e36558c2db01bcc2ed) {} - Rally items.
+
+
+## Field Documentation
+
+
+### mission_items {#structmavsdk_1_1_mission_raw_1_1_mission_import_data_1a8d38765a236c81f683fe3941c46d6b17}
+
+```cpp
+std::vector<MissionItem> mavsdk::MissionRaw::MissionImportData::mission_items {}
+```
+
+
+[Mission](classmavsdk_1_1_mission.md) items.
+
+
+### geofence_items {#structmavsdk_1_1_mission_raw_1_1_mission_import_data_1a51dcd1c92bce56b688e8de027a4f76ca}
+
+```cpp
+std::vector<MissionItem> mavsdk::MissionRaw::MissionImportData::geofence_items {}
+```
+
+
+[Geofence](classmavsdk_1_1_geofence.md) items.
+
+
+### rally_items {#structmavsdk_1_1_mission_raw_1_1_mission_import_data_1a64b74b33716be2e36558c2db01bcc2ed}
+
+```cpp
+std::vector<MissionItem> mavsdk::MissionRaw::MissionImportData::rally_items {}
+```
+
+
+Rally items.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_item.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_item.md
new file mode 100644
index 0000000000..1edf758384
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_item.md
@@ -0,0 +1,171 @@
+# mavsdk::MissionRaw::MissionItem Struct Reference
+`#include: mission_raw.h`
+
+----
+
+
+[Mission](classmavsdk_1_1_mission.md) item exactly identical to MAVLink MISSION_ITEM_INT. 
+
+
+## Data Fields
+
+
+uint32_t [seq](#structmavsdk_1_1_mission_raw_1_1_mission_item_1a4100d5f8bf1e8a8a18495e4d3e2df9c7) {} - Sequence (uint16_t)
+
+uint32_t [frame](#structmavsdk_1_1_mission_raw_1_1_mission_item_1a003abd4f7877609a5352e8c2d5b6f878) {} - The coordinate system of the waypoint (actually uint8_t)
+
+uint32_t [command](#structmavsdk_1_1_mission_raw_1_1_mission_item_1a8a1a528bfbcdb3106c947cf3618967c9) {} - The scheduled action for the waypoint (actually uint16_t)
+
+uint32_t [current](#structmavsdk_1_1_mission_raw_1_1_mission_item_1a0853859a211fd5fbc002b83f60292232) {} - false:0, true:1 (actually uint8_t)
+
+uint32_t [autocontinue](#structmavsdk_1_1_mission_raw_1_1_mission_item_1ab832f0f1788c75f0b5b0a1f12561aa06) {} - Autocontinue to next waypoint (actually uint8_t)
+
+float [param1](#structmavsdk_1_1_mission_raw_1_1_mission_item_1ae1d81f82162e3103b47af5b6a4c1aa02) {} - PARAM1, see MAV_CMD enum.
+
+float [param2](#structmavsdk_1_1_mission_raw_1_1_mission_item_1acc86497f3775bc36e9552d86140c3a7a) {} - PARAM2, see MAV_CMD enum.
+
+float [param3](#structmavsdk_1_1_mission_raw_1_1_mission_item_1a62949430aab15578085436e3f041fd74) {} - PARAM3, see MAV_CMD enum.
+
+float [param4](#structmavsdk_1_1_mission_raw_1_1_mission_item_1a12b9313b1b8c992412aa76e95db97fef) {} - PARAM4, see MAV_CMD enum.
+
+int32_t [x](#structmavsdk_1_1_mission_raw_1_1_mission_item_1a6081b94f11c03da8cdbfc75242795569) {} - PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7.
+
+int32_t [y](#structmavsdk_1_1_mission_raw_1_1_mission_item_1a9dbe5c8be2a48a4d64da03ea26ab0693) {} - PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7.
+
+float [z](#structmavsdk_1_1_mission_raw_1_1_mission_item_1ab2805706c6b8ed802c2454ce91f28c9e) {} - PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)
+
+uint32_t [mission_type](#structmavsdk_1_1_mission_raw_1_1_mission_item_1a2228069197f29aa98ec03e69a74434b3) {} - [Mission](classmavsdk_1_1_mission.md) type (actually uint8_t)
+
+
+## Field Documentation
+
+
+### seq {#structmavsdk_1_1_mission_raw_1_1_mission_item_1a4100d5f8bf1e8a8a18495e4d3e2df9c7}
+
+```cpp
+uint32_t mavsdk::MissionRaw::MissionItem::seq {}
+```
+
+
+Sequence (uint16_t)
+
+
+### frame {#structmavsdk_1_1_mission_raw_1_1_mission_item_1a003abd4f7877609a5352e8c2d5b6f878}
+
+```cpp
+uint32_t mavsdk::MissionRaw::MissionItem::frame {}
+```
+
+
+The coordinate system of the waypoint (actually uint8_t)
+
+
+### command {#structmavsdk_1_1_mission_raw_1_1_mission_item_1a8a1a528bfbcdb3106c947cf3618967c9}
+
+```cpp
+uint32_t mavsdk::MissionRaw::MissionItem::command {}
+```
+
+
+The scheduled action for the waypoint (actually uint16_t)
+
+
+### current {#structmavsdk_1_1_mission_raw_1_1_mission_item_1a0853859a211fd5fbc002b83f60292232}
+
+```cpp
+uint32_t mavsdk::MissionRaw::MissionItem::current {}
+```
+
+
+false:0, true:1 (actually uint8_t)
+
+
+### autocontinue {#structmavsdk_1_1_mission_raw_1_1_mission_item_1ab832f0f1788c75f0b5b0a1f12561aa06}
+
+```cpp
+uint32_t mavsdk::MissionRaw::MissionItem::autocontinue {}
+```
+
+
+Autocontinue to next waypoint (actually uint8_t)
+
+
+### param1 {#structmavsdk_1_1_mission_raw_1_1_mission_item_1ae1d81f82162e3103b47af5b6a4c1aa02}
+
+```cpp
+float mavsdk::MissionRaw::MissionItem::param1 {}
+```
+
+
+PARAM1, see MAV_CMD enum.
+
+
+### param2 {#structmavsdk_1_1_mission_raw_1_1_mission_item_1acc86497f3775bc36e9552d86140c3a7a}
+
+```cpp
+float mavsdk::MissionRaw::MissionItem::param2 {}
+```
+
+
+PARAM2, see MAV_CMD enum.
+
+
+### param3 {#structmavsdk_1_1_mission_raw_1_1_mission_item_1a62949430aab15578085436e3f041fd74}
+
+```cpp
+float mavsdk::MissionRaw::MissionItem::param3 {}
+```
+
+
+PARAM3, see MAV_CMD enum.
+
+
+### param4 {#structmavsdk_1_1_mission_raw_1_1_mission_item_1a12b9313b1b8c992412aa76e95db97fef}
+
+```cpp
+float mavsdk::MissionRaw::MissionItem::param4 {}
+```
+
+
+PARAM4, see MAV_CMD enum.
+
+
+### x {#structmavsdk_1_1_mission_raw_1_1_mission_item_1a6081b94f11c03da8cdbfc75242795569}
+
+```cpp
+int32_t mavsdk::MissionRaw::MissionItem::x {}
+```
+
+
+PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7.
+
+
+### y {#structmavsdk_1_1_mission_raw_1_1_mission_item_1a9dbe5c8be2a48a4d64da03ea26ab0693}
+
+```cpp
+int32_t mavsdk::MissionRaw::MissionItem::y {}
+```
+
+
+PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7.
+
+
+### z {#structmavsdk_1_1_mission_raw_1_1_mission_item_1ab2805706c6b8ed802c2454ce91f28c9e}
+
+```cpp
+float mavsdk::MissionRaw::MissionItem::z {}
+```
+
+
+PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)
+
+
+### mission_type {#structmavsdk_1_1_mission_raw_1_1_mission_item_1a2228069197f29aa98ec03e69a74434b3}
+
+```cpp
+uint32_t mavsdk::MissionRaw::MissionItem::mission_type {}
+```
+
+
+[Mission](classmavsdk_1_1_mission.md) type (actually uint8_t)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_progress.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_progress.md
new file mode 100644
index 0000000000..c1cb8c8ef6
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_1_1_mission_progress.md
@@ -0,0 +1,39 @@
+# mavsdk::MissionRaw::MissionProgress Struct Reference
+`#include: mission_raw.h`
+
+----
+
+
+[Mission](classmavsdk_1_1_mission.md) progress type. 
+
+
+## Data Fields
+
+
+int32_t [current](#structmavsdk_1_1_mission_raw_1_1_mission_progress_1ac1944774b7ed6216c19cffdc4911adbf) {} - Current mission item index (0-based), if equal to total, the mission is finished.
+
+int32_t [total](#structmavsdk_1_1_mission_raw_1_1_mission_progress_1a60cef07998be10d414b7481fc0f21e0f) {} - Total number of mission items.
+
+
+## Field Documentation
+
+
+### current {#structmavsdk_1_1_mission_raw_1_1_mission_progress_1ac1944774b7ed6216c19cffdc4911adbf}
+
+```cpp
+int32_t mavsdk::MissionRaw::MissionProgress::current {}
+```
+
+
+Current mission item index (0-based), if equal to total, the mission is finished.
+
+
+### total {#structmavsdk_1_1_mission_raw_1_1_mission_progress_1a60cef07998be10d414b7481fc0f21e0f}
+
+```cpp
+int32_t mavsdk::MissionRaw::MissionProgress::total {}
+```
+
+
+Total number of mission items.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_item.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_item.md
new file mode 100644
index 0000000000..aacef9c210
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_item.md
@@ -0,0 +1,171 @@
+# mavsdk::MissionRawServer::MissionItem Struct Reference
+`#include: mission_raw_server.h`
+
+----
+
+
+[Mission](classmavsdk_1_1_mission.md) item exactly identical to MAVLink MISSION_ITEM_INT. 
+
+
+## Data Fields
+
+
+uint32_t [seq](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a092dabd74c220d25cec7b6a51b390ebf) {} - Sequence (uint16_t)
+
+uint32_t [frame](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a106ba1ec51be8f9af968376e50abe09d) {} - The coordinate system of the waypoint (actually uint8_t)
+
+uint32_t [command](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1aee980795d98404f05469505802bd3860) {} - The scheduled action for the waypoint (actually uint16_t)
+
+uint32_t [current](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a495cc2fb336f0b075c38140772cf9c0e) {} - false:0, true:1 (actually uint8_t)
+
+uint32_t [autocontinue](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a798872e29696ad78c12de35ff013157d) {} - Autocontinue to next waypoint (actually uint8_t)
+
+float [param1](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1aaf09bf8604f290b18817d9440b0fd2df) {} - PARAM1, see MAV_CMD enum.
+
+float [param2](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1aff0e711bb5a19b8dfd128888da7ba5fc) {} - PARAM2, see MAV_CMD enum.
+
+float [param3](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a1b1bb7bba00276e30bf231e566a71066) {} - PARAM3, see MAV_CMD enum.
+
+float [param4](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a2138e23fde95b71c1b32eca8b3fb5860) {} - PARAM4, see MAV_CMD enum.
+
+int32_t [x](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a10dbaabc66e323382e193546a8a111b6) {} - PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7.
+
+int32_t [y](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1aeb1c4e1399f493f128cc43b3f3d166a3) {} - PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7.
+
+float [z](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a9513624833c36a8a29472cb582e175b8) {} - PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)
+
+uint32_t [mission_type](#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1acb990a5dee9f2aae87c578095534747c) {} - [Mission](classmavsdk_1_1_mission.md) type (actually uint8_t)
+
+
+## Field Documentation
+
+
+### seq {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a092dabd74c220d25cec7b6a51b390ebf}
+
+```cpp
+uint32_t mavsdk::MissionRawServer::MissionItem::seq {}
+```
+
+
+Sequence (uint16_t)
+
+
+### frame {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a106ba1ec51be8f9af968376e50abe09d}
+
+```cpp
+uint32_t mavsdk::MissionRawServer::MissionItem::frame {}
+```
+
+
+The coordinate system of the waypoint (actually uint8_t)
+
+
+### command {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1aee980795d98404f05469505802bd3860}
+
+```cpp
+uint32_t mavsdk::MissionRawServer::MissionItem::command {}
+```
+
+
+The scheduled action for the waypoint (actually uint16_t)
+
+
+### current {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a495cc2fb336f0b075c38140772cf9c0e}
+
+```cpp
+uint32_t mavsdk::MissionRawServer::MissionItem::current {}
+```
+
+
+false:0, true:1 (actually uint8_t)
+
+
+### autocontinue {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a798872e29696ad78c12de35ff013157d}
+
+```cpp
+uint32_t mavsdk::MissionRawServer::MissionItem::autocontinue {}
+```
+
+
+Autocontinue to next waypoint (actually uint8_t)
+
+
+### param1 {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1aaf09bf8604f290b18817d9440b0fd2df}
+
+```cpp
+float mavsdk::MissionRawServer::MissionItem::param1 {}
+```
+
+
+PARAM1, see MAV_CMD enum.
+
+
+### param2 {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1aff0e711bb5a19b8dfd128888da7ba5fc}
+
+```cpp
+float mavsdk::MissionRawServer::MissionItem::param2 {}
+```
+
+
+PARAM2, see MAV_CMD enum.
+
+
+### param3 {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a1b1bb7bba00276e30bf231e566a71066}
+
+```cpp
+float mavsdk::MissionRawServer::MissionItem::param3 {}
+```
+
+
+PARAM3, see MAV_CMD enum.
+
+
+### param4 {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a2138e23fde95b71c1b32eca8b3fb5860}
+
+```cpp
+float mavsdk::MissionRawServer::MissionItem::param4 {}
+```
+
+
+PARAM4, see MAV_CMD enum.
+
+
+### x {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a10dbaabc66e323382e193546a8a111b6}
+
+```cpp
+int32_t mavsdk::MissionRawServer::MissionItem::x {}
+```
+
+
+PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7.
+
+
+### y {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1aeb1c4e1399f493f128cc43b3f3d166a3}
+
+```cpp
+int32_t mavsdk::MissionRawServer::MissionItem::y {}
+```
+
+
+PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7.
+
+
+### z {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1a9513624833c36a8a29472cb582e175b8}
+
+```cpp
+float mavsdk::MissionRawServer::MissionItem::z {}
+```
+
+
+PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame)
+
+
+### mission_type {#structmavsdk_1_1_mission_raw_server_1_1_mission_item_1acb990a5dee9f2aae87c578095534747c}
+
+```cpp
+uint32_t mavsdk::MissionRawServer::MissionItem::mission_type {}
+```
+
+
+[Mission](classmavsdk_1_1_mission.md) type (actually uint8_t)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md
new file mode 100644
index 0000000000..433f5292e4
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_plan.md
@@ -0,0 +1,27 @@
+# mavsdk::MissionRawServer::MissionPlan Struct Reference
+`#include: mission_raw_server.h`
+
+----
+
+
+[Mission](classmavsdk_1_1_mission.md) plan type. 
+
+
+## Data Fields
+
+
+std::vector< [MissionItem](structmavsdk_1_1_mission_raw_server_1_1_mission_item.md) > [mission_items](#structmavsdk_1_1_mission_raw_server_1_1_mission_plan_1ae01cb88952ad5dd85cd3974859d68864) {} - The mission items.
+
+
+## Field Documentation
+
+
+### mission_items {#structmavsdk_1_1_mission_raw_server_1_1_mission_plan_1ae01cb88952ad5dd85cd3974859d68864}
+
+```cpp
+std::vector<MissionItem> mavsdk::MissionRawServer::MissionPlan::mission_items {}
+```
+
+
+The mission items.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_progress.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_progress.md
new file mode 100644
index 0000000000..0e16b20681
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mission_raw_server_1_1_mission_progress.md
@@ -0,0 +1,39 @@
+# mavsdk::MissionRawServer::MissionProgress Struct Reference
+`#include: mission_raw_server.h`
+
+----
+
+
+[Mission](classmavsdk_1_1_mission.md) progress type. 
+
+
+## Data Fields
+
+
+int32_t [current](#structmavsdk_1_1_mission_raw_server_1_1_mission_progress_1ab499616d64f4a01770bcbc947a625ed6) {} - Current mission item index (0-based), if equal to total, the mission is finished.
+
+int32_t [total](#structmavsdk_1_1_mission_raw_server_1_1_mission_progress_1a181927204fc1e7bace72be06e90fa0fb) {} - Total number of mission items.
+
+
+## Field Documentation
+
+
+### current {#structmavsdk_1_1_mission_raw_server_1_1_mission_progress_1ab499616d64f4a01770bcbc947a625ed6}
+
+```cpp
+int32_t mavsdk::MissionRawServer::MissionProgress::current {}
+```
+
+
+Current mission item index (0-based), if equal to total, the mission is finished.
+
+
+### total {#structmavsdk_1_1_mission_raw_server_1_1_mission_progress_1a181927204fc1e7bace72be06e90fa0fb}
+
+```cpp
+int32_t mavsdk::MissionRawServer::MissionProgress::total {}
+```
+
+
+Total number of mission items.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_angle_body.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_angle_body.md
new file mode 100644
index 0000000000..0a5550e9d6
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_angle_body.md
@@ -0,0 +1,51 @@
+# mavsdk::Mocap::AngleBody Struct Reference
+`#include: mocap.h`
+
+----
+
+
+Body angle type. 
+
+
+## Data Fields
+
+
+float [roll_rad](#structmavsdk_1_1_mocap_1_1_angle_body_1a620e07f1cfc46838fbd259bcd3349f5c) {} - Roll angle in radians.
+
+float [pitch_rad](#structmavsdk_1_1_mocap_1_1_angle_body_1a39b9a29c733f672e181c8aace058cf01) {} - Pitch angle in radians.
+
+float [yaw_rad](#structmavsdk_1_1_mocap_1_1_angle_body_1a0f13a8d64be1d503f83cad0a805b0147) {} - Yaw angle in radians.
+
+
+## Field Documentation
+
+
+### roll_rad {#structmavsdk_1_1_mocap_1_1_angle_body_1a620e07f1cfc46838fbd259bcd3349f5c}
+
+```cpp
+float mavsdk::Mocap::AngleBody::roll_rad {}
+```
+
+
+Roll angle in radians.
+
+
+### pitch_rad {#structmavsdk_1_1_mocap_1_1_angle_body_1a39b9a29c733f672e181c8aace058cf01}
+
+```cpp
+float mavsdk::Mocap::AngleBody::pitch_rad {}
+```
+
+
+Pitch angle in radians.
+
+
+### yaw_rad {#structmavsdk_1_1_mocap_1_1_angle_body_1a0f13a8d64be1d503f83cad0a805b0147}
+
+```cpp
+float mavsdk::Mocap::AngleBody::yaw_rad {}
+```
+
+
+Yaw angle in radians.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_angular_velocity_body.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_angular_velocity_body.md
new file mode 100644
index 0000000000..a5e95f0fd0
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_angular_velocity_body.md
@@ -0,0 +1,51 @@
+# mavsdk::Mocap::AngularVelocityBody Struct Reference
+`#include: mocap.h`
+
+----
+
+
+Angular velocity type. 
+
+
+## Data Fields
+
+
+float [roll_rad_s](#structmavsdk_1_1_mocap_1_1_angular_velocity_body_1a0b92cba9349238694ad56bdda1cf99e7) {} - Roll angular velocity in radians/second.
+
+float [pitch_rad_s](#structmavsdk_1_1_mocap_1_1_angular_velocity_body_1a6ca4897e857cbb942e720aac70b20da7) {} - Pitch angular velocity in radians/second.
+
+float [yaw_rad_s](#structmavsdk_1_1_mocap_1_1_angular_velocity_body_1a5e765010cbccaa3da3fb97b4f555a51c) {} - Yaw angular velocity in radians/second.
+
+
+## Field Documentation
+
+
+### roll_rad_s {#structmavsdk_1_1_mocap_1_1_angular_velocity_body_1a0b92cba9349238694ad56bdda1cf99e7}
+
+```cpp
+float mavsdk::Mocap::AngularVelocityBody::roll_rad_s {}
+```
+
+
+Roll angular velocity in radians/second.
+
+
+### pitch_rad_s {#structmavsdk_1_1_mocap_1_1_angular_velocity_body_1a6ca4897e857cbb942e720aac70b20da7}
+
+```cpp
+float mavsdk::Mocap::AngularVelocityBody::pitch_rad_s {}
+```
+
+
+Pitch angular velocity in radians/second.
+
+
+### yaw_rad_s {#structmavsdk_1_1_mocap_1_1_angular_velocity_body_1a5e765010cbccaa3da3fb97b4f555a51c}
+
+```cpp
+float mavsdk::Mocap::AngularVelocityBody::yaw_rad_s {}
+```
+
+
+Yaw angular velocity in radians/second.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_attitude_position_mocap.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_attitude_position_mocap.md
new file mode 100644
index 0000000000..6ea7a85a9a
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_attitude_position_mocap.md
@@ -0,0 +1,63 @@
+# mavsdk::Mocap::AttitudePositionMocap Struct Reference
+`#include: mocap.h`
+
+----
+
+
+Motion capture attitude and position. 
+
+
+## Data Fields
+
+
+uint64_t [time_usec](#structmavsdk_1_1_mocap_1_1_attitude_position_mocap_1a71fe88d56f731ccf1006ab4824dd28a5) {} - [PositionBody](structmavsdk_1_1_mocap_1_1_position_body.md) frame timestamp UNIX Epoch time (0 to use Backend timestamp)
+
+[Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) [q](#structmavsdk_1_1_mocap_1_1_attitude_position_mocap_1a7a0dc18912abfd898ab277fa1cde1ea6) {} - Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
+
+[PositionBody](structmavsdk_1_1_mocap_1_1_position_body.md) [position_body](#structmavsdk_1_1_mocap_1_1_attitude_position_mocap_1a5fc4e26d1c619304149d5fa5f7fed6a0) {} - Body Position (NED)
+
+[Covariance](structmavsdk_1_1_mocap_1_1_covariance.md) [pose_covariance](#structmavsdk_1_1_mocap_1_1_attitude_position_mocap_1a5e927086fb1877984f364884cbce42e9) {} - Pose cross-covariance matrix.
+
+
+## Field Documentation
+
+
+### time_usec {#structmavsdk_1_1_mocap_1_1_attitude_position_mocap_1a71fe88d56f731ccf1006ab4824dd28a5}
+
+```cpp
+uint64_t mavsdk::Mocap::AttitudePositionMocap::time_usec {}
+```
+
+
+[PositionBody](structmavsdk_1_1_mocap_1_1_position_body.md) frame timestamp UNIX Epoch time (0 to use Backend timestamp)
+
+
+### q {#structmavsdk_1_1_mocap_1_1_attitude_position_mocap_1a7a0dc18912abfd898ab277fa1cde1ea6}
+
+```cpp
+Quaternion mavsdk::Mocap::AttitudePositionMocap::q {}
+```
+
+
+Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
+
+
+### position_body {#structmavsdk_1_1_mocap_1_1_attitude_position_mocap_1a5fc4e26d1c619304149d5fa5f7fed6a0}
+
+```cpp
+PositionBody mavsdk::Mocap::AttitudePositionMocap::position_body {}
+```
+
+
+Body Position (NED)
+
+
+### pose_covariance {#structmavsdk_1_1_mocap_1_1_attitude_position_mocap_1a5e927086fb1877984f364884cbce42e9}
+
+```cpp
+Covariance mavsdk::Mocap::AttitudePositionMocap::pose_covariance {}
+```
+
+
+Pose cross-covariance matrix.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_covariance.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_covariance.md
new file mode 100644
index 0000000000..801ff76791
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_covariance.md
@@ -0,0 +1,27 @@
+# mavsdk::Mocap::Covariance Struct Reference
+`#include: mocap.h`
+
+----
+
+
+[Covariance](structmavsdk_1_1_mocap_1_1_covariance.md) type. Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Needs to be 21 entries or 1 entry with NaN if unknown. 
+
+
+## Data Fields
+
+
+std::vector< float > [covariance_matrix](#structmavsdk_1_1_mocap_1_1_covariance_1ab2b28fd722cefb7f3783e4060baada2f) {} - The covariance matrix.
+
+
+## Field Documentation
+
+
+### covariance_matrix {#structmavsdk_1_1_mocap_1_1_covariance_1ab2b28fd722cefb7f3783e4060baada2f}
+
+```cpp
+std::vector<float> mavsdk::Mocap::Covariance::covariance_matrix {}
+```
+
+
+The covariance matrix.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_odometry.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_odometry.md
new file mode 100644
index 0000000000..54235e30c4
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_odometry.md
@@ -0,0 +1,132 @@
+# mavsdk::Mocap::Odometry Struct Reference
+`#include: mocap.h`
+
+----
+
+
+[Odometry](structmavsdk_1_1_mocap_1_1_odometry.md) message to communicate odometry information with an external interface. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [MavFrame](#structmavsdk_1_1_mocap_1_1_odometry_1a9c98852de68b23f07a78a0fc021c8a33) | Mavlink frame id.
+
+## Data Fields
+
+
+uint64_t [time_usec](#structmavsdk_1_1_mocap_1_1_odometry_1a015fd5755c9953ab7d7be4736fad5300) {} - Timestamp (0 to use Backend timestamp).
+
+[MavFrame](structmavsdk_1_1_mocap_1_1_odometry.md#structmavsdk_1_1_mocap_1_1_odometry_1a9c98852de68b23f07a78a0fc021c8a33) [frame_id](#structmavsdk_1_1_mocap_1_1_odometry_1ab7ce4f3ea27857eb44d2efe7a010e3d3) {} - Coordinate frame of reference for the pose data.
+
+[PositionBody](structmavsdk_1_1_mocap_1_1_position_body.md) [position_body](#structmavsdk_1_1_mocap_1_1_odometry_1af7b586261930981742683b3253fc9989) {} - Body Position.
+
+[Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) [q](#structmavsdk_1_1_mocap_1_1_odometry_1ae5a8c05815a15250f2cf37e1d5a21be5) {} - [Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) components, w, x, y, z (1 0 0 0 is the null-rotation).
+
+[SpeedBody](structmavsdk_1_1_mocap_1_1_speed_body.md) [speed_body](#structmavsdk_1_1_mocap_1_1_odometry_1a123c544d4ea98bf91d0740321aa6bb00) {} - Linear speed (m/s).
+
+[AngularVelocityBody](structmavsdk_1_1_mocap_1_1_angular_velocity_body.md) [angular_velocity_body](#structmavsdk_1_1_mocap_1_1_odometry_1acf8cf54ebe80fb872250aa0e91b7e721) {} - Angular speed (rad/s).
+
+[Covariance](structmavsdk_1_1_mocap_1_1_covariance.md) [pose_covariance](#structmavsdk_1_1_mocap_1_1_odometry_1a38673fa707dfbbd8c195bb743d55d1b7) {} - Pose cross-covariance matrix.
+
+[Covariance](structmavsdk_1_1_mocap_1_1_covariance.md) [velocity_covariance](#structmavsdk_1_1_mocap_1_1_odometry_1a76cc8691a7aa85e2351b99f1c6b0c126) {} - Velocity cross-covariance matrix.
+
+
+## Member Enumeration Documentation
+
+
+### enum MavFrame {#structmavsdk_1_1_mocap_1_1_odometry_1a9c98852de68b23f07a78a0fc021c8a33}
+
+
+Mavlink frame id.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_mocap_1_1_odometry_1a9c98852de68b23f07a78a0fc021c8a33aa596c29912446dcd690daf29d1ca68af"></span> `MocapNed` | MAVLink number: 14. [Odometry](structmavsdk_1_1_mocap_1_1_odometry.md) local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down).. 
+<span id="structmavsdk_1_1_mocap_1_1_odometry_1a9c98852de68b23f07a78a0fc021c8a33a4feb9efb49990fff5a73858673d7ffde"></span> `LocalFrd` | MAVLink number: 20. Forward, Right, Down coordinate frame. This is a local frame with Z-down and arbitrary F/R alignment (i.e. not aligned with NED/earth frame). Replacement for MAV_FRAME_MOCAP_NED, MAV_FRAME_VISION_NED, MAV_FRAME_ESTIM_NED.. 
+
+## Field Documentation
+
+
+### time_usec {#structmavsdk_1_1_mocap_1_1_odometry_1a015fd5755c9953ab7d7be4736fad5300}
+
+```cpp
+uint64_t mavsdk::Mocap::Odometry::time_usec {}
+```
+
+
+Timestamp (0 to use Backend timestamp).
+
+
+### frame_id {#structmavsdk_1_1_mocap_1_1_odometry_1ab7ce4f3ea27857eb44d2efe7a010e3d3}
+
+```cpp
+MavFrame mavsdk::Mocap::Odometry::frame_id {}
+```
+
+
+Coordinate frame of reference for the pose data.
+
+
+### position_body {#structmavsdk_1_1_mocap_1_1_odometry_1af7b586261930981742683b3253fc9989}
+
+```cpp
+PositionBody mavsdk::Mocap::Odometry::position_body {}
+```
+
+
+Body Position.
+
+
+### q {#structmavsdk_1_1_mocap_1_1_odometry_1ae5a8c05815a15250f2cf37e1d5a21be5}
+
+```cpp
+Quaternion mavsdk::Mocap::Odometry::q {}
+```
+
+
+[Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) components, w, x, y, z (1 0 0 0 is the null-rotation).
+
+
+### speed_body {#structmavsdk_1_1_mocap_1_1_odometry_1a123c544d4ea98bf91d0740321aa6bb00}
+
+```cpp
+SpeedBody mavsdk::Mocap::Odometry::speed_body {}
+```
+
+
+Linear speed (m/s).
+
+
+### angular_velocity_body {#structmavsdk_1_1_mocap_1_1_odometry_1acf8cf54ebe80fb872250aa0e91b7e721}
+
+```cpp
+AngularVelocityBody mavsdk::Mocap::Odometry::angular_velocity_body {}
+```
+
+
+Angular speed (rad/s).
+
+
+### pose_covariance {#structmavsdk_1_1_mocap_1_1_odometry_1a38673fa707dfbbd8c195bb743d55d1b7}
+
+```cpp
+Covariance mavsdk::Mocap::Odometry::pose_covariance {}
+```
+
+
+Pose cross-covariance matrix.
+
+
+### velocity_covariance {#structmavsdk_1_1_mocap_1_1_odometry_1a76cc8691a7aa85e2351b99f1c6b0c126}
+
+```cpp
+Covariance mavsdk::Mocap::Odometry::velocity_covariance {}
+```
+
+
+Velocity cross-covariance matrix.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_position_body.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_position_body.md
new file mode 100644
index 0000000000..3c640c9eb2
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_position_body.md
@@ -0,0 +1,51 @@
+# mavsdk::Mocap::PositionBody Struct Reference
+`#include: mocap.h`
+
+----
+
+
+Body position type. 
+
+
+## Data Fields
+
+
+float [x_m](#structmavsdk_1_1_mocap_1_1_position_body_1a2d0577e97daec4f456d9326563f99b3d) {} - X position in metres.
+
+float [y_m](#structmavsdk_1_1_mocap_1_1_position_body_1aff601382d49748a44fedb71ed850f38d) {} - Y position in metres.
+
+float [z_m](#structmavsdk_1_1_mocap_1_1_position_body_1afdeb7ff773898faa69ca45b05200b310) {} - Z position in metres.
+
+
+## Field Documentation
+
+
+### x_m {#structmavsdk_1_1_mocap_1_1_position_body_1a2d0577e97daec4f456d9326563f99b3d}
+
+```cpp
+float mavsdk::Mocap::PositionBody::x_m {}
+```
+
+
+X position in metres.
+
+
+### y_m {#structmavsdk_1_1_mocap_1_1_position_body_1aff601382d49748a44fedb71ed850f38d}
+
+```cpp
+float mavsdk::Mocap::PositionBody::y_m {}
+```
+
+
+Y position in metres.
+
+
+### z_m {#structmavsdk_1_1_mocap_1_1_position_body_1afdeb7ff773898faa69ca45b05200b310}
+
+```cpp
+float mavsdk::Mocap::PositionBody::z_m {}
+```
+
+
+Z position in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_quaternion.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_quaternion.md
new file mode 100644
index 0000000000..302e135c47
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_quaternion.md
@@ -0,0 +1,69 @@
+# mavsdk::Mocap::Quaternion Struct Reference
+`#include: mocap.h`
+
+----
+
+
+[Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) type. 
+
+
+All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.
+
+
+For more info see: [https://en.wikipedia.org/wiki/Quaternion](https://en.wikipedia.org/wiki/Quaternion) 
+
+
+## Data Fields
+
+
+float [w](#structmavsdk_1_1_mocap_1_1_quaternion_1ad0c9a745b4c45c72c98aef78145f005b) {} - [Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) entry 0, also denoted as a.
+
+float [x](#structmavsdk_1_1_mocap_1_1_quaternion_1a83ad0c235eb7760949e7f541fff3cbac) {} - [Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) entry 1, also denoted as b.
+
+float [y](#structmavsdk_1_1_mocap_1_1_quaternion_1aeb85a09dd24752a033778230effe1e08) {} - [Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) entry 2, also denoted as c.
+
+float [z](#structmavsdk_1_1_mocap_1_1_quaternion_1a2bb1eda27af71be4c55960d3705b6f91) {} - [Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) entry 3, also denoted as d.
+
+
+## Field Documentation
+
+
+### w {#structmavsdk_1_1_mocap_1_1_quaternion_1ad0c9a745b4c45c72c98aef78145f005b}
+
+```cpp
+float mavsdk::Mocap::Quaternion::w {}
+```
+
+
+[Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) entry 0, also denoted as a.
+
+
+### x {#structmavsdk_1_1_mocap_1_1_quaternion_1a83ad0c235eb7760949e7f541fff3cbac}
+
+```cpp
+float mavsdk::Mocap::Quaternion::x {}
+```
+
+
+[Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) entry 1, also denoted as b.
+
+
+### y {#structmavsdk_1_1_mocap_1_1_quaternion_1aeb85a09dd24752a033778230effe1e08}
+
+```cpp
+float mavsdk::Mocap::Quaternion::y {}
+```
+
+
+[Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) entry 2, also denoted as c.
+
+
+### z {#structmavsdk_1_1_mocap_1_1_quaternion_1a2bb1eda27af71be4c55960d3705b6f91}
+
+```cpp
+float mavsdk::Mocap::Quaternion::z {}
+```
+
+
+[Quaternion](structmavsdk_1_1_mocap_1_1_quaternion.md) entry 3, also denoted as d.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_speed_body.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_speed_body.md
new file mode 100644
index 0000000000..d6aaf107e8
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_speed_body.md
@@ -0,0 +1,51 @@
+# mavsdk::Mocap::SpeedBody Struct Reference
+`#include: mocap.h`
+
+----
+
+
+Speed type, represented in the Body (X Y Z) frame and in metres/second. 
+
+
+## Data Fields
+
+
+float [x_m_s](#structmavsdk_1_1_mocap_1_1_speed_body_1ad76e16cb784025edea1f92b860198277) {} - Velocity in X in metres/second.
+
+float [y_m_s](#structmavsdk_1_1_mocap_1_1_speed_body_1ac17f64b0fd5f3815d63fc4c45e7c57c1) {} - Velocity in Y in metres/second.
+
+float [z_m_s](#structmavsdk_1_1_mocap_1_1_speed_body_1a6233dc5ecd99f15e2bc8917662243f2b) {} - Velocity in Z in metres/second.
+
+
+## Field Documentation
+
+
+### x_m_s {#structmavsdk_1_1_mocap_1_1_speed_body_1ad76e16cb784025edea1f92b860198277}
+
+```cpp
+float mavsdk::Mocap::SpeedBody::x_m_s {}
+```
+
+
+Velocity in X in metres/second.
+
+
+### y_m_s {#structmavsdk_1_1_mocap_1_1_speed_body_1ac17f64b0fd5f3815d63fc4c45e7c57c1}
+
+```cpp
+float mavsdk::Mocap::SpeedBody::y_m_s {}
+```
+
+
+Velocity in Y in metres/second.
+
+
+### z_m_s {#structmavsdk_1_1_mocap_1_1_speed_body_1a6233dc5ecd99f15e2bc8917662243f2b}
+
+```cpp
+float mavsdk::Mocap::SpeedBody::z_m_s {}
+```
+
+
+Velocity in Z in metres/second.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_vision_position_estimate.md b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_vision_position_estimate.md
new file mode 100644
index 0000000000..f0b37c486f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_mocap_1_1_vision_position_estimate.md
@@ -0,0 +1,63 @@
+# mavsdk::Mocap::VisionPositionEstimate Struct Reference
+`#include: mocap.h`
+
+----
+
+
+Global position/attitude estimate from a vision source. 
+
+
+## Data Fields
+
+
+uint64_t [time_usec](#structmavsdk_1_1_mocap_1_1_vision_position_estimate_1ada844c4f8f0a9599526ec733b56f0618) {} - [PositionBody](structmavsdk_1_1_mocap_1_1_position_body.md) frame timestamp UNIX Epoch time (0 to use Backend timestamp)
+
+[PositionBody](structmavsdk_1_1_mocap_1_1_position_body.md) [position_body](#structmavsdk_1_1_mocap_1_1_vision_position_estimate_1a730623cc79240c166f9b38ff7d621350) {} - Global position (m)
+
+[AngleBody](structmavsdk_1_1_mocap_1_1_angle_body.md) [angle_body](#structmavsdk_1_1_mocap_1_1_vision_position_estimate_1a6b6cafb1452c6c3ce2c85c2f917b9479) {} - Body angle (rad).
+
+[Covariance](structmavsdk_1_1_mocap_1_1_covariance.md) [pose_covariance](#structmavsdk_1_1_mocap_1_1_vision_position_estimate_1abba582506ff4046b4293c06380269c75) {} - Pose cross-covariance matrix.
+
+
+## Field Documentation
+
+
+### time_usec {#structmavsdk_1_1_mocap_1_1_vision_position_estimate_1ada844c4f8f0a9599526ec733b56f0618}
+
+```cpp
+uint64_t mavsdk::Mocap::VisionPositionEstimate::time_usec {}
+```
+
+
+[PositionBody](structmavsdk_1_1_mocap_1_1_position_body.md) frame timestamp UNIX Epoch time (0 to use Backend timestamp)
+
+
+### position_body {#structmavsdk_1_1_mocap_1_1_vision_position_estimate_1a730623cc79240c166f9b38ff7d621350}
+
+```cpp
+PositionBody mavsdk::Mocap::VisionPositionEstimate::position_body {}
+```
+
+
+Global position (m)
+
+
+### angle_body {#structmavsdk_1_1_mocap_1_1_vision_position_estimate_1a6b6cafb1452c6c3ce2c85c2f917b9479}
+
+```cpp
+AngleBody mavsdk::Mocap::VisionPositionEstimate::angle_body {}
+```
+
+
+Body angle (rad).
+
+
+### pose_covariance {#structmavsdk_1_1_mocap_1_1_vision_position_estimate_1abba582506ff4046b4293c06380269c75}
+
+```cpp
+Covariance mavsdk::Mocap::VisionPositionEstimate::pose_covariance {}
+```
+
+
+Pose cross-covariance matrix.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_acceleration_ned.md b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_acceleration_ned.md
new file mode 100644
index 0000000000..d1e3b4764a
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_acceleration_ned.md
@@ -0,0 +1,51 @@
+# mavsdk::Offboard::AccelerationNed Struct Reference
+`#include: offboard.h`
+
+----
+
+
+Type for acceleration commands in NED (North East Down) coordinates. 
+
+
+## Data Fields
+
+
+float [north_m_s2](#structmavsdk_1_1_offboard_1_1_acceleration_ned_1a1c0b21265e14e4e0fa78cc35750fcbf1) {} - Acceleration North (in metres/second^2)
+
+float [east_m_s2](#structmavsdk_1_1_offboard_1_1_acceleration_ned_1ac2a5b00a2b2ec96204af57f59f2382a5) {} - Acceleration East (in metres/second^2)
+
+float [down_m_s2](#structmavsdk_1_1_offboard_1_1_acceleration_ned_1a8e7e184fac18b59213eecbf2f10e95bb) {} - Acceleration Down (in metres/second^2)
+
+
+## Field Documentation
+
+
+### north_m_s2 {#structmavsdk_1_1_offboard_1_1_acceleration_ned_1a1c0b21265e14e4e0fa78cc35750fcbf1}
+
+```cpp
+float mavsdk::Offboard::AccelerationNed::north_m_s2 {}
+```
+
+
+Acceleration North (in metres/second^2)
+
+
+### east_m_s2 {#structmavsdk_1_1_offboard_1_1_acceleration_ned_1ac2a5b00a2b2ec96204af57f59f2382a5}
+
+```cpp
+float mavsdk::Offboard::AccelerationNed::east_m_s2 {}
+```
+
+
+Acceleration East (in metres/second^2)
+
+
+### down_m_s2 {#structmavsdk_1_1_offboard_1_1_acceleration_ned_1a8e7e184fac18b59213eecbf2f10e95bb}
+
+```cpp
+float mavsdk::Offboard::AccelerationNed::down_m_s2 {}
+```
+
+
+Acceleration Down (in metres/second^2)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control.md b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control.md
new file mode 100644
index 0000000000..82b96c1175
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control.md
@@ -0,0 +1,39 @@
+# mavsdk::Offboard::ActuatorControl Struct Reference
+`#include: offboard.h`
+
+----
+
+
+Type for actuator control. 
+
+
+Control members should be normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction.
+
+
+One group support eight controls.
+
+
+Up to 16 actuator controls can be set. To ignore an output group, set all it controls to NaN. If one or more controls in group is not NaN, then all NaN controls will sent as zero. The first 8 actuator controls internally map to control group 0, the latter 8 actuator controls map to control group 1. Depending on what controls are set (instead of NaN) 1 or 2 MAVLink messages are actually sent.
+
+
+In PX4 v1.9.0 Only first four Control Groups are supported ([https://github.com/PX4/Firmware/blob/v1.9.0/src/modules/mavlink/mavlink_receiver.cpp#L980](https://github.com/PX4/Firmware/blob/v1.9.0/src/modules/mavlink/mavlink_receiver.cpp#L980)). 
+
+
+## Data Fields
+
+
+std::vector< [ActuatorControlGroup](structmavsdk_1_1_offboard_1_1_actuator_control_group.md) > [groups](#structmavsdk_1_1_offboard_1_1_actuator_control_1a42ea86eb6b2150a552fb7e662e4a0226) {} - Control groups.
+
+
+## Field Documentation
+
+
+### groups {#structmavsdk_1_1_offboard_1_1_actuator_control_1a42ea86eb6b2150a552fb7e662e4a0226}
+
+```cpp
+std::vector<ActuatorControlGroup> mavsdk::Offboard::ActuatorControl::groups {}
+```
+
+
+Control groups.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control_group.md b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control_group.md
new file mode 100644
index 0000000000..a4ea180891
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_actuator_control_group.md
@@ -0,0 +1,27 @@
+# mavsdk::Offboard::ActuatorControlGroup Struct Reference
+`#include: offboard.h`
+
+----
+
+
+Eight controls that will be given to the group. Each control is a normalized (-1..+1) command value, which will be mapped and scaled through the mixer. 
+
+
+## Data Fields
+
+
+std::vector< float > [controls](#structmavsdk_1_1_offboard_1_1_actuator_control_group_1a89026874ccf3960693342c634a029009) {} - Controls in the group.
+
+
+## Field Documentation
+
+
+### controls {#structmavsdk_1_1_offboard_1_1_actuator_control_group_1a89026874ccf3960693342c634a029009}
+
+```cpp
+std::vector<float> mavsdk::Offboard::ActuatorControlGroup::controls {}
+```
+
+
+Controls in the group.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude.md b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude.md
new file mode 100644
index 0000000000..939e9c7824
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude.md
@@ -0,0 +1,63 @@
+# mavsdk::Offboard::Attitude Struct Reference
+`#include: offboard.h`
+
+----
+
+
+Type for attitude body angles in NED reference frame (roll, pitch, yaw and thrust) 
+
+
+## Data Fields
+
+
+float [roll_deg](#structmavsdk_1_1_offboard_1_1_attitude_1ad1f660c9199eace29dfe13745ed3699f) {} - Roll angle (in degrees, positive is right side down)
+
+float [pitch_deg](#structmavsdk_1_1_offboard_1_1_attitude_1ae1b29b814ba82992521fa4ecac97415a) {} - Pitch angle (in degrees, positive is nose up)
+
+float [yaw_deg](#structmavsdk_1_1_offboard_1_1_attitude_1a5867079b4740c6fe3a34c307d082dc97) {} - Yaw angle (in degrees, positive is move nose to the right)
+
+float [thrust_value](#structmavsdk_1_1_offboard_1_1_attitude_1a0fefd07f1e58504457074352ec802310) {} - Thrust (range: 0 to 1)
+
+
+## Field Documentation
+
+
+### roll_deg {#structmavsdk_1_1_offboard_1_1_attitude_1ad1f660c9199eace29dfe13745ed3699f}
+
+```cpp
+float mavsdk::Offboard::Attitude::roll_deg {}
+```
+
+
+Roll angle (in degrees, positive is right side down)
+
+
+### pitch_deg {#structmavsdk_1_1_offboard_1_1_attitude_1ae1b29b814ba82992521fa4ecac97415a}
+
+```cpp
+float mavsdk::Offboard::Attitude::pitch_deg {}
+```
+
+
+Pitch angle (in degrees, positive is nose up)
+
+
+### yaw_deg {#structmavsdk_1_1_offboard_1_1_attitude_1a5867079b4740c6fe3a34c307d082dc97}
+
+```cpp
+float mavsdk::Offboard::Attitude::yaw_deg {}
+```
+
+
+Yaw angle (in degrees, positive is move nose to the right)
+
+
+### thrust_value {#structmavsdk_1_1_offboard_1_1_attitude_1a0fefd07f1e58504457074352ec802310}
+
+```cpp
+float mavsdk::Offboard::Attitude::thrust_value {}
+```
+
+
+Thrust (range: 0 to 1)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude_rate.md b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude_rate.md
new file mode 100644
index 0000000000..e2f2d674b1
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_attitude_rate.md
@@ -0,0 +1,63 @@
+# mavsdk::Offboard::AttitudeRate Struct Reference
+`#include: offboard.h`
+
+----
+
+
+Type for attitude rate commands in body coordinates (roll, pitch, yaw angular rate and thrust) 
+
+
+## Data Fields
+
+
+float [roll_deg_s](#structmavsdk_1_1_offboard_1_1_attitude_rate_1a1486686af45d621418c3a4d8cbe3509b) {} - Roll angular rate (in degrees/second, positive for clock-wise looking from front)
+
+float [pitch_deg_s](#structmavsdk_1_1_offboard_1_1_attitude_rate_1a431a2639410ca4658266fbb1017a2689) {} - Pitch angular rate (in degrees/second, positive for head/front moving up)
+
+float [yaw_deg_s](#structmavsdk_1_1_offboard_1_1_attitude_rate_1abac41def2fefa38cd37de6d55b5f0808) {} - Yaw angular rate (in degrees/second, positive for clock-wise looking from above)
+
+float [thrust_value](#structmavsdk_1_1_offboard_1_1_attitude_rate_1af7e3ae65fb3739684ab88a533eba14e2) {} - Thrust (range: 0 to 1)
+
+
+## Field Documentation
+
+
+### roll_deg_s {#structmavsdk_1_1_offboard_1_1_attitude_rate_1a1486686af45d621418c3a4d8cbe3509b}
+
+```cpp
+float mavsdk::Offboard::AttitudeRate::roll_deg_s {}
+```
+
+
+Roll angular rate (in degrees/second, positive for clock-wise looking from front)
+
+
+### pitch_deg_s {#structmavsdk_1_1_offboard_1_1_attitude_rate_1a431a2639410ca4658266fbb1017a2689}
+
+```cpp
+float mavsdk::Offboard::AttitudeRate::pitch_deg_s {}
+```
+
+
+Pitch angular rate (in degrees/second, positive for head/front moving up)
+
+
+### yaw_deg_s {#structmavsdk_1_1_offboard_1_1_attitude_rate_1abac41def2fefa38cd37de6d55b5f0808}
+
+```cpp
+float mavsdk::Offboard::AttitudeRate::yaw_deg_s {}
+```
+
+
+Yaw angular rate (in degrees/second, positive for clock-wise looking from above)
+
+
+### thrust_value {#structmavsdk_1_1_offboard_1_1_attitude_rate_1af7e3ae65fb3739684ab88a533eba14e2}
+
+```cpp
+float mavsdk::Offboard::AttitudeRate::thrust_value {}
+```
+
+
+Thrust (range: 0 to 1)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_global_yaw.md b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_global_yaw.md
new file mode 100644
index 0000000000..832ef8141f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_global_yaw.md
@@ -0,0 +1,97 @@
+# mavsdk::Offboard::PositionGlobalYaw Struct Reference
+`#include: offboard.h`
+
+----
+
+
+Type for position commands in Global (Latitude, Longitude, Altitude) coordinates and yaw. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [AltitudeType](#structmavsdk_1_1_offboard_1_1_position_global_yaw_1a4aa4d0ec8118f24ecc968c6fbfc0383e) | Possible altitude options.
+
+## Data Fields
+
+
+double [lat_deg](#structmavsdk_1_1_offboard_1_1_position_global_yaw_1a403f9dd320b8f78f02814480f9fe3f41) {} - Latitude (in degrees)
+
+double [lon_deg](#structmavsdk_1_1_offboard_1_1_position_global_yaw_1a863f22ca8854073bf70b8b1208c44bfb) {} - Longitude (in degrees)
+
+float [alt_m](#structmavsdk_1_1_offboard_1_1_position_global_yaw_1a64fa1a81a97035da316f1d1d76fb7728) {} - altitude (in metres)
+
+float [yaw_deg](#structmavsdk_1_1_offboard_1_1_position_global_yaw_1a4e9dcedc454807a90d3adcced041def9) {} - Yaw in degrees (0 North, positive is clock-wise looking from above)
+
+[AltitudeType](structmavsdk_1_1_offboard_1_1_position_global_yaw.md#structmavsdk_1_1_offboard_1_1_position_global_yaw_1a4aa4d0ec8118f24ecc968c6fbfc0383e) [altitude_type](#structmavsdk_1_1_offboard_1_1_position_global_yaw_1ad96893eb8e298b6af25eb7f0755cb03a) {} - altitude type for this position
+
+
+## Member Enumeration Documentation
+
+
+### enum AltitudeType {#structmavsdk_1_1_offboard_1_1_position_global_yaw_1a4aa4d0ec8118f24ecc968c6fbfc0383e}
+
+
+Possible altitude options.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_offboard_1_1_position_global_yaw_1a4aa4d0ec8118f24ecc968c6fbfc0383eaedad9c0f4320a5340b7d31f696aa3f34"></span> `RelHome` | Altitude relative to the Home position. 
+<span id="structmavsdk_1_1_offboard_1_1_position_global_yaw_1a4aa4d0ec8118f24ecc968c6fbfc0383ea599c0521b829e92ef2dff137e0db9ff9"></span> `Amsl` | Altitude above mean sea level (AMSL). 
+<span id="structmavsdk_1_1_offboard_1_1_position_global_yaw_1a4aa4d0ec8118f24ecc968c6fbfc0383eabed872c811a88d00b9aa2aa16156c57b"></span> `Agl` | Altitude above ground level (AGL). 
+
+## Field Documentation
+
+
+### lat_deg {#structmavsdk_1_1_offboard_1_1_position_global_yaw_1a403f9dd320b8f78f02814480f9fe3f41}
+
+```cpp
+double mavsdk::Offboard::PositionGlobalYaw::lat_deg {}
+```
+
+
+Latitude (in degrees)
+
+
+### lon_deg {#structmavsdk_1_1_offboard_1_1_position_global_yaw_1a863f22ca8854073bf70b8b1208c44bfb}
+
+```cpp
+double mavsdk::Offboard::PositionGlobalYaw::lon_deg {}
+```
+
+
+Longitude (in degrees)
+
+
+### alt_m {#structmavsdk_1_1_offboard_1_1_position_global_yaw_1a64fa1a81a97035da316f1d1d76fb7728}
+
+```cpp
+float mavsdk::Offboard::PositionGlobalYaw::alt_m {}
+```
+
+
+altitude (in metres)
+
+
+### yaw_deg {#structmavsdk_1_1_offboard_1_1_position_global_yaw_1a4e9dcedc454807a90d3adcced041def9}
+
+```cpp
+float mavsdk::Offboard::PositionGlobalYaw::yaw_deg {}
+```
+
+
+Yaw in degrees (0 North, positive is clock-wise looking from above)
+
+
+### altitude_type {#structmavsdk_1_1_offboard_1_1_position_global_yaw_1ad96893eb8e298b6af25eb7f0755cb03a}
+
+```cpp
+AltitudeType mavsdk::Offboard::PositionGlobalYaw::altitude_type {}
+```
+
+
+altitude type for this position
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_ned_yaw.md b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_ned_yaw.md
new file mode 100644
index 0000000000..3ac80fff3a
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_position_ned_yaw.md
@@ -0,0 +1,63 @@
+# mavsdk::Offboard::PositionNedYaw Struct Reference
+`#include: offboard.h`
+
+----
+
+
+Type for position commands in NED (North East Down) coordinates and yaw. 
+
+
+## Data Fields
+
+
+float [north_m](#structmavsdk_1_1_offboard_1_1_position_ned_yaw_1ae9a79b6c2b3e626c173c7e8aebe54457) {} - Position North (in metres)
+
+float [east_m](#structmavsdk_1_1_offboard_1_1_position_ned_yaw_1a4c451194bf67b5e004a9b401adad5f40) {} - Position East (in metres)
+
+float [down_m](#structmavsdk_1_1_offboard_1_1_position_ned_yaw_1a612969e2a78578745b78d2ffa691e9b3) {} - Position Down (in metres)
+
+float [yaw_deg](#structmavsdk_1_1_offboard_1_1_position_ned_yaw_1a316ac15c1c282e56366226cacf045e44) {} - Yaw in degrees (0 North, positive is clock-wise looking from above)
+
+
+## Field Documentation
+
+
+### north_m {#structmavsdk_1_1_offboard_1_1_position_ned_yaw_1ae9a79b6c2b3e626c173c7e8aebe54457}
+
+```cpp
+float mavsdk::Offboard::PositionNedYaw::north_m {}
+```
+
+
+Position North (in metres)
+
+
+### east_m {#structmavsdk_1_1_offboard_1_1_position_ned_yaw_1a4c451194bf67b5e004a9b401adad5f40}
+
+```cpp
+float mavsdk::Offboard::PositionNedYaw::east_m {}
+```
+
+
+Position East (in metres)
+
+
+### down_m {#structmavsdk_1_1_offboard_1_1_position_ned_yaw_1a612969e2a78578745b78d2ffa691e9b3}
+
+```cpp
+float mavsdk::Offboard::PositionNedYaw::down_m {}
+```
+
+
+Position Down (in metres)
+
+
+### yaw_deg {#structmavsdk_1_1_offboard_1_1_position_ned_yaw_1a316ac15c1c282e56366226cacf045e44}
+
+```cpp
+float mavsdk::Offboard::PositionNedYaw::yaw_deg {}
+```
+
+
+Yaw in degrees (0 North, positive is clock-wise looking from above)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed.md b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed.md
new file mode 100644
index 0000000000..12ab05428c
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed.md
@@ -0,0 +1,63 @@
+# mavsdk::Offboard::VelocityBodyYawspeed Struct Reference
+`#include: offboard.h`
+
+----
+
+
+Type for velocity commands in body coordinates. 
+
+
+## Data Fields
+
+
+float [forward_m_s](#structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed_1a3160a21fa9f4aeecec72ef6ff23d8db6) {} - Velocity forward (in metres/second)
+
+float [right_m_s](#structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed_1a636c179196a3a7af7e7644c8ef9b2bfe) {} - Velocity right (in metres/second)
+
+float [down_m_s](#structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed_1adc8f6f7cc176cac0a9fb2ee80044ff54) {} - Velocity down (in metres/second)
+
+float [yawspeed_deg_s](#structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed_1a102d7011d9a87c6e103f1c1b92d169ee) {} - Yaw angular rate (in degrees/second, positive for clock-wise looking from above)
+
+
+## Field Documentation
+
+
+### forward_m_s {#structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed_1a3160a21fa9f4aeecec72ef6ff23d8db6}
+
+```cpp
+float mavsdk::Offboard::VelocityBodyYawspeed::forward_m_s {}
+```
+
+
+Velocity forward (in metres/second)
+
+
+### right_m_s {#structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed_1a636c179196a3a7af7e7644c8ef9b2bfe}
+
+```cpp
+float mavsdk::Offboard::VelocityBodyYawspeed::right_m_s {}
+```
+
+
+Velocity right (in metres/second)
+
+
+### down_m_s {#structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed_1adc8f6f7cc176cac0a9fb2ee80044ff54}
+
+```cpp
+float mavsdk::Offboard::VelocityBodyYawspeed::down_m_s {}
+```
+
+
+Velocity down (in metres/second)
+
+
+### yawspeed_deg_s {#structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed_1a102d7011d9a87c6e103f1c1b92d169ee}
+
+```cpp
+float mavsdk::Offboard::VelocityBodyYawspeed::yawspeed_deg_s {}
+```
+
+
+Yaw angular rate (in degrees/second, positive for clock-wise looking from above)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md
new file mode 100644
index 0000000000..af5cb7a36b
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md
@@ -0,0 +1,63 @@
+# mavsdk::Offboard::VelocityNedYaw Struct Reference
+`#include: offboard.h`
+
+----
+
+
+Type for velocity commands in NED (North East Down) coordinates and yaw. 
+
+
+## Data Fields
+
+
+float [north_m_s](#structmavsdk_1_1_offboard_1_1_velocity_ned_yaw_1ae64f5a699fb4f81554212f68b075f096) {} - Velocity North (in metres/second)
+
+float [east_m_s](#structmavsdk_1_1_offboard_1_1_velocity_ned_yaw_1aebd5ee41a544f24a0b2239195370c507) {} - Velocity East (in metres/second)
+
+float [down_m_s](#structmavsdk_1_1_offboard_1_1_velocity_ned_yaw_1aee84ab69a66e58ffc52a5e73488643fe) {} - Velocity Down (in metres/second)
+
+float [yaw_deg](#structmavsdk_1_1_offboard_1_1_velocity_ned_yaw_1ad4331fe3a7e1d0bb39096b8a9151ea5c) {} - Yaw in degrees (0 North, positive is clock-wise looking from above)
+
+
+## Field Documentation
+
+
+### north_m_s {#structmavsdk_1_1_offboard_1_1_velocity_ned_yaw_1ae64f5a699fb4f81554212f68b075f096}
+
+```cpp
+float mavsdk::Offboard::VelocityNedYaw::north_m_s {}
+```
+
+
+Velocity North (in metres/second)
+
+
+### east_m_s {#structmavsdk_1_1_offboard_1_1_velocity_ned_yaw_1aebd5ee41a544f24a0b2239195370c507}
+
+```cpp
+float mavsdk::Offboard::VelocityNedYaw::east_m_s {}
+```
+
+
+Velocity East (in metres/second)
+
+
+### down_m_s {#structmavsdk_1_1_offboard_1_1_velocity_ned_yaw_1aee84ab69a66e58ffc52a5e73488643fe}
+
+```cpp
+float mavsdk::Offboard::VelocityNedYaw::down_m_s {}
+```
+
+
+Velocity Down (in metres/second)
+
+
+### yaw_deg {#structmavsdk_1_1_offboard_1_1_velocity_ned_yaw_1ad4331fe3a7e1d0bb39096b8a9151ea5c}
+
+```cpp
+float mavsdk::Offboard::VelocityNedYaw::yaw_deg {}
+```
+
+
+Yaw in degrees (0 North, positive is clock-wise looking from above)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_all_params.md b/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_all_params.md
new file mode 100644
index 0000000000..877b21962e
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_all_params.md
@@ -0,0 +1,51 @@
+# mavsdk::Param::AllParams Struct Reference
+`#include: param.h`
+
+----
+
+
+Type collecting all integer, float, and custom parameters. 
+
+
+## Data Fields
+
+
+std::vector< [IntParam](structmavsdk_1_1_param_1_1_int_param.md) > [int_params](#structmavsdk_1_1_param_1_1_all_params_1a92aa25d021ab0d20a00c13b8bc7a4dad) {} - Collection of all parameter names and values of type int.
+
+std::vector< [FloatParam](structmavsdk_1_1_param_1_1_float_param.md) > [float_params](#structmavsdk_1_1_param_1_1_all_params_1a198ac975671f51f5c9ac92f30dbca73a) {} - Collection of all parameter names and values of type float.
+
+std::vector< [CustomParam](structmavsdk_1_1_param_1_1_custom_param.md) > [custom_params](#structmavsdk_1_1_param_1_1_all_params_1a7fc2ed75dd0556aa82aff9cec5cb5bbd) {} - Collection of all parameter names and values of type custom.
+
+
+## Field Documentation
+
+
+### int_params {#structmavsdk_1_1_param_1_1_all_params_1a92aa25d021ab0d20a00c13b8bc7a4dad}
+
+```cpp
+std::vector<IntParam> mavsdk::Param::AllParams::int_params {}
+```
+
+
+Collection of all parameter names and values of type int.
+
+
+### float_params {#structmavsdk_1_1_param_1_1_all_params_1a198ac975671f51f5c9ac92f30dbca73a}
+
+```cpp
+std::vector<FloatParam> mavsdk::Param::AllParams::float_params {}
+```
+
+
+Collection of all parameter names and values of type float.
+
+
+### custom_params {#structmavsdk_1_1_param_1_1_all_params_1a7fc2ed75dd0556aa82aff9cec5cb5bbd}
+
+```cpp
+std::vector<CustomParam> mavsdk::Param::AllParams::custom_params {}
+```
+
+
+Collection of all parameter names and values of type custom.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_custom_param.md b/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_custom_param.md
new file mode 100644
index 0000000000..e52ccc28ea
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_custom_param.md
@@ -0,0 +1,39 @@
+# mavsdk::Param::CustomParam Struct Reference
+`#include: param.h`
+
+----
+
+
+Type for custom parameters. 
+
+
+## Data Fields
+
+
+std::string [name](#structmavsdk_1_1_param_1_1_custom_param_1a510c3cffd01036545e88341a2f52e606) {} - Name of the parameter.
+
+std::string [value](#structmavsdk_1_1_param_1_1_custom_param_1a242d46d6eeff6c20af5bfdab18d06d8a) {} - Value of the parameter (max len 128 bytes)
+
+
+## Field Documentation
+
+
+### name {#structmavsdk_1_1_param_1_1_custom_param_1a510c3cffd01036545e88341a2f52e606}
+
+```cpp
+std::string mavsdk::Param::CustomParam::name {}
+```
+
+
+Name of the parameter.
+
+
+### value {#structmavsdk_1_1_param_1_1_custom_param_1a242d46d6eeff6c20af5bfdab18d06d8a}
+
+```cpp
+std::string mavsdk::Param::CustomParam::value {}
+```
+
+
+Value of the parameter (max len 128 bytes)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_float_param.md b/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_float_param.md
new file mode 100644
index 0000000000..7f669839f1
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_float_param.md
@@ -0,0 +1,39 @@
+# mavsdk::Param::FloatParam Struct Reference
+`#include: param.h`
+
+----
+
+
+Type for float parameters. 
+
+
+## Data Fields
+
+
+std::string [name](#structmavsdk_1_1_param_1_1_float_param_1a64b1dd40eb04c1fa8f9de7ad2c868a3f) {} - Name of the parameter.
+
+float [value](#structmavsdk_1_1_param_1_1_float_param_1a65d2f28d30739bfb8b1ceb8785c51f66) {} - Value of the parameter.
+
+
+## Field Documentation
+
+
+### name {#structmavsdk_1_1_param_1_1_float_param_1a64b1dd40eb04c1fa8f9de7ad2c868a3f}
+
+```cpp
+std::string mavsdk::Param::FloatParam::name {}
+```
+
+
+Name of the parameter.
+
+
+### value {#structmavsdk_1_1_param_1_1_float_param_1a65d2f28d30739bfb8b1ceb8785c51f66}
+
+```cpp
+float mavsdk::Param::FloatParam::value {}
+```
+
+
+Value of the parameter.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_int_param.md b/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_int_param.md
new file mode 100644
index 0000000000..217b5a7b76
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_param_1_1_int_param.md
@@ -0,0 +1,39 @@
+# mavsdk::Param::IntParam Struct Reference
+`#include: param.h`
+
+----
+
+
+Type for integer parameters. 
+
+
+## Data Fields
+
+
+std::string [name](#structmavsdk_1_1_param_1_1_int_param_1acd7015e70d123458ea2fe7e44874eb9c) {} - Name of the parameter.
+
+int32_t [value](#structmavsdk_1_1_param_1_1_int_param_1ab469eb3d4322185595fc8c3b9de57aa8) {} - Value of the parameter.
+
+
+## Field Documentation
+
+
+### name {#structmavsdk_1_1_param_1_1_int_param_1acd7015e70d123458ea2fe7e44874eb9c}
+
+```cpp
+std::string mavsdk::Param::IntParam::name {}
+```
+
+
+Name of the parameter.
+
+
+### value {#structmavsdk_1_1_param_1_1_int_param_1ab469eb3d4322185595fc8c3b9de57aa8}
+
+```cpp
+int32_t mavsdk::Param::IntParam::value {}
+```
+
+
+Value of the parameter.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_all_params.md b/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_all_params.md
new file mode 100644
index 0000000000..8c2231561a
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_all_params.md
@@ -0,0 +1,51 @@
+# mavsdk::ParamServer::AllParams Struct Reference
+`#include: param_server.h`
+
+----
+
+
+Type collecting all integer, float, and custom parameters. 
+
+
+## Data Fields
+
+
+std::vector< [IntParam](structmavsdk_1_1_param_server_1_1_int_param.md) > [int_params](#structmavsdk_1_1_param_server_1_1_all_params_1a282fadb0b1c0cf138f95958a3adcd1b5) {} - Collection of all parameter names and values of type int.
+
+std::vector< [FloatParam](structmavsdk_1_1_param_server_1_1_float_param.md) > [float_params](#structmavsdk_1_1_param_server_1_1_all_params_1a829345b4413b71e705aa9e792b28f0e1) {} - Collection of all parameter names and values of type float.
+
+std::vector< [CustomParam](structmavsdk_1_1_param_server_1_1_custom_param.md) > [custom_params](#structmavsdk_1_1_param_server_1_1_all_params_1a5397de1b3979efb2958af7547ebd1b68) {} - Collection of all parameter names and values of type custom.
+
+
+## Field Documentation
+
+
+### int_params {#structmavsdk_1_1_param_server_1_1_all_params_1a282fadb0b1c0cf138f95958a3adcd1b5}
+
+```cpp
+std::vector<IntParam> mavsdk::ParamServer::AllParams::int_params {}
+```
+
+
+Collection of all parameter names and values of type int.
+
+
+### float_params {#structmavsdk_1_1_param_server_1_1_all_params_1a829345b4413b71e705aa9e792b28f0e1}
+
+```cpp
+std::vector<FloatParam> mavsdk::ParamServer::AllParams::float_params {}
+```
+
+
+Collection of all parameter names and values of type float.
+
+
+### custom_params {#structmavsdk_1_1_param_server_1_1_all_params_1a5397de1b3979efb2958af7547ebd1b68}
+
+```cpp
+std::vector<CustomParam> mavsdk::ParamServer::AllParams::custom_params {}
+```
+
+
+Collection of all parameter names and values of type custom.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_custom_param.md b/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_custom_param.md
new file mode 100644
index 0000000000..bf68b75d69
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_custom_param.md
@@ -0,0 +1,39 @@
+# mavsdk::ParamServer::CustomParam Struct Reference
+`#include: param_server.h`
+
+----
+
+
+Type for float parameters. 
+
+
+## Data Fields
+
+
+std::string [name](#structmavsdk_1_1_param_server_1_1_custom_param_1a04d2486e7681186377c596ed20c9fdb0) {} - Name of the parameter.
+
+std::string [value](#structmavsdk_1_1_param_server_1_1_custom_param_1a875417c19835fa575509a29da52b4ff8) {} - Value of the parameter.
+
+
+## Field Documentation
+
+
+### name {#structmavsdk_1_1_param_server_1_1_custom_param_1a04d2486e7681186377c596ed20c9fdb0}
+
+```cpp
+std::string mavsdk::ParamServer::CustomParam::name {}
+```
+
+
+Name of the parameter.
+
+
+### value {#structmavsdk_1_1_param_server_1_1_custom_param_1a875417c19835fa575509a29da52b4ff8}
+
+```cpp
+std::string mavsdk::ParamServer::CustomParam::value {}
+```
+
+
+Value of the parameter.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_float_param.md b/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_float_param.md
new file mode 100644
index 0000000000..b927b4c601
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_float_param.md
@@ -0,0 +1,39 @@
+# mavsdk::ParamServer::FloatParam Struct Reference
+`#include: param_server.h`
+
+----
+
+
+Type for float parameters. 
+
+
+## Data Fields
+
+
+std::string [name](#structmavsdk_1_1_param_server_1_1_float_param_1a3988384276ac7ffad9bede8d60a8b50e) {} - Name of the parameter.
+
+float [value](#structmavsdk_1_1_param_server_1_1_float_param_1a515a8aef124b471b4763bad39015d536) {} - Value of the parameter.
+
+
+## Field Documentation
+
+
+### name {#structmavsdk_1_1_param_server_1_1_float_param_1a3988384276ac7ffad9bede8d60a8b50e}
+
+```cpp
+std::string mavsdk::ParamServer::FloatParam::name {}
+```
+
+
+Name of the parameter.
+
+
+### value {#structmavsdk_1_1_param_server_1_1_float_param_1a515a8aef124b471b4763bad39015d536}
+
+```cpp
+float mavsdk::ParamServer::FloatParam::value {}
+```
+
+
+Value of the parameter.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_int_param.md b/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_int_param.md
new file mode 100644
index 0000000000..3a865f831d
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_param_server_1_1_int_param.md
@@ -0,0 +1,39 @@
+# mavsdk::ParamServer::IntParam Struct Reference
+`#include: param_server.h`
+
+----
+
+
+Type for integer parameters. 
+
+
+## Data Fields
+
+
+std::string [name](#structmavsdk_1_1_param_server_1_1_int_param_1aae5236fe2a7753bff87dec3eae56c292) {} - Name of the parameter.
+
+int32_t [value](#structmavsdk_1_1_param_server_1_1_int_param_1ad826ffbeb58e4d975c60dc355c96ffb2) {} - Value of the parameter.
+
+
+## Field Documentation
+
+
+### name {#structmavsdk_1_1_param_server_1_1_int_param_1aae5236fe2a7753bff87dec3eae56c292}
+
+```cpp
+std::string mavsdk::ParamServer::IntParam::name {}
+```
+
+
+Name of the parameter.
+
+
+### value {#structmavsdk_1_1_param_server_1_1_int_param_1ad826ffbeb58e4d975c60dc355c96ffb2}
+
+```cpp
+int32_t mavsdk::ParamServer::IntParam::value {}
+```
+
+
+Value of the parameter.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_rtk_1_1_rtcm_data.md b/docs/en/cpp/api_reference/structmavsdk_1_1_rtk_1_1_rtcm_data.md
new file mode 100644
index 0000000000..c18dcca14f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_rtk_1_1_rtcm_data.md
@@ -0,0 +1,27 @@
+# mavsdk::Rtk::RtcmData Struct Reference
+`#include: rtk.h`
+
+----
+
+
+RTCM data type. 
+
+
+## Data Fields
+
+
+std::string [data](#structmavsdk_1_1_rtk_1_1_rtcm_data_1aeed6ee4ada82ac78707d3dcda34f9da0) {} - The data encoded as a string.
+
+
+## Field Documentation
+
+
+### data {#structmavsdk_1_1_rtk_1_1_rtcm_data_1aeed6ee4ada82ac78707d3dcda34f9da0}
+
+```cpp
+std::string mavsdk::Rtk::RtcmData::data {}
+```
+
+
+The data encoded as a string.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_system_1_1_autopilot_version.md b/docs/en/cpp/api_reference/structmavsdk_1_1_system_1_1_autopilot_version.md
new file mode 100644
index 0000000000..3c4dc92589
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_system_1_1_autopilot_version.md
@@ -0,0 +1,114 @@
+# mavsdk::System::AutopilotVersion Struct Reference
+`#include: system.h`
+
+----
+
+
+This struct represents Autopilot version information. This is only used when MAVSDK is configured as an autopilot. 
+
+
+Other MAVLink systems can use this to identify and match software and capabilities. 
+
+
+## Data Fields
+
+
+uint64_t [capabilities](#structmavsdk_1_1_system_1_1_autopilot_version_1a3c4e4f2fb21b67f9d676adbe0ec32ce6) {} - MAVLink autopilot_version capabilities.
+
+uint32_t [flight_sw_version](#structmavsdk_1_1_system_1_1_autopilot_version_1a50dccbc4c01e07a65dda21ab7bb49e7f) {0} - MAVLink autopilot_version flight_sw_version.
+
+uint32_t [middleware_sw_version](#structmavsdk_1_1_system_1_1_autopilot_version_1a737e740ddc844306a086e0c779568951) {0} - MAVLink autopilot_version middleware_sw_version.
+
+uint32_t [os_sw_version](#structmavsdk_1_1_system_1_1_autopilot_version_1aa120013fe26560952d19f5d2bee1df01) {0} - MAVLink autopilot_version os_sw_version.
+
+uint32_t [board_version](#structmavsdk_1_1_system_1_1_autopilot_version_1ab5fa9c33f5493e68fbe4b8407f07ba8d) {0} - MAVLink autopilot_version board_version.
+
+uint16_t [vendor_id](#structmavsdk_1_1_system_1_1_autopilot_version_1a04b6ff2e1add2247a8c510e018efb81a) {0} - MAVLink autopilot_version vendor_id.
+
+uint16_t [product_id](#structmavsdk_1_1_system_1_1_autopilot_version_1a0c09156f2c75545f3895023fe22f80ec) {0} - MAVLink autopilot_version product_id.
+
+std::array< uint8_t, 18 > [uid2](#structmavsdk_1_1_system_1_1_autopilot_version_1a7f0bd696e9200a6e3c802fd9b05adca9) {0} - MAVLink autopilot_version uid2.
+
+
+## Field Documentation
+
+
+### capabilities {#structmavsdk_1_1_system_1_1_autopilot_version_1a3c4e4f2fb21b67f9d676adbe0ec32ce6}
+
+```cpp
+uint64_t mavsdk::System::AutopilotVersion::capabilities {}
+```
+
+
+MAVLink autopilot_version capabilities.
+
+
+### flight_sw_version {#structmavsdk_1_1_system_1_1_autopilot_version_1a50dccbc4c01e07a65dda21ab7bb49e7f}
+
+```cpp
+uint32_t mavsdk::System::AutopilotVersion::flight_sw_version {0}
+```
+
+
+MAVLink autopilot_version flight_sw_version.
+
+
+### middleware_sw_version {#structmavsdk_1_1_system_1_1_autopilot_version_1a737e740ddc844306a086e0c779568951}
+
+```cpp
+uint32_t mavsdk::System::AutopilotVersion::middleware_sw_version {0}
+```
+
+
+MAVLink autopilot_version middleware_sw_version.
+
+
+### os_sw_version {#structmavsdk_1_1_system_1_1_autopilot_version_1aa120013fe26560952d19f5d2bee1df01}
+
+```cpp
+uint32_t mavsdk::System::AutopilotVersion::os_sw_version {0}
+```
+
+
+MAVLink autopilot_version os_sw_version.
+
+
+### board_version {#structmavsdk_1_1_system_1_1_autopilot_version_1ab5fa9c33f5493e68fbe4b8407f07ba8d}
+
+```cpp
+uint32_t mavsdk::System::AutopilotVersion::board_version {0}
+```
+
+
+MAVLink autopilot_version board_version.
+
+
+### vendor_id {#structmavsdk_1_1_system_1_1_autopilot_version_1a04b6ff2e1add2247a8c510e018efb81a}
+
+```cpp
+uint16_t mavsdk::System::AutopilotVersion::vendor_id {0}
+```
+
+
+MAVLink autopilot_version vendor_id.
+
+
+### product_id {#structmavsdk_1_1_system_1_1_autopilot_version_1a0c09156f2c75545f3895023fe22f80ec}
+
+```cpp
+uint16_t mavsdk::System::AutopilotVersion::product_id {0}
+```
+
+
+MAVLink autopilot_version product_id.
+
+
+### uid2 {#structmavsdk_1_1_system_1_1_autopilot_version_1a7f0bd696e9200a6e3c802fd9b05adca9}
+
+```cpp
+std::array<uint8_t, 18> mavsdk::System::AutopilotVersion::uid2 {0}
+```
+
+
+MAVLink autopilot_version uid2.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_acceleration_frd.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_acceleration_frd.md
new file mode 100644
index 0000000000..a623d8ea7a
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_acceleration_frd.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::AccelerationFrd Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[AccelerationFrd](structmavsdk_1_1_telemetry_1_1_acceleration_frd.md) message type. 
+
+
+## Data Fields
+
+
+float [forward_m_s2](#structmavsdk_1_1_telemetry_1_1_acceleration_frd_1afd556bc227e87460dc55d7e76f51a8ea) { float(NAN)} - Acceleration in forward direction in metres per second^2.
+
+float [right_m_s2](#structmavsdk_1_1_telemetry_1_1_acceleration_frd_1a81d7620a2fbdefe62796fb031c11b30d) { float(NAN)} - Acceleration in right direction in metres per second^2.
+
+float [down_m_s2](#structmavsdk_1_1_telemetry_1_1_acceleration_frd_1a2067722ab15746f6fd43c966e5cf8c8b) { float(NAN)} - Acceleration in down direction in metres per second^2.
+
+
+## Field Documentation
+
+
+### forward_m_s2 {#structmavsdk_1_1_telemetry_1_1_acceleration_frd_1afd556bc227e87460dc55d7e76f51a8ea}
+
+```cpp
+float mavsdk::Telemetry::AccelerationFrd::forward_m_s2 { float(NAN)}
+```
+
+
+Acceleration in forward direction in metres per second^2.
+
+
+### right_m_s2 {#structmavsdk_1_1_telemetry_1_1_acceleration_frd_1a81d7620a2fbdefe62796fb031c11b30d}
+
+```cpp
+float mavsdk::Telemetry::AccelerationFrd::right_m_s2 { float(NAN)}
+```
+
+
+Acceleration in right direction in metres per second^2.
+
+
+### down_m_s2 {#structmavsdk_1_1_telemetry_1_1_acceleration_frd_1a2067722ab15746f6fd43c966e5cf8c8b}
+
+```cpp
+float mavsdk::Telemetry::AccelerationFrd::down_m_s2 { float(NAN)}
+```
+
+
+Acceleration in down direction in metres per second^2.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_control_target.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_control_target.md
new file mode 100644
index 0000000000..37ed0111c4
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_control_target.md
@@ -0,0 +1,39 @@
+# mavsdk::Telemetry::ActuatorControlTarget Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+Actuator control target type. 
+
+
+## Data Fields
+
+
+int32_t [group](#structmavsdk_1_1_telemetry_1_1_actuator_control_target_1a31c7cfc07e6b4de2ee87439230db6e47) {0} - An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.
+
+std::vector< float > [controls](#structmavsdk_1_1_telemetry_1_1_actuator_control_target_1ae12790f5d28dfb2b979618c155136c5f) {} - Controls normed from -1 to 1, where 0 is neutral position.
+
+
+## Field Documentation
+
+
+### group {#structmavsdk_1_1_telemetry_1_1_actuator_control_target_1a31c7cfc07e6b4de2ee87439230db6e47}
+
+```cpp
+int32_t mavsdk::Telemetry::ActuatorControlTarget::group {0}
+```
+
+
+An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.
+
+
+### controls {#structmavsdk_1_1_telemetry_1_1_actuator_control_target_1ae12790f5d28dfb2b979618c155136c5f}
+
+```cpp
+std::vector<float> mavsdk::Telemetry::ActuatorControlTarget::controls {}
+```
+
+
+Controls normed from -1 to 1, where 0 is neutral position.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_output_status.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_output_status.md
new file mode 100644
index 0000000000..cca0273a6e
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_actuator_output_status.md
@@ -0,0 +1,39 @@
+# mavsdk::Telemetry::ActuatorOutputStatus Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+Actuator output status type. 
+
+
+## Data Fields
+
+
+uint32_t [active](#structmavsdk_1_1_telemetry_1_1_actuator_output_status_1a6325f5b35293353c43cccf1ceaa5a712) {0} - Active outputs.
+
+std::vector< float > [actuator](#structmavsdk_1_1_telemetry_1_1_actuator_output_status_1a6fca8f50d2fb9f59fd7b384bf8a9b294) {} - Servo/motor output values.
+
+
+## Field Documentation
+
+
+### active {#structmavsdk_1_1_telemetry_1_1_actuator_output_status_1a6325f5b35293353c43cccf1ceaa5a712}
+
+```cpp
+uint32_t mavsdk::Telemetry::ActuatorOutputStatus::active {0}
+```
+
+
+Active outputs.
+
+
+### actuator {#structmavsdk_1_1_telemetry_1_1_actuator_output_status_1a6fca8f50d2fb9f59fd7b384bf8a9b294}
+
+```cpp
+std::vector<float> mavsdk::Telemetry::ActuatorOutputStatus::actuator {}
+```
+
+
+Servo/motor output values.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_altitude.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_altitude.md
new file mode 100644
index 0000000000..82dae3b66f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_altitude.md
@@ -0,0 +1,87 @@
+# mavsdk::Telemetry::Altitude Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) message type. 
+
+
+## Data Fields
+
+
+float [altitude_monotonic_m](#structmavsdk_1_1_telemetry_1_1_altitude_1a2dcb5cf0eaf256643b6c3382384164bf) {float( NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) in meters is initialized on system boot and monotonic.
+
+float [altitude_amsl_m](#structmavsdk_1_1_telemetry_1_1_altitude_1a898ba184deccdaf9d09e35b32d00fe5b) { float(NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in meters.
+
+float [altitude_local_m](#structmavsdk_1_1_telemetry_1_1_altitude_1ad99a82de545efff2db64fd122d983ddd) {float(NAN)} - Local altitude in meters.
+
+float [altitude_relative_m](#structmavsdk_1_1_telemetry_1_1_altitude_1ab19d607e38ba15b6775e3477e28d097c) {float(NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) above home position in meters.
+
+float [altitude_terrain_m](#structmavsdk_1_1_telemetry_1_1_altitude_1a3ff7fd4d1cb4add1315faed09665f6dd) {float(NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) above terrain in meters.
+
+float [bottom_clearance_m](#structmavsdk_1_1_telemetry_1_1_altitude_1adb1f002956624c20524f33412bd8debc) { float(NAN)} - This is not the altitude, but the clear space below the system according to the fused clearance estimate in meters.
+
+
+## Field Documentation
+
+
+### altitude_monotonic_m {#structmavsdk_1_1_telemetry_1_1_altitude_1a2dcb5cf0eaf256643b6c3382384164bf}
+
+```cpp
+float mavsdk::Telemetry::Altitude::altitude_monotonic_m {float( NAN)}
+```
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) in meters is initialized on system boot and monotonic.
+
+
+### altitude_amsl_m {#structmavsdk_1_1_telemetry_1_1_altitude_1a898ba184deccdaf9d09e35b32d00fe5b}
+
+```cpp
+float mavsdk::Telemetry::Altitude::altitude_amsl_m { float(NAN)}
+```
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in meters.
+
+
+### altitude_local_m {#structmavsdk_1_1_telemetry_1_1_altitude_1ad99a82de545efff2db64fd122d983ddd}
+
+```cpp
+float mavsdk::Telemetry::Altitude::altitude_local_m {float(NAN)}
+```
+
+
+Local altitude in meters.
+
+
+### altitude_relative_m {#structmavsdk_1_1_telemetry_1_1_altitude_1ab19d607e38ba15b6775e3477e28d097c}
+
+```cpp
+float mavsdk::Telemetry::Altitude::altitude_relative_m {float(NAN)}
+```
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) above home position in meters.
+
+
+### altitude_terrain_m {#structmavsdk_1_1_telemetry_1_1_altitude_1a3ff7fd4d1cb4add1315faed09665f6dd}
+
+```cpp
+float mavsdk::Telemetry::Altitude::altitude_terrain_m {float(NAN)}
+```
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) above terrain in meters.
+
+
+### bottom_clearance_m {#structmavsdk_1_1_telemetry_1_1_altitude_1adb1f002956624c20524f33412bd8debc}
+
+```cpp
+float mavsdk::Telemetry::Altitude::bottom_clearance_m { float(NAN)}
+```
+
+
+This is not the altitude, but the clear space below the system according to the fused clearance estimate in meters.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md
new file mode 100644
index 0000000000..90529979c0
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::AngularVelocityBody Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+Angular velocity type. 
+
+
+## Data Fields
+
+
+float [roll_rad_s](#structmavsdk_1_1_telemetry_1_1_angular_velocity_body_1a53ac867d98a823f6c7f454cf09c560d6) {float(NAN)} - Roll angular velocity.
+
+float [pitch_rad_s](#structmavsdk_1_1_telemetry_1_1_angular_velocity_body_1a29cbd9cb9e8313619948148382a1f26e) {float(NAN)} - Pitch angular velocity.
+
+float [yaw_rad_s](#structmavsdk_1_1_telemetry_1_1_angular_velocity_body_1ae9f525cbcae6b0901599fbae95ddaac9) {float(NAN)} - Yaw angular velocity.
+
+
+## Field Documentation
+
+
+### roll_rad_s {#structmavsdk_1_1_telemetry_1_1_angular_velocity_body_1a53ac867d98a823f6c7f454cf09c560d6}
+
+```cpp
+float mavsdk::Telemetry::AngularVelocityBody::roll_rad_s {float(NAN)}
+```
+
+
+Roll angular velocity.
+
+
+### pitch_rad_s {#structmavsdk_1_1_telemetry_1_1_angular_velocity_body_1a29cbd9cb9e8313619948148382a1f26e}
+
+```cpp
+float mavsdk::Telemetry::AngularVelocityBody::pitch_rad_s {float(NAN)}
+```
+
+
+Pitch angular velocity.
+
+
+### yaw_rad_s {#structmavsdk_1_1_telemetry_1_1_angular_velocity_body_1ae9f525cbcae6b0901599fbae95ddaac9}
+
+```cpp
+float mavsdk::Telemetry::AngularVelocityBody::yaw_rad_s {float(NAN)}
+```
+
+
+Yaw angular velocity.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_frd.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_frd.md
new file mode 100644
index 0000000000..97baac9dc5
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_frd.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::AngularVelocityFrd Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[AngularVelocityFrd](structmavsdk_1_1_telemetry_1_1_angular_velocity_frd.md) message type. 
+
+
+## Data Fields
+
+
+float [forward_rad_s](#structmavsdk_1_1_telemetry_1_1_angular_velocity_frd_1ab13bf5ed6d934b1d667943af9e5282b0) { float(NAN)} - Angular velocity in forward direction in radians per second.
+
+float [right_rad_s](#structmavsdk_1_1_telemetry_1_1_angular_velocity_frd_1a7dc968f2592cb9e679db521a0924bac8) { float(NAN)} - Angular velocity in right direction in radians per second.
+
+float [down_rad_s](#structmavsdk_1_1_telemetry_1_1_angular_velocity_frd_1a698f41a276fa3da736824b215de23126) { float(NAN)} - Angular velocity in Down direction in radians per second.
+
+
+## Field Documentation
+
+
+### forward_rad_s {#structmavsdk_1_1_telemetry_1_1_angular_velocity_frd_1ab13bf5ed6d934b1d667943af9e5282b0}
+
+```cpp
+float mavsdk::Telemetry::AngularVelocityFrd::forward_rad_s { float(NAN)}
+```
+
+
+Angular velocity in forward direction in radians per second.
+
+
+### right_rad_s {#structmavsdk_1_1_telemetry_1_1_angular_velocity_frd_1a7dc968f2592cb9e679db521a0924bac8}
+
+```cpp
+float mavsdk::Telemetry::AngularVelocityFrd::right_rad_s { float(NAN)}
+```
+
+
+Angular velocity in right direction in radians per second.
+
+
+### down_rad_s {#structmavsdk_1_1_telemetry_1_1_angular_velocity_frd_1a698f41a276fa3da736824b215de23126}
+
+```cpp
+float mavsdk::Telemetry::AngularVelocityFrd::down_rad_s { float(NAN)}
+```
+
+
+Angular velocity in Down direction in radians per second.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_battery.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_battery.md
new file mode 100644
index 0000000000..12358a9c0d
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_battery.md
@@ -0,0 +1,87 @@
+# mavsdk::Telemetry::Battery Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[Battery](structmavsdk_1_1_telemetry_1_1_battery.md) type. 
+
+
+## Data Fields
+
+
+uint32_t [id](#structmavsdk_1_1_telemetry_1_1_battery_1a0f020a0775d3b25b91c7d9b035e7ebd7) {0} - [Battery](structmavsdk_1_1_telemetry_1_1_battery.md) ID, for systems with multiple batteries.
+
+float [temperature_degc](#structmavsdk_1_1_telemetry_1_1_battery_1a6d55d76fac17548b06bc5b2bcfbf8207) {float(NAN)} - Temperature of the battery in degrees Celsius. NAN for unknown temperature.
+
+float [voltage_v](#structmavsdk_1_1_telemetry_1_1_battery_1aefd1d5569ff2a69bf507b422cbe75742) {float(NAN)} - Voltage in volts.
+
+float [current_battery_a](#structmavsdk_1_1_telemetry_1_1_battery_1a8c459191787a49013c73a402aa6441b6) {float(NAN)} - [Battery](structmavsdk_1_1_telemetry_1_1_battery.md) current in Amps, NAN if autopilot does not measure the current.
+
+float [capacity_consumed_ah](#structmavsdk_1_1_telemetry_1_1_battery_1a3593f72c606514287f2bc467408326cc) { float(NAN)} - Consumed charge in Amp hours, NAN if autopilot does not provide consumption estimate.
+
+float [remaining_percent](#structmavsdk_1_1_telemetry_1_1_battery_1aec821550739844e0fa3fe18f91e6fda7) { float(NAN)} - Estimated battery remaining (range: 0 to 100)
+
+
+## Field Documentation
+
+
+### id {#structmavsdk_1_1_telemetry_1_1_battery_1a0f020a0775d3b25b91c7d9b035e7ebd7}
+
+```cpp
+uint32_t mavsdk::Telemetry::Battery::id {0}
+```
+
+
+[Battery](structmavsdk_1_1_telemetry_1_1_battery.md) ID, for systems with multiple batteries.
+
+
+### temperature_degc {#structmavsdk_1_1_telemetry_1_1_battery_1a6d55d76fac17548b06bc5b2bcfbf8207}
+
+```cpp
+float mavsdk::Telemetry::Battery::temperature_degc {float(NAN)}
+```
+
+
+Temperature of the battery in degrees Celsius. NAN for unknown temperature.
+
+
+### voltage_v {#structmavsdk_1_1_telemetry_1_1_battery_1aefd1d5569ff2a69bf507b422cbe75742}
+
+```cpp
+float mavsdk::Telemetry::Battery::voltage_v {float(NAN)}
+```
+
+
+Voltage in volts.
+
+
+### current_battery_a {#structmavsdk_1_1_telemetry_1_1_battery_1a8c459191787a49013c73a402aa6441b6}
+
+```cpp
+float mavsdk::Telemetry::Battery::current_battery_a {float(NAN)}
+```
+
+
+[Battery](structmavsdk_1_1_telemetry_1_1_battery.md) current in Amps, NAN if autopilot does not measure the current.
+
+
+### capacity_consumed_ah {#structmavsdk_1_1_telemetry_1_1_battery_1a3593f72c606514287f2bc467408326cc}
+
+```cpp
+float mavsdk::Telemetry::Battery::capacity_consumed_ah { float(NAN)}
+```
+
+
+Consumed charge in Amp hours, NAN if autopilot does not provide consumption estimate.
+
+
+### remaining_percent {#structmavsdk_1_1_telemetry_1_1_battery_1aec821550739844e0fa3fe18f91e6fda7}
+
+```cpp
+float mavsdk::Telemetry::Battery::remaining_percent { float(NAN)}
+```
+
+
+Estimated battery remaining (range: 0 to 100)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_covariance.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_covariance.md
new file mode 100644
index 0000000000..3b2a2f17a0
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_covariance.md
@@ -0,0 +1,30 @@
+# mavsdk::Telemetry::Covariance Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[Covariance](structmavsdk_1_1_telemetry_1_1_covariance.md) type. 
+
+
+Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Set first to NaN if unknown. 
+
+
+## Data Fields
+
+
+std::vector< float > [covariance_matrix](#structmavsdk_1_1_telemetry_1_1_covariance_1ab740b5515e67c69fd61d21736b227da5) {} - Representation of a covariance matrix.
+
+
+## Field Documentation
+
+
+### covariance_matrix {#structmavsdk_1_1_telemetry_1_1_covariance_1ab740b5515e67c69fd61d21736b227da5}
+
+```cpp
+std::vector<float> mavsdk::Telemetry::Covariance::covariance_matrix {}
+```
+
+
+Representation of a covariance matrix.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_distance_sensor.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_distance_sensor.md
new file mode 100644
index 0000000000..1efd4df514
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_distance_sensor.md
@@ -0,0 +1,63 @@
+# mavsdk::Telemetry::DistanceSensor Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[DistanceSensor](structmavsdk_1_1_telemetry_1_1_distance_sensor.md) message type. 
+
+
+## Data Fields
+
+
+float [minimum_distance_m](#structmavsdk_1_1_telemetry_1_1_distance_sensor_1ab5601497cd86fdf3318ae26a312405cc) { float(NAN)} - Minimum distance the sensor can measure, NaN if unknown.
+
+float [maximum_distance_m](#structmavsdk_1_1_telemetry_1_1_distance_sensor_1aca0cdb621fc6df047abab9b3526c45b2) { float(NAN)} - Maximum distance the sensor can measure, NaN if unknown.
+
+float [current_distance_m](#structmavsdk_1_1_telemetry_1_1_distance_sensor_1a16bd239d2498378c57d910f07797a3a1) { float(NAN)} - Current distance reading, NaN if unknown.
+
+[EulerAngle](structmavsdk_1_1_telemetry_1_1_euler_angle.md) [orientation](#structmavsdk_1_1_telemetry_1_1_distance_sensor_1a3a4457610b4d7af76290a0b53426bc68) {} - Sensor Orientation reading.
+
+
+## Field Documentation
+
+
+### minimum_distance_m {#structmavsdk_1_1_telemetry_1_1_distance_sensor_1ab5601497cd86fdf3318ae26a312405cc}
+
+```cpp
+float mavsdk::Telemetry::DistanceSensor::minimum_distance_m { float(NAN)}
+```
+
+
+Minimum distance the sensor can measure, NaN if unknown.
+
+
+### maximum_distance_m {#structmavsdk_1_1_telemetry_1_1_distance_sensor_1aca0cdb621fc6df047abab9b3526c45b2}
+
+```cpp
+float mavsdk::Telemetry::DistanceSensor::maximum_distance_m { float(NAN)}
+```
+
+
+Maximum distance the sensor can measure, NaN if unknown.
+
+
+### current_distance_m {#structmavsdk_1_1_telemetry_1_1_distance_sensor_1a16bd239d2498378c57d910f07797a3a1}
+
+```cpp
+float mavsdk::Telemetry::DistanceSensor::current_distance_m { float(NAN)}
+```
+
+
+Current distance reading, NaN if unknown.
+
+
+### orientation {#structmavsdk_1_1_telemetry_1_1_distance_sensor_1a3a4457610b4d7af76290a0b53426bc68}
+
+```cpp
+EulerAngle mavsdk::Telemetry::DistanceSensor::orientation {}
+```
+
+
+Sensor Orientation reading.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_euler_angle.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_euler_angle.md
new file mode 100644
index 0000000000..59fc111abe
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_euler_angle.md
@@ -0,0 +1,69 @@
+# mavsdk::Telemetry::EulerAngle Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+Euler angle type. 
+
+
+All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.
+
+
+For more info see [https://en.wikipedia.org/wiki/Euler_angles](https://en.wikipedia.org/wiki/Euler_angles) 
+
+
+## Data Fields
+
+
+float [roll_deg](#structmavsdk_1_1_telemetry_1_1_euler_angle_1a8278764834e15734ad51391b280bf179) { float(NAN)} - Roll angle in degrees, positive is banking to the right.
+
+float [pitch_deg](#structmavsdk_1_1_telemetry_1_1_euler_angle_1ad1d95bc36e1993eba9636c7d2649e9a6) { float(NAN)} - Pitch angle in degrees, positive is pitching nose up.
+
+float [yaw_deg](#structmavsdk_1_1_telemetry_1_1_euler_angle_1a1607da7e9063a1dd3f3a9a0624bc53fc) { float(NAN)} - Yaw angle in degrees, positive is clock-wise seen from above.
+
+uint64_t [timestamp_us](#structmavsdk_1_1_telemetry_1_1_euler_angle_1a97a20080f84000960ad23f15cc9035e4) {} - Timestamp in microseconds.
+
+
+## Field Documentation
+
+
+### roll_deg {#structmavsdk_1_1_telemetry_1_1_euler_angle_1a8278764834e15734ad51391b280bf179}
+
+```cpp
+float mavsdk::Telemetry::EulerAngle::roll_deg { float(NAN)}
+```
+
+
+Roll angle in degrees, positive is banking to the right.
+
+
+### pitch_deg {#structmavsdk_1_1_telemetry_1_1_euler_angle_1ad1d95bc36e1993eba9636c7d2649e9a6}
+
+```cpp
+float mavsdk::Telemetry::EulerAngle::pitch_deg { float(NAN)}
+```
+
+
+Pitch angle in degrees, positive is pitching nose up.
+
+
+### yaw_deg {#structmavsdk_1_1_telemetry_1_1_euler_angle_1a1607da7e9063a1dd3f3a9a0624bc53fc}
+
+```cpp
+float mavsdk::Telemetry::EulerAngle::yaw_deg { float(NAN)}
+```
+
+
+Yaw angle in degrees, positive is clock-wise seen from above.
+
+
+### timestamp_us {#structmavsdk_1_1_telemetry_1_1_euler_angle_1a97a20080f84000960ad23f15cc9035e4}
+
+```cpp
+uint64_t mavsdk::Telemetry::EulerAngle::timestamp_us {}
+```
+
+
+Timestamp in microseconds.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md
new file mode 100644
index 0000000000..f7a35f9aad
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::FixedwingMetrics Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[FixedwingMetrics](structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md) message type. 
+
+
+## Data Fields
+
+
+float [airspeed_m_s](#structmavsdk_1_1_telemetry_1_1_fixedwing_metrics_1abf0ee1126c15c67a0e6e96cbd06d742c) { float(NAN)} - Current indicated airspeed (IAS) in metres per second.
+
+float [throttle_percentage](#structmavsdk_1_1_telemetry_1_1_fixedwing_metrics_1a990318556dd083660a716fe07268b3ad) {float(NAN)} - Current throttle setting (0 to 100)
+
+float [climb_rate_m_s](#structmavsdk_1_1_telemetry_1_1_fixedwing_metrics_1a9bc33e3e1ea00ad6fd4ef385c20b1233) {float(NAN)} - Current climb rate in metres per second.
+
+
+## Field Documentation
+
+
+### airspeed_m_s {#structmavsdk_1_1_telemetry_1_1_fixedwing_metrics_1abf0ee1126c15c67a0e6e96cbd06d742c}
+
+```cpp
+float mavsdk::Telemetry::FixedwingMetrics::airspeed_m_s { float(NAN)}
+```
+
+
+Current indicated airspeed (IAS) in metres per second.
+
+
+### throttle_percentage {#structmavsdk_1_1_telemetry_1_1_fixedwing_metrics_1a990318556dd083660a716fe07268b3ad}
+
+```cpp
+float mavsdk::Telemetry::FixedwingMetrics::throttle_percentage {float(NAN)}
+```
+
+
+Current throttle setting (0 to 100)
+
+
+### climb_rate_m_s {#structmavsdk_1_1_telemetry_1_1_fixedwing_metrics_1a9bc33e3e1ea00ad6fd4ef385c20b1233}
+
+```cpp
+float mavsdk::Telemetry::FixedwingMetrics::climb_rate_m_s {float(NAN)}
+```
+
+
+Current climb rate in metres per second.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_global_origin.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_global_origin.md
new file mode 100644
index 0000000000..995a449aa3
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_global_origin.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::GpsGlobalOrigin Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+Gps global origin type. 
+
+
+## Data Fields
+
+
+double [latitude_deg](#structmavsdk_1_1_telemetry_1_1_gps_global_origin_1a536463a838e203ff2075332a4cb200f0) {double(NAN)} - Latitude of the origin.
+
+double [longitude_deg](#structmavsdk_1_1_telemetry_1_1_gps_global_origin_1a29614c8df2f364a278ceb8a7803e0604) {double(NAN)} - Longitude of the origin.
+
+float [altitude_m](#structmavsdk_1_1_telemetry_1_1_gps_global_origin_1a346a73d38ab2c360fd0e79b8a0c5455f) {float(NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in metres.
+
+
+## Field Documentation
+
+
+### latitude_deg {#structmavsdk_1_1_telemetry_1_1_gps_global_origin_1a536463a838e203ff2075332a4cb200f0}
+
+```cpp
+double mavsdk::Telemetry::GpsGlobalOrigin::latitude_deg {double(NAN)}
+```
+
+
+Latitude of the origin.
+
+
+### longitude_deg {#structmavsdk_1_1_telemetry_1_1_gps_global_origin_1a29614c8df2f364a278ceb8a7803e0604}
+
+```cpp
+double mavsdk::Telemetry::GpsGlobalOrigin::longitude_deg {double(NAN)}
+```
+
+
+Longitude of the origin.
+
+
+### altitude_m {#structmavsdk_1_1_telemetry_1_1_gps_global_origin_1a346a73d38ab2c360fd0e79b8a0c5455f}
+
+```cpp
+float mavsdk::Telemetry::GpsGlobalOrigin::altitude_m {float(NAN)}
+```
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_info.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_info.md
new file mode 100644
index 0000000000..ae48a02b13
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_gps_info.md
@@ -0,0 +1,39 @@
+# mavsdk::Telemetry::GpsInfo Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+GPS information type. 
+
+
+## Data Fields
+
+
+int32_t [num_satellites](#structmavsdk_1_1_telemetry_1_1_gps_info_1a1135e97a6125737764bc1588d57a3801) {0} - Number of visible satellites in use.
+
+[FixType](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a548213e1b26615d7b6d1b0b3934639de) [fix_type](#structmavsdk_1_1_telemetry_1_1_gps_info_1a4001930947c7b08f5e163d55d212e85d) {} - Fix type.
+
+
+## Field Documentation
+
+
+### num_satellites {#structmavsdk_1_1_telemetry_1_1_gps_info_1a1135e97a6125737764bc1588d57a3801}
+
+```cpp
+int32_t mavsdk::Telemetry::GpsInfo::num_satellites {0}
+```
+
+
+Number of visible satellites in use.
+
+
+### fix_type {#structmavsdk_1_1_telemetry_1_1_gps_info_1a4001930947c7b08f5e163d55d212e85d}
+
+```cpp
+FixType mavsdk::Telemetry::GpsInfo::fix_type {}
+```
+
+
+Fix type.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_ground_truth.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_ground_truth.md
new file mode 100644
index 0000000000..9d2de70bf4
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_ground_truth.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::GroundTruth Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[GroundTruth](structmavsdk_1_1_telemetry_1_1_ground_truth.md) message type. 
+
+
+## Data Fields
+
+
+double [latitude_deg](#structmavsdk_1_1_telemetry_1_1_ground_truth_1a6eba659dc09388c324077c1c0dca2de4) {double(NAN)} - Latitude in degrees (range: -90 to +90)
+
+double [longitude_deg](#structmavsdk_1_1_telemetry_1_1_ground_truth_1abf02a4edee18e077b939fb8f6b919ae3) {double(NAN)} - Longitude in degrees (range: -180 to 180)
+
+float [absolute_altitude_m](#structmavsdk_1_1_telemetry_1_1_ground_truth_1a6f2b0c73e4e737b7f684b5d426c848fa) { float(NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in metres.
+
+
+## Field Documentation
+
+
+### latitude_deg {#structmavsdk_1_1_telemetry_1_1_ground_truth_1a6eba659dc09388c324077c1c0dca2de4}
+
+```cpp
+double mavsdk::Telemetry::GroundTruth::latitude_deg {double(NAN)}
+```
+
+
+Latitude in degrees (range: -90 to +90)
+
+
+### longitude_deg {#structmavsdk_1_1_telemetry_1_1_ground_truth_1abf02a4edee18e077b939fb8f6b919ae3}
+
+```cpp
+double mavsdk::Telemetry::GroundTruth::longitude_deg {double(NAN)}
+```
+
+
+Longitude in degrees (range: -180 to 180)
+
+
+### absolute_altitude_m {#structmavsdk_1_1_telemetry_1_1_ground_truth_1a6f2b0c73e4e737b7f684b5d426c848fa}
+
+```cpp
+float mavsdk::Telemetry::GroundTruth::absolute_altitude_m { float(NAN)}
+```
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_heading.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_heading.md
new file mode 100644
index 0000000000..362b569992
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_heading.md
@@ -0,0 +1,27 @@
+# mavsdk::Telemetry::Heading Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[Heading](structmavsdk_1_1_telemetry_1_1_heading.md) type used for global position. 
+
+
+## Data Fields
+
+
+double [heading_deg](#structmavsdk_1_1_telemetry_1_1_heading_1af5dc43d082cf706bc2a4ce26c3d2f453) {double(NAN)} - [Heading](structmavsdk_1_1_telemetry_1_1_heading.md) in degrees (range: 0 to +360)
+
+
+## Field Documentation
+
+
+### heading_deg {#structmavsdk_1_1_telemetry_1_1_heading_1af5dc43d082cf706bc2a4ce26c3d2f453}
+
+```cpp
+double mavsdk::Telemetry::Heading::heading_deg {double(NAN)}
+```
+
+
+[Heading](structmavsdk_1_1_telemetry_1_1_heading.md) in degrees (range: 0 to +360)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_health.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_health.md
new file mode 100644
index 0000000000..26d3809215
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_health.md
@@ -0,0 +1,99 @@
+# mavsdk::Telemetry::Health Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[Health](structmavsdk_1_1_telemetry_1_1_health.md) type. 
+
+
+## Data Fields
+
+
+bool [is_gyrometer_calibration_ok](#structmavsdk_1_1_telemetry_1_1_health_1a4ce524d8a5ca42e50cf615ddade4bac4) {false} - True if the gyrometer is calibrated.
+
+bool [is_accelerometer_calibration_ok](#structmavsdk_1_1_telemetry_1_1_health_1a910417712b6960d371e79acdb5a19e35) { false} - True if the accelerometer is calibrated.
+
+bool [is_magnetometer_calibration_ok](#structmavsdk_1_1_telemetry_1_1_health_1ac99ff7621f22a5148adfbb03004fccc8) { false} - True if the magnetometer is calibrated.
+
+bool [is_local_position_ok](#structmavsdk_1_1_telemetry_1_1_health_1a86da005d0191a856b649d679e03b78b4) {false} - True if the local position estimate is good enough to fly in 'position control' mode.
+
+bool [is_global_position_ok](#structmavsdk_1_1_telemetry_1_1_health_1ae85eb066716de1eef1a1bd3f6b375c6c) {false} - True if the global position estimate is good enough to fly in 'position control' mode.
+
+bool [is_home_position_ok](#structmavsdk_1_1_telemetry_1_1_health_1ad67d5e7ef46fd34246011d31f95049fa) { false} - True if the home position has been initialized properly.
+
+bool [is_armable](#structmavsdk_1_1_telemetry_1_1_health_1a7fbe53f1255bce1dcb30d4cd33c3d4f7) {false} - True if system can be armed.
+
+
+## Field Documentation
+
+
+### is_gyrometer_calibration_ok {#structmavsdk_1_1_telemetry_1_1_health_1a4ce524d8a5ca42e50cf615ddade4bac4}
+
+```cpp
+bool mavsdk::Telemetry::Health::is_gyrometer_calibration_ok {false}
+```
+
+
+True if the gyrometer is calibrated.
+
+
+### is_accelerometer_calibration_ok {#structmavsdk_1_1_telemetry_1_1_health_1a910417712b6960d371e79acdb5a19e35}
+
+```cpp
+bool mavsdk::Telemetry::Health::is_accelerometer_calibration_ok { false}
+```
+
+
+True if the accelerometer is calibrated.
+
+
+### is_magnetometer_calibration_ok {#structmavsdk_1_1_telemetry_1_1_health_1ac99ff7621f22a5148adfbb03004fccc8}
+
+```cpp
+bool mavsdk::Telemetry::Health::is_magnetometer_calibration_ok { false}
+```
+
+
+True if the magnetometer is calibrated.
+
+
+### is_local_position_ok {#structmavsdk_1_1_telemetry_1_1_health_1a86da005d0191a856b649d679e03b78b4}
+
+```cpp
+bool mavsdk::Telemetry::Health::is_local_position_ok {false}
+```
+
+
+True if the local position estimate is good enough to fly in 'position control' mode.
+
+
+### is_global_position_ok {#structmavsdk_1_1_telemetry_1_1_health_1ae85eb066716de1eef1a1bd3f6b375c6c}
+
+```cpp
+bool mavsdk::Telemetry::Health::is_global_position_ok {false}
+```
+
+
+True if the global position estimate is good enough to fly in 'position control' mode.
+
+
+### is_home_position_ok {#structmavsdk_1_1_telemetry_1_1_health_1ad67d5e7ef46fd34246011d31f95049fa}
+
+```cpp
+bool mavsdk::Telemetry::Health::is_home_position_ok { false}
+```
+
+
+True if the home position has been initialized properly.
+
+
+### is_armable {#structmavsdk_1_1_telemetry_1_1_health_1a7fbe53f1255bce1dcb30d4cd33c3d4f7}
+
+```cpp
+bool mavsdk::Telemetry::Health::is_armable {false}
+```
+
+
+True if system can be armed.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_imu.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_imu.md
new file mode 100644
index 0000000000..a764f471dd
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_imu.md
@@ -0,0 +1,75 @@
+# mavsdk::Telemetry::Imu Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[Imu](structmavsdk_1_1_telemetry_1_1_imu.md) message type. 
+
+
+## Data Fields
+
+
+[AccelerationFrd](structmavsdk_1_1_telemetry_1_1_acceleration_frd.md) [acceleration_frd](#structmavsdk_1_1_telemetry_1_1_imu_1a600a740b55b0f5fd6fe24ab58e178e85) {} - Acceleration.
+
+[AngularVelocityFrd](structmavsdk_1_1_telemetry_1_1_angular_velocity_frd.md) [angular_velocity_frd](#structmavsdk_1_1_telemetry_1_1_imu_1ace8ac6faa1404700c2771b7cd6befe5e) {} - Angular velocity.
+
+[MagneticFieldFrd](structmavsdk_1_1_telemetry_1_1_magnetic_field_frd.md) [magnetic_field_frd](#structmavsdk_1_1_telemetry_1_1_imu_1a8b3ffac7ac05485441574cc4e59443dc) {} - Magnetic field.
+
+float [temperature_degc](#structmavsdk_1_1_telemetry_1_1_imu_1a25504448c25602ab87cc773c28f58caa) {float(NAN)} - Temperature.
+
+uint64_t [timestamp_us](#structmavsdk_1_1_telemetry_1_1_imu_1a3466ec3148942040add5d5bab2c69f56) {} - Timestamp in microseconds.
+
+
+## Field Documentation
+
+
+### acceleration_frd {#structmavsdk_1_1_telemetry_1_1_imu_1a600a740b55b0f5fd6fe24ab58e178e85}
+
+```cpp
+AccelerationFrd mavsdk::Telemetry::Imu::acceleration_frd {}
+```
+
+
+Acceleration.
+
+
+### angular_velocity_frd {#structmavsdk_1_1_telemetry_1_1_imu_1ace8ac6faa1404700c2771b7cd6befe5e}
+
+```cpp
+AngularVelocityFrd mavsdk::Telemetry::Imu::angular_velocity_frd {}
+```
+
+
+Angular velocity.
+
+
+### magnetic_field_frd {#structmavsdk_1_1_telemetry_1_1_imu_1a8b3ffac7ac05485441574cc4e59443dc}
+
+```cpp
+MagneticFieldFrd mavsdk::Telemetry::Imu::magnetic_field_frd {}
+```
+
+
+Magnetic field.
+
+
+### temperature_degc {#structmavsdk_1_1_telemetry_1_1_imu_1a25504448c25602ab87cc773c28f58caa}
+
+```cpp
+float mavsdk::Telemetry::Imu::temperature_degc {float(NAN)}
+```
+
+
+Temperature.
+
+
+### timestamp_us {#structmavsdk_1_1_telemetry_1_1_imu_1a3466ec3148942040add5d5bab2c69f56}
+
+```cpp
+uint64_t mavsdk::Telemetry::Imu::timestamp_us {}
+```
+
+
+Timestamp in microseconds.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_magnetic_field_frd.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_magnetic_field_frd.md
new file mode 100644
index 0000000000..ba5c1be256
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_magnetic_field_frd.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::MagneticFieldFrd Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[MagneticFieldFrd](structmavsdk_1_1_telemetry_1_1_magnetic_field_frd.md) message type. 
+
+
+## Data Fields
+
+
+float [forward_gauss](#structmavsdk_1_1_telemetry_1_1_magnetic_field_frd_1a497ad3b9eb8aec2426d719574a4c3364) { float(NAN)} - Magnetic field in forward direction measured in Gauss.
+
+float [right_gauss](#structmavsdk_1_1_telemetry_1_1_magnetic_field_frd_1a6d387708a5e3ff996b00cd1097e3996d) { float(NAN)} - Magnetic field in East direction measured in Gauss.
+
+float [down_gauss](#structmavsdk_1_1_telemetry_1_1_magnetic_field_frd_1a71a2247a578c740bdebd779cd3833452) { float(NAN)} - Magnetic field in Down direction measured in Gauss.
+
+
+## Field Documentation
+
+
+### forward_gauss {#structmavsdk_1_1_telemetry_1_1_magnetic_field_frd_1a497ad3b9eb8aec2426d719574a4c3364}
+
+```cpp
+float mavsdk::Telemetry::MagneticFieldFrd::forward_gauss { float(NAN)}
+```
+
+
+Magnetic field in forward direction measured in Gauss.
+
+
+### right_gauss {#structmavsdk_1_1_telemetry_1_1_magnetic_field_frd_1a6d387708a5e3ff996b00cd1097e3996d}
+
+```cpp
+float mavsdk::Telemetry::MagneticFieldFrd::right_gauss { float(NAN)}
+```
+
+
+Magnetic field in East direction measured in Gauss.
+
+
+### down_gauss {#structmavsdk_1_1_telemetry_1_1_magnetic_field_frd_1a71a2247a578c740bdebd779cd3833452}
+
+```cpp
+float mavsdk::Telemetry::MagneticFieldFrd::down_gauss { float(NAN)}
+```
+
+
+Magnetic field in Down direction measured in Gauss.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_odometry.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_odometry.md
new file mode 100644
index 0000000000..da067ea893
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_odometry.md
@@ -0,0 +1,146 @@
+# mavsdk::Telemetry::Odometry Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md) message type. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [MavFrame](#structmavsdk_1_1_telemetry_1_1_odometry_1ae14a60c5ce30809d8de3aafc73e6fa59) | Mavlink frame id.
+
+## Data Fields
+
+
+uint64_t [time_usec](#structmavsdk_1_1_telemetry_1_1_odometry_1aa58eb5c15f53acf35333115c8d3673f9) {} - Timestamp (0 to use Backend timestamp).
+
+[MavFrame](structmavsdk_1_1_telemetry_1_1_odometry.md#structmavsdk_1_1_telemetry_1_1_odometry_1ae14a60c5ce30809d8de3aafc73e6fa59) [frame_id](#structmavsdk_1_1_telemetry_1_1_odometry_1a40cde4148b2b495fc5b1d8606978355a) {} - Coordinate frame of reference for the pose data.
+
+[MavFrame](structmavsdk_1_1_telemetry_1_1_odometry.md#structmavsdk_1_1_telemetry_1_1_odometry_1ae14a60c5ce30809d8de3aafc73e6fa59) [child_frame_id](#structmavsdk_1_1_telemetry_1_1_odometry_1a624b96ff786cb7d3498ceb64c10323c7) {} - Coordinate frame of reference for the velocity in free space (twist) data.
+
+[PositionBody](structmavsdk_1_1_telemetry_1_1_position_body.md) [position_body](#structmavsdk_1_1_telemetry_1_1_odometry_1a836f0338481b24874e4dcf7a82bc391b) {} - [Position](structmavsdk_1_1_telemetry_1_1_position.md).
+
+[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) [q](#structmavsdk_1_1_telemetry_1_1_odometry_1a32f49ead9d8964da05af2b92fd6e2127) {} - [Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) components, w, x, y, z (1 0 0 0 is the null-rotation).
+
+[VelocityBody](structmavsdk_1_1_telemetry_1_1_velocity_body.md) [velocity_body](#structmavsdk_1_1_telemetry_1_1_odometry_1aed1ca26d563e40c6fca6b2a6807c882e) {} - Linear velocity (m/s).
+
+[AngularVelocityBody](structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md) [angular_velocity_body](#structmavsdk_1_1_telemetry_1_1_odometry_1a023deb0e97bc06d5ea19c5dfc42e230a) {} - Angular velocity (rad/s).
+
+[Covariance](structmavsdk_1_1_telemetry_1_1_covariance.md) [pose_covariance](#structmavsdk_1_1_telemetry_1_1_odometry_1a2f3082632fa756680141224749d662ab) {} - Pose cross-covariance matrix.
+
+[Covariance](structmavsdk_1_1_telemetry_1_1_covariance.md) [velocity_covariance](#structmavsdk_1_1_telemetry_1_1_odometry_1a32471f75a46451d56e393ba9fcd9c118) {} - Velocity cross-covariance matrix.
+
+
+## Member Enumeration Documentation
+
+
+### enum MavFrame {#structmavsdk_1_1_telemetry_1_1_odometry_1ae14a60c5ce30809d8de3aafc73e6fa59}
+
+
+Mavlink frame id.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_telemetry_1_1_odometry_1ae14a60c5ce30809d8de3aafc73e6fa59a6bf5613f65a74a7f8388b26adefaef2b"></span> `Undef` | Frame is undefined.. 
+<span id="structmavsdk_1_1_telemetry_1_1_odometry_1ae14a60c5ce30809d8de3aafc73e6fa59a91ac262e6e7347fc5f308053580ba3da"></span> `BodyNed` | Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.. 
+<span id="structmavsdk_1_1_telemetry_1_1_odometry_1ae14a60c5ce30809d8de3aafc73e6fa59ad394115f3c073008cf8096b81fa37fc9"></span> `VisionNed` | [Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md) local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down).. 
+<span id="structmavsdk_1_1_telemetry_1_1_odometry_1ae14a60c5ce30809d8de3aafc73e6fa59a605883e5a1cf6c8184abc3de6f16630b"></span> `EstimNed` | [Odometry](structmavsdk_1_1_telemetry_1_1_odometry.md) local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).. 
+
+## Field Documentation
+
+
+### time_usec {#structmavsdk_1_1_telemetry_1_1_odometry_1aa58eb5c15f53acf35333115c8d3673f9}
+
+```cpp
+uint64_t mavsdk::Telemetry::Odometry::time_usec {}
+```
+
+
+Timestamp (0 to use Backend timestamp).
+
+
+### frame_id {#structmavsdk_1_1_telemetry_1_1_odometry_1a40cde4148b2b495fc5b1d8606978355a}
+
+```cpp
+MavFrame mavsdk::Telemetry::Odometry::frame_id {}
+```
+
+
+Coordinate frame of reference for the pose data.
+
+
+### child_frame_id {#structmavsdk_1_1_telemetry_1_1_odometry_1a624b96ff786cb7d3498ceb64c10323c7}
+
+```cpp
+MavFrame mavsdk::Telemetry::Odometry::child_frame_id {}
+```
+
+
+Coordinate frame of reference for the velocity in free space (twist) data.
+
+
+### position_body {#structmavsdk_1_1_telemetry_1_1_odometry_1a836f0338481b24874e4dcf7a82bc391b}
+
+```cpp
+PositionBody mavsdk::Telemetry::Odometry::position_body {}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_1_1_position.md).
+
+
+### q {#structmavsdk_1_1_telemetry_1_1_odometry_1a32f49ead9d8964da05af2b92fd6e2127}
+
+```cpp
+Quaternion mavsdk::Telemetry::Odometry::q {}
+```
+
+
+[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) components, w, x, y, z (1 0 0 0 is the null-rotation).
+
+
+### velocity_body {#structmavsdk_1_1_telemetry_1_1_odometry_1aed1ca26d563e40c6fca6b2a6807c882e}
+
+```cpp
+VelocityBody mavsdk::Telemetry::Odometry::velocity_body {}
+```
+
+
+Linear velocity (m/s).
+
+
+### angular_velocity_body {#structmavsdk_1_1_telemetry_1_1_odometry_1a023deb0e97bc06d5ea19c5dfc42e230a}
+
+```cpp
+AngularVelocityBody mavsdk::Telemetry::Odometry::angular_velocity_body {}
+```
+
+
+Angular velocity (rad/s).
+
+
+### pose_covariance {#structmavsdk_1_1_telemetry_1_1_odometry_1a2f3082632fa756680141224749d662ab}
+
+```cpp
+Covariance mavsdk::Telemetry::Odometry::pose_covariance {}
+```
+
+
+Pose cross-covariance matrix.
+
+
+### velocity_covariance {#structmavsdk_1_1_telemetry_1_1_odometry_1a32471f75a46451d56e393ba9fcd9c118}
+
+```cpp
+Covariance mavsdk::Telemetry::Odometry::velocity_covariance {}
+```
+
+
+Velocity cross-covariance matrix.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position.md
new file mode 100644
index 0000000000..e66d36ae26
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position.md
@@ -0,0 +1,63 @@
+# mavsdk::Telemetry::Position Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[Position](structmavsdk_1_1_telemetry_1_1_position.md) type in global coordinates. 
+
+
+## Data Fields
+
+
+double [latitude_deg](#structmavsdk_1_1_telemetry_1_1_position_1af040035143d32f21a4785bd81acd99ea) {double(NAN)} - Latitude in degrees (range: -90 to +90)
+
+double [longitude_deg](#structmavsdk_1_1_telemetry_1_1_position_1af848ad6e710ab4642074a6e39b6c579d) {double(NAN)} - Longitude in degrees (range: -180 to +180)
+
+float [absolute_altitude_m](#structmavsdk_1_1_telemetry_1_1_position_1a07dc691d181242ce93223892bd87db94) { float(NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in metres.
+
+float [relative_altitude_m](#structmavsdk_1_1_telemetry_1_1_position_1aac41c299def111b789ec7c94c5b46850) { float(NAN)} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) relative to takeoff altitude in metres.
+
+
+## Field Documentation
+
+
+### latitude_deg {#structmavsdk_1_1_telemetry_1_1_position_1af040035143d32f21a4785bd81acd99ea}
+
+```cpp
+double mavsdk::Telemetry::Position::latitude_deg {double(NAN)}
+```
+
+
+Latitude in degrees (range: -90 to +90)
+
+
+### longitude_deg {#structmavsdk_1_1_telemetry_1_1_position_1af848ad6e710ab4642074a6e39b6c579d}
+
+```cpp
+double mavsdk::Telemetry::Position::longitude_deg {double(NAN)}
+```
+
+
+Longitude in degrees (range: -180 to +180)
+
+
+### absolute_altitude_m {#structmavsdk_1_1_telemetry_1_1_position_1a07dc691d181242ce93223892bd87db94}
+
+```cpp
+float mavsdk::Telemetry::Position::absolute_altitude_m { float(NAN)}
+```
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in metres.
+
+
+### relative_altitude_m {#structmavsdk_1_1_telemetry_1_1_position_1aac41c299def111b789ec7c94c5b46850}
+
+```cpp
+float mavsdk::Telemetry::Position::relative_altitude_m { float(NAN)}
+```
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) relative to takeoff altitude in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_body.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_body.md
new file mode 100644
index 0000000000..a5396b13bd
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_body.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::PositionBody Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[Position](structmavsdk_1_1_telemetry_1_1_position.md) type, represented in the Body (X Y Z) frame. 
+
+
+## Data Fields
+
+
+float [x_m](#structmavsdk_1_1_telemetry_1_1_position_body_1aa19e24ab0715628d11363ed2adb29815) {} - X [Position](structmavsdk_1_1_telemetry_1_1_position.md) in metres.
+
+float [y_m](#structmavsdk_1_1_telemetry_1_1_position_body_1a379d1d9bc43195974ac209b9ffb86742) {} - Y [Position](structmavsdk_1_1_telemetry_1_1_position.md) in metres.
+
+float [z_m](#structmavsdk_1_1_telemetry_1_1_position_body_1a49e6ed210f377d74fb0b40095e2efc28) {} - Z [Position](structmavsdk_1_1_telemetry_1_1_position.md) in metres.
+
+
+## Field Documentation
+
+
+### x_m {#structmavsdk_1_1_telemetry_1_1_position_body_1aa19e24ab0715628d11363ed2adb29815}
+
+```cpp
+float mavsdk::Telemetry::PositionBody::x_m {}
+```
+
+
+X [Position](structmavsdk_1_1_telemetry_1_1_position.md) in metres.
+
+
+### y_m {#structmavsdk_1_1_telemetry_1_1_position_body_1a379d1d9bc43195974ac209b9ffb86742}
+
+```cpp
+float mavsdk::Telemetry::PositionBody::y_m {}
+```
+
+
+Y [Position](structmavsdk_1_1_telemetry_1_1_position.md) in metres.
+
+
+### z_m {#structmavsdk_1_1_telemetry_1_1_position_body_1a49e6ed210f377d74fb0b40095e2efc28}
+
+```cpp
+float mavsdk::Telemetry::PositionBody::z_m {}
+```
+
+
+Z [Position](structmavsdk_1_1_telemetry_1_1_position.md) in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_ned.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_ned.md
new file mode 100644
index 0000000000..c1ac3642b5
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_ned.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::PositionNed Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[PositionNed](structmavsdk_1_1_telemetry_1_1_position_ned.md) message type. 
+
+
+## Data Fields
+
+
+float [north_m](#structmavsdk_1_1_telemetry_1_1_position_ned_1a5423b80bdc7cadd9706a690365e4f995) {float(NAN)} - [Position](structmavsdk_1_1_telemetry_1_1_position.md) along north direction in metres.
+
+float [east_m](#structmavsdk_1_1_telemetry_1_1_position_ned_1a55c778ec6baba598fe078f9df80821f1) {float(NAN)} - [Position](structmavsdk_1_1_telemetry_1_1_position.md) along east direction in metres.
+
+float [down_m](#structmavsdk_1_1_telemetry_1_1_position_ned_1a002b18a018812d0460d3bdbf12939c6f) {float(NAN)} - [Position](structmavsdk_1_1_telemetry_1_1_position.md) along down direction in metres.
+
+
+## Field Documentation
+
+
+### north_m {#structmavsdk_1_1_telemetry_1_1_position_ned_1a5423b80bdc7cadd9706a690365e4f995}
+
+```cpp
+float mavsdk::Telemetry::PositionNed::north_m {float(NAN)}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_1_1_position.md) along north direction in metres.
+
+
+### east_m {#structmavsdk_1_1_telemetry_1_1_position_ned_1a55c778ec6baba598fe078f9df80821f1}
+
+```cpp
+float mavsdk::Telemetry::PositionNed::east_m {float(NAN)}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_1_1_position.md) along east direction in metres.
+
+
+### down_m {#structmavsdk_1_1_telemetry_1_1_position_ned_1a002b18a018812d0460d3bdbf12939c6f}
+
+```cpp
+float mavsdk::Telemetry::PositionNed::down_m {float(NAN)}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_1_1_position.md) along down direction in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md
new file mode 100644
index 0000000000..8b8d1c94d9
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md
@@ -0,0 +1,39 @@
+# mavsdk::Telemetry::PositionVelocityNed Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[PositionVelocityNed](structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md) message type. 
+
+
+## Data Fields
+
+
+[PositionNed](structmavsdk_1_1_telemetry_1_1_position_ned.md) [position](#structmavsdk_1_1_telemetry_1_1_position_velocity_ned_1a3efc29b2fe10b80cbf49cbf4c1498752) {} - [Position](structmavsdk_1_1_telemetry_1_1_position.md) (NED)
+
+[VelocityNed](structmavsdk_1_1_telemetry_1_1_velocity_ned.md) [velocity](#structmavsdk_1_1_telemetry_1_1_position_velocity_ned_1ad445b0be7cf4ad7ef02e85d06aa52e37) {} - Velocity (NED)
+
+
+## Field Documentation
+
+
+### position {#structmavsdk_1_1_telemetry_1_1_position_velocity_ned_1a3efc29b2fe10b80cbf49cbf4c1498752}
+
+```cpp
+PositionNed mavsdk::Telemetry::PositionVelocityNed::position {}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_1_1_position.md) (NED)
+
+
+### velocity {#structmavsdk_1_1_telemetry_1_1_position_velocity_ned_1ad445b0be7cf4ad7ef02e85d06aa52e37}
+
+```cpp
+VelocityNed mavsdk::Telemetry::PositionVelocityNed::velocity {}
+```
+
+
+Velocity (NED)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_quaternion.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_quaternion.md
new file mode 100644
index 0000000000..63f45438da
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_quaternion.md
@@ -0,0 +1,81 @@
+# mavsdk::Telemetry::Quaternion Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) type. 
+
+
+All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.
+
+
+For more info see: [https://en.wikipedia.org/wiki/Quaternion](https://en.wikipedia.org/wiki/Quaternion) 
+
+
+## Data Fields
+
+
+float [w](#structmavsdk_1_1_telemetry_1_1_quaternion_1a0294a4f526fcdfbe0436dea3cdb10b53) {float(NAN)} - [Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) entry 0, also denoted as a.
+
+float [x](#structmavsdk_1_1_telemetry_1_1_quaternion_1a66d67f70947be2578297fa2438c44900) {float(NAN)} - [Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) entry 1, also denoted as b.
+
+float [y](#structmavsdk_1_1_telemetry_1_1_quaternion_1a774a00985baa458cf0da144b72c51dad) {float(NAN)} - [Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) entry 2, also denoted as c.
+
+float [z](#structmavsdk_1_1_telemetry_1_1_quaternion_1a3888a29be1425239efc637edf7a265c4) {float(NAN)} - [Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) entry 3, also denoted as d.
+
+uint64_t [timestamp_us](#structmavsdk_1_1_telemetry_1_1_quaternion_1a611fa203ff433802868dd42f834e08e4) {} - Timestamp in microseconds.
+
+
+## Field Documentation
+
+
+### w {#structmavsdk_1_1_telemetry_1_1_quaternion_1a0294a4f526fcdfbe0436dea3cdb10b53}
+
+```cpp
+float mavsdk::Telemetry::Quaternion::w {float(NAN)}
+```
+
+
+[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) entry 0, also denoted as a.
+
+
+### x {#structmavsdk_1_1_telemetry_1_1_quaternion_1a66d67f70947be2578297fa2438c44900}
+
+```cpp
+float mavsdk::Telemetry::Quaternion::x {float(NAN)}
+```
+
+
+[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) entry 1, also denoted as b.
+
+
+### y {#structmavsdk_1_1_telemetry_1_1_quaternion_1a774a00985baa458cf0da144b72c51dad}
+
+```cpp
+float mavsdk::Telemetry::Quaternion::y {float(NAN)}
+```
+
+
+[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) entry 2, also denoted as c.
+
+
+### z {#structmavsdk_1_1_telemetry_1_1_quaternion_1a3888a29be1425239efc637edf7a265c4}
+
+```cpp
+float mavsdk::Telemetry::Quaternion::z {float(NAN)}
+```
+
+
+[Quaternion](structmavsdk_1_1_telemetry_1_1_quaternion.md) entry 3, also denoted as d.
+
+
+### timestamp_us {#structmavsdk_1_1_telemetry_1_1_quaternion_1a611fa203ff433802868dd42f834e08e4}
+
+```cpp
+uint64_t mavsdk::Telemetry::Quaternion::timestamp_us {}
+```
+
+
+Timestamp in microseconds.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_raw_gps.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_raw_gps.md
new file mode 100644
index 0000000000..24c10dd57d
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_raw_gps.md
@@ -0,0 +1,186 @@
+# mavsdk::Telemetry::RawGps Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+Raw GPS information type. 
+
+
+Warning: this is an advanced type! If you want the location of the drone, use the position instead. This message exposes the raw values of the GNSS sensor. 
+
+
+## Data Fields
+
+
+uint64_t [timestamp_us](#structmavsdk_1_1_telemetry_1_1_raw_gps_1ad04b6e80ae5c54d7294d96406a2494b5) {} - Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)
+
+double [latitude_deg](#structmavsdk_1_1_telemetry_1_1_raw_gps_1af616f2c868d1ff58c74842c30311af08) {} - Latitude in degrees (WGS84, EGM96 ellipsoid)
+
+double [longitude_deg](#structmavsdk_1_1_telemetry_1_1_raw_gps_1a0951aaa70074f09f3bbd89654d778e35) {} - Longitude in degrees (WGS84, EGM96 ellipsoid)
+
+float [absolute_altitude_m](#structmavsdk_1_1_telemetry_1_1_raw_gps_1aa935c918b44775a355c73d192d8ec864) {} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in metres.
+
+float [hdop](#structmavsdk_1_1_telemetry_1_1_raw_gps_1abbbc803f5a59a201865204d77e3cf127) {} - GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.
+
+float [vdop](#structmavsdk_1_1_telemetry_1_1_raw_gps_1adb4779f0ae7583a2600ce04d968bf215) {} - GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.
+
+float [velocity_m_s](#structmavsdk_1_1_telemetry_1_1_raw_gps_1a9f11f0838763d71c7f7b5e4fbeabf161) {} - Ground velocity in metres per second.
+
+float [cog_deg](#structmavsdk_1_1_telemetry_1_1_raw_gps_1afd8dfadafbd6c5d8f683621b3fe905c8) {} - Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.
+
+float [altitude_ellipsoid_m](#structmavsdk_1_1_telemetry_1_1_raw_gps_1a952184f0e2c43c7ecf3a65540974f38a) {} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) in metres (above WGS84, EGM96 ellipsoid)
+
+float [horizontal_uncertainty_m](#structmavsdk_1_1_telemetry_1_1_raw_gps_1a2ab8e5415a6f74a9e41a410e45b3c424) {} - [Position](structmavsdk_1_1_telemetry_1_1_position.md) uncertainty in metres.
+
+float [vertical_uncertainty_m](#structmavsdk_1_1_telemetry_1_1_raw_gps_1ac9b725d01e86be7db6d6f7e57956a885) {} - [Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) uncertainty in metres.
+
+float [velocity_uncertainty_m_s](#structmavsdk_1_1_telemetry_1_1_raw_gps_1a5191bc0046118664dd928f0338dadfe1) {} - Velocity uncertainty in metres per second.
+
+float [heading_uncertainty_deg](#structmavsdk_1_1_telemetry_1_1_raw_gps_1af1dd338be444666f9dadc3393176a015) {} - [Heading](structmavsdk_1_1_telemetry_1_1_heading.md) uncertainty in degrees.
+
+float [yaw_deg](#structmavsdk_1_1_telemetry_1_1_raw_gps_1a01c83a26d734e47e257492fdc574e45d) {} - Yaw in earth frame from north.
+
+
+## Field Documentation
+
+
+### timestamp_us {#structmavsdk_1_1_telemetry_1_1_raw_gps_1ad04b6e80ae5c54d7294d96406a2494b5}
+
+```cpp
+uint64_t mavsdk::Telemetry::RawGps::timestamp_us {}
+```
+
+
+Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)
+
+
+### latitude_deg {#structmavsdk_1_1_telemetry_1_1_raw_gps_1af616f2c868d1ff58c74842c30311af08}
+
+```cpp
+double mavsdk::Telemetry::RawGps::latitude_deg {}
+```
+
+
+Latitude in degrees (WGS84, EGM96 ellipsoid)
+
+
+### longitude_deg {#structmavsdk_1_1_telemetry_1_1_raw_gps_1a0951aaa70074f09f3bbd89654d778e35}
+
+```cpp
+double mavsdk::Telemetry::RawGps::longitude_deg {}
+```
+
+
+Longitude in degrees (WGS84, EGM96 ellipsoid)
+
+
+### absolute_altitude_m {#structmavsdk_1_1_telemetry_1_1_raw_gps_1aa935c918b44775a355c73d192d8ec864}
+
+```cpp
+float mavsdk::Telemetry::RawGps::absolute_altitude_m {}
+```
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) AMSL (above mean sea level) in metres.
+
+
+### hdop {#structmavsdk_1_1_telemetry_1_1_raw_gps_1abbbc803f5a59a201865204d77e3cf127}
+
+```cpp
+float mavsdk::Telemetry::RawGps::hdop {}
+```
+
+
+GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.
+
+
+### vdop {#structmavsdk_1_1_telemetry_1_1_raw_gps_1adb4779f0ae7583a2600ce04d968bf215}
+
+```cpp
+float mavsdk::Telemetry::RawGps::vdop {}
+```
+
+
+GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.
+
+
+### velocity_m_s {#structmavsdk_1_1_telemetry_1_1_raw_gps_1a9f11f0838763d71c7f7b5e4fbeabf161}
+
+```cpp
+float mavsdk::Telemetry::RawGps::velocity_m_s {}
+```
+
+
+Ground velocity in metres per second.
+
+
+### cog_deg {#structmavsdk_1_1_telemetry_1_1_raw_gps_1afd8dfadafbd6c5d8f683621b3fe905c8}
+
+```cpp
+float mavsdk::Telemetry::RawGps::cog_deg {}
+```
+
+
+Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.
+
+
+### altitude_ellipsoid_m {#structmavsdk_1_1_telemetry_1_1_raw_gps_1a952184f0e2c43c7ecf3a65540974f38a}
+
+```cpp
+float mavsdk::Telemetry::RawGps::altitude_ellipsoid_m {}
+```
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) in metres (above WGS84, EGM96 ellipsoid)
+
+
+### horizontal_uncertainty_m {#structmavsdk_1_1_telemetry_1_1_raw_gps_1a2ab8e5415a6f74a9e41a410e45b3c424}
+
+```cpp
+float mavsdk::Telemetry::RawGps::horizontal_uncertainty_m {}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_1_1_position.md) uncertainty in metres.
+
+
+### vertical_uncertainty_m {#structmavsdk_1_1_telemetry_1_1_raw_gps_1ac9b725d01e86be7db6d6f7e57956a885}
+
+```cpp
+float mavsdk::Telemetry::RawGps::vertical_uncertainty_m {}
+```
+
+
+[Altitude](structmavsdk_1_1_telemetry_1_1_altitude.md) uncertainty in metres.
+
+
+### velocity_uncertainty_m_s {#structmavsdk_1_1_telemetry_1_1_raw_gps_1a5191bc0046118664dd928f0338dadfe1}
+
+```cpp
+float mavsdk::Telemetry::RawGps::velocity_uncertainty_m_s {}
+```
+
+
+Velocity uncertainty in metres per second.
+
+
+### heading_uncertainty_deg {#structmavsdk_1_1_telemetry_1_1_raw_gps_1af1dd338be444666f9dadc3393176a015}
+
+```cpp
+float mavsdk::Telemetry::RawGps::heading_uncertainty_deg {}
+```
+
+
+[Heading](structmavsdk_1_1_telemetry_1_1_heading.md) uncertainty in degrees.
+
+
+### yaw_deg {#structmavsdk_1_1_telemetry_1_1_raw_gps_1a01c83a26d734e47e257492fdc574e45d}
+
+```cpp
+float mavsdk::Telemetry::RawGps::yaw_deg {}
+```
+
+
+Yaw in earth frame from north.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_rc_status.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_rc_status.md
new file mode 100644
index 0000000000..55ea867766
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_rc_status.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::RcStatus Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+Remote control status type. 
+
+
+## Data Fields
+
+
+bool [was_available_once](#structmavsdk_1_1_telemetry_1_1_rc_status_1ab137802b6d9e6d9fde0822d3d42fe900) {false} - True if an RC signal has been available once.
+
+bool [is_available](#structmavsdk_1_1_telemetry_1_1_rc_status_1a6949a32def1be5468cab9b4ce5c15b07) {false} - True if the RC signal is available now.
+
+float [signal_strength_percent](#structmavsdk_1_1_telemetry_1_1_rc_status_1a5d637a687d2bcc84abef28ff0f1ab31e) { float(NAN)} - Signal strength (range: 0 to 100, NaN if unknown)
+
+
+## Field Documentation
+
+
+### was_available_once {#structmavsdk_1_1_telemetry_1_1_rc_status_1ab137802b6d9e6d9fde0822d3d42fe900}
+
+```cpp
+bool mavsdk::Telemetry::RcStatus::was_available_once {false}
+```
+
+
+True if an RC signal has been available once.
+
+
+### is_available {#structmavsdk_1_1_telemetry_1_1_rc_status_1a6949a32def1be5468cab9b4ce5c15b07}
+
+```cpp
+bool mavsdk::Telemetry::RcStatus::is_available {false}
+```
+
+
+True if the RC signal is available now.
+
+
+### signal_strength_percent {#structmavsdk_1_1_telemetry_1_1_rc_status_1a5d637a687d2bcc84abef28ff0f1ab31e}
+
+```cpp
+float mavsdk::Telemetry::RcStatus::signal_strength_percent { float(NAN)}
+```
+
+
+Signal strength (range: 0 to 100, NaN if unknown)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_scaled_pressure.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_scaled_pressure.md
new file mode 100644
index 0000000000..efc719a33f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_scaled_pressure.md
@@ -0,0 +1,75 @@
+# mavsdk::Telemetry::ScaledPressure Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+Scaled Pressure message type. 
+
+
+## Data Fields
+
+
+uint64_t [timestamp_us](#structmavsdk_1_1_telemetry_1_1_scaled_pressure_1a37d91f3f8470a21ee36ce55bd9977d67) {} - Timestamp (time since system boot)
+
+float [absolute_pressure_hpa](#structmavsdk_1_1_telemetry_1_1_scaled_pressure_1abacfc48910bc70f49b5852a4185898ef) {} - Absolute pressure in hPa.
+
+float [differential_pressure_hpa](#structmavsdk_1_1_telemetry_1_1_scaled_pressure_1ac60181897aae8504209912e0d8818e9b) {} - Differential pressure 1 in hPa.
+
+float [temperature_deg](#structmavsdk_1_1_telemetry_1_1_scaled_pressure_1adadf4a1be58f4d8cb5d856a9ca767ed4) {} - Absolute pressure temperature (in celsius)
+
+float [differential_pressure_temperature_deg](#structmavsdk_1_1_telemetry_1_1_scaled_pressure_1afa6c5d02d87be13bd08d5a2706b694aa) {} - Differential pressure temperature (in celsius, 0 if not available)
+
+
+## Field Documentation
+
+
+### timestamp_us {#structmavsdk_1_1_telemetry_1_1_scaled_pressure_1a37d91f3f8470a21ee36ce55bd9977d67}
+
+```cpp
+uint64_t mavsdk::Telemetry::ScaledPressure::timestamp_us {}
+```
+
+
+Timestamp (time since system boot)
+
+
+### absolute_pressure_hpa {#structmavsdk_1_1_telemetry_1_1_scaled_pressure_1abacfc48910bc70f49b5852a4185898ef}
+
+```cpp
+float mavsdk::Telemetry::ScaledPressure::absolute_pressure_hpa {}
+```
+
+
+Absolute pressure in hPa.
+
+
+### differential_pressure_hpa {#structmavsdk_1_1_telemetry_1_1_scaled_pressure_1ac60181897aae8504209912e0d8818e9b}
+
+```cpp
+float mavsdk::Telemetry::ScaledPressure::differential_pressure_hpa {}
+```
+
+
+Differential pressure 1 in hPa.
+
+
+### temperature_deg {#structmavsdk_1_1_telemetry_1_1_scaled_pressure_1adadf4a1be58f4d8cb5d856a9ca767ed4}
+
+```cpp
+float mavsdk::Telemetry::ScaledPressure::temperature_deg {}
+```
+
+
+Absolute pressure temperature (in celsius)
+
+
+### differential_pressure_temperature_deg {#structmavsdk_1_1_telemetry_1_1_scaled_pressure_1afa6c5d02d87be13bd08d5a2706b694aa}
+
+```cpp
+float mavsdk::Telemetry::ScaledPressure::differential_pressure_temperature_deg {}
+```
+
+
+Differential pressure temperature (in celsius, 0 if not available)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_status_text.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_status_text.md
new file mode 100644
index 0000000000..31e203dbcc
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_status_text.md
@@ -0,0 +1,39 @@
+# mavsdk::Telemetry::StatusText Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[StatusText](structmavsdk_1_1_telemetry_1_1_status_text.md) information type. 
+
+
+## Data Fields
+
+
+[StatusTextType](classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ada3ebb336abad223a98bc2a625e0e7d8) [type](#structmavsdk_1_1_telemetry_1_1_status_text_1a32a087b542ce06a5cae452017a558191) {} - Message type.
+
+std::string [text](#structmavsdk_1_1_telemetry_1_1_status_text_1abb6445887ad0abdb0aa33b027d8d6047) {} - MAVLink status message.
+
+
+## Field Documentation
+
+
+### type {#structmavsdk_1_1_telemetry_1_1_status_text_1a32a087b542ce06a5cae452017a558191}
+
+```cpp
+StatusTextType mavsdk::Telemetry::StatusText::type {}
+```
+
+
+Message type.
+
+
+### text {#structmavsdk_1_1_telemetry_1_1_status_text_1abb6445887ad0abdb0aa33b027d8d6047}
+
+```cpp
+std::string mavsdk::Telemetry::StatusText::text {}
+```
+
+
+MAVLink status message.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_body.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_body.md
new file mode 100644
index 0000000000..bd4beab55f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_body.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::VelocityBody Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+Velocity type, represented in the Body (X Y Z) frame and in metres/second. 
+
+
+## Data Fields
+
+
+float [x_m_s](#structmavsdk_1_1_telemetry_1_1_velocity_body_1af00b1245c1a2cc54634098406ef518bd) {} - Velocity in X in metres/second.
+
+float [y_m_s](#structmavsdk_1_1_telemetry_1_1_velocity_body_1a53e947189e5d8065996eb159856c141d) {} - Velocity in Y in metres/second.
+
+float [z_m_s](#structmavsdk_1_1_telemetry_1_1_velocity_body_1a65f5d8ebbf699885a7c57fd1f5d8c13d) {} - Velocity in Z in metres/second.
+
+
+## Field Documentation
+
+
+### x_m_s {#structmavsdk_1_1_telemetry_1_1_velocity_body_1af00b1245c1a2cc54634098406ef518bd}
+
+```cpp
+float mavsdk::Telemetry::VelocityBody::x_m_s {}
+```
+
+
+Velocity in X in metres/second.
+
+
+### y_m_s {#structmavsdk_1_1_telemetry_1_1_velocity_body_1a53e947189e5d8065996eb159856c141d}
+
+```cpp
+float mavsdk::Telemetry::VelocityBody::y_m_s {}
+```
+
+
+Velocity in Y in metres/second.
+
+
+### z_m_s {#structmavsdk_1_1_telemetry_1_1_velocity_body_1a65f5d8ebbf699885a7c57fd1f5d8c13d}
+
+```cpp
+float mavsdk::Telemetry::VelocityBody::z_m_s {}
+```
+
+
+Velocity in Z in metres/second.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_ned.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_ned.md
new file mode 100644
index 0000000000..e44ad37678
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_1_1_velocity_ned.md
@@ -0,0 +1,51 @@
+# mavsdk::Telemetry::VelocityNed Struct Reference
+`#include: telemetry.h`
+
+----
+
+
+[VelocityNed](structmavsdk_1_1_telemetry_1_1_velocity_ned.md) message type. 
+
+
+## Data Fields
+
+
+float [north_m_s](#structmavsdk_1_1_telemetry_1_1_velocity_ned_1abfc40a22062b867ad6a1e6784f711358) {} - Velocity along north direction in metres per second.
+
+float [east_m_s](#structmavsdk_1_1_telemetry_1_1_velocity_ned_1ae729b8570763d2d9981fb4fa45dfd522) {} - Velocity along east direction in metres per second.
+
+float [down_m_s](#structmavsdk_1_1_telemetry_1_1_velocity_ned_1a467746f6a16773959338f1d31b203b3a) {} - Velocity along down direction in metres per second.
+
+
+## Field Documentation
+
+
+### north_m_s {#structmavsdk_1_1_telemetry_1_1_velocity_ned_1abfc40a22062b867ad6a1e6784f711358}
+
+```cpp
+float mavsdk::Telemetry::VelocityNed::north_m_s {}
+```
+
+
+Velocity along north direction in metres per second.
+
+
+### east_m_s {#structmavsdk_1_1_telemetry_1_1_velocity_ned_1ae729b8570763d2d9981fb4fa45dfd522}
+
+```cpp
+float mavsdk::Telemetry::VelocityNed::east_m_s {}
+```
+
+
+Velocity along east direction in metres per second.
+
+
+### down_m_s {#structmavsdk_1_1_telemetry_1_1_velocity_ned_1a467746f6a16773959338f1d31b203b3a}
+
+```cpp
+float mavsdk::Telemetry::VelocityNed::down_m_s {}
+```
+
+
+Velocity along down direction in metres per second.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_acceleration_frd.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_acceleration_frd.md
new file mode 100644
index 0000000000..52d5b159b4
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_acceleration_frd.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::AccelerationFrd Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[AccelerationFrd](structmavsdk_1_1_telemetry_server_1_1_acceleration_frd.md) message type. 
+
+
+## Data Fields
+
+
+float [forward_m_s2](#structmavsdk_1_1_telemetry_server_1_1_acceleration_frd_1ad6ea251d49179e119ec26abbcb72dcd0) { float(NAN)} - Acceleration in forward direction in metres per second^2.
+
+float [right_m_s2](#structmavsdk_1_1_telemetry_server_1_1_acceleration_frd_1a3dea73c33088926742661b2be38e09fb) { float(NAN)} - Acceleration in right direction in metres per second^2.
+
+float [down_m_s2](#structmavsdk_1_1_telemetry_server_1_1_acceleration_frd_1a7261d7e68c9cedf51bba118700098e6f) { float(NAN)} - Acceleration in down direction in metres per second^2.
+
+
+## Field Documentation
+
+
+### forward_m_s2 {#structmavsdk_1_1_telemetry_server_1_1_acceleration_frd_1ad6ea251d49179e119ec26abbcb72dcd0}
+
+```cpp
+float mavsdk::TelemetryServer::AccelerationFrd::forward_m_s2 { float(NAN)}
+```
+
+
+Acceleration in forward direction in metres per second^2.
+
+
+### right_m_s2 {#structmavsdk_1_1_telemetry_server_1_1_acceleration_frd_1a3dea73c33088926742661b2be38e09fb}
+
+```cpp
+float mavsdk::TelemetryServer::AccelerationFrd::right_m_s2 { float(NAN)}
+```
+
+
+Acceleration in right direction in metres per second^2.
+
+
+### down_m_s2 {#structmavsdk_1_1_telemetry_server_1_1_acceleration_frd_1a7261d7e68c9cedf51bba118700098e6f}
+
+```cpp
+float mavsdk::TelemetryServer::AccelerationFrd::down_m_s2 { float(NAN)}
+```
+
+
+Acceleration in down direction in metres per second^2.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_control_target.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_control_target.md
new file mode 100644
index 0000000000..65fd5944d7
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_control_target.md
@@ -0,0 +1,39 @@
+# mavsdk::TelemetryServer::ActuatorControlTarget Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+Actuator control target type. 
+
+
+## Data Fields
+
+
+int32_t [group](#structmavsdk_1_1_telemetry_server_1_1_actuator_control_target_1a26b6abf67141f0366ebc571b0c5bb016) {0} - An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.
+
+std::vector< float > [controls](#structmavsdk_1_1_telemetry_server_1_1_actuator_control_target_1a8211de153fe0f6b0958f70e30c03719c) {} - Controls normed from -1 to 1, where 0 is neutral position.
+
+
+## Field Documentation
+
+
+### group {#structmavsdk_1_1_telemetry_server_1_1_actuator_control_target_1a26b6abf67141f0366ebc571b0c5bb016}
+
+```cpp
+int32_t mavsdk::TelemetryServer::ActuatorControlTarget::group {0}
+```
+
+
+An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.
+
+
+### controls {#structmavsdk_1_1_telemetry_server_1_1_actuator_control_target_1a8211de153fe0f6b0958f70e30c03719c}
+
+```cpp
+std::vector<float> mavsdk::TelemetryServer::ActuatorControlTarget::controls {}
+```
+
+
+Controls normed from -1 to 1, where 0 is neutral position.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_output_status.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_output_status.md
new file mode 100644
index 0000000000..381ade9fc8
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_actuator_output_status.md
@@ -0,0 +1,39 @@
+# mavsdk::TelemetryServer::ActuatorOutputStatus Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+Actuator output status type. 
+
+
+## Data Fields
+
+
+uint32_t [active](#structmavsdk_1_1_telemetry_server_1_1_actuator_output_status_1a5f9af4a1df21ea5ef256fa49d56d108a) {0} - Active outputs.
+
+std::vector< float > [actuator](#structmavsdk_1_1_telemetry_server_1_1_actuator_output_status_1a616047a678f4e811fa064df6b2e4194d) {} - Servo/motor output values.
+
+
+## Field Documentation
+
+
+### active {#structmavsdk_1_1_telemetry_server_1_1_actuator_output_status_1a5f9af4a1df21ea5ef256fa49d56d108a}
+
+```cpp
+uint32_t mavsdk::TelemetryServer::ActuatorOutputStatus::active {0}
+```
+
+
+Active outputs.
+
+
+### actuator {#structmavsdk_1_1_telemetry_server_1_1_actuator_output_status_1a616047a678f4e811fa064df6b2e4194d}
+
+```cpp
+std::vector<float> mavsdk::TelemetryServer::ActuatorOutputStatus::actuator {}
+```
+
+
+Servo/motor output values.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body.md
new file mode 100644
index 0000000000..ef9825e91d
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::AngularVelocityBody Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+Angular velocity type. 
+
+
+## Data Fields
+
+
+float [roll_rad_s](#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body_1ad088401d4581ca374a42ef44145fc6ee) {float(NAN)} - Roll angular velocity.
+
+float [pitch_rad_s](#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body_1a26ec4666667b8492682ba9fcbf84de0c) {float(NAN)} - Pitch angular velocity.
+
+float [yaw_rad_s](#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body_1ad239303084e04a6ceaeef7a5aa83db58) {float(NAN)} - Yaw angular velocity.
+
+
+## Field Documentation
+
+
+### roll_rad_s {#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body_1ad088401d4581ca374a42ef44145fc6ee}
+
+```cpp
+float mavsdk::TelemetryServer::AngularVelocityBody::roll_rad_s {float(NAN)}
+```
+
+
+Roll angular velocity.
+
+
+### pitch_rad_s {#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body_1a26ec4666667b8492682ba9fcbf84de0c}
+
+```cpp
+float mavsdk::TelemetryServer::AngularVelocityBody::pitch_rad_s {float(NAN)}
+```
+
+
+Pitch angular velocity.
+
+
+### yaw_rad_s {#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body_1ad239303084e04a6ceaeef7a5aa83db58}
+
+```cpp
+float mavsdk::TelemetryServer::AngularVelocityBody::yaw_rad_s {float(NAN)}
+```
+
+
+Yaw angular velocity.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd.md
new file mode 100644
index 0000000000..cd8556ef77
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::AngularVelocityFrd Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[AngularVelocityFrd](structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd.md) message type. 
+
+
+## Data Fields
+
+
+float [forward_rad_s](#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd_1a0a1afe064862c1eb1fb2fcaf461d924f) { float(NAN)} - Angular velocity in forward direction in radians per second.
+
+float [right_rad_s](#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd_1a054e49099fb88aa85543fda967a5ef31) { float(NAN)} - Angular velocity in right direction in radians per second.
+
+float [down_rad_s](#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd_1a53d32b446c3eba68a97c78aa2a9b4eaa) { float(NAN)} - Angular velocity in Down direction in radians per second.
+
+
+## Field Documentation
+
+
+### forward_rad_s {#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd_1a0a1afe064862c1eb1fb2fcaf461d924f}
+
+```cpp
+float mavsdk::TelemetryServer::AngularVelocityFrd::forward_rad_s { float(NAN)}
+```
+
+
+Angular velocity in forward direction in radians per second.
+
+
+### right_rad_s {#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd_1a054e49099fb88aa85543fda967a5ef31}
+
+```cpp
+float mavsdk::TelemetryServer::AngularVelocityFrd::right_rad_s { float(NAN)}
+```
+
+
+Angular velocity in right direction in radians per second.
+
+
+### down_rad_s {#structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd_1a53d32b446c3eba68a97c78aa2a9b4eaa}
+
+```cpp
+float mavsdk::TelemetryServer::AngularVelocityFrd::down_rad_s { float(NAN)}
+```
+
+
+Angular velocity in Down direction in radians per second.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_battery.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_battery.md
new file mode 100644
index 0000000000..608492a11f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_battery.md
@@ -0,0 +1,39 @@
+# mavsdk::TelemetryServer::Battery Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[Battery](structmavsdk_1_1_telemetry_server_1_1_battery.md) type. 
+
+
+## Data Fields
+
+
+float [voltage_v](#structmavsdk_1_1_telemetry_server_1_1_battery_1aae88dbdefce19f0d789de0d6c432289f) {float(NAN)} - Voltage in volts.
+
+float [remaining_percent](#structmavsdk_1_1_telemetry_server_1_1_battery_1a16585f260d501a7ee9b47db21836a541) { float(NAN)} - Estimated battery remaining (range: 0.0 to 1.0)
+
+
+## Field Documentation
+
+
+### voltage_v {#structmavsdk_1_1_telemetry_server_1_1_battery_1aae88dbdefce19f0d789de0d6c432289f}
+
+```cpp
+float mavsdk::TelemetryServer::Battery::voltage_v {float(NAN)}
+```
+
+
+Voltage in volts.
+
+
+### remaining_percent {#structmavsdk_1_1_telemetry_server_1_1_battery_1a16585f260d501a7ee9b47db21836a541}
+
+```cpp
+float mavsdk::TelemetryServer::Battery::remaining_percent { float(NAN)}
+```
+
+
+Estimated battery remaining (range: 0.0 to 1.0)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_covariance.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_covariance.md
new file mode 100644
index 0000000000..7a8fa6e58b
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_covariance.md
@@ -0,0 +1,30 @@
+# mavsdk::TelemetryServer::Covariance Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[Covariance](structmavsdk_1_1_telemetry_server_1_1_covariance.md) type. 
+
+
+Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Set first to NaN if unknown. 
+
+
+## Data Fields
+
+
+std::vector< float > [covariance_matrix](#structmavsdk_1_1_telemetry_server_1_1_covariance_1a5be90577e6756b7583824f8dec01cdcb) {} - Representation of a covariance matrix.
+
+
+## Field Documentation
+
+
+### covariance_matrix {#structmavsdk_1_1_telemetry_server_1_1_covariance_1a5be90577e6756b7583824f8dec01cdcb}
+
+```cpp
+std::vector<float> mavsdk::TelemetryServer::Covariance::covariance_matrix {}
+```
+
+
+Representation of a covariance matrix.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_distance_sensor.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_distance_sensor.md
new file mode 100644
index 0000000000..7e50fadf62
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_distance_sensor.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::DistanceSensor Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[DistanceSensor](structmavsdk_1_1_telemetry_server_1_1_distance_sensor.md) message type. 
+
+
+## Data Fields
+
+
+float [minimum_distance_m](#structmavsdk_1_1_telemetry_server_1_1_distance_sensor_1a0f1cf74af825a80e8582444d8daf9db6) { float(NAN)} - Minimum distance the sensor can measure, NaN if unknown.
+
+float [maximum_distance_m](#structmavsdk_1_1_telemetry_server_1_1_distance_sensor_1a143b36be80cd3fc8f39ec783de825c3a) { float(NAN)} - Maximum distance the sensor can measure, NaN if unknown.
+
+float [current_distance_m](#structmavsdk_1_1_telemetry_server_1_1_distance_sensor_1ae66872d58d507199e0c99090f9f64015) { float(NAN)} - Current distance reading, NaN if unknown.
+
+
+## Field Documentation
+
+
+### minimum_distance_m {#structmavsdk_1_1_telemetry_server_1_1_distance_sensor_1a0f1cf74af825a80e8582444d8daf9db6}
+
+```cpp
+float mavsdk::TelemetryServer::DistanceSensor::minimum_distance_m { float(NAN)}
+```
+
+
+Minimum distance the sensor can measure, NaN if unknown.
+
+
+### maximum_distance_m {#structmavsdk_1_1_telemetry_server_1_1_distance_sensor_1a143b36be80cd3fc8f39ec783de825c3a}
+
+```cpp
+float mavsdk::TelemetryServer::DistanceSensor::maximum_distance_m { float(NAN)}
+```
+
+
+Maximum distance the sensor can measure, NaN if unknown.
+
+
+### current_distance_m {#structmavsdk_1_1_telemetry_server_1_1_distance_sensor_1ae66872d58d507199e0c99090f9f64015}
+
+```cpp
+float mavsdk::TelemetryServer::DistanceSensor::current_distance_m { float(NAN)}
+```
+
+
+Current distance reading, NaN if unknown.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_euler_angle.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_euler_angle.md
new file mode 100644
index 0000000000..4dc5d5f72a
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_euler_angle.md
@@ -0,0 +1,69 @@
+# mavsdk::TelemetryServer::EulerAngle Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+Euler angle type. 
+
+
+All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.
+
+
+For more info see [https://en.wikipedia.org/wiki/Euler_angles](https://en.wikipedia.org/wiki/Euler_angles) 
+
+
+## Data Fields
+
+
+float [roll_deg](#structmavsdk_1_1_telemetry_server_1_1_euler_angle_1a333bf87adf280813e0ad18649fb8f281) { float(NAN)} - Roll angle in degrees, positive is banking to the right.
+
+float [pitch_deg](#structmavsdk_1_1_telemetry_server_1_1_euler_angle_1adb4b88d942bdae150ade9b458d61f216) { float(NAN)} - Pitch angle in degrees, positive is pitching nose up.
+
+float [yaw_deg](#structmavsdk_1_1_telemetry_server_1_1_euler_angle_1a9e29561b9cf2159c02de5056c52b9e1a) { float(NAN)} - Yaw angle in degrees, positive is clock-wise seen from above.
+
+uint64_t [timestamp_us](#structmavsdk_1_1_telemetry_server_1_1_euler_angle_1ae6261c65520d7b4622760b0be78d458b) {} - Timestamp in microseconds.
+
+
+## Field Documentation
+
+
+### roll_deg {#structmavsdk_1_1_telemetry_server_1_1_euler_angle_1a333bf87adf280813e0ad18649fb8f281}
+
+```cpp
+float mavsdk::TelemetryServer::EulerAngle::roll_deg { float(NAN)}
+```
+
+
+Roll angle in degrees, positive is banking to the right.
+
+
+### pitch_deg {#structmavsdk_1_1_telemetry_server_1_1_euler_angle_1adb4b88d942bdae150ade9b458d61f216}
+
+```cpp
+float mavsdk::TelemetryServer::EulerAngle::pitch_deg { float(NAN)}
+```
+
+
+Pitch angle in degrees, positive is pitching nose up.
+
+
+### yaw_deg {#structmavsdk_1_1_telemetry_server_1_1_euler_angle_1a9e29561b9cf2159c02de5056c52b9e1a}
+
+```cpp
+float mavsdk::TelemetryServer::EulerAngle::yaw_deg { float(NAN)}
+```
+
+
+Yaw angle in degrees, positive is clock-wise seen from above.
+
+
+### timestamp_us {#structmavsdk_1_1_telemetry_server_1_1_euler_angle_1ae6261c65520d7b4622760b0be78d458b}
+
+```cpp
+uint64_t mavsdk::TelemetryServer::EulerAngle::timestamp_us {}
+```
+
+
+Timestamp in microseconds.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics.md
new file mode 100644
index 0000000000..a79ae8c32f
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::FixedwingMetrics Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[FixedwingMetrics](structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics.md) message type. 
+
+
+## Data Fields
+
+
+float [airspeed_m_s](#structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics_1ac93b4a14fbb25992c7bd30ef109c28ff) { float(NAN)} - Current indicated airspeed (IAS) in metres per second.
+
+float [throttle_percentage](#structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics_1a98714b66349e101105e6746903bbfd30) {float(NAN)} - Current throttle setting (0 to 100)
+
+float [climb_rate_m_s](#structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics_1a8486ccc7e96add636a228399a74b1019) {float(NAN)} - Current climb rate in metres per second.
+
+
+## Field Documentation
+
+
+### airspeed_m_s {#structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics_1ac93b4a14fbb25992c7bd30ef109c28ff}
+
+```cpp
+float mavsdk::TelemetryServer::FixedwingMetrics::airspeed_m_s { float(NAN)}
+```
+
+
+Current indicated airspeed (IAS) in metres per second.
+
+
+### throttle_percentage {#structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics_1a98714b66349e101105e6746903bbfd30}
+
+```cpp
+float mavsdk::TelemetryServer::FixedwingMetrics::throttle_percentage {float(NAN)}
+```
+
+
+Current throttle setting (0 to 100)
+
+
+### climb_rate_m_s {#structmavsdk_1_1_telemetry_server_1_1_fixedwing_metrics_1a8486ccc7e96add636a228399a74b1019}
+
+```cpp
+float mavsdk::TelemetryServer::FixedwingMetrics::climb_rate_m_s {float(NAN)}
+```
+
+
+Current climb rate in metres per second.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_gps_info.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_gps_info.md
new file mode 100644
index 0000000000..870f252883
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_gps_info.md
@@ -0,0 +1,39 @@
+# mavsdk::TelemetryServer::GpsInfo Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+GPS information type. 
+
+
+## Data Fields
+
+
+int32_t [num_satellites](#structmavsdk_1_1_telemetry_server_1_1_gps_info_1a0a11d7e7fdfe95b4295e1c82f784ad83) {0} - Number of visible satellites in use.
+
+[FixType](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1ac3acfa87349708ecf8b53c8e7426e36e) [fix_type](#structmavsdk_1_1_telemetry_server_1_1_gps_info_1a1625bb27272b65f3f4906c4d919d0a77) {} - Fix type.
+
+
+## Field Documentation
+
+
+### num_satellites {#structmavsdk_1_1_telemetry_server_1_1_gps_info_1a0a11d7e7fdfe95b4295e1c82f784ad83}
+
+```cpp
+int32_t mavsdk::TelemetryServer::GpsInfo::num_satellites {0}
+```
+
+
+Number of visible satellites in use.
+
+
+### fix_type {#structmavsdk_1_1_telemetry_server_1_1_gps_info_1a1625bb27272b65f3f4906c4d919d0a77}
+
+```cpp
+FixType mavsdk::TelemetryServer::GpsInfo::fix_type {}
+```
+
+
+Fix type.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_ground_truth.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_ground_truth.md
new file mode 100644
index 0000000000..c657b8d0e5
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_ground_truth.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::GroundTruth Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[GroundTruth](structmavsdk_1_1_telemetry_server_1_1_ground_truth.md) message type. 
+
+
+## Data Fields
+
+
+double [latitude_deg](#structmavsdk_1_1_telemetry_server_1_1_ground_truth_1a30e8fda7bbf72e6d891a3ac7a559062d) {double(NAN)} - Latitude in degrees (range: -90 to +90)
+
+double [longitude_deg](#structmavsdk_1_1_telemetry_server_1_1_ground_truth_1ac56635344c06e62105aaaadbd302bd87) {double(NAN)} - Longitude in degrees (range: -180 to 180)
+
+float [absolute_altitude_m](#structmavsdk_1_1_telemetry_server_1_1_ground_truth_1a50114cbbdf521bdd162a524e9978ca77) { float(NAN)} - Altitude AMSL (above mean sea level) in metres.
+
+
+## Field Documentation
+
+
+### latitude_deg {#structmavsdk_1_1_telemetry_server_1_1_ground_truth_1a30e8fda7bbf72e6d891a3ac7a559062d}
+
+```cpp
+double mavsdk::TelemetryServer::GroundTruth::latitude_deg {double(NAN)}
+```
+
+
+Latitude in degrees (range: -90 to +90)
+
+
+### longitude_deg {#structmavsdk_1_1_telemetry_server_1_1_ground_truth_1ac56635344c06e62105aaaadbd302bd87}
+
+```cpp
+double mavsdk::TelemetryServer::GroundTruth::longitude_deg {double(NAN)}
+```
+
+
+Longitude in degrees (range: -180 to 180)
+
+
+### absolute_altitude_m {#structmavsdk_1_1_telemetry_server_1_1_ground_truth_1a50114cbbdf521bdd162a524e9978ca77}
+
+```cpp
+float mavsdk::TelemetryServer::GroundTruth::absolute_altitude_m { float(NAN)}
+```
+
+
+Altitude AMSL (above mean sea level) in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_heading.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_heading.md
new file mode 100644
index 0000000000..f54d39c840
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_heading.md
@@ -0,0 +1,27 @@
+# mavsdk::TelemetryServer::Heading Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[Heading](structmavsdk_1_1_telemetry_server_1_1_heading.md) type used for global position. 
+
+
+## Data Fields
+
+
+double [heading_deg](#structmavsdk_1_1_telemetry_server_1_1_heading_1a620f2a793e566b259edb82310898056b) {double(NAN)} - [Heading](structmavsdk_1_1_telemetry_server_1_1_heading.md) in degrees (range: 0 to +360)
+
+
+## Field Documentation
+
+
+### heading_deg {#structmavsdk_1_1_telemetry_server_1_1_heading_1a620f2a793e566b259edb82310898056b}
+
+```cpp
+double mavsdk::TelemetryServer::Heading::heading_deg {double(NAN)}
+```
+
+
+[Heading](structmavsdk_1_1_telemetry_server_1_1_heading.md) in degrees (range: 0 to +360)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_imu.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_imu.md
new file mode 100644
index 0000000000..23c25b41bc
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_imu.md
@@ -0,0 +1,75 @@
+# mavsdk::TelemetryServer::Imu Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[Imu](structmavsdk_1_1_telemetry_server_1_1_imu.md) message type. 
+
+
+## Data Fields
+
+
+[AccelerationFrd](structmavsdk_1_1_telemetry_server_1_1_acceleration_frd.md) [acceleration_frd](#structmavsdk_1_1_telemetry_server_1_1_imu_1af7240dd075dee884831aef5fc0679ca4) {} - Acceleration.
+
+[AngularVelocityFrd](structmavsdk_1_1_telemetry_server_1_1_angular_velocity_frd.md) [angular_velocity_frd](#structmavsdk_1_1_telemetry_server_1_1_imu_1a640c064f865730cef14bb0dc97392bbb) {} - Angular velocity.
+
+[MagneticFieldFrd](structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd.md) [magnetic_field_frd](#structmavsdk_1_1_telemetry_server_1_1_imu_1aaf9025ebc65dbdb903c5bfe896a371df) {} - Magnetic field.
+
+float [temperature_degc](#structmavsdk_1_1_telemetry_server_1_1_imu_1aa0c804fa763136c1d20d35eb770a4bde) {float(NAN)} - Temperature.
+
+uint64_t [timestamp_us](#structmavsdk_1_1_telemetry_server_1_1_imu_1acc62eb7fb6e986a5facfd570dd2fd4f5) {} - Timestamp in microseconds.
+
+
+## Field Documentation
+
+
+### acceleration_frd {#structmavsdk_1_1_telemetry_server_1_1_imu_1af7240dd075dee884831aef5fc0679ca4}
+
+```cpp
+AccelerationFrd mavsdk::TelemetryServer::Imu::acceleration_frd {}
+```
+
+
+Acceleration.
+
+
+### angular_velocity_frd {#structmavsdk_1_1_telemetry_server_1_1_imu_1a640c064f865730cef14bb0dc97392bbb}
+
+```cpp
+AngularVelocityFrd mavsdk::TelemetryServer::Imu::angular_velocity_frd {}
+```
+
+
+Angular velocity.
+
+
+### magnetic_field_frd {#structmavsdk_1_1_telemetry_server_1_1_imu_1aaf9025ebc65dbdb903c5bfe896a371df}
+
+```cpp
+MagneticFieldFrd mavsdk::TelemetryServer::Imu::magnetic_field_frd {}
+```
+
+
+Magnetic field.
+
+
+### temperature_degc {#structmavsdk_1_1_telemetry_server_1_1_imu_1aa0c804fa763136c1d20d35eb770a4bde}
+
+```cpp
+float mavsdk::TelemetryServer::Imu::temperature_degc {float(NAN)}
+```
+
+
+Temperature.
+
+
+### timestamp_us {#structmavsdk_1_1_telemetry_server_1_1_imu_1acc62eb7fb6e986a5facfd570dd2fd4f5}
+
+```cpp
+uint64_t mavsdk::TelemetryServer::Imu::timestamp_us {}
+```
+
+
+Timestamp in microseconds.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd.md
new file mode 100644
index 0000000000..3322a049c5
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::MagneticFieldFrd Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[MagneticFieldFrd](structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd.md) message type. 
+
+
+## Data Fields
+
+
+float [forward_gauss](#structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd_1aa1402295eaf79bb7db9c7be9c88ad0c8) { float(NAN)} - Magnetic field in forward direction measured in Gauss.
+
+float [right_gauss](#structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd_1a37554fb59285c74655a684051cdd6128) { float(NAN)} - Magnetic field in East direction measured in Gauss.
+
+float [down_gauss](#structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd_1a48b7305bd313158e80b05f6c12820a1b) { float(NAN)} - Magnetic field in Down direction measured in Gauss.
+
+
+## Field Documentation
+
+
+### forward_gauss {#structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd_1aa1402295eaf79bb7db9c7be9c88ad0c8}
+
+```cpp
+float mavsdk::TelemetryServer::MagneticFieldFrd::forward_gauss { float(NAN)}
+```
+
+
+Magnetic field in forward direction measured in Gauss.
+
+
+### right_gauss {#structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd_1a37554fb59285c74655a684051cdd6128}
+
+```cpp
+float mavsdk::TelemetryServer::MagneticFieldFrd::right_gauss { float(NAN)}
+```
+
+
+Magnetic field in East direction measured in Gauss.
+
+
+### down_gauss {#structmavsdk_1_1_telemetry_server_1_1_magnetic_field_frd_1a48b7305bd313158e80b05f6c12820a1b}
+
+```cpp
+float mavsdk::TelemetryServer::MagneticFieldFrd::down_gauss { float(NAN)}
+```
+
+
+Magnetic field in Down direction measured in Gauss.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_odometry.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_odometry.md
new file mode 100644
index 0000000000..8149c71320
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_odometry.md
@@ -0,0 +1,146 @@
+# mavsdk::TelemetryServer::Odometry Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[Odometry](structmavsdk_1_1_telemetry_server_1_1_odometry.md) message type. 
+
+
+## Public Types
+
+
+Type | Description
+--- | ---
+enum [MavFrame](#structmavsdk_1_1_telemetry_server_1_1_odometry_1a763ae4b3e7146b2cb5c79db6401d2e21) | Mavlink frame id.
+
+## Data Fields
+
+
+uint64_t [time_usec](#structmavsdk_1_1_telemetry_server_1_1_odometry_1ad50d90cde4c76704f7c1db09cf23d982) {} - Timestamp (0 to use Backend timestamp).
+
+[MavFrame](structmavsdk_1_1_telemetry_server_1_1_odometry.md#structmavsdk_1_1_telemetry_server_1_1_odometry_1a763ae4b3e7146b2cb5c79db6401d2e21) [frame_id](#structmavsdk_1_1_telemetry_server_1_1_odometry_1a14fbb012f2a89e1666231877e54325fe) {} - Coordinate frame of reference for the pose data.
+
+[MavFrame](structmavsdk_1_1_telemetry_server_1_1_odometry.md#structmavsdk_1_1_telemetry_server_1_1_odometry_1a763ae4b3e7146b2cb5c79db6401d2e21) [child_frame_id](#structmavsdk_1_1_telemetry_server_1_1_odometry_1a68701f1fcb99dd5467c9d4669a932340) {} - Coordinate frame of reference for the velocity in free space (twist) data.
+
+[PositionBody](structmavsdk_1_1_telemetry_server_1_1_position_body.md) [position_body](#structmavsdk_1_1_telemetry_server_1_1_odometry_1a4869541a4dc353dd494200b88076935b) {} - [Position](structmavsdk_1_1_telemetry_server_1_1_position.md).
+
+[Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) [q](#structmavsdk_1_1_telemetry_server_1_1_odometry_1a8f3c69b64c46a1b1108e731fca0d1100) {} - [Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) components, w, x, y, z (1 0 0 0 is the null-rotation).
+
+[VelocityBody](structmavsdk_1_1_telemetry_server_1_1_velocity_body.md) [velocity_body](#structmavsdk_1_1_telemetry_server_1_1_odometry_1af57aaacf9282011e105755f7e98d866b) {} - Linear velocity (m/s).
+
+[AngularVelocityBody](structmavsdk_1_1_telemetry_server_1_1_angular_velocity_body.md) [angular_velocity_body](#structmavsdk_1_1_telemetry_server_1_1_odometry_1a90ee727a18f27f343ed1798fdecb7f7d) {} - Angular velocity (rad/s).
+
+[Covariance](structmavsdk_1_1_telemetry_server_1_1_covariance.md) [pose_covariance](#structmavsdk_1_1_telemetry_server_1_1_odometry_1ae622bfaf71cb5fc89e7f2fa4a2617161) {} - Pose cross-covariance matrix.
+
+[Covariance](structmavsdk_1_1_telemetry_server_1_1_covariance.md) [velocity_covariance](#structmavsdk_1_1_telemetry_server_1_1_odometry_1ad37345f4de48f88cc4c59b21f16d43eb) {} - Velocity cross-covariance matrix.
+
+
+## Member Enumeration Documentation
+
+
+### enum MavFrame {#structmavsdk_1_1_telemetry_server_1_1_odometry_1a763ae4b3e7146b2cb5c79db6401d2e21}
+
+
+Mavlink frame id.
+
+
+Value | Description
+--- | ---
+<span id="structmavsdk_1_1_telemetry_server_1_1_odometry_1a763ae4b3e7146b2cb5c79db6401d2e21a6bf5613f65a74a7f8388b26adefaef2b"></span> `Undef` | Frame is undefined.. 
+<span id="structmavsdk_1_1_telemetry_server_1_1_odometry_1a763ae4b3e7146b2cb5c79db6401d2e21a91ac262e6e7347fc5f308053580ba3da"></span> `BodyNed` | Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.. 
+<span id="structmavsdk_1_1_telemetry_server_1_1_odometry_1a763ae4b3e7146b2cb5c79db6401d2e21ad394115f3c073008cf8096b81fa37fc9"></span> `VisionNed` | [Odometry](structmavsdk_1_1_telemetry_server_1_1_odometry.md) local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down).. 
+<span id="structmavsdk_1_1_telemetry_server_1_1_odometry_1a763ae4b3e7146b2cb5c79db6401d2e21a605883e5a1cf6c8184abc3de6f16630b"></span> `EstimNed` | [Odometry](structmavsdk_1_1_telemetry_server_1_1_odometry.md) local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).. 
+
+## Field Documentation
+
+
+### time_usec {#structmavsdk_1_1_telemetry_server_1_1_odometry_1ad50d90cde4c76704f7c1db09cf23d982}
+
+```cpp
+uint64_t mavsdk::TelemetryServer::Odometry::time_usec {}
+```
+
+
+Timestamp (0 to use Backend timestamp).
+
+
+### frame_id {#structmavsdk_1_1_telemetry_server_1_1_odometry_1a14fbb012f2a89e1666231877e54325fe}
+
+```cpp
+MavFrame mavsdk::TelemetryServer::Odometry::frame_id {}
+```
+
+
+Coordinate frame of reference for the pose data.
+
+
+### child_frame_id {#structmavsdk_1_1_telemetry_server_1_1_odometry_1a68701f1fcb99dd5467c9d4669a932340}
+
+```cpp
+MavFrame mavsdk::TelemetryServer::Odometry::child_frame_id {}
+```
+
+
+Coordinate frame of reference for the velocity in free space (twist) data.
+
+
+### position_body {#structmavsdk_1_1_telemetry_server_1_1_odometry_1a4869541a4dc353dd494200b88076935b}
+
+```cpp
+PositionBody mavsdk::TelemetryServer::Odometry::position_body {}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_server_1_1_position.md).
+
+
+### q {#structmavsdk_1_1_telemetry_server_1_1_odometry_1a8f3c69b64c46a1b1108e731fca0d1100}
+
+```cpp
+Quaternion mavsdk::TelemetryServer::Odometry::q {}
+```
+
+
+[Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) components, w, x, y, z (1 0 0 0 is the null-rotation).
+
+
+### velocity_body {#structmavsdk_1_1_telemetry_server_1_1_odometry_1af57aaacf9282011e105755f7e98d866b}
+
+```cpp
+VelocityBody mavsdk::TelemetryServer::Odometry::velocity_body {}
+```
+
+
+Linear velocity (m/s).
+
+
+### angular_velocity_body {#structmavsdk_1_1_telemetry_server_1_1_odometry_1a90ee727a18f27f343ed1798fdecb7f7d}
+
+```cpp
+AngularVelocityBody mavsdk::TelemetryServer::Odometry::angular_velocity_body {}
+```
+
+
+Angular velocity (rad/s).
+
+
+### pose_covariance {#structmavsdk_1_1_telemetry_server_1_1_odometry_1ae622bfaf71cb5fc89e7f2fa4a2617161}
+
+```cpp
+Covariance mavsdk::TelemetryServer::Odometry::pose_covariance {}
+```
+
+
+Pose cross-covariance matrix.
+
+
+### velocity_covariance {#structmavsdk_1_1_telemetry_server_1_1_odometry_1ad37345f4de48f88cc4c59b21f16d43eb}
+
+```cpp
+Covariance mavsdk::TelemetryServer::Odometry::velocity_covariance {}
+```
+
+
+Velocity cross-covariance matrix.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position.md
new file mode 100644
index 0000000000..4e5d1b2923
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position.md
@@ -0,0 +1,63 @@
+# mavsdk::TelemetryServer::Position Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[Position](structmavsdk_1_1_telemetry_server_1_1_position.md) type in global coordinates. 
+
+
+## Data Fields
+
+
+double [latitude_deg](#structmavsdk_1_1_telemetry_server_1_1_position_1adfadb6ceb844257ffd9ff7782229687c) {double(NAN)} - Latitude in degrees (range: -90 to +90)
+
+double [longitude_deg](#structmavsdk_1_1_telemetry_server_1_1_position_1a721444c1ec9ce7493c16d67f8be250f4) {double(NAN)} - Longitude in degrees (range: -180 to +180)
+
+float [absolute_altitude_m](#structmavsdk_1_1_telemetry_server_1_1_position_1ab965b564087c41013f59f52e4125fb24) { float(NAN)} - Altitude AMSL (above mean sea level) in metres.
+
+float [relative_altitude_m](#structmavsdk_1_1_telemetry_server_1_1_position_1a2def78079e3bae2391606109eca6c0f1) { float(NAN)} - Altitude relative to takeoff altitude in metres.
+
+
+## Field Documentation
+
+
+### latitude_deg {#structmavsdk_1_1_telemetry_server_1_1_position_1adfadb6ceb844257ffd9ff7782229687c}
+
+```cpp
+double mavsdk::TelemetryServer::Position::latitude_deg {double(NAN)}
+```
+
+
+Latitude in degrees (range: -90 to +90)
+
+
+### longitude_deg {#structmavsdk_1_1_telemetry_server_1_1_position_1a721444c1ec9ce7493c16d67f8be250f4}
+
+```cpp
+double mavsdk::TelemetryServer::Position::longitude_deg {double(NAN)}
+```
+
+
+Longitude in degrees (range: -180 to +180)
+
+
+### absolute_altitude_m {#structmavsdk_1_1_telemetry_server_1_1_position_1ab965b564087c41013f59f52e4125fb24}
+
+```cpp
+float mavsdk::TelemetryServer::Position::absolute_altitude_m { float(NAN)}
+```
+
+
+Altitude AMSL (above mean sea level) in metres.
+
+
+### relative_altitude_m {#structmavsdk_1_1_telemetry_server_1_1_position_1a2def78079e3bae2391606109eca6c0f1}
+
+```cpp
+float mavsdk::TelemetryServer::Position::relative_altitude_m { float(NAN)}
+```
+
+
+Altitude relative to takeoff altitude in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_body.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_body.md
new file mode 100644
index 0000000000..5ac643916c
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_body.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::PositionBody Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[Position](structmavsdk_1_1_telemetry_server_1_1_position.md) type, represented in the Body (X Y Z) frame. 
+
+
+## Data Fields
+
+
+float [x_m](#structmavsdk_1_1_telemetry_server_1_1_position_body_1a91ebf1134019bca3867df89f0fae689a) {} - X [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) in metres.
+
+float [y_m](#structmavsdk_1_1_telemetry_server_1_1_position_body_1aa375b66255ce765ed4b274460bb83d9a) {} - Y [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) in metres.
+
+float [z_m](#structmavsdk_1_1_telemetry_server_1_1_position_body_1aeba03c49f2741d4d9d79684ca1f17096) {} - Z [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) in metres.
+
+
+## Field Documentation
+
+
+### x_m {#structmavsdk_1_1_telemetry_server_1_1_position_body_1a91ebf1134019bca3867df89f0fae689a}
+
+```cpp
+float mavsdk::TelemetryServer::PositionBody::x_m {}
+```
+
+
+X [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) in metres.
+
+
+### y_m {#structmavsdk_1_1_telemetry_server_1_1_position_body_1aa375b66255ce765ed4b274460bb83d9a}
+
+```cpp
+float mavsdk::TelemetryServer::PositionBody::y_m {}
+```
+
+
+Y [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) in metres.
+
+
+### z_m {#structmavsdk_1_1_telemetry_server_1_1_position_body_1aeba03c49f2741d4d9d79684ca1f17096}
+
+```cpp
+float mavsdk::TelemetryServer::PositionBody::z_m {}
+```
+
+
+Z [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_ned.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_ned.md
new file mode 100644
index 0000000000..c19fb06655
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_ned.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::PositionNed Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[PositionNed](structmavsdk_1_1_telemetry_server_1_1_position_ned.md) message type. 
+
+
+## Data Fields
+
+
+float [north_m](#structmavsdk_1_1_telemetry_server_1_1_position_ned_1ac04f10585ca523229cf45a0535f08c22) {float(NAN)} - [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) along north direction in metres.
+
+float [east_m](#structmavsdk_1_1_telemetry_server_1_1_position_ned_1abfc66a1d0bed72258e127e28eb959774) {float(NAN)} - [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) along east direction in metres.
+
+float [down_m](#structmavsdk_1_1_telemetry_server_1_1_position_ned_1a2d6641649267220ab503dbc6ece4ccbc) {float(NAN)} - [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) along down direction in metres.
+
+
+## Field Documentation
+
+
+### north_m {#structmavsdk_1_1_telemetry_server_1_1_position_ned_1ac04f10585ca523229cf45a0535f08c22}
+
+```cpp
+float mavsdk::TelemetryServer::PositionNed::north_m {float(NAN)}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_server_1_1_position.md) along north direction in metres.
+
+
+### east_m {#structmavsdk_1_1_telemetry_server_1_1_position_ned_1abfc66a1d0bed72258e127e28eb959774}
+
+```cpp
+float mavsdk::TelemetryServer::PositionNed::east_m {float(NAN)}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_server_1_1_position.md) along east direction in metres.
+
+
+### down_m {#structmavsdk_1_1_telemetry_server_1_1_position_ned_1a2d6641649267220ab503dbc6ece4ccbc}
+
+```cpp
+float mavsdk::TelemetryServer::PositionNed::down_m {float(NAN)}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_server_1_1_position.md) along down direction in metres.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned.md
new file mode 100644
index 0000000000..62a1e556a9
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned.md
@@ -0,0 +1,39 @@
+# mavsdk::TelemetryServer::PositionVelocityNed Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[PositionVelocityNed](structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned.md) message type. 
+
+
+## Data Fields
+
+
+[PositionNed](structmavsdk_1_1_telemetry_server_1_1_position_ned.md) [position](#structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned_1ad0de5ae5b5397300847e8f7968e48f6f) {} - [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) (NED)
+
+[VelocityNed](structmavsdk_1_1_telemetry_server_1_1_velocity_ned.md) [velocity](#structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned_1a2894c8583ceb2113082b5878fa366cf5) {} - Velocity (NED)
+
+
+## Field Documentation
+
+
+### position {#structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned_1ad0de5ae5b5397300847e8f7968e48f6f}
+
+```cpp
+PositionNed mavsdk::TelemetryServer::PositionVelocityNed::position {}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_server_1_1_position.md) (NED)
+
+
+### velocity {#structmavsdk_1_1_telemetry_server_1_1_position_velocity_ned_1a2894c8583ceb2113082b5878fa366cf5}
+
+```cpp
+VelocityNed mavsdk::TelemetryServer::PositionVelocityNed::velocity {}
+```
+
+
+Velocity (NED)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_quaternion.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_quaternion.md
new file mode 100644
index 0000000000..78db349de8
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_quaternion.md
@@ -0,0 +1,81 @@
+# mavsdk::TelemetryServer::Quaternion Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) type. 
+
+
+All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.
+
+
+For more info see: [https://en.wikipedia.org/wiki/Quaternion](https://en.wikipedia.org/wiki/Quaternion) 
+
+
+## Data Fields
+
+
+float [w](#structmavsdk_1_1_telemetry_server_1_1_quaternion_1aa7094ef6e3dd0ea32db4e5361b2226d9) {float(NAN)} - [Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) entry 0, also denoted as a.
+
+float [x](#structmavsdk_1_1_telemetry_server_1_1_quaternion_1ab9faee12c2c0a13364726b0ea9f302d6) {float(NAN)} - [Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) entry 1, also denoted as b.
+
+float [y](#structmavsdk_1_1_telemetry_server_1_1_quaternion_1addbbde28f94587875d848cb7680f485c) {float(NAN)} - [Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) entry 2, also denoted as c.
+
+float [z](#structmavsdk_1_1_telemetry_server_1_1_quaternion_1a393e8285beb9f254276f605cfb13db05) {float(NAN)} - [Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) entry 3, also denoted as d.
+
+uint64_t [timestamp_us](#structmavsdk_1_1_telemetry_server_1_1_quaternion_1a24aab4c790bb8a861c489b6d14771c87) {} - Timestamp in microseconds.
+
+
+## Field Documentation
+
+
+### w {#structmavsdk_1_1_telemetry_server_1_1_quaternion_1aa7094ef6e3dd0ea32db4e5361b2226d9}
+
+```cpp
+float mavsdk::TelemetryServer::Quaternion::w {float(NAN)}
+```
+
+
+[Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) entry 0, also denoted as a.
+
+
+### x {#structmavsdk_1_1_telemetry_server_1_1_quaternion_1ab9faee12c2c0a13364726b0ea9f302d6}
+
+```cpp
+float mavsdk::TelemetryServer::Quaternion::x {float(NAN)}
+```
+
+
+[Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) entry 1, also denoted as b.
+
+
+### y {#structmavsdk_1_1_telemetry_server_1_1_quaternion_1addbbde28f94587875d848cb7680f485c}
+
+```cpp
+float mavsdk::TelemetryServer::Quaternion::y {float(NAN)}
+```
+
+
+[Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) entry 2, also denoted as c.
+
+
+### z {#structmavsdk_1_1_telemetry_server_1_1_quaternion_1a393e8285beb9f254276f605cfb13db05}
+
+```cpp
+float mavsdk::TelemetryServer::Quaternion::z {float(NAN)}
+```
+
+
+[Quaternion](structmavsdk_1_1_telemetry_server_1_1_quaternion.md) entry 3, also denoted as d.
+
+
+### timestamp_us {#structmavsdk_1_1_telemetry_server_1_1_quaternion_1a24aab4c790bb8a861c489b6d14771c87}
+
+```cpp
+uint64_t mavsdk::TelemetryServer::Quaternion::timestamp_us {}
+```
+
+
+Timestamp in microseconds.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_raw_gps.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_raw_gps.md
new file mode 100644
index 0000000000..60895342e1
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_raw_gps.md
@@ -0,0 +1,186 @@
+# mavsdk::TelemetryServer::RawGps Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+Raw GPS information type. 
+
+
+Warning: this is an advanced type! If you want the location of the drone, use the position instead. This message exposes the raw values of the GNSS sensor. 
+
+
+## Data Fields
+
+
+uint64_t [timestamp_us](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a7b0063601df79e5d70da522adbcca5aa) {} - Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)
+
+double [latitude_deg](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1ad6f274fcb87f3b13a25343975354cbd0) {} - Latitude in degrees (WGS84, EGM96 ellipsoid)
+
+double [longitude_deg](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a7762ac5c26d315a873141082606d0bf5) {} - Longitude in degrees (WGS84, EGM96 ellipsoid)
+
+float [absolute_altitude_m](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a5f5a72f832923a804fbc75bca9b552d9) {} - Altitude AMSL (above mean sea level) in metres.
+
+float [hdop](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1ab6e9c5f46d04b33465d5f728a0b83683) {} - GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.
+
+float [vdop](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a293888940dad82a0367c60c8a22816ee) {} - GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.
+
+float [velocity_m_s](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a9122eb8b3e4697f6c40a5b9f23d2213e) {} - Ground velocity in metres per second.
+
+float [cog_deg](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a33e06571290f518551ef9f4463b9d6f0) {} - Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.
+
+float [altitude_ellipsoid_m](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a034d03a361938df870409af81a741257) {} - Altitude in metres (above WGS84, EGM96 ellipsoid)
+
+float [horizontal_uncertainty_m](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1ae7ce24396bab295f4fed7d2db6883e3e) {} - [Position](structmavsdk_1_1_telemetry_server_1_1_position.md) uncertainty in metres.
+
+float [vertical_uncertainty_m](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1abe7a51108c9be02e9235b7f8fb89c1c8) {} - Altitude uncertainty in metres.
+
+float [velocity_uncertainty_m_s](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1af38084cdd3e3d61f59f4ef8d6c43fc2e) {} - Velocity uncertainty in metres per second.
+
+float [heading_uncertainty_deg](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1ab5cba0147ec920f676fef753f30e5ce7) {} - [Heading](structmavsdk_1_1_telemetry_server_1_1_heading.md) uncertainty in degrees.
+
+float [yaw_deg](#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a93520d189d39f93d89bf9a84cd688d24) {} - Yaw in earth frame from north.
+
+
+## Field Documentation
+
+
+### timestamp_us {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a7b0063601df79e5d70da522adbcca5aa}
+
+```cpp
+uint64_t mavsdk::TelemetryServer::RawGps::timestamp_us {}
+```
+
+
+Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)
+
+
+### latitude_deg {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1ad6f274fcb87f3b13a25343975354cbd0}
+
+```cpp
+double mavsdk::TelemetryServer::RawGps::latitude_deg {}
+```
+
+
+Latitude in degrees (WGS84, EGM96 ellipsoid)
+
+
+### longitude_deg {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a7762ac5c26d315a873141082606d0bf5}
+
+```cpp
+double mavsdk::TelemetryServer::RawGps::longitude_deg {}
+```
+
+
+Longitude in degrees (WGS84, EGM96 ellipsoid)
+
+
+### absolute_altitude_m {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a5f5a72f832923a804fbc75bca9b552d9}
+
+```cpp
+float mavsdk::TelemetryServer::RawGps::absolute_altitude_m {}
+```
+
+
+Altitude AMSL (above mean sea level) in metres.
+
+
+### hdop {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1ab6e9c5f46d04b33465d5f728a0b83683}
+
+```cpp
+float mavsdk::TelemetryServer::RawGps::hdop {}
+```
+
+
+GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN.
+
+
+### vdop {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a293888940dad82a0367c60c8a22816ee}
+
+```cpp
+float mavsdk::TelemetryServer::RawGps::vdop {}
+```
+
+
+GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN.
+
+
+### velocity_m_s {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a9122eb8b3e4697f6c40a5b9f23d2213e}
+
+```cpp
+float mavsdk::TelemetryServer::RawGps::velocity_m_s {}
+```
+
+
+Ground velocity in metres per second.
+
+
+### cog_deg {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a33e06571290f518551ef9f4463b9d6f0}
+
+```cpp
+float mavsdk::TelemetryServer::RawGps::cog_deg {}
+```
+
+
+Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN.
+
+
+### altitude_ellipsoid_m {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a034d03a361938df870409af81a741257}
+
+```cpp
+float mavsdk::TelemetryServer::RawGps::altitude_ellipsoid_m {}
+```
+
+
+Altitude in metres (above WGS84, EGM96 ellipsoid)
+
+
+### horizontal_uncertainty_m {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1ae7ce24396bab295f4fed7d2db6883e3e}
+
+```cpp
+float mavsdk::TelemetryServer::RawGps::horizontal_uncertainty_m {}
+```
+
+
+[Position](structmavsdk_1_1_telemetry_server_1_1_position.md) uncertainty in metres.
+
+
+### vertical_uncertainty_m {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1abe7a51108c9be02e9235b7f8fb89c1c8}
+
+```cpp
+float mavsdk::TelemetryServer::RawGps::vertical_uncertainty_m {}
+```
+
+
+Altitude uncertainty in metres.
+
+
+### velocity_uncertainty_m_s {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1af38084cdd3e3d61f59f4ef8d6c43fc2e}
+
+```cpp
+float mavsdk::TelemetryServer::RawGps::velocity_uncertainty_m_s {}
+```
+
+
+Velocity uncertainty in metres per second.
+
+
+### heading_uncertainty_deg {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1ab5cba0147ec920f676fef753f30e5ce7}
+
+```cpp
+float mavsdk::TelemetryServer::RawGps::heading_uncertainty_deg {}
+```
+
+
+[Heading](structmavsdk_1_1_telemetry_server_1_1_heading.md) uncertainty in degrees.
+
+
+### yaw_deg {#structmavsdk_1_1_telemetry_server_1_1_raw_gps_1a93520d189d39f93d89bf9a84cd688d24}
+
+```cpp
+float mavsdk::TelemetryServer::RawGps::yaw_deg {}
+```
+
+
+Yaw in earth frame from north.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_rc_status.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_rc_status.md
new file mode 100644
index 0000000000..973f8653ac
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_rc_status.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::RcStatus Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+Remote control status type. 
+
+
+## Data Fields
+
+
+bool [was_available_once](#structmavsdk_1_1_telemetry_server_1_1_rc_status_1a6428e525f512f7a11132fd9198ecdbf6) {false} - True if an RC signal has been available once.
+
+bool [is_available](#structmavsdk_1_1_telemetry_server_1_1_rc_status_1a93312bee38b9d17cdf90b2943ef9683d) {false} - True if the RC signal is available now.
+
+float [signal_strength_percent](#structmavsdk_1_1_telemetry_server_1_1_rc_status_1a2f3b64bf1c164890956e25980d91cbcd) { float(NAN)} - Signal strength (range: 0 to 100, NaN if unknown)
+
+
+## Field Documentation
+
+
+### was_available_once {#structmavsdk_1_1_telemetry_server_1_1_rc_status_1a6428e525f512f7a11132fd9198ecdbf6}
+
+```cpp
+bool mavsdk::TelemetryServer::RcStatus::was_available_once {false}
+```
+
+
+True if an RC signal has been available once.
+
+
+### is_available {#structmavsdk_1_1_telemetry_server_1_1_rc_status_1a93312bee38b9d17cdf90b2943ef9683d}
+
+```cpp
+bool mavsdk::TelemetryServer::RcStatus::is_available {false}
+```
+
+
+True if the RC signal is available now.
+
+
+### signal_strength_percent {#structmavsdk_1_1_telemetry_server_1_1_rc_status_1a2f3b64bf1c164890956e25980d91cbcd}
+
+```cpp
+float mavsdk::TelemetryServer::RcStatus::signal_strength_percent { float(NAN)}
+```
+
+
+Signal strength (range: 0 to 100, NaN if unknown)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_scaled_pressure.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_scaled_pressure.md
new file mode 100644
index 0000000000..ab1598f97e
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_scaled_pressure.md
@@ -0,0 +1,75 @@
+# mavsdk::TelemetryServer::ScaledPressure Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+Scaled Pressure message type. 
+
+
+## Data Fields
+
+
+uint64_t [timestamp_us](#structmavsdk_1_1_telemetry_server_1_1_scaled_pressure_1a985af5fb636ad7818ebe3da318d4e5fa) {} - Timestamp (time since system boot)
+
+float [absolute_pressure_hpa](#structmavsdk_1_1_telemetry_server_1_1_scaled_pressure_1ac7d3c32691d636842b407337d8459db9) {} - Absolute pressure in hPa.
+
+float [differential_pressure_hpa](#structmavsdk_1_1_telemetry_server_1_1_scaled_pressure_1a92258fbd49abcbde0dda09de5a7f2f48) {} - Differential pressure 1 in hPa.
+
+float [temperature_deg](#structmavsdk_1_1_telemetry_server_1_1_scaled_pressure_1a185972a055327c1ed4352df1c8e169e9) {} - Absolute pressure temperature (in celsius)
+
+float [differential_pressure_temperature_deg](#structmavsdk_1_1_telemetry_server_1_1_scaled_pressure_1a0e4bad5a33365365892759fdc7b69ccf) {} - Differential pressure temperature (in celsius, 0 if not available)
+
+
+## Field Documentation
+
+
+### timestamp_us {#structmavsdk_1_1_telemetry_server_1_1_scaled_pressure_1a985af5fb636ad7818ebe3da318d4e5fa}
+
+```cpp
+uint64_t mavsdk::TelemetryServer::ScaledPressure::timestamp_us {}
+```
+
+
+Timestamp (time since system boot)
+
+
+### absolute_pressure_hpa {#structmavsdk_1_1_telemetry_server_1_1_scaled_pressure_1ac7d3c32691d636842b407337d8459db9}
+
+```cpp
+float mavsdk::TelemetryServer::ScaledPressure::absolute_pressure_hpa {}
+```
+
+
+Absolute pressure in hPa.
+
+
+### differential_pressure_hpa {#structmavsdk_1_1_telemetry_server_1_1_scaled_pressure_1a92258fbd49abcbde0dda09de5a7f2f48}
+
+```cpp
+float mavsdk::TelemetryServer::ScaledPressure::differential_pressure_hpa {}
+```
+
+
+Differential pressure 1 in hPa.
+
+
+### temperature_deg {#structmavsdk_1_1_telemetry_server_1_1_scaled_pressure_1a185972a055327c1ed4352df1c8e169e9}
+
+```cpp
+float mavsdk::TelemetryServer::ScaledPressure::temperature_deg {}
+```
+
+
+Absolute pressure temperature (in celsius)
+
+
+### differential_pressure_temperature_deg {#structmavsdk_1_1_telemetry_server_1_1_scaled_pressure_1a0e4bad5a33365365892759fdc7b69ccf}
+
+```cpp
+float mavsdk::TelemetryServer::ScaledPressure::differential_pressure_temperature_deg {}
+```
+
+
+Differential pressure temperature (in celsius, 0 if not available)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_status_text.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_status_text.md
new file mode 100644
index 0000000000..90bab7eb79
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_status_text.md
@@ -0,0 +1,39 @@
+# mavsdk::TelemetryServer::StatusText Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[StatusText](structmavsdk_1_1_telemetry_server_1_1_status_text.md) information type. 
+
+
+## Data Fields
+
+
+[StatusTextType](classmavsdk_1_1_telemetry_server.md#classmavsdk_1_1_telemetry_server_1a31ddd2e06b5f7c41eeaab4967f550c55) [type](#structmavsdk_1_1_telemetry_server_1_1_status_text_1a853ef84024b577b4c400e86d8fc58370) {} - Message type.
+
+std::string [text](#structmavsdk_1_1_telemetry_server_1_1_status_text_1ae091db1cf1f7216f28ca3a5a90db3a37) {} - MAVLink status message.
+
+
+## Field Documentation
+
+
+### type {#structmavsdk_1_1_telemetry_server_1_1_status_text_1a853ef84024b577b4c400e86d8fc58370}
+
+```cpp
+StatusTextType mavsdk::TelemetryServer::StatusText::type {}
+```
+
+
+Message type.
+
+
+### text {#structmavsdk_1_1_telemetry_server_1_1_status_text_1ae091db1cf1f7216f28ca3a5a90db3a37}
+
+```cpp
+std::string mavsdk::TelemetryServer::StatusText::text {}
+```
+
+
+MAVLink status message.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_body.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_body.md
new file mode 100644
index 0000000000..c7b6d7c40e
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_body.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::VelocityBody Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+Velocity type, represented in the Body (X Y Z) frame and in metres/second. 
+
+
+## Data Fields
+
+
+float [x_m_s](#structmavsdk_1_1_telemetry_server_1_1_velocity_body_1a0c345374b68c219afa2ed14e6a62ebd0) {} - Velocity in X in metres/second.
+
+float [y_m_s](#structmavsdk_1_1_telemetry_server_1_1_velocity_body_1a71d11996e7db2adfcae4113e023c86d7) {} - Velocity in Y in metres/second.
+
+float [z_m_s](#structmavsdk_1_1_telemetry_server_1_1_velocity_body_1a28751981ed729ddd1f098cbf0e7d3338) {} - Velocity in Z in metres/second.
+
+
+## Field Documentation
+
+
+### x_m_s {#structmavsdk_1_1_telemetry_server_1_1_velocity_body_1a0c345374b68c219afa2ed14e6a62ebd0}
+
+```cpp
+float mavsdk::TelemetryServer::VelocityBody::x_m_s {}
+```
+
+
+Velocity in X in metres/second.
+
+
+### y_m_s {#structmavsdk_1_1_telemetry_server_1_1_velocity_body_1a71d11996e7db2adfcae4113e023c86d7}
+
+```cpp
+float mavsdk::TelemetryServer::VelocityBody::y_m_s {}
+```
+
+
+Velocity in Y in metres/second.
+
+
+### z_m_s {#structmavsdk_1_1_telemetry_server_1_1_velocity_body_1a28751981ed729ddd1f098cbf0e7d3338}
+
+```cpp
+float mavsdk::TelemetryServer::VelocityBody::z_m_s {}
+```
+
+
+Velocity in Z in metres/second.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_ned.md b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_ned.md
new file mode 100644
index 0000000000..9f5c052df2
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_telemetry_server_1_1_velocity_ned.md
@@ -0,0 +1,51 @@
+# mavsdk::TelemetryServer::VelocityNed Struct Reference
+`#include: telemetry_server.h`
+
+----
+
+
+[VelocityNed](structmavsdk_1_1_telemetry_server_1_1_velocity_ned.md) message type. 
+
+
+## Data Fields
+
+
+float [north_m_s](#structmavsdk_1_1_telemetry_server_1_1_velocity_ned_1ad76a01b7e8922e89c61b00cd9ea6a7d5) {} - Velocity along north direction in metres per second.
+
+float [east_m_s](#structmavsdk_1_1_telemetry_server_1_1_velocity_ned_1a45ba828612b79b27aad3d094491cf6bc) {} - Velocity along east direction in metres per second.
+
+float [down_m_s](#structmavsdk_1_1_telemetry_server_1_1_velocity_ned_1a58fcbae3005c735ac015b168a8454061) {} - Velocity along down direction in metres per second.
+
+
+## Field Documentation
+
+
+### north_m_s {#structmavsdk_1_1_telemetry_server_1_1_velocity_ned_1ad76a01b7e8922e89c61b00cd9ea6a7d5}
+
+```cpp
+float mavsdk::TelemetryServer::VelocityNed::north_m_s {}
+```
+
+
+Velocity along north direction in metres per second.
+
+
+### east_m_s {#structmavsdk_1_1_telemetry_server_1_1_velocity_ned_1a45ba828612b79b27aad3d094491cf6bc}
+
+```cpp
+float mavsdk::TelemetryServer::VelocityNed::east_m_s {}
+```
+
+
+Velocity along east direction in metres per second.
+
+
+### down_m_s {#structmavsdk_1_1_telemetry_server_1_1_velocity_ned_1a58fcbae3005c735ac015b168a8454061}
+
+```cpp
+float mavsdk::TelemetryServer::VelocityNed::down_m_s {}
+```
+
+
+Velocity along down direction in metres per second.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_point.md b/docs/en/cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_point.md
new file mode 100644
index 0000000000..9d8579af81
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_point.md
@@ -0,0 +1,51 @@
+# mavsdk::TrackingServer::TrackPoint Struct Reference
+`#include: tracking_server.h`
+
+----
+
+
+Point description type. 
+
+
+## Data Fields
+
+
+float [point_x](#structmavsdk_1_1_tracking_server_1_1_track_point_1a853c938e0ae6c618d4fe2e08cf763511) {} - Point to track x value (normalized 0..1, 0 is left, 1 is right).
+
+float [point_y](#structmavsdk_1_1_tracking_server_1_1_track_point_1af8d89f46a6b0ebd85a027832fe64aded) {} - Point to track y value (normalized 0..1, 0 is top, 1 is bottom).
+
+float [radius](#structmavsdk_1_1_tracking_server_1_1_track_point_1ac34f7779009f26b33dd4c86fcb010f85) {} - Point to track y value (normalized 0..1, 0 is top, 1 is bottom).
+
+
+## Field Documentation
+
+
+### point_x {#structmavsdk_1_1_tracking_server_1_1_track_point_1a853c938e0ae6c618d4fe2e08cf763511}
+
+```cpp
+float mavsdk::TrackingServer::TrackPoint::point_x {}
+```
+
+
+Point to track x value (normalized 0..1, 0 is left, 1 is right).
+
+
+### point_y {#structmavsdk_1_1_tracking_server_1_1_track_point_1af8d89f46a6b0ebd85a027832fe64aded}
+
+```cpp
+float mavsdk::TrackingServer::TrackPoint::point_y {}
+```
+
+
+Point to track y value (normalized 0..1, 0 is top, 1 is bottom).
+
+
+### radius {#structmavsdk_1_1_tracking_server_1_1_track_point_1ac34f7779009f26b33dd4c86fcb010f85}
+
+```cpp
+float mavsdk::TrackingServer::TrackPoint::radius {}
+```
+
+
+Point to track y value (normalized 0..1, 0 is top, 1 is bottom).
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_rectangle.md b/docs/en/cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_rectangle.md
new file mode 100644
index 0000000000..b6861c9b95
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_tracking_server_1_1_track_rectangle.md
@@ -0,0 +1,63 @@
+# mavsdk::TrackingServer::TrackRectangle Struct Reference
+`#include: tracking_server.h`
+
+----
+
+
+Rectangle description type. 
+
+
+## Data Fields
+
+
+float [top_left_corner_x](#structmavsdk_1_1_tracking_server_1_1_track_rectangle_1aa4ddff2dd970ee04e17b7744249cc8a4) {} - Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
+
+float [top_left_corner_y](#structmavsdk_1_1_tracking_server_1_1_track_rectangle_1a277494afe3b3f9fde3bca320989ca5d7) {} - Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
+
+float [bottom_right_corner_x](#structmavsdk_1_1_tracking_server_1_1_track_rectangle_1a71c6140a7c6332fed079359723b3f86b) {} - Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
+
+float [bottom_right_corner_y](#structmavsdk_1_1_tracking_server_1_1_track_rectangle_1aab56c0de04020104b4c5cbf6fe2e69a5) {} - Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
+
+
+## Field Documentation
+
+
+### top_left_corner_x {#structmavsdk_1_1_tracking_server_1_1_track_rectangle_1aa4ddff2dd970ee04e17b7744249cc8a4}
+
+```cpp
+float mavsdk::TrackingServer::TrackRectangle::top_left_corner_x {}
+```
+
+
+Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
+
+
+### top_left_corner_y {#structmavsdk_1_1_tracking_server_1_1_track_rectangle_1a277494afe3b3f9fde3bca320989ca5d7}
+
+```cpp
+float mavsdk::TrackingServer::TrackRectangle::top_left_corner_y {}
+```
+
+
+Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
+
+
+### bottom_right_corner_x {#structmavsdk_1_1_tracking_server_1_1_track_rectangle_1a71c6140a7c6332fed079359723b3f86b}
+
+```cpp
+float mavsdk::TrackingServer::TrackRectangle::bottom_right_corner_x {}
+```
+
+
+Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
+
+
+### bottom_right_corner_y {#structmavsdk_1_1_tracking_server_1_1_track_rectangle_1aab56c0de04020104b4c5cbf6fe2e69a5}
+
+```cpp
+float mavsdk::TrackingServer::TrackRectangle::bottom_right_corner_y {}
+```
+
+
+Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_transponder_1_1_adsb_vehicle.md b/docs/en/cpp/api_reference/structmavsdk_1_1_transponder_1_1_adsb_vehicle.md
new file mode 100644
index 0000000000..a862deb2cd
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_transponder_1_1_adsb_vehicle.md
@@ -0,0 +1,159 @@
+# mavsdk::Transponder::AdsbVehicle Struct Reference
+`#include: transponder.h`
+
+----
+
+
+ADSB Vehicle type. 
+
+
+## Data Fields
+
+
+uint32_t [icao_address](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1adb4e2ab15053b2b73541dfc42bf6614c) {} - ICAO (International Civil Aviation Organization) unique worldwide identifier.
+
+double [latitude_deg](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1aa538799571c3984a9875ea2dba66020c) {} - Latitude in degrees (range: -90 to +90)
+
+double [longitude_deg](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a7a4f84ff4e7b773b86c9518d555bda1e) {} - Longitude in degrees (range: -180 to +180).
+
+[AdsbAltitudeType](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1a64af76be070a2496e0db1c201ece9313) [altitude_type](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a85f9833840e59e4db1a99fc9192b410a) {} - ADSB altitude type.
+
+float [absolute_altitude_m](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1af33bf54b2bd961157a44781e4c6b48fa) {} - Altitude in metres according to altitude_type.
+
+float [heading_deg](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1aaf318675876c499566760bfa69ee279c) {} - Course over ground, in degrees.
+
+float [horizontal_velocity_m_s](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1ac5e37567200b40ba817dd6aafc660747) {} - The horizontal velocity in metres/second.
+
+float [vertical_velocity_m_s](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a88014a51ef34ac1fdd17c9598c9e1d66) {} - The vertical velocity in metres/second. Positive is up.
+
+std::string [callsign](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a4289413ecb9cbe0de24cc32b0335e54e) {} - The callsign.
+
+[AdsbEmitterType](classmavsdk_1_1_transponder.md#classmavsdk_1_1_transponder_1a0b16f74131c28940c6604bc55776c039) [emitter_type](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1aa2d27a9dbd59ea92abbe970592c94b22) {} - ADSB emitter type.
+
+uint32_t [squawk](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a424c6cf5a90d9296f43f78d173b72c94) {} - Squawk code.
+
+uint32_t [tslc_s](#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a61d1625effb91af73cc763b92c55425b) {} - Time Since Last Communication in seconds.
+
+
+## Field Documentation
+
+
+### icao_address {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1adb4e2ab15053b2b73541dfc42bf6614c}
+
+```cpp
+uint32_t mavsdk::Transponder::AdsbVehicle::icao_address {}
+```
+
+
+ICAO (International Civil Aviation Organization) unique worldwide identifier.
+
+
+### latitude_deg {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1aa538799571c3984a9875ea2dba66020c}
+
+```cpp
+double mavsdk::Transponder::AdsbVehicle::latitude_deg {}
+```
+
+
+Latitude in degrees (range: -90 to +90)
+
+
+### longitude_deg {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a7a4f84ff4e7b773b86c9518d555bda1e}
+
+```cpp
+double mavsdk::Transponder::AdsbVehicle::longitude_deg {}
+```
+
+
+Longitude in degrees (range: -180 to +180).
+
+
+### altitude_type {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a85f9833840e59e4db1a99fc9192b410a}
+
+```cpp
+AdsbAltitudeType mavsdk::Transponder::AdsbVehicle::altitude_type {}
+```
+
+
+ADSB altitude type.
+
+
+### absolute_altitude_m {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1af33bf54b2bd961157a44781e4c6b48fa}
+
+```cpp
+float mavsdk::Transponder::AdsbVehicle::absolute_altitude_m {}
+```
+
+
+Altitude in metres according to altitude_type.
+
+
+### heading_deg {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1aaf318675876c499566760bfa69ee279c}
+
+```cpp
+float mavsdk::Transponder::AdsbVehicle::heading_deg {}
+```
+
+
+Course over ground, in degrees.
+
+
+### horizontal_velocity_m_s {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1ac5e37567200b40ba817dd6aafc660747}
+
+```cpp
+float mavsdk::Transponder::AdsbVehicle::horizontal_velocity_m_s {}
+```
+
+
+The horizontal velocity in metres/second.
+
+
+### vertical_velocity_m_s {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a88014a51ef34ac1fdd17c9598c9e1d66}
+
+```cpp
+float mavsdk::Transponder::AdsbVehicle::vertical_velocity_m_s {}
+```
+
+
+The vertical velocity in metres/second. Positive is up.
+
+
+### callsign {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a4289413ecb9cbe0de24cc32b0335e54e}
+
+```cpp
+std::string mavsdk::Transponder::AdsbVehicle::callsign {}
+```
+
+
+The callsign.
+
+
+### emitter_type {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1aa2d27a9dbd59ea92abbe970592c94b22}
+
+```cpp
+AdsbEmitterType mavsdk::Transponder::AdsbVehicle::emitter_type {}
+```
+
+
+ADSB emitter type.
+
+
+### squawk {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a424c6cf5a90d9296f43f78d173b72c94}
+
+```cpp
+uint32_t mavsdk::Transponder::AdsbVehicle::squawk {}
+```
+
+
+Squawk code.
+
+
+### tslc_s {#structmavsdk_1_1_transponder_1_1_adsb_vehicle_1a61d1625effb91af73cc763b92c55425b}
+
+```cpp
+uint32_t mavsdk::Transponder::AdsbVehicle::tslc_s {}
+```
+
+
+Time Since Last Communication in seconds.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_tune_1_1_tune_description.md b/docs/en/cpp/api_reference/structmavsdk_1_1_tune_1_1_tune_description.md
new file mode 100644
index 0000000000..814c9870d6
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_tune_1_1_tune_description.md
@@ -0,0 +1,39 @@
+# mavsdk::Tune::TuneDescription Struct Reference
+`#include: tune.h`
+
+----
+
+
+[Tune](classmavsdk_1_1_tune.md) description, containing song elements and tempo. 
+
+
+## Data Fields
+
+
+std::vector< [SongElement](classmavsdk_1_1_tune.md#classmavsdk_1_1_tune_1a97d85b5d578c74edc82a4337fc7bed57) > [song_elements](#structmavsdk_1_1_tune_1_1_tune_description_1a30b69d9f32b509fd31091c722d7e4512) {} - The list of song elements (notes, pauses, ...) to be played.
+
+int32_t [tempo](#structmavsdk_1_1_tune_1_1_tune_description_1ad31ec50a46db211d8d31d2622692cce8) {} - The tempo of the song (range: 32 - 255)
+
+
+## Field Documentation
+
+
+### song_elements {#structmavsdk_1_1_tune_1_1_tune_description_1a30b69d9f32b509fd31091c722d7e4512}
+
+```cpp
+std::vector<SongElement> mavsdk::Tune::TuneDescription::song_elements {}
+```
+
+
+The list of song elements (notes, pauses, ...) to be played.
+
+
+### tempo {#structmavsdk_1_1_tune_1_1_tune_description_1ad31ec50a46db211d8d31d2622692cce8}
+
+```cpp
+int32_t mavsdk::Tune::TuneDescription::tempo {}
+```
+
+
+The tempo of the song (range: 32 - 255)
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status.md b/docs/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status.md
new file mode 100644
index 0000000000..6d3476b485
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status.md
@@ -0,0 +1,111 @@
+# mavsdk::Winch::Status Struct Reference
+`#include: winch.h`
+
+----
+
+
+[Status](structmavsdk_1_1_winch_1_1_status.md) type. 
+
+
+## Data Fields
+
+
+uint64_t [time_usec](#structmavsdk_1_1_winch_1_1_status_1ac16c203027d78163509f1277eef6717d) {} - Time in usec.
+
+float [line_length_m](#structmavsdk_1_1_winch_1_1_status_1a32c6d3d7df9065d23ec9be034f2b05e3) {} - Length of the line in meters.
+
+float [speed_m_s](#structmavsdk_1_1_winch_1_1_status_1aa9b42cc41e9cb6e0f0e0eb75634eeb01) {} - Speed in meters per second.
+
+float [tension_kg](#structmavsdk_1_1_winch_1_1_status_1a8db557ad854c3b8ed402c9fa6c3baa04) {} - Tension in kilograms.
+
+float [voltage_v](#structmavsdk_1_1_winch_1_1_status_1a463d998f9f24f8cf027c9efc4519079d) {} - Voltage in volts.
+
+float [current_a](#structmavsdk_1_1_winch_1_1_status_1a429c06e0b58c24130a05c7a410c352f6) {} - Current in amperes.
+
+int32_t [temperature_c](#structmavsdk_1_1_winch_1_1_status_1a7dfd8af2b0e59381f8c66b1a5f1f1197) {} - Temperature in Celsius.
+
+[StatusFlags](structmavsdk_1_1_winch_1_1_status_flags.md) [status_flags](#structmavsdk_1_1_winch_1_1_status_1aee139ac0ecbae6d02f6115f64fcb1b11) {} - [Status](structmavsdk_1_1_winch_1_1_status.md) flags.
+
+
+## Field Documentation
+
+
+### time_usec {#structmavsdk_1_1_winch_1_1_status_1ac16c203027d78163509f1277eef6717d}
+
+```cpp
+uint64_t mavsdk::Winch::Status::time_usec {}
+```
+
+
+Time in usec.
+
+
+### line_length_m {#structmavsdk_1_1_winch_1_1_status_1a32c6d3d7df9065d23ec9be034f2b05e3}
+
+```cpp
+float mavsdk::Winch::Status::line_length_m {}
+```
+
+
+Length of the line in meters.
+
+
+### speed_m_s {#structmavsdk_1_1_winch_1_1_status_1aa9b42cc41e9cb6e0f0e0eb75634eeb01}
+
+```cpp
+float mavsdk::Winch::Status::speed_m_s {}
+```
+
+
+Speed in meters per second.
+
+
+### tension_kg {#structmavsdk_1_1_winch_1_1_status_1a8db557ad854c3b8ed402c9fa6c3baa04}
+
+```cpp
+float mavsdk::Winch::Status::tension_kg {}
+```
+
+
+Tension in kilograms.
+
+
+### voltage_v {#structmavsdk_1_1_winch_1_1_status_1a463d998f9f24f8cf027c9efc4519079d}
+
+```cpp
+float mavsdk::Winch::Status::voltage_v {}
+```
+
+
+Voltage in volts.
+
+
+### current_a {#structmavsdk_1_1_winch_1_1_status_1a429c06e0b58c24130a05c7a410c352f6}
+
+```cpp
+float mavsdk::Winch::Status::current_a {}
+```
+
+
+Current in amperes.
+
+
+### temperature_c {#structmavsdk_1_1_winch_1_1_status_1a7dfd8af2b0e59381f8c66b1a5f1f1197}
+
+```cpp
+int32_t mavsdk::Winch::Status::temperature_c {}
+```
+
+
+Temperature in Celsius.
+
+
+### status_flags {#structmavsdk_1_1_winch_1_1_status_1aee139ac0ecbae6d02f6115f64fcb1b11}
+
+```cpp
+StatusFlags mavsdk::Winch::Status::status_flags {}
+```
+
+
+[Status](structmavsdk_1_1_winch_1_1_status.md) flags.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status_flags.md b/docs/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status_flags.md
new file mode 100644
index 0000000000..e2d81a6497
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1_winch_1_1_status_flags.md
@@ -0,0 +1,189 @@
+# mavsdk::Winch::StatusFlags Struct Reference
+`#include: winch.h`
+
+----
+
+
+[Winch](classmavsdk_1_1_winch.md) [Status](structmavsdk_1_1_winch_1_1_status.md) Flags. 
+
+
+The status flags are defined in mavlink [https://mavlink.io/en/messages/common.html#MAV_WINCH_STATUS_FLAG](https://mavlink.io/en/messages/common.html#MAV_WINCH_STATUS_FLAG).
+
+
+Multiple status fields can be set simultaneously. Mavlink does not specify which states are mutually exclusive. 
+
+
+## Data Fields
+
+
+bool [healthy](#structmavsdk_1_1_winch_1_1_status_flags_1a63f04e0567746c0646a9194bb1583cbd) {} - [Winch](classmavsdk_1_1_winch.md) is healthy.
+
+bool [fully_retracted](#structmavsdk_1_1_winch_1_1_status_flags_1a51c658b256b68a3545c58b6827ace590) {} - [Winch](classmavsdk_1_1_winch.md) line is fully retracted.
+
+bool [moving](#structmavsdk_1_1_winch_1_1_status_flags_1ada7685ec99d0c98b232bb53caea07b2f) {} - [Winch](classmavsdk_1_1_winch.md) motor is moving.
+
+bool [clutch_engaged](#structmavsdk_1_1_winch_1_1_status_flags_1a65af9160f89a0d5785654e296075ad4d) {} - [Winch](classmavsdk_1_1_winch.md) clutch is engaged allowing motor to move freely.
+
+bool [locked](#structmavsdk_1_1_winch_1_1_status_flags_1a371d1645c40a760ad79af898f826f171) {} - [Winch](classmavsdk_1_1_winch.md) is locked by locking mechanism.
+
+bool [dropping](#structmavsdk_1_1_winch_1_1_status_flags_1a2be9f17e0179da027803db8e281d9cd7) {} - [Winch](classmavsdk_1_1_winch.md) is gravity dropping payload.
+
+bool [arresting](#structmavsdk_1_1_winch_1_1_status_flags_1ac062b1893ba031799b1bdc15f294921f) {} - [Winch](classmavsdk_1_1_winch.md) is arresting payload descent.
+
+bool [ground_sense](#structmavsdk_1_1_winch_1_1_status_flags_1ac4f6d986083de3f286de279a30dca15d) {} - [Winch](classmavsdk_1_1_winch.md) is using torque measurements to sense the ground.
+
+bool [retracting](#structmavsdk_1_1_winch_1_1_status_flags_1a354c024b92ea68bb4403233da7ea4617) {} - [Winch](classmavsdk_1_1_winch.md) is returning to the fully retracted position.
+
+bool [redeliver](#structmavsdk_1_1_winch_1_1_status_flags_1a469d932faaca0ef7f090233e4da7c33b) {} - [Winch](classmavsdk_1_1_winch.md) is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
+
+bool [abandon_line](#structmavsdk_1_1_winch_1_1_status_flags_1aaa8e61dd71fd9ef079c792fdce4683ea) {} - [Winch](classmavsdk_1_1_winch.md) is abandoning the line and possibly payload. [Winch](classmavsdk_1_1_winch.md) unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
+
+bool [locking](#structmavsdk_1_1_winch_1_1_status_flags_1a66c2970228f4006dd72a40ca48ed40a3) {} - [Winch](classmavsdk_1_1_winch.md) is engaging the locking mechanism.
+
+bool [load_line](#structmavsdk_1_1_winch_1_1_status_flags_1aab19d12646c787b60e2658449f4b66ce) {} - [Winch](classmavsdk_1_1_winch.md) is spooling on line.
+
+bool [load_payload](#structmavsdk_1_1_winch_1_1_status_flags_1aa1734d72a1e9fa4d72ba9faf9d979964) {} - [Winch](classmavsdk_1_1_winch.md) is loading a payload.
+
+
+## Field Documentation
+
+
+### healthy {#structmavsdk_1_1_winch_1_1_status_flags_1a63f04e0567746c0646a9194bb1583cbd}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::healthy {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) is healthy.
+
+
+### fully_retracted {#structmavsdk_1_1_winch_1_1_status_flags_1a51c658b256b68a3545c58b6827ace590}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::fully_retracted {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) line is fully retracted.
+
+
+### moving {#structmavsdk_1_1_winch_1_1_status_flags_1ada7685ec99d0c98b232bb53caea07b2f}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::moving {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) motor is moving.
+
+
+### clutch_engaged {#structmavsdk_1_1_winch_1_1_status_flags_1a65af9160f89a0d5785654e296075ad4d}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::clutch_engaged {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) clutch is engaged allowing motor to move freely.
+
+
+### locked {#structmavsdk_1_1_winch_1_1_status_flags_1a371d1645c40a760ad79af898f826f171}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::locked {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) is locked by locking mechanism.
+
+
+### dropping {#structmavsdk_1_1_winch_1_1_status_flags_1a2be9f17e0179da027803db8e281d9cd7}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::dropping {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) is gravity dropping payload.
+
+
+### arresting {#structmavsdk_1_1_winch_1_1_status_flags_1ac062b1893ba031799b1bdc15f294921f}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::arresting {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) is arresting payload descent.
+
+
+### ground_sense {#structmavsdk_1_1_winch_1_1_status_flags_1ac4f6d986083de3f286de279a30dca15d}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::ground_sense {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) is using torque measurements to sense the ground.
+
+
+### retracting {#structmavsdk_1_1_winch_1_1_status_flags_1a354c024b92ea68bb4403233da7ea4617}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::retracting {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) is returning to the fully retracted position.
+
+
+### redeliver {#structmavsdk_1_1_winch_1_1_status_flags_1a469d932faaca0ef7f090233e4da7c33b}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::redeliver {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
+
+
+### abandon_line {#structmavsdk_1_1_winch_1_1_status_flags_1aaa8e61dd71fd9ef079c792fdce4683ea}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::abandon_line {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) is abandoning the line and possibly payload. [Winch](classmavsdk_1_1_winch.md) unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
+
+
+### locking {#structmavsdk_1_1_winch_1_1_status_flags_1a66c2970228f4006dd72a40ca48ed40a3}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::locking {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) is engaging the locking mechanism.
+
+
+### load_line {#structmavsdk_1_1_winch_1_1_status_flags_1aab19d12646c787b60e2658449f4b66ce}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::load_line {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) is spooling on line.
+
+
+### load_payload {#structmavsdk_1_1_winch_1_1_status_flags_1aa1734d72a1e9fa4d72ba9faf9d979964}
+
+```cpp
+bool mavsdk::Winch::StatusFlags::load_payload {}
+```
+
+
+[Winch](classmavsdk_1_1_winch.md) is loading a payload.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md b/docs/en/cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md
new file mode 100644
index 0000000000..b364ea96c0
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate.md
@@ -0,0 +1,39 @@
+# mavsdk::geometry::CoordinateTransformation::GlobalCoordinate Struct Reference
+`#include: geometry.h`
+
+----
+
+
+Type for global coordinate in latitude/longitude in degrees. 
+
+
+## Data Fields
+
+
+double [latitude_deg](#structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate_1a659e34b5b478423f39a36af80a6b8a0d)  - Latitude in degrees.
+
+double [longitude_deg](#structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate_1af2ee3c9cbd394983db5e21af147fc001)  - Longitude in degrees.
+
+
+## Field Documentation
+
+
+### latitude_deg {#structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate_1a659e34b5b478423f39a36af80a6b8a0d}
+
+```cpp
+double mavsdk::geometry::CoordinateTransformation::GlobalCoordinate::latitude_deg
+```
+
+
+Latitude in degrees.
+
+
+### longitude_deg {#structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_global_coordinate_1af2ee3c9cbd394983db5e21af147fc001}
+
+```cpp
+double mavsdk::geometry::CoordinateTransformation::GlobalCoordinate::longitude_deg
+```
+
+
+Longitude in degrees.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.md b/docs/en/cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.md
new file mode 100644
index 0000000000..4b9fb9d750
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate.md
@@ -0,0 +1,39 @@
+# mavsdk::geometry::CoordinateTransformation::LocalCoordinate Struct Reference
+`#include: geometry.h`
+
+----
+
+
+Type for local coordinate relative to reference in meters. 
+
+
+## Data Fields
+
+
+double [north_m](#structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate_1ab0a440b500c33ec0367563c30212a4ce)  - Position in North direction in meters.
+
+double [east_m](#structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate_1a9a12e8a99d0a7f0f852cda7c055ff085)  - Position in East direction in meters.
+
+
+## Field Documentation
+
+
+### north_m {#structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate_1ab0a440b500c33ec0367563c30212a4ce}
+
+```cpp
+double mavsdk::geometry::CoordinateTransformation::LocalCoordinate::north_m
+```
+
+
+Position in North direction in meters.
+
+
+### east_m {#structmavsdk_1_1geometry_1_1_coordinate_transformation_1_1_local_coordinate_1a9a12e8a99d0a7f0f852cda7c055ff085}
+
+```cpp
+double mavsdk::geometry::CoordinateTransformation::LocalCoordinate::east_m
+```
+
+
+Position in East direction in meters.
+
diff --git a/docs/en/cpp/api_reference/structmavsdk_1_1overloaded.md b/docs/en/cpp/api_reference/structmavsdk_1_1overloaded.md
new file mode 100644
index 0000000000..7597cf3e94
--- /dev/null
+++ b/docs/en/cpp/api_reference/structmavsdk_1_1overloaded.md
@@ -0,0 +1,17 @@
+# mavsdk::overloaded Struct Reference
+`#include: plugin_base.h`
+
+----
+
+
+Creates an overloaded callable object from multiple other callables. 
+
+
+This template class allows to combine multiple callable objects into one overloaded callable object, that can handle different types of parameters. For example:
+
+
+overloaded { [](auto value) { LogErr() << "Got an unexpected type"; }, [](uint32_t value) { LogDebug() << "Got an expected type"; } }((uint32_t) 100);
+
+
+This is especially useful for creating callback functions to handle different parameter types 
+
diff --git a/docs/en/cpp/contributing/autogen.md b/docs/en/cpp/contributing/autogen.md
new file mode 100644
index 0000000000..eba7e1e56d
--- /dev/null
+++ b/docs/en/cpp/contributing/autogen.md
@@ -0,0 +1,64 @@
+# Autogeneration
+
+MAVSDK is available in a number of different languages.
+These all share the same "core" MAVLink implementation (written in C++), but almost all of the API-specific code for other languages is *autogenerated* from API definition files (and language-specific templates).
+
+This approach means that we don't have to maintain a separate MAVLink implementation or API for each language.
+New features are implemented (just once) in C++, and are then automatically available in Python, Java, etc.
+
+This page provides an overview of the architecture and explains how to add a feature using the autogeneration.
+
+## Overview
+
+The common MAVLink implementation is written in C++ (it is part of MAVSDK-C++).
+The `mavsdk_server` exposes the MAVSDK-C++ API over [gRPC](https://grpc.io/) to the language bindings.
+The API for all languages is autogenerated from a single common definition.
+
+![MAVSDK structure/architecture](../../../assets/autogen/mavsdk_overview.png)
+
+The following parts are autogenerated:
+
+* MAVSDK-C++ API (i.e. header files)
+* Most of `mavsdk_server`
+* Most of the language bindings
+
+Those parts are maintained manually:
+
+* MAVSDK-C++ implementation (i.e. the MAVLink business logic)
+* New plugins need to be added to `mavsdk_server` (this may be automated in future)
+* The `System` wrapper in language bindings usually needs to be updated whenever a new plugin is added (this may be automated in future)
+
+The heart of the autogeneration system is the [MAVSDK-Proto](https://github.com/mavlink/mavsdk-proto) repository which is described [below](#mechanisms).
+
+## Autogeneration Mechanisms {#mechanisms}
+
+The autogeneration pipeline is shown below:
+
+![Autogeneration pipeline](../../../assets/autogen/autogen_overview.png)
+
+The main parts are:
+
+* [`protoc-gen-mavsdk`](https://github.com/mavlink/MAVSDK-Proto/tree/main/pb_plugins), which is a `protoc` custom plugin generating MAVSDK's code.
+* [The API definition](https://github.com/mavlink/MAVSDK-Proto/tree/main/protos), in the form of proto files.
+* Template files (per language, see e.g. the [Python templates](https://github.com/mavlink/MAVSDK-Python/tree/main/other/templates/py) or the [C++ templates](https://github.com/mavlink/MAVSDK/tree/main/templates)).
+
+
+`protoc` takes the custom plugin (`protoc-gen-mavsdk`) and the template files as inputs, and generate source code out of it.
+The way it currently works is that it generates one source file out of each `*.proto` file. For instance, `action.proto` becomes `Action.java` in MAVSDK-Java.
+
+In some languages (typically C++), we need to generate multiple source files out of one proto definition file, and this is the reason why the C++ generation script runs protoc [in](https://github.com/mavlink/MAVSDK/blob/6434e0c6a7c25a3203d4652da13ea1944279beb1/tools/generate_from_protos.sh#L72-L74) [multiple](https://github.com/mavlink/MAVSDK/blob/6434e0c6a7c25a3203d4652da13ea1944279beb1/tools/generate_from_protos.sh#L76-L77) [passes](https://github.com/mavlink/MAVSDK/blob/6434e0c6a7c25a3203d4652da13ea1944279beb1/tools/generate_from_protos.sh#L79-L81), once [for each template](https://github.com/mavlink/MAVSDK/blob/6434e0c6a7c25a3203d4652da13ea1944279beb1/tools/generate_from_protos.sh#L61) (e.g. "templates/plugin_h" defines the templates to generate `action.h`, `telemetry.h`, ..., and "templates/plugin_cpp" is responsible for `action.cpp`, `telemetry.cpp`, ...).
+
+All the MAVSDK repositories contain some kind of `generate_from_proto.sh` file, and a `templates/` directory:
+
+* MAVSDK-C++: [script](https://github.com/mavlink/MAVSDK/blob/main/tools/generate_from_protos.sh), [templates](https://github.com/mavlink/MAVSDK/tree/main/templates)
+* MAVSDK-Python: [script](https://github.com/mavlink/MAVSDK-Python/blob/main/other/tools/run_protoc.sh), [templates](https://github.com/mavlink/MAVSDK-Python/tree/main/other/templates/py)
+* MAVSDK-Swift: [script](https://github.com/mavlink/MAVSDK-Swift/blob/main/Sources/Mavsdk/tools/generate_from_protos.bash), [templates](https://github.com/mavlink/MAVSDK-Swift/tree/main/Sources/Mavsdk/templates)
+* MAVSDK-Java: [script](https://github.com/mavlink/MAVSDK-Java/blob/983b361aa42b9088abbf17037d762ac174b44308/sdk/build.gradle#L54-L73), [templates](https://github.com/mavlink/MAVSDK-Java/tree/main/sdk/templates)
+* MAVSDK-C#: [script](https://github.com/mavlink/MAVSDK-CSharp/blob/f989aae79a0d62d6b92bac9120a89fc85ba80006/MAVSDK-CSharp/MAVSDK/MAVSDK.csproj#L18-L31), [templates](https://github.com/mavlink/MAVSDK-CSharp/tree/main/MAVSDK-CSharp/MAVSDK/templates)
+* MAVSDK-Go: [script](https://github.com/mavlink/MAVSDK-Go/blob/main/tools/generate_from_protos.bash), [templates](https://github.com/mavlink/MAVSDK-Go/tree/main/templates)
+
+## Adding a New Feature
+
+When adding a new feature to MAVSDK it is important to think first about the API that is required, and later about the implementation needed to enable the feature. This is not only because MAVSDK strives to have a simple and safe API but also comes from the fact that a new feature needs to be defined in the API first and can then be implemented (using the autogenerated files) in a later step.
+
+To add a new feature, follow the steps on [how to write plugins](plugins.md#add-api-to-proto).
diff --git a/docs/en/cpp/contributing/documentation.md b/docs/en/cpp/contributing/documentation.md
new file mode 100644
index 0000000000..4bd6662f5f
--- /dev/null
+++ b/docs/en/cpp/contributing/documentation.md
@@ -0,0 +1,64 @@
+# Contributing to Documentation
+
+Making quick fixes to existing text or raising issues is very easy.
+More complicated changes will require you to set up the [Gitbook toolchain](https://github.com/GitbookIO/gitbook/blob/master/docs/setup.md).
+If you want to help, [get in touch](../../index.md#getting-help).
+
+> **Tip** You will need a [Github](https://github.com/) login to make and submit changes to this guide.
+
+## Overview
+
+This guide is written in [markdown](https://github.com/GitbookIO/gitbook/blob/master/docs/syntax/markdown.md) wiki syntax and stored in the Github [mavlink/MAVSDK-docs](https://github.com/mavlink/MAVSDK-docs) repo.
+The book is hosted on [Gitbook.com](https://www.gitbook.com/) and is automatically rebuilt whenever the master branch of the repo is updated.
+You can also rebuild it locally using the [Gitbook toolchain](https://github.com/GitbookIO/gitbook/blob/master/docs/setup.md).
+
+The [API Reference](../api_reference/index.md) section is compiled from source code into markdown using a [separate toolchain](#api-reference) and then copied into Github.
+Updates to the reference should be made in the [source code repository](https://github.com/mavlink/MAVSDK) (see [API Reference](#api-reference) below for more information).
+
+The guide is licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) - if you make any changes then they will be made available under the same license.
+
+
+## Making a Quick Fix
+
+Simple fixes to an existing page can be made directly on Github:
+
+1. Click the **Edit** button in the top toolbar to open the page
+
+   ![Edit page](../../../assets/site/gitbook_toolbar_edit.png)
+
+1. Make required changes in the editor section near the top of the page.
+2. At the bottom of the page, add a comment and select the second radio button to create a new branch.
+
+   ![Edit page](../../../assets/site/github_edit.png)
+
+3. Follow the on-screen instructions to create a pull request with your change.
+
+
+## Raising an Issue
+
+To raise an issue against the documentation:
+
+1. Open the page with problem content.
+1. Click the **Bug** button in the top toolbar.
+
+   ![Raise bug](../../../assets/site/gitbook_toolbar_bug.png)
+
+   This will open a bug in Github, seeded with the URL/name for the current page.
+1. Enter enough information for someone to understand the problem, and ideally to fix it.
+
+
+## Making a Big Change
+
+If you want to make more significant changes or additions to the documentation you will need to set up *Git* and the *Gitbook* toolchain (this allows you to render the documentation and check that links work).
+
+For setup information see: [Gitbook toolchain](https://github.com/GitbookIO/gitbook/blob/master/docs/setup.md).
+
+
+## API Reference
+
+The C++ source code is annotated using comments using [Doxygen](http://doxygen.nl/manual/index.html) syntax.
+You can extract the documentation to markdown files (one per class) on macOS or Linux using the instructions in [Build API Reference Documentation](../guide/build_docs.md).
+
+In order to include new API reference in the *SDK Documentation* it must be manually added to the [Github repository](https://github.com/mavlink/MAVSDK-docs):
+- Copy the files into the [/en/cpp/api_reference](https://github.com/mavlink/MAVSDK-docs/tree/main/en/cpp/api_reference) folder
+- *New* APIs should be added to appropriate sections in the [MAVSDK-docs/en/SUMMARY.md](https://github.com/mavlink/MAVSDK-docs/blob/main/en/SUMMARY.md) and [/en/cpp/api_reference/index.md](https://github.com/mavlink/MAVSDK-docs/blob/main/en/cpp/api_reference/index.md).
diff --git a/docs/en/cpp/contributing/faq.md b/docs/en/cpp/contributing/faq.md
new file mode 100644
index 0000000000..6a124dfd1e
--- /dev/null
+++ b/docs/en/cpp/contributing/faq.md
@@ -0,0 +1,43 @@
+## FAQ
+
+### Why was the SDK written in C++
+
+The aim was to have an API in a language which is cross-platform and has many language bindings.
+Additionally, the library needs to be lightweight and fast, so it does not fall over for onboard usage with high rate messaging.
+
+### Does the SDK support multiple vehicles?
+
+The SDK is designed to support multiple vehicles ("systems") but at time of writing there are no tests for this.
+
+A system needs to have a specific MAVLink system ID, and can consist of multiple components with different component IDs. 
+An example would be a drone with a gimbal and a camera talking MAVLink with the same system ID but different component IDs.
+
+The limit is in theory 255 vehicles, with system IDs ranging from 1 to 255.
+
+### Are serial connections supported?
+
+The architecture supports serial, TCP, and UDP connections. 
+
+### Why is libCURL a dependency?
+
+*libCURL* will be required to download the camera definition file which is referenced in [CAMERA_INFORMATION](https://mavlink.io/en/messages/common.html#CAMERA_INFORMATION). 
+It might also come in handy whenever any other REST resources are required.
+
+### How are plugins added?
+
+Plugins need to have the correct structure and be placed in the [plugins directory](../plugins). 
+It is also possible to add external plugins which are outside of the SDK source tree. 
+For instructions see the [build docs](build.md#build-with-external-directory-for-plugins-and-custom-integration_tests).
+
+### Can a plugin depend on another one?
+
+Yes it can but it should not! 
+The idea is that plugins don't have any coupling between each other, which allows for any plugin to be changed or removed without breaking the rest. 
+This will lead to some duplication at places, that's an acceptable trade-off. 
+If the same code is used in many places, it can always be moved to core and get re-used from there.
+
+
+### What is the difference between unit and integration test?
+
+The unit tests are only concerned with one plugin or less. 
+The integration tests however might need PX4 SITL running and combine multiple plugins.
diff --git a/docs/en/cpp/contributing/index.md b/docs/en/cpp/contributing/index.md
new file mode 100644
index 0000000000..a02b1eeb0d
--- /dev/null
+++ b/docs/en/cpp/contributing/index.md
@@ -0,0 +1,8 @@
+# Contributing
+
+MAVSDK welcomes contributions!
+If you want to help or have suggestions/bug reports [please get in touch with the development team](../../index.md#getting-help).
+
+This section contains pointers how to add functionality and write your own plugins, as well as how the auto-generation works.
+
+Also see the [FAQ](../../faq.md) for answers to common questions about the library.
diff --git a/docs/en/cpp/contributing/plugins.md b/docs/en/cpp/contributing/plugins.md
new file mode 100644
index 0000000000..bc86584c43
--- /dev/null
+++ b/docs/en/cpp/contributing/plugins.md
@@ -0,0 +1,389 @@
+# Writing Plugins
+
+MAVSDK-C++ is split into a [core](https://github.com/mavlink/MAVSDK/tree/main/src/core) and multiple independent [plugins](https://github.com/mavlink/MAVSDK/tree/main/src/mavsdk/plugins).
+
+Plugins that are located in the *correct location* (a subfolder of **/plugins**) and have the *correct structure* are built at compile time.
+The [CMakeLists.txt](https://github.com/mavlink/MAVSDK/blob/main/CMakeLists.txt) takes care of including the plugin folders and integration tests.
+
+## Plugin Architecture
+
+Plugins should be written so that they are independent of each other (they will still need to be dependent on the core source).
+This allows plugins to be removed/replaced as needed at the cost of some duplicated functionality across the plugin modules.
+
+The code for each plugin (and its unit test if one has been defined) is stored in a sub-folder of the **plugins** directory.
+Integration tests for all plugins in the library are stored in **integration_tests**.
+
+A simplified view of the folder structure is shown below:
+
+```
+├── MAVSDK
+│   └── src
+│       ├── integration_tests
+│       ├── mavsdk_server
+│       └── mavsdk
+│           ├── core
+│           └── plugins
+│               ├── action
+│               ├── ...
+│               └── tune
+```
+
+Each plugin must have the same files/structure, as shown for the "example" plugin below.
+```
+└── plugins
+    └── example
+        ├── CMakeLists.txt
+        ├── example.cpp
+        ├── example.h
+        ├── example_impl.cpp
+        ├── example_impl.h
+        └── example_foo_test.cpp  ##optional
+```
+
+## Auto-generation
+
+In order to support various language wrappers around MAVSDK without having to write the same things multiple times, once for every language, we opted to use auto-generation as much as possible.
+The APIs are defined as [proto definitions](https://github.com/mavlink/MAVSDK-Proto).
+
+From that, several parts are auto-generated, such as:
+- Language wrappers based on gRPC client (formerly called frontend)
+- gRPC mavsdk_server in C++ (formerly called backend)
+- Plugin C++ headers defining the API.
+
+Looking at the plugin structure again, this means that some of the files are auto-generated:
+
+```
+└── plugins
+    └── example
+        ├── CMakeLists.txt       # auto-generated
+        ├── example.cpp          # auto-generated
+        ├── example.h            # auto-generated
+        ├── example_impl.cpp     # hand-written (can initially be generated)
+        ├── example_impl.h       # hand-written (can initially be generated)
+        └── example_foo_test.cpp  # optional
+```
+
+## Create a Plugin
+
+To create a new plugin **do not copy an existing one**, instead follow the steps below:
+
+### Think about public API
+
+Before writing the API, take a step back and think what a user of it needs and expect, rather than what MAVLink already provides.
+
+Generally, MAVSDK APIs ought to be:
+- Simple and easy to use.
+- Reduced to the essentials; no functionality that is not actually implemented/supported should be exposed.
+- Clearly named and if possible without too much drone jargon and acronyms.
+- Abstracted from the MAVLink implementation and therefore to provide specific functionality instead of just forwarding direct MAVLink.
+
+This advice is important if you are planning to contribute the new plugin back and would like it to get accepted and merged.
+We are convinced it is also applicable for internal development but - of course - that's up to you.
+
+### About proto structure
+
+There are a couple of different API types supported for MAVSDK plugins.
+
+#### Requests:
+
+A request is a simple one time call with a response. An example would be the takeoff command of the action plugin:
+
+```
+service ActionService {
+    rpc Takeoff(TakeoffRequest) returns(TakeoffResponse) {}
+    // all other services
+}
+
+message TakeoffRequest {}
+message TakeoffResponse {
+    ActionResult action_result = 1;
+}
+```
+
+In this case the request has no argument and no return value except the result but this can vary, e.g. for getters and setters:
+```
+service ActionService {
+    rpc GetReturnToLaunchAltitude(GetReturnToLaunchAltitudeRequest) returns(GetReturnToLaunchAltitudeResponse) {}
+    rpc SetReturnToLaunchAltitude(SetReturnToLaunchAltitudeRequest) returns(SetReturnToLaunchAltitudeResponse) {}
+    // all other services
+}
+
+message GetReturnToLaunchAltitudeRequest {}
+message GetReturnToLaunchAltitudeResponse {
+    ActionResult action_result = 1;
+    float relative_altitude_m = 2;
+}
+
+message SetReturnToLaunchAltitudeRequest {
+    float relative_altitude_m = 1;
+}
+message SetReturnToLaunchAltitudeResponse {
+    ActionResult action_result = 1;
+}
+```
+
+> **Note** Requests can defined SYNC, ASYNC, or BOTH using `option (mavsdk.options.async_type) = ...;`.
+  The choice depends on the functionality that is being implemented and how it would generally be used.
+  There are no hard rules, it's something that makes sense to be discussed one by one in a pull request.
+  The default implementation is `BOTH`.
+
+#### Subscriptions:
+
+A subscription is triggered once and will then continuously send responses as a stream. An example would be a the position information of the telemetry plugin:
+
+```
+service TelemetryService {
+    rpc SubscribePosition(SubscribePositionRequest) returns(stream PositionResponse) {}
+    // all other services
+}
+
+
+message SubscribePositionRequest {}
+message PositionResponse {
+    Position position = 1;
+}
+```
+
+> **Note** Subscriptions also can defined SYNC, ASYNC, or BOTH using `option (mavsdk.options.async_type) = ...;`.
+  The sync implementation of a subscription is just a getter for the last received value.
+
+> **Note** Subscriptions can be defined finite using `option (mavsdk.options.is_finite) = true;`.
+  This means that the stream of messages will end at some point instead of continuing indefinitely. An example would be progress updates about a calibration which eventually finishes.
+
+### Add API to proto
+
+The first step should be to define the user API in the [proto repository](https://github.com/mavlink/MAVSDK-Proto).
+This repository is part of the MAVSDK as a submodule in the `proto/` directory.
+
+You usually want to work from master in the `proto/` directory, and then create a feature branch with your additions:
+
+```
+cd proto
+git switch main
+git pull
+git switch -c my-new-plugin
+cd ../
+```
+
+Now you can add a folder with your proto file (or copy an existing one and rename it) and draft the API.
+
+Once the API is defined, it makes sense to commit the changes, push them and make a pull request to [MAVSDK-Proto](https://github.com/mavlink/MAVSDK-Proto) to get feedback from the MAVSDK maintainers.
+
+
+### Generate .h and .cpp files
+
+Once the proto file has been created, you can generate all files required for the new plugin.
+
+1. Run the configure step to prepare the tools required:
+   ```
+   cmake -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
+   ```
+1. Install `protoc_gen_mavsdk` which is required for the auto-generation:
+   ```
+   pip3 install --user protoc_gen_mavsdk  # Or however you install pip packages
+   ```
+1. Run the auto-generation:
+   ```
+   tools/generate_from_protos.sh
+   ```
+1. Fix style after auto-generation:
+   ```
+   tools/fix_style.sh .
+   ```
+
+> **Note** the files `my_new_plugin.h` and `my_new_plugin.cpp` are generated and overwritten every time the script is run.
+  However, the files `my_new_plugin_impl.h` and `my_new_plugin_impl.cpp` are only generated once.
+  To re-generate them, delete them and run the script again.
+  This approach is used to prevent the script from overwriting your local changes.
+
+### Actually implement MAVLink messages
+
+You can now add the actual "business logic" which is usually sending and receiving MAVLink messages, waiting for timeouts, etc.
+All implementation goes into the files `my_new_plugin_impl.h` and `my_new_plugin_impl.cpp` or additional files for separate classes required.
+
+You can also add unit tests with `unittest_source_files`, as [discussed below](#adding_unit_tests).
+
+The [standard plugins](https://github.com/mavlink/MAVSDK/tree/main/src/plugins) can be reviewed for guidance on
+how to write plugin code, including how to send and process MAVLink messages.
+
+## Plugin Code
+
+### Plugin Base Class
+
+All plugins should derive their implementation from `PluginImplBase` (**core/plugin_impl_base.h**) and override virtual methods as needed.
+
+### Plugin Enable/Disable
+
+The SDK provides virtual methods that a plugin should implement to allow the core to better manage resources.
+For example, to prevent callback being created before the `System` is instantiated, or messages being sent when a vehicle is not connected.
+
+Plugin authors should provide an implementation of the following `PluginImplBase` pure virtual methods:
+* [init()](#init)/[deinit()](#deinit): These are called when a system is created and just before it is destroyed. These should be used for setting up and cleaning everything that depends on having the `System` instantiated. This includes calls that set up callbacks.
+* [enable()](#enable)/[disable()](#disable): These are called when a vehicle is discovered or has timed out. They should be used for managing resources needed to access a connected system/vehicle (e.g. getting a parameter or changing a setting).
+
+Additional detail is provided for methods below.
+
+
+##### init() {#init}
+```cpp
+virtual void init() = 0
+```
+
+The `init()` method is called when a plugin is instantiated.
+This happens when a `System` is constructed (this does not mean that the system actually exists and is connected - it might just be an empty dummy system).
+
+Plugins should do initialization steps with other parts of the SDK at this state, e.g. set up callbacks with `_parent` (`DeviceImpl`).
+
+##### deinit() {#deinit}
+```cpp
+virtual void deinit() = 0
+```
+The `deinit()` method is called before a plugin is destroyed. This usually happens only at the very end, when a `MAVSDK` instance is destroyed.
+
+Plugins should cleanup anything that was set up during `init()`.
+
+##### enable() {#enable}
+```cpp
+virtual void enable() = 0
+```
+The `enable()` method is called when a system is discovered (connected).
+Plugins should do all initialization/configuration steps that require a system to be connected.
+For example, setting/getting parameters.
+
+If any threads, call_every or timeouts are needed, they can be started in this method.
+
+##### disable() {#disable}
+```cpp
+virtual void disable() = 0
+```
+The `disable()` method is called when a system has timed out.
+The method is also called before `deinit()` is called to stop any systems with active plugins from communicating (in order to prevent warnings and errors because communication to the system no longer works).
+
+If any threads, call_every, or timeouts are running, they should be stopped in this method.
+
+
+## Test Code {#testing}
+
+Tests must be created for all new and updated plugin code.
+The tests should be exhaustive, and cover all aspects of using the plugin API.
+
+The [Google Test Primer](https://google.github.io/googletest/primer.html)
+provides an excellent overview of how tests are written and used.
+
+
+### Writing Unit Tests
+
+Most of the existing plugins do not have unit tests,
+because we do not yet have the ability to [mock MAVLink communications](https://github.com/mavlink/MAVSDK/issues/148) (needed to test most plugins).
+Unit tests are therefore considered optional!
+
+> **Tip** Comprehensive integration tests should be written instead, with the simulator providing appropriate MAVLink messages.
+
+#### Adding Unit Tests {#adding_unit_tests}
+
+Unit test files are stored in the same directory as their associated source code.
+
+In order to include a test in the SDK unit test program (`unit_tests_runner`),
+it must be added to the `UNIT_TEST_SOURCES` variable in the plugin **CMakeLists.txt** file.
+
+For example, to add the **example_foo_test.cpp** unit test you would
+append the following lines to its **CMakeLists.txt**:
+
+```cmake
+list(APPEND UNIT_TEST_SOURCES
+    ${CMAKE_SOURCE_DIR}/src/plugins/mission/example_foo_test.cpp
+)
+set(UNIT_TEST_SOURCES ${UNIT_TEST_SOURCES} PARENT_SCOPE)
+```
+
+
+#### Unit Test Code
+
+Unit tests typically include the file to be tested, **mavsdk.h**, and **gtest.h**.
+There are no standard shared test unit resources so test functions are declared using `TEST`.
+All tests in a file should share the same test-case name (the first argument to `TEST`).
+
+
+### Writing Integration Tests {#integration_tests}
+
+MAVSDK provides the `integration_tests_runner` application for running the integration tests and some helper code to make it easier to log tests and run them against the simulator.
+
+> **Tip** Check out the [Google Test Primer](https://google.github.io/googletest/primer.html)
+> and the [integration_tests](https://github.com/mavlink/MAVSDK/tree/main/src/integration_tests)
+> for our existing plugins to better understand how to write your own!
+
+
+#### Adding Integration Tests
+
+In order to run an integration test it needs to be added to the `integration_tests_runner` program.
+
+Integration tests for core functionality and plugins delivered by the project
+are stored in [MAVSDK/src/integration_tests](https://github.com/mavlink/MAVSDK/tree/main/src/integration_tests).
+The files are added to the test program in that folder's
+[CMakeLists.txt](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/CMakeLists.txt) file:
+
+```cmake
+# This includes all GTests that run integration tests
+add_executable(integration_tests_runner
+    ../core/unittests_main.cpp
+    simple_connect.cpp
+    async_connect.cpp
+    telemetry_simple.cpp
+    ...
+    gimbal.cpp
+    transition_multicopter_fixedwing.cpp
+    follow_me.cpp
+)
+```
+
+
+#### Integration Test Files/Code
+
+The main MAVSDK-specific functionality is provided by [integration_test_helper.h](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/integration_test_helper.h).
+This provides access to the [Plugin/Test Logger](../guide/dev_logging.md) and a shared test class `SitlTest` for setting up and tearing down the PX4 simulator.
+
+> **Note** All tests running against SITL can be declared using `TEST_F` and have a first argument `SitlTest` as shown.
+  This is required in order to use the shared class to set up and tear down the simulator between tests.
+
+For reference inspect the [existing integration tests](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests).
+
+## Example Code
+
+> **Note** It is quicker and easier to write and modify [integration tests](#integration_tests) than examples.
+> Do not write example code until the plugin has been accepted!
+
+A simple example should be written that demonstrates basic usage of its API by 3rd parties.
+The example need not cover all functionality, but should demonstrate enough that developers can see how it is used and how the example might be extended.
+
+Where possible examples should demonstrate realistic use cases such that the code can usefully be copied and reused by external developers.
+
+
+## Documentation
+
+### In-Source Comments
+
+The public API must be fully documented using the proto files.
+
+> **Tip** The in-source comments will be compiled to markdown and included in the [API Reference](../api_reference/index.md).
+> The process is outlined in [Documentation > API Reference](documentation.md#api-reference).
+
+Internal/implementation classes need not be documented, but should be written using expressive naming of variables and functions to help the reader.
+Anything unexpected or special however warrants an explanation as a comment.
+
+### Example Code Documentation
+
+The plugin example should be documented in markdown following the same pattern as the existing [examples](../examples/index.md).
+
+Generally this involves explaining what the example does and displaying the source.
+The explanation of how the code works is usually deferred to [guide documentation](#guide).
+
+
+### Guide Documentation {#guide}
+
+Ideally, [guide](../guide/index.md) documentation should be created. This should be based on example code.
+
+The purpose of the guide is to:
+* Show how different parts of the API can be used together
+* Highlight usage patterns and limitations that may not be obvious from API reference
+* Provide code fragments that can easily be reused
+
diff --git a/docs/en/cpp/contributing/release.md b/docs/en/cpp/contributing/release.md
new file mode 100644
index 0000000000..b869ff1509
--- /dev/null
+++ b/docs/en/cpp/contributing/release.md
@@ -0,0 +1,55 @@
+# Make MAVSDK Release
+
+These are the instructions on how to get a release out the door.
+
+> **Note** The idea is of course to automate this as much as possible!
+
+## MAVSDK part
+
+1. Check if all open pull requests are merged that need to go in.
+1. Check that CI on `main` passed.
+1. Create tag in `main`:
+   ```
+   git switch main
+   git pull
+   git tag vX.Y.Z
+   git push origin vX.Y.Z
+   ```
+1. - Generate changelog using `tools/generate_changelog.py --token TOKEN_FROM_GITHUB --verbose --tag vX.Y.Z`.
+   - If it finds old/wrong PRs, wait a bit or create the release from the tag in the [GitHub UI](https://github.com/mavlink/MAVSDK/releases).
+   - Once it finds the correct PRs it will check all of them for labels. Make sure all merged PRs have sensible labels (e.g. `enhancement`, `bug`, or `feature`).
+   - Copy the changelog text to the [release](https://github.com/mavlink/MAVSDK/releases).
+1. Check later if all artifacts have been uploaded correctly to the release.
+1. Update the Arch AUR repository. This depends on the AUR maintainter's credentials (currently julianoes).
+   - Use the repo: `ssh://aur@aur.archlinux.org/mavsdk.git`.
+   - Bump the version in `pkgver=X.Y.Z`.
+   - Check PKGBUILD: `namcap PKGBUILD`.
+   - Try to make pkg: `makepkg`.
+   - Update `.SRCINFO`: `makepkg --printsrcinfo > .SRCINFO`.
+   - Commit and push.
+1. Update the brew repo. Steps for macOS:
+   - `export HOMEBREW_GITHUB_API_TOKEN=<GITHUB API TOKEN>`
+   - `brew bump-formula-pr mavsdk --tag=vX.Y.Z --revision=<GIT HASH>`
+   - This should then open the browser with the pull request already created.
+
+## MAVSDK-docs part
+
+1. [Generate the docs](../guide/build_docs.md) and update the reference docs.
+1. Check or update the examples in the docs.
+1. Create a branch off `main` for the release
+   - Create the branch
+     ```
+     git switch main
+     git pull
+     git switch -c vX.Y
+     ```
+   - Modify **book.json** in the vX.Y branch to change the value of `github_branch` to match the new branch: `"github_branch": "vX.Y"`
+   - Push the branch to the upstream repo
+     ```
+     git push origin vX.Y
+     ```
+1. Add the branch to the version checker in main branch [book.json](https://github.com/mavlink/MAVSDK-docs/blob/main/book.json) (see pattern below `versions`).
+
+## Other
+
+1. Post a note on Slack #mavsdk.
diff --git a/docs/en/cpp/examples/autopilot_server.md b/docs/en/cpp/examples/autopilot_server.md
new file mode 100644
index 0000000000..e2490dfa89
--- /dev/null
+++ b/docs/en/cpp/examples/autopilot_server.md
@@ -0,0 +1,256 @@
+# Example: Autopilot Server
+
+The [Autopilot Server](https://github.com/mavlink/MAVSDK/tree/main/examples/autopilot_server) example creates two instances of MAVSDK, representing a client (GCS) and a server (Vehicle).
+The MAVSDK instances communicates with each other via UDP transmitting telemetry, publishing parameters, missions and takeoff commands.
+
+> **Note** This example shows how to use [MAVSDK Server Plugins](../server_plugins.md)!
+> This is a good starting point if you are looking to implement MAVLink services to a non-MAVLink compatible system.
+
+
+## Running the Example {#run_example}
+
+The example is built and run in the normal way ([as described here](../examples/index.md#trying_the_examples)).
+
+The example terminal output should be similar to that shown below:
+
+> **Note** This is from a debug build of the SDK.
+  A release build will omit the "Debug" messages.
+
+```
+$ ./autopilot_server
+```
+```
+[04:44:24|Info ] MAVSDK version: v0.44.0 (mavsdk_impl.cpp:29)
+[04:44:24|Info ] MAVSDK version: v0.44.0 (mavsdk_impl.cpp:29)
+Connected!
+[04:44:24|Error] Sending message failed (mavsdk_impl.cpp:278)
+[04:44:24|Debug] Initializing connection to remote system... (mavsdk_impl.cpp:473)
+Connected autopilot server side!
+Sleeping thread 
+[04:44:24|Info ] New system on: 127.0.0.1:40799 (with sysid: 1) (udp_connection.cpp:194)
+[04:44:24|Debug] New: System ID: 1 Comp ID: 1 (mavsdk_impl.cpp:475)
+[04:44:24|Debug] Component Autopilot (1) added. (system_impl.cpp:372)
+[04:44:24|Debug] New: System ID: 245 Comp ID: 190 (mavsdk_impl.cpp:222)
+[04:44:24|Debug] Component Unsupported component (190) added. (system_impl.cpp:372)
+[04:44:25|Debug] Discovered 1 component(s) (system_impl.cpp:520)
+Discovered Autopilot from Client
+[04:44:25|Debug] Autopilot Capabilities Request (system_impl.cpp:297)
+Setting System
+MissionRawServer created
+[04:44:35|Debug] Setting interval for msg id: 245 interval_ms:1000 (telemetry_server_impl.cpp:38)
+[04:44:35|Debug] Request Param CAL_GYRO0_ID (mavlink_parameters.cpp:756)
+[04:44:35|Debug] Request Param CAL_ACC0_ID (mavlink_parameters.cpp:756)
+[04:44:35|Debug] Request Param CAL_MAG0_ID (mavlink_parameters.cpp:756)
+[04:44:35|Debug] Request Param SYS_HITL (mavlink_parameters.cpp:756)
+[04:44:40|Warn ] command unsupported (512). (mavlink_commands.cpp:205)
+[04:44:41|Debug] Falling back to gimbal protocol v1 (mission_impl.cpp:131)
+[04:44:45|Debug] Request Param my_param (mavlink_parameters.cpp:756)
+Found Param my_param: 1
+Creating Mission
+Uploading mission...
+SystemID1
+[04:44:45|Debug] Receive Mission Count in Server (mission_raw_server_impl.cpp:150)
+Received Uploaded Mission!
+mission_plan:
+{
+    mission_items: [mission_item:
+{
+    seq: 0
+    frame: 6
+    command: 16
+    current: 1
+    autocontinue: 1
+    param1: 0.5
+    param2: 1
+    param3: 0
+    param4: nan
+Mission uploaded.    x: 
+473981703
+    y: 85456490
+    z: 10
+    mission_type: 0
+}, mission_item:
+{
+    seq: 1
+    frame: 2
+    command: 178
+    current: 0
+    autocontinue: 1
+    param1: 1
+    param2: 5
+    param3: -1
+    param4: 0
+    x: 0
+    y: 0
+    z: nan
+    mission_type: 0
+}, mission_item:
+{
+    seq: 2
+    frame: 2
+    command: 204
+    current: 0
+    autocontinue: 1
+    param1: 2
+    param2: 0
+    param3: 0
+    param4: 1
+    x: 0
+    y: 0
+    z: 2
+    mission_type: 0
+}, mission_item:
+{
+    seq: 3
+    frame: 2
+    command: 205
+    current: 0
+    autocontinue: 1
+    param1: 20
+    param2: 0
+    param3: 60
+    param4: nan
+    x: 0
+    y: 0
+    z: 2
+    mission_type: 0
+}]
+}
+Current Item Changed!
+Current Item: mission_item:
+{
+    seq: 0
+    frame: 6
+    command: 16
+    current: 1
+    autocontinue: 1
+    param1: 0.5
+    param2: 1
+    param3: 0
+    param4: nan
+    x: 473981703
+    y: [8545649004:44:45|Debug] 
+    z: 10
+    mission_type: 0
+}
+current: 0, total: 1Current Item Changed! (
+Current Item: mission_item:
+{
+mission_impl.cpp    seq: 1
+    frame: 2
+    command: 178
+    current: 0
+    autocontinue: 1
+    param1: :1839)
+Current: 0
+Total: 1
+
+    param2: 5
+    param3: -1
+    param4: 0
+    x: 0
+    y: 0
+    z: nan
+    mission_type: 0
+}
+[Current Item Changed!
+Current Item: mission_item:
+{
+    seq: 2
+    frame: 2
+    command: 204
+    current: 0
+    autocontinue: 1
+    param1: 2
+    param2: 0
+    param3: 0
+    param4: 1
+    x: 0
+    y: 0
+    z: 2
+    mission_type: 0
+}
+Current Item Changed!
+Current Item: mission_item:
+{
+    seq: 3
+    frame: 2
+    command: 205
+    current: 0
+    autocontinue: 1
+    param1: 20
+    param2: 0
+    param3: 60
+    param4: nan
+    x: 0
+    y: 0
+    z: 2
+    mission_type: 0
+}
+Current Item Changed!
+Current Item: mission_item:
+{
+    seq: 0
+    frame: 6
+    command: 16
+    current: 1
+    autocontinue: 1
+    param1: 0.5
+    param2: 1
+    param3: 0
+    param4: nan
+    x: 473981703
+    y: 85456490
+    z: 10
+    mission_type: 0
+}
+04:44:45|Debug] current: 1, total: 1 (mission_impl.cpp:839)
+Current: 1
+Total: 1
+Clear All Mission!
+Clear Mission Request
+[04:45:05|Debug] Setting interval for msg id: 33 interval_ms:1000 (telemetry_server_impl.cpp:38)
+Arming...
+Altitude: 0 m
+[04:45:05|Debug] Set Param Request: MIS_TAKEOFF_ALT (mavlink_parameters.cpp:724)
+Taking off...
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+Altitude: 10 m
+...
+```
+
+## How it works
+
+By creating two MAVSDK instances on separate threads, configuring them and then using different plugins on each, we are able to create a full MAVLink system (GCS <-> Vehicle)
+in one program.
+
+Each plugin (and it's respective server plugin) implements a particular MAVLink service.
+By utilising the server plugins and client plugins we are able to create a full MAVLink
+system, without the need for a separate external autopilot.
+
+## Source code {#source_code}
+
+- [CMakeLists.txt](https://github.com/mavlink/MAVSDK/blob/main/examples/autopilot_server/CMakeLists.txt)
+- [autopilot_server.cpp](https://github.com/mavlink/MAVSDK/blob/main/examples/autopilot_server/autopilot_server.cpp)
diff --git a/docs/en/cpp/examples/fly_mission.md b/docs/en/cpp/examples/fly_mission.md
new file mode 100644
index 0000000000..c984731767
--- /dev/null
+++ b/docs/en/cpp/examples/fly_mission.md
@@ -0,0 +1,101 @@
+# Example: Fly Mission
+
+The [Fly Mission](https://github.com/mavlink/MAVSDK/tree/main/examples/fly_mission) example shows how to create, upload, and run, pause, and restart missions using the SDK.
+
+![Fly Mission QGC Screenshot](../../../assets/examples/fly_mission/fly_mission_example_qgc.jpg)
+
+
+## Running the Example {#run_example}
+
+The example is built and run in the normal way ([as described here](../examples/index.md#trying_the_examples)).
+
+The example terminal output should be similar to that shown below:
+
+> **Note** This is from a debug build of the SDK.
+  A release build will omit the "Debug" messages.
+
+```
+$ ./fly_mission udp://:14540
+```
+```
+Waiting to discover system...
+[09:36:08|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)
+[09:36:08|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:292)
+[09:36:08|Debug] Component Autopilot added. (system_impl.cpp:339)
+[09:36:08|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-07-09/1 (system_impl.cpp:277)
+[09:36:09|Debug] Found 1 component(s). (system_impl.cpp:466)
+[09:36:09|Debug] Discovered 4294967298 (system_impl.cpp:468)
+Discovered system with UUID: 4294967298
+Waiting for system to be ready
+System ready
+Creating and uploading mission
+Uploading mission...
+[09:36:10|Debug] Send mission item 0 (mission_impl.cpp:898)
+[09:36:10|Debug] Send mission item 1 (mission_impl.cpp:898)
+...
+[09:36:10|Debug] Send mission item 19 (mission_impl.cpp:898)
+[09:36:10|Debug] Send mission item 20 (mission_impl.cpp:898)
+[09:36:10|Debug] Send mission item 21 (mission_impl.cpp:898)
+[09:36:10|Debug] Send mission item 22 (mission_impl.cpp:898)
+[09:36:10|Info ] Mission accepted (mission_impl.cpp:163)
+Mission uploaded.
+Arming...
+[09:36:10|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:277)
+Armed.
+Starting mission.
+Started mission.
+Mission status update: 0 / 6
+[09:36:10|Debug] MAVLink: info: Executing Mission (system_impl.cpp:277)
+[09:36:10|Debug] MAVLink: info: Takeoff to 10.0 meters above home. (system_impl.cpp:277)
+[09:36:10|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:277)
+Mission status update: 0 / 6
+Mission status update: 0 / 6
+Mission status update: 1 / 6
+...
+Mission status update: 1 / 6
+Mission status update: 2 / 6
+Mission status update: 2 / 6
+Pausing mission...
+Mission paused.
+[09:36:28|Debug] MAVLink: critical: MANUAL CONTROL LOST (at t=41381ms) (system_impl.cpp:277)
+[09:36:28|Debug] MAVLink: info: MANUAL CONTROL REGAINED after 541ms (system_impl.cpp:277)
+Resuming mission...
+Resumed mission.
+Mission status update: 2 / 6
+...
+Mission status update: 2 / 6
+Mission status update: 3 / 6
+...
+Mission status update: 3 / 6
+Mission status update: Mission status update: 44 / 6 / 6
+
+Mission status update: 4 / 6
+...
+Mission status update: 4 / 6
+Mission status update: 5 / 6
+...
+Mission status update: 5 / 6
+[09:37:00|Debug] MAVLink: info: Mission finished, loitering. (system_impl.cpp:277)
+Mission status update: 6 / 6
+Commanding RTL...
+Commanded RTL.
+[09:37:01|Debug] MAVLink: info: RTL HOME activated (system_impl.cpp:277)
+[09:37:01|Debug] MAVLink: info: RTL: climb to 518 m (31 m above home) (system_impl.cpp:277)
+[09:37:09|Debug] MAVLink: info: RTL: return at 518 m (31 m above home) (system_impl.cpp:277)
+[09:37:16|Debug] MAVLink: info: RTL: descend to 493 m (5 m above home) (system_impl.cpp:277)
+[09:37:41|Debug] MAVLink: info: RTL: loiter 5.0s (system_impl.cpp:277)
+[09:37:46|Debug] MAVLink: info: RTL: land at home (system_impl.cpp:277)
+[09:37:56|Debug] MAVLink: info: Landing detected (system_impl.cpp:277)
+[09:37:59|Debug] MAVLink: info: DISARMED by auto disarm on land (system_impl.cpp:277)
+Mission status update: 6 / 6
+Disarmed, exiting.
+```
+
+## How it works
+
+The operation of most of this code is discussed in the guide: [Missions](../guide/missions.md).
+
+## Source code {#source_code}
+
+- [CMakeLists.txt](https://github.com/mavlink/MAVSDK/blob/main/examples/fly_mission/CMakeLists.txt)
+- [fly_mission.cpp](https://github.com/mavlink/MAVSDK/blob/main/examples/fly_mission/fly_mission.cpp)
diff --git a/docs/en/cpp/examples/follow_me.md b/docs/en/cpp/examples/follow_me.md
new file mode 100644
index 0000000000..6514ce2cb4
--- /dev/null
+++ b/docs/en/cpp/examples/follow_me.md
@@ -0,0 +1,114 @@
+# Example: Follow Me Mode
+
+This example demonstrates how to use the [Follow Me](../guide/follow_me.md) plugin.
+It shows how to send the drone both the current position of the target (`FollowMe::TargetLocation`) and the relative position at which it should follow (`FollowMe::Config`).
+
+![Follow Me QGC Screenshot](../../../assets/examples/follow_me/follow_me_example_qgc.jpg)
+
+> **Note** A real application using this API will get the position information from the underlying operating system.
+  The example uses a fake position source (`FakeLocationProvider`) to enable it to be run on computers that do not have position information.
+  The `FakeLocationProvider` emulates the typical usage of common positioning APIs used in Android, Linux and iPhone.
+
+
+## Running the Example {#run_example}
+
+Special notes for this example:
+
+* Before running this example you will need to install Boost libraries. For Linux this is done as shown below:
+  ```sh
+  sudo apt-get install libboost-all-dev
+  ```
+* To use *QGroundControl* with this example you **must** ensure that *GSC Position Streaming* is disabled (otherwise QGC and the SDK will both send position updates and they will conflict).
+  To do this use the latest *QGC Daily Build* and ensure that the **[Application Setting > General](https://docs.qgroundcontrol.com/en/SettingsView/General.html) > Miscellaneous > Stream GCS Position** is set to *Never*.
+
+Otherwise the example is built and run in the normal way ([as described here](../examples/index.md#trying_the_examples)).
+
+The example terminal output should be similar to that shown below:
+
+> **Note** This is from a debug build of the SDK.
+  A release build will omit the "Debug" messages.
+
+```
+$ ./follow_me udp://:14540
+```
+```
+[01:55:59|Info ] DronecodeSDK version: 0.2.8 (dronecode_sdk_impl.cpp:25)
+Wait for system to connect via heartbeat
+[01:55:59|Info ] New device on: 127.0.0.1:14580 (udp_connection.cpp:200)
+[01:55:59|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:286)
+[01:55:59|Debug] Component Autopilot added. (system_impl.cpp:335)
+[01:56:00|Debug] Found 1 component(s). (system_impl.cpp:462)
+[01:56:00|Debug] Discovered 4294967298 (system_impl.cpp:464)
+Waiting for system to be ready
+...
+Waiting for system to be ready
+System is ready
+Armed
+[01:56:07|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:273)
+In Air...
+[01:56:07|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:273)
+[01:56:07|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:273)
+[01:56:07|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:273)
+[FlightMode: Takeoff] Vehicle is at: nan, nan degrees.
+[FlightMode: Takeoff] Vehicle is at: nan, nan degrees.
+[FlightMode: Hold] Vehicle is at: nan, nan degrees.
+[01:56:12|Debug] Waiting for the system confirmation of the new configuration.. (follow_me_impl.cpp:81)
+[FlightMode: FollowMe] Vehicle is at: nan, nan degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54559 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54563 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54567 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.5457 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54574 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54577 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54581 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54588 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54592 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3974, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3975, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3976, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54595 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54592 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54588 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54581 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54577 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54574 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.5457 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54567 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54563 degrees.
+[FlightMode: FollowMe] Vehicle is at: 47.3977, 8.54563 degrees.
+waiting until landed
+[01:56:53|Debug] MAVLink: info: Landing at current position (system_impl.cpp:273)
+waiting until landed
+...
+waiting until landed
+[01:57:12|Debug] MAVLink: info: Landing detected (system_impl.cpp:273)
+[01:57:12|Debug] MAVLink: info: DISARMED by auto disarm on land (system_impl.cpp:273)
+Landed...
+```
+
+## How it works
+
+The example registers with `FakeLocationProvider` for location updates.
+These are passed to the Follow Me plugin, which in turn sends them to the vehicle.
+
+The operation of the "SDK-specific" part of this code is discussed in the guide: [Follow Me](../guide/follow_me.md).
+
+
+## Source code {#source_code}
+
+- [CMakeLists.txt](https://github.com/mavlink/MAVSDK/blob/main/examples/follow_me/CMakeLists.txt)
+- [follow_me.cpp](https://github.com/mavlink/MAVSDK/blob/main/examples/follow_me/CMakeLists.txt)
diff --git a/docs/en/cpp/examples/index.md b/docs/en/cpp/examples/index.md
new file mode 100644
index 0000000000..9df3e8820a
--- /dev/null
+++ b/docs/en/cpp/examples/index.md
@@ -0,0 +1,98 @@
+# C++ Examples
+
+> **Tip** Information about *writing* example code is covered in the [Contributing > Writing Plugins](../contributing/plugins.md) (*plugin developers* should initially create [integration tests](../contributing/plugins.md#integration_tests) rather than examples for new code).
+
+This section contains examples showing how to use MAVSDK.
+
+Example | Description
+--- | ---
+[Battery](https://github.com/mavlink/MAVSDK/tree/main/examples/battery) | Simple example to demonstrate how to imitate a smart battery.
+[Calibrate](https://github.com/mavlink/MAVSDK/tree/main/examples/calibrate) | Simple example showing how to initiate calibration of gyro, accelerometer, magnetometer.
+[Fly Mission](../examples/fly_mission.md) | Shows how to create, upload, and run missions.
+[Fly Multiple Drones](https://github.com/mavlink/MAVSDK/tree/main/examples/fly_multiple_drones) | Example to connect multiple vehicles and make them follow their own separate plan file. Also saves the telemetry information to CSV files.
+[Follow Me Mode](../examples/follow_me.md) | Demonstrates how to put vehicle in [Follow Me Mode](../guide/follow_me.md) and set the current target position and relative position of the drone.
+[GeoFence Inclusion](https://github.com/mavlink/MAVSDK/tree/main/examples/geofence_inclusion) | Demonstrates how to define and upload a simple polygonal inclusion GeoFence.
+[MAVShell](https://github.com/mavlink/MAVSDK/tree/main/examples/mavshell) | Creates and starts an interactive shell session.
+[MAVLink FTP Client](https://github.com/mavlink/MAVSDK/tree/main/examples/ftp_client) | Demonstrates how to create/use a [MAVLink FTP client](https://mavlink.io/en/services/ftp.html).
+[MAVLink FTP Server](https://github.com/mavlink/MAVSDK/tree/main/examples/ftp_server) | Demonstrates how to start/set up a [MAVLink FTP server](https://mavlink.io/en/services/ftp.html).
+[Multiple Drones](https://github.com/mavlink/MAVSDK/tree/main/examples/multiple_drones) | Example to connect multiple vehicles and make them take off and land in parallel.
+[Offboard Velocity Control](../examples/offboard_velocity.md) | Demonstrates how to control a vehicle in Offboard mode using velocity commands (in both the NED and body frames).
+[Takeoff and Land](../examples/takeoff_and_land.md) | Shows basic usage of the SDK (connect to port, detect system (vehicle), arm, takeoff, land, get telemetry)
+[VTOL Transitions](../examples/transition_vtol_fixed_wing.md) | Shows how to transition a VTOL vehicle between copter and fixed-wing modes.
+[Tune](https://github.com/mavlink/MAVSDK/tree/main/examples/tune) | Shows how to construct and play a tune.
+
+The examples are "largely" built and run in the same way, as described in the following section (any exceptions are covered in the page for the associated example).
+
+> **Warning** Some of the examples define flight behaviour relative to the default home position in the simulator (e.g. [Fly Mission](../examples/fly_mission.md)).
+  Care should be taken if using them on a real vehicle.
+
+## Trying the Examples {#trying_the_examples}
+
+The easiest way to test the examples is to use a [simulated PX4 vehicle](https://docs.px4.io/master/en/simulation/) that is running on the same computer.
+First start PX4 in SITL (Simulation), optionally start *QGroundControl* to observe the vehicle, then build and run the example code.
+
+> **Note** The simulator broadcasts to the standard PX4 UDP port for connecting to offboard APIs (14540).
+  The examples connect to this port using either [add_any_connection()](../api_reference/classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a405041a5043c610c86540de090626d97) or [add_udp_connection()](../api_reference/classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1aa43dfb00d5118d26ae5aabd0f9ba56b2).
+
+
+### Setting up a Simulator
+
+PX4 supports a [number of simulators](https://docs.px4.io/master/en/simulation/).
+In order to set up the [jMAVSim](https://docs.px4.io/master/en/simulation/jmavsim.html) or [Gazebo](https://docs.px4.io/master/en/simulation/gazebo.html) simulator, you can simply follow the standard PX4 toolchain setup instructions for [macOS](https://docs.px4.io/master/en/dev_setup/dev_env_mac.html) or [Ubuntu Linux](https://docs.px4.io/master/en/dev_setup/dev_env_linux_ubuntu.html).
+
+> **Note** JMAVSim can only be used to simulate multicopters.
+  Gazebo additionally supports a number of [other vehicles](https://docs.px4.io/master/en/simulation/gazebo.html#html#running-the-simulation) (e.g. VTOL, Rovers, fixed-wing etc.).
+
+After running a standard installation, a simulation can be started from the PX4 **/Firmware** directory using the command:
+* Multicopter (jMAVSim): `make px4_sitl jmavsim`
+* Multicopter (Gazebo): `make px4_sitl gazebo`
+* VTOL (Gazebo):  `make px4_sitl gazebo_standard_vtol`
+
+
+### Using QGroundControl
+
+You can use *QGroundControl* to connect to PX4 and observe vehicle movement and behaviour while the examples are running.
+*QGroundControl* will automatically connect to the PX4 simulation as soon as it is started.
+
+See [QGroundControl > Download and Install](https://docs.qgroundcontrol.com/en/getting_started/download_and_install.html) for information about setting up *QGroundControl* on your platform.
+
+
+### Building the Examples {#build_examples}
+
+To build the examples follow the instructions below, replacing *takeoff_and_land* with the name of the specific example.
+
+The examples require the MAVSDK library to be installed.
+See [installation guide](../guide/installation.md) if that is not already the case.
+
+Then build the example:
+```sh
+cd examples/takeoff_and_land/
+cmake -Bbuild -H.
+cmake --build build -j4
+```
+
+> **Note** if MAVSDK is installed locally (e.g. on Windows) you need to pass the location to cmake:
+> ```
+> cmake -Bbuild -DCMAKE_PREFIX_PATH=wherever_mavsdk_is_locally_installed
+> ```
+
+### Running the Examples {#running_the_examples}
+
+You can then run the example, specifying the connection URL as the first argument.
+When running with the Simulator, you will use the connection string: `udp://:14540`
+
+On Linux/macOS you would run the following (from the **/build** directory):
+```sh
+build/takeoff_and_land udp://:14540
+```
+
+For Windows you would run the following (from the **\build\Debug\** directory):
+```cmd
+build\Debug\takeoff_and_land.exe udp://:14540
+```
+
+> **Tip** Most examples will create a binary with the same name as the example.
+> The name that is used is specified in the **CMakeLists.txt** file as the first value in the call to `add_executable()`.
+
+If you have already started the simulation the example code should connect to PX4,
+and you will be able to observe behaviour through the SDK terminal, SITL terminal, and/or *QGroundControl*.
diff --git a/docs/en/cpp/examples/offboard_velocity.md b/docs/en/cpp/examples/offboard_velocity.md
new file mode 100644
index 0000000000..443c084a1b
--- /dev/null
+++ b/docs/en/cpp/examples/offboard_velocity.md
@@ -0,0 +1,63 @@
+# Example: Offboard Velocity
+
+This example shows how to how to control a vehicle in *Offboard mode* using velocity commands (in both the NED and body frames).
+
+![Offboard Mode - Velocity Control QGC Screenshot](../../../assets/examples/offboard_mode/qgc_offboard_velocity.png)
+
+
+## Running the Example {#run_example}
+
+The example is built and run [as described here](../examples/index.md#trying_the_examples) (the standard way).
+
+The example terminal output should be similar to that shown below:
+
+> **Note** This is from a debug build of the SDK.
+  A release build will omit the "Debug" messages.
+
+```
+$ ./offboard udp://:14540
+```
+```
+Wait for system to connect via heartbeat
+[12:53:03|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)
+[12:53:03|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:286)
+[12:53:03|Debug] Component Autopilot added. (mavlink_system.cpp:349)
+[12:53:03|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-05-23/0 (mavlink_system.cpp:286)
+[12:53:04|Debug] Found 1 component(s). (mavlink_system.cpp:481)
+[12:53:04|Debug] Discovered 4294967298 (mavlink_system.cpp:483)
+Waiting for system to be ready
+System is ready
+Armed
+[12:53:05|Debug] MAVLink: info: ARMED by arm/disarm component command (mavlink_system.cpp:286)
+In Air...
+[12:53:05|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (mavlink_system.cpp:286)
+[12:53:05|Debug] MAVLink: info: Takeoff detected (mavlink_system.cpp:286)
+[12:53:05|Debug] MAVLink: critical: Using minimum takeoff altitude: 2.50 m (mavlink_system.cpp:286)
+[NED] Offboard started
+[NED] Turn to face East
+[NED] Go North and back South
+[NED] Turn to face West
+[NED] Go up 2 m/s, turn to face South
+[NED] Go down 1 m/s, turn to face North
+[NED] Offboard stopped
+[BODY] Offboard started
+[BODY] Turn clock-wise and climb
+[BODY] Turn back anti-clockwise
+[BODY] Wait for a bit
+[BODY] Fly a circle
+[BODY] Wait for a bit
+[BODY] Fly a circle sideways
+[BODY] Wait for a bit
+[BODY] Offboard stopped
+[12:54:29|Debug] MAVLink: info: Landing at current position (mavlink_system.cpp:286)
+Landed
+```
+
+## How it works
+
+The operation of most of this code is discussed in the guide: [Offboard Control](../guide/offboard.md).
+
+## Source code {#source_code}
+
+- [CMakeLists.txt](https://github.com/mavlink/MAVSDK/blob/main/examples/offboard/CMakeLists.txt)
+- [offboard_velocity.cpp](https://github.com/mavlink/MAVSDK/blob/main/examples/offboard/offboard.cpp)
diff --git a/docs/en/cpp/examples/takeoff_and_land.md b/docs/en/cpp/examples/takeoff_and_land.md
new file mode 100644
index 0000000000..0d8c2a48e1
--- /dev/null
+++ b/docs/en/cpp/examples/takeoff_and_land.md
@@ -0,0 +1,63 @@
+# Example: Takeoff and Land
+
+This simple example shows the basic use of many MAVSDK features.
+
+It sets up a UDP connection, waits for a vehicle (system) to appear, arms it, and commands it to takeoff.
+After a short wait the vehicle lands.
+While flying the vehicle receives telemetry. The example is implemented in C++ (only).
+
+> **Tip** The full source code for the example [can be found here](https://github.com/mavlink/MAVSDK/tree/main/examples/takeoff_land).
+
+## Running the Example {#run_example}
+
+The example is built and run [as described here](../examples/index.md#trying_the_examples) (the standard way).
+
+The example terminal output should be similar to that shown below:
+
+> **Note** This is from a debug build of the SDK.
+  A release build will omit the "Debug" messages.
+
+```sh
+$ ./takeoff_and_land udp://:14540
+```
+```sh
+Waiting to discover system...
+[06:40:03|Info ] New device on: 127.0.0.1:14557 (udp_connection.cpp:208)
+[06:40:03|Debug] New: System ID: 1 Comp ID: 1 (dronecode_sdk_impl.cpp:292)
+[06:40:03|Debug] Component Autopilot added. (system_impl.cpp:339)
+[06:40:03|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2018-07-09/0 (system_impl.cpp:277)
+[06:40:04|Debug] Found 1 component(s). (system_impl.cpp:466)
+[06:40:04|Debug] Discovered 4294967298 (system_impl.cpp:468)
+Discovered system with UUID: 4294967298
+Vehicle is getting ready to arm
+Altitude: -0.004 m
+Vehicle is getting ready to arm
+Altitude: -0.007 m
+Arming...
+[06:40:07|Debug] MAVLink: info: ARMED by arm/disarm component command (system_impl.cpp:277)
+Taking off...
+[06:40:07|Debug] MAVLink: info: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:277)
+[06:40:07|Debug] MAVLink: info: Takeoff detected (system_impl.cpp:277)
+[06:40:07|Debug] MAVLink: critical: Using minimum takeoff altitude: 2.50 m (system_impl.cpp:277)
+Altitude: 0.96 m
+Altitude: 2.044 m
+Altitude: 2.381 m
+...
+Altitude: 2.502 m
+Altitude: 2.5 m
+Landing...
+[06:40:17|Debug] MAVLink: info: Landing at current position (system_impl.cpp:277)
+Altitude: 1.934 m
+Altitude: 1.208 m
+...
+Altitude: -0.524 m
+Finished...
+```
+
+
+## Source code {#source_code}
+
+> **Tip** The full source code for the example [can be found on Github here](https://github.com/mavlink/MAVSDK/tree/main/examples/takeoff_and_land).
+
+- [CMakeLists.txt](https://github.com/mavlink/MAVSDK/blob/main/examples/takeoff_and_land/CMakeLists.txt)
+- [takeoff_and_land.cpp](https://github.com/mavlink/MAVSDK/blob/main/examples/takeoff_and_land/takeoff_and_land.cpp)
diff --git a/docs/en/cpp/examples/transition_vtol_fixed_wing.md b/docs/en/cpp/examples/transition_vtol_fixed_wing.md
new file mode 100644
index 0000000000..aeda38be6d
--- /dev/null
+++ b/docs/en/cpp/examples/transition_vtol_fixed_wing.md
@@ -0,0 +1,76 @@
+# Example: VTOL Transitions
+
+This example shows how you can use the SDK [Action](../api_reference/classmavsdk_1_1_action.md) class to transition between VTOL copter and fixed-wing modes (and back).
+
+![VTOL Transition QGC Screenshot](../../../assets/examples/transition_vtol_fixed_wing/transition_vtol_fixed_wing_example_qgc.png)
+
+
+## Running the Example {#run_example}
+
+The example must be run against a VTOL aircraft (simulated or otherwise).
+Otherwise the example is built and run [in the standard way](../examples/index.md#trying_the_examples).
+
+> **Tip** Instructions for running the Gazebo simulator for a standard VTOL can be found here: [PX4 Development Guide > Gazebo Simulation](https://docs.px4.io/master/en/simulation/gazebo.html#standard-vtol).
+  jMAVSim does not support VTOL simulation.
+
+The example terminal output for a debug build of the SDK should be similar to that shown below (a release build will omit the "Debug" messages):
+
+```
+$ ./transition_vtol_fixed_wing udp://:14540
+```
+```
+Waiting to discover system...
+[10:24:42|Info ] New system on: 127.0.0.1:14557 (udp_connection.cpp:210)
+[10:24:42|Debug] MAVLink: info: [logger] file: rootfs/fs/microsd/log/2017-11-21/0 (mavlink_system.cpp:286)
+[10:24:43|Debug] Discovered 4294967298 (mavlink_system.cpp:483)
+Discovered system with UUID: 4294967298
+Arming...
+Taking off...
+[10:24:44|Debug] MAVLink: info: ARMED by arm/disarm component command (mavlink_system.cpp:286)
+[10:24:44|Debug] MAVLink: info: Using minimum takeoff altitude: 10.00 m (mavlink_system.cpp:286)
+[10:24:44|Debug] MAVLink: info: Takeoff detected (mavlink_system.cpp:286)
+[10:24:44|Debug] MAVLink: critical: Using minimum takeoff altitude: 10.00 m (mavlink_system.cpp:286)
+Altitude: 0.079 m
+Altitude: 0.507 m
+...
+Altitude: 10.254 m
+Transition to fixedwing...
+Altitude: 10.263 m
+...
+Altitude: 20.72 m
+Altitude: 24.616 m
+Altitude: 22.262 m
+Transition back to multicopter...
+Altitude: 17.083 m
+...
+Return to launch...
+Altitude: 11.884 m
+[10:25:09|Debug] MAVLink: info: RTL: climb to 518 m (29 m above home) (mavlink_system.cpp:286)
+Altitude: 13.61 m
+...
+Altitude: 27.489 m
+Altitude: 28.892 m
+[10:25:18|Debug] MAVLink: info: RTL: return at 517 m (29 m above home) (mavlink_system.cpp:286)
+Altitude: 29.326 m
+Altitude: 29.33 m
+...
+Altitude: 29.323 m
+Altitude: 29.357 m
+Landing...
+[10:25:29|Debug] MAVLink: info: Landing at current position (mavlink_system.cpp:286)
+Altitude: 29.199 m
+Altitude: 28.722 m
+Altitude: 28.189 m
+Altitude: 27.62 m
+Finished...
+```
+
+
+## How it works
+
+The operation of the transition code is discussed in the guide: [Takeoff and Landing (and other actions)](../guide/taking_off_landing.md#transition_vtol).
+
+## Source code {#source_code}
+
+- [CMakeLists.txt](https://github.com/mavlink/MAVSDK/blob/main/examples/transition_vtol_fixed_wing/CMakeLists.txt)
+- [transition_vtol_fixed_wing.cpp](https://github.com/mavlink/MAVSDK/blob/main/examples/transition_vtol_fixed_wing/transition_vtol_fixed_wing.cpp)
diff --git a/docs/en/cpp/guide/build.md b/docs/en/cpp/guide/build.md
new file mode 100644
index 0000000000..d7311570c5
--- /dev/null
+++ b/docs/en/cpp/guide/build.md
@@ -0,0 +1,206 @@
+# Building MAVSDK Library from Source
+
+This section explains how to build and install the MAVSDK C++ library from source for all our target platforms.
+
+Note that there are separate instructions to [build the mavsdk_server](build_mavsdk_server.md).
+
+## Build the C++ Library {#build_mavsdk_cpp_library}
+
+This section explains how to build the library along with its unit and integration tests.
+
+### Requirements {#requirements}
+
+The build requirements are git, cmake, and a compiler such as GCC, Clang, or MSVC.
+
+#### Linux
+
+**Ubuntu**:
+```bash
+sudo apt-get update
+sudo apt-get install build-essential cmake git
+```
+
+**Fedora**:
+```bash
+sudo dnf update
+sudo dnf groupinstall "Development Tools" "Development Libraries"
+sudo dnf install cmake git
+```
+
+**Arch Linux**:
+```bash
+sudo pacman -Sy base-devel cmake git
+```
+
+#### macOS
+
+First install XCode Command line tools:
+```
+xcode-select --install
+```
+
+And [Homebrew](https://brew.sh/) (for cmake).
+Once you have installed brew, you can install `cmake` using `brew` in the terminal:
+```
+brew install cmake
+```
+
+#### Windows
+
+To build the library in Windows, you need:
+
+- [Build Tools for Visual Studio 2022](https://www.visualstudio.com/downloads/): Download and install (only the "Visual C+ Build Tools" are needed from installer).
+- [cmake](https://cmake.org/download/): Download the installer and run it.
+  Make sure to tick "add to PATH" during the installation.
+- [git](https://git-scm.com/download/win) or any other tool to work with git.
+
+> Note: Building using Cygwin or MingW is not supported.
+
+### Getting the source
+
+Download the source using git:
+```bash
+git clone https://github.com/mavlink/MAVSDK.git
+```
+
+Make sure to get all the submodules as well:
+```
+git submodule update --init --recursive
+```
+
+### Building Fundamentals
+
+Building the MAVSDK with CMake is broken down into two steps: **Configuration** and **Build**.
+
+#### Build Configuration Step {#configuration_step}
+For configuration, you specify the type of build you want to execute in the [build step](#build_step). You can checkout the [CMake Documentation on Build Configuration](https://cmake.org/cmake/help/latest/manual/cmake-buildsystem.7.html#build-configurations) for more context.
+
+A typical configuration command example would be:
+
+`cmake -DCMAKE_BUILD_TYPE=Debug -Bbuild/default -H.`
+
+- Build type is set to `Debug`
+- Build directory is set to `build/default`
+- Chose the directory using the `H.` flag
+
+During the configure step you can set more flags using `-DFLAG=Value`:
+
+- `CMAKE_BUILD_TYPE`: as documented above, to chose between `Debug` and `Release` build.
+- `CMAKE_INSTALL_PREFIX`: as documented above, to specify directory to install library artifacts.
+- `BUILD_SHARED_LIBS`: set to `ON` to build dynamic libraries (such as .so on Linux, .dylib on macOS, .dll on Windows). Set to `OFF` to build static libraries (such as .a on Linux and macOS, .lib on Windows).
+- `SUPERBUILD`: set to `OFF` to use system dependencies instead of [third party dependencies](https://github.com/mavlink/MAVSDK/tree/main/third_party) downloaded and built using cmake.
+- `CMAKE_PREFIX_PATH`: can be used to set the path where the dependencies can be found if `SUPERBUILD` is set to `OFF`.
+- `BUILD_MAVSDK_SERVER`: set to `ON` to build mavsdk_server, see instruction to [build mavsdk_server](build_mavsdk_server.md).
+- `ASAN`: set to `ON` to enable address sanitizer.
+- `UBSAN`: set to `ON` to enable undefined behavior sanitizer.
+- `LSAN`: set to `ON` to enable leak sanitizer.
+- `WERROR`: set to `ON` to error on warnings, mostly used for CI.
+
+After the configuration step, everything that will be build in the [build step](#build_step) have been specified, and if you want to change your build configuration (e.g. If you want to build `Debug` build instead of `Release` build), you must execute the [configuration step](#configuration_step) again!
+
+#### Build Step {#build_step}
+In the build step, we finally build the library and binaries and link them.
+
+The stripped down version of the build command would be:
+
+`cmake --build build/default`
+
+- The `--build` signals the CMake to execute the build
+- It uses the build configuration built from the [configuration step](#configuration_step), located at `build/default` folder
+
+Additionally, you can install it in the system with the `--target install` command added as well, which is explained in detail in the [Installing the C++ Library](#install_mavsdk_cpp_library) section below.
+
+### Building
+
+#### Debug
+
+To build the MAVSDK C++ Library for development, use the debug build.
+
+There are 2 steps in building a library: Configure and build.
+```bash
+cmake -DCMAKE_BUILD_TYPE=Debug -Bbuild/default -H.
+cmake --build build/default -j8
+```
+
+####  Release
+
+Once you ship software, make sure to use the release build with optimizations turned on:
+
+**Linux/macOS:**
+
+ ```bash
+ cmake -Bbuild/default -DCMAKE_BUILD_TYPE=Release -H.
+ cmake --build build/default -j8
+ ```
+
+**Windows:**
+
+```bash
+cmake -Bbuild/default -H. -DCMAKE_BUILD_TYPE=Release
+cmake --build build/default -j8 --config Release
+```
+
+> Note: It is not usual to use CMAKE_BUILD_TYPE on Windows (with MSVC), however, our build requires it for the dependencies which are built at configure time.
+
+## Installing the C++ Library {#install_mavsdk_cpp_library}
+
+*Installing* builds the SDK **and** copies the libraries and header files into a "public" location so that they can be referenced by C++ applications (see [Building C++ Apps](../guide/toolchain.md)).
+
+
+### System-wide Install {#sdk_system_wide_install}
+
+You can configure to install system wide by not setting the `CMAKE_INSTALL_PREFIX` in the [configuration step](#configuration_step), since CMake tries to install system wide by default. For Linux/macOS that's `/usr/local`, for Windows it is somewhere in `C:\Program Files`.
+
+To install system-wide the command needs to be run with sudo on Linux/macOS:
+
+```bash
+sudo cmake --build build/default --target install
+```
+
+or run in a command prompt with admin privileges on Windows, or using `runas`:
+
+```bash
+runas cmake --build build/default --target install
+```
+
+> **Warning** Make sure to prevent conflicts between libraries installed in your system.
+> The mavsdk library installed via a .deb or .rpm file will be installed in `/usr/` while the built library will be installed in `/usr/local`.
+> It's recommended to only have one installed at any time to prevent conflicts.
+
+### Local Install {#sdk_local_install}
+
+The install path can be set in the [configuration step](#configuration_step) using `CMAKE_INSTALL_PREFIX`:
+
+For example, to install into the `MAVSDK/install/` folder you would set the `CMAKE_INSTALL_PREFIX` variable to specify a path relative to the folder from which you call `cmake` (or an absolute path).
+```bash
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -Bbuild/default -H.
+cmake --build build/default --target install
+```
+
+> **Tip** If you already have run *cmake* without setting `CMAKE_INSTALL_PREFIX`, you may need to clean the build first:
+  ```sh
+  rm -rf build/default
+  ```
+
+## Troubleshooting
+
+### Git submodules out of date
+
+Some common build issues can be resolved by updating submodules and cleaning the distribution:
+```
+cd MAVSDK
+git submodule update --recursive
+rm -rf build
+```
+
+Then attempt to build again.
+
+### MSVC vs. MingW
+
+We only try to support building using MSVC, MingW is not working, mostly because the defines/flags for it are missing.
+
+### Undefined reference to mavsdk...
+
+If you only just built the library and installed it system-wide may also need to [update the linker cache](http://tldp.org/HOWTO/Program-Library-HOWTO/shared-libraries.html).
+
+On Linux this is done with `sudo ldconfig`.
diff --git a/docs/en/cpp/guide/build_docs.md b/docs/en/cpp/guide/build_docs.md
new file mode 100644
index 0000000000..a4e521ff80
--- /dev/null
+++ b/docs/en/cpp/guide/build_docs.md
@@ -0,0 +1,21 @@
+# Generate API docs from source
+
+The [API reference docs for C++](../api_reference/index.md) are already pre-generated. If you still would like to generate them, you find the instructions to do so below.
+
+## Build API Reference Documentation {#build_api_reference}
+
+The C++ source code is annotated using comments using [Doxygen](http://doxygen.nl/manual/index.html) syntax.
+
+Extract the documentation to markdown files (one per class) on macOS or Linux using the commands:
+```bash
+rm -rf tools/docs # Remove previous docs
+./tools/generate_docs.sh
+```
+The files are created in `/install/docs/markdown`.
+
+> **Note** Extracting the API reference does not yet work automatically on Windows.
+
+<span></span>
+> **Note** The *generate_docs.sh* script [builds the library](build.md), installs it locally to **/install**, and then uses *DOxygen* to create XML documentation in **/install/docs/xml**.
+> The [generate_markdown_from_doxygen_xml.py](https://github.com/mavlink/MAVSDK/blob/main/tools/generate_markdown_from_doxygen_xml.py) script
+> is then run on all files in the */xml* directory to generate markdown files in **/install/docs/markdown**.
diff --git a/docs/en/cpp/guide/build_mavsdk_server.md b/docs/en/cpp/guide/build_mavsdk_server.md
new file mode 100644
index 0000000000..13da9f2e56
--- /dev/null
+++ b/docs/en/cpp/guide/build_mavsdk_server.md
@@ -0,0 +1,82 @@
+# Build mavsdk_server from Source
+
+Language wrappers for MAVSDK other than C++ connect to the MAVSDK C++ core using gRPC. This gRPC server around the MAVSDK C++ library is called mavsdk_server (in the past it was referred to as the backend).
+
+For more information about the architecture, also see [how the auto-generation works](../contributing/autogen.md).
+
+> **Note** It is generally recommended to use pre-built binaries of mavsdk_server from the [releases page](https://github.com/mavlink/MAVSDK/releases), however, if needed, it can also be built manually from source as described below.
+
+## Requirements
+
+The requirements are the same as described in the [library build instructions](build.md#requirements)
+
+## Build on Linux
+
+```
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
+cmake --build build/default -j8
+```
+
+## Build on macOS
+
+```
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
+cmake --build build/default -j8
+```
+
+> **Note:** there is no proper support for the Apple M1 chip yet. One blocker is that there is currently no M1 hardware in GitHub Actions CI available.
+
+## Build on Windows
+
+Open the "x64 Native Tools Command Prompt for VS 2022", cd into the MAVSDK directory, and do:
+
+```
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -H.
+cmake --build build/default -j8
+```
+
+## Build for Android {#build_cpp_android}
+
+Build for Android using the dockcross cross compiler, as described in the [cross-compilation](#cross_compilation_dockcross) section below (e.g. with the `dockcross/android-arm64` image).
+
+## Build for iOS {#build_cpp_iOS}
+
+To build for real iOS devices on macOS:
+
+```sh
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=OS -Bbuild/ios -H.
+cmake --build build/ios
+```
+
+Build for the iOS simulator on macOS:
+
+```sh
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=SIMULATOR64 -Bbuild/ios_simulator -H.
+```
+
+## Cross compilation using dockcross {#cross_compilation_dockcross}
+
+Cross compilation is usually the fastest way to compile for "embedded" platforms like the Raspberry Pi, BeagleBone Blue or Nvidia Jetson (i.e. typically faster than native compilation on device itself).
+
+We recommend using [dockcross](https://github.com/dockcross/dockcross), which is a very convenient tool for cross compilation based on docker (and which supports many platforms).
+
+For example, use the commands below to build for `armv7`:
+
+1. Make sure docker is installed on your system.
+2. Navigate into the SDK directory, and use the commands below:
+   ```
+   cd MAVSDK
+   docker run --rm dockcross/linux-armv7 > ./dockcross-linux-armv7
+   chmod +x ./dockcross-linux-armv7
+   ./dockcross-linux-armv7 cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -Bbuild/linux-armv7 -S.
+   ./dockcross-linux-armv7 cmake --build build/linux-armv7 -j 8
+   ```
+3. If all goes well, `mavsdk_server` is built. You can check the file with:
+   ```
+   ./dockcross-linux-armv7 file build/linux-armv7-release/src/backend/src/mavsdk_server
+   build/linux-armv7-release/src/backend/src/mavsdk_server: ELF 32-bit LSB executable, ARM, EABI5 version 1 (GNU/Linux), dynamically linked, interpreter /lib/ld-linux-armhf.so.3, for GNU/Linux 4.10.8, not stripped
+   ```
+4. The newly built binary can now be copied to the device:
+   ```
+   cp build/linux-armv7/src/backend/src/mavsdk_server somewhere/else
+   ```
diff --git a/docs/en/cpp/guide/code_style.md b/docs/en/cpp/guide/code_style.md
new file mode 100644
index 0000000000..36be2ce052
--- /dev/null
+++ b/docs/en/cpp/guide/code_style.md
@@ -0,0 +1,51 @@
+# C++ Coding Style
+
+This topic contains the C++ formatting and coding guidelines for MAVSDK.
+
+> **Note** These guidelines are not written in stone!
+>   [Start a discussion](../../index.md#getting-help) if you have suggestions for improvement \(the project will consider anything other than "matters of personal taste"\).
+
+## Formatting and White Space
+
+All **.cpp** and **.h** files should be formatted according to the `.clang-format` style.
+
+### Fix style
+
+To automatically fix the formatting, run the command:
+
+```
+./tools/fix_style.sh .
+```
+
+If you don't have clang-format installed or in the correct version, you can use a docker image or install it as explained below:
+
+### Use clang-format in docker
+
+You can just use the pre-built docker image:
+
+```
+tools/run-docker.sh tools/fix_style.sh .
+```
+
+## General Guidelines
+
+The following general guidelines should be used for all code:
+
+* C++17 is encouraged to allow developers to use C++17 features and the C++ STL:
+  Examples:
+
+  * [`std::function`](http://en.cppreference.com/w/cpp/utility/functional/function) and [lambda expressions](http://en.cppreference.com/w/cpp/language/lambda)
+  * [`std::vector`](http://en.cppreference.com/w/cpp/container/vector), [`std::map`](http://www.cplusplus.com/reference/map/map/)
+  * [`std::thread`](http://www.cplusplus.com/reference/thread/thread/), [`std::mutex`](http://en.cppreference.com/w/cpp/thread/mutex)
+
+* `using namespace std` is discouraged \([read why](https://stackoverflow.com/questions/1452721/why-is-using-namespace-std-considered-bad-practice)\).
+  If needed specific declarations can be used in the source files such as `using std::this_thread::sleep_for` to reduce verbosity.
+
+* The usage of namespacing wherever possible is encouraged \(e.g. `enum class` is to be used over `enum`\).
+* Filename extensions should be `.h` for header files and `.cpp` for source files \(for consistency\).
+* Variable and method names should err on the side of verbosity instead of being quick to type and read. Abbreviations are only to be used for small scopes and should not be exposed in public APIs.
+* All variables that have a physical unit should have the unit in the variable name \(e.g. `_m` for meters, `_m_s` for meters/second\).
+* Variable and method names should be `snake_case` and class/struct/enum names `CamelCase`. Private variables should start with an underscore, e.g.: `_variable_name`.
+* Try to exit functions early instead of nesting ifs \([read why](https://softwareengineering.stackexchange.com/questions/18454/should-i-return-from-a-function-early-or-use-an-if-statement)\).
+* We don't use exceptions but use error codes. There are pros and cons for exceptions but given that the public API should be as simple as possible, it makes sense to refrain from exceptions altogether.
+* The use of `std::bind` is discouraged. The aim is to move towards just using lambdas for that purpose instead.
diff --git a/docs/en/cpp/guide/connections.md b/docs/en/cpp/guide/connections.md
new file mode 100644
index 0000000000..3518598b6a
--- /dev/null
+++ b/docs/en/cpp/guide/connections.md
@@ -0,0 +1,184 @@
+# Connecting to Systems (Vehicles)
+
+MAVSDK allows you to connect to multiple vehicles/systems attached to the local WiFi network and/or via serial ports.
+
+In order to detect systems you must first specify the communication ports that MAVSDK will monitor for new systems.
+Once monitoring a port, MAVSDK will automatically detect connected vehicles, add them to its collection, and notify registered users of connection and disconnection events.
+
+## Monitoring a Port
+
+Specify the port(s) to watch using one of the (synchronous) connection method: [add_any_connection()](../api_reference/classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a405041a5043c610c86540de090626d97). The method returns immediately with a [ConnectionResult](../api_reference/namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) indicating whether it succeeded.
+
+The connection details are specified using the string formats shown below:
+
+Connection | URL Format
+--- | ---
+UDP | `udp://[host][:port]`
+TCP | `tcp://[host][:port]`
+Serial | `serial://[path][:baudrate]`
+
+### Connecting over serial
+
+To add a serial connection (e.g. over USB, FTDI, or an SiK radio), you specify the serial port and the baudrate like this:
+
+**On Linux:**
+
+```cpp
+Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
+ConnectionResult connection_result = mavsdk.add_any_connection("serial:///dev/serial/by-id/usb-FTDI_FT232R_USB_UART_XXXXXXXX-if00-port0:57600");
+if (connection_result != ConnectionResult::Success) {
+    std::cout << "Adding connection failed: " << connection_result << '\n';
+    return;
+}
+```
+
+**On Windows:**
+
+```cpp
+Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
+ConnectionResult connection_result = mavsdk.add_any_connection("serial://COM3:57600");
+if (connection_result != ConnectionResult::Success) {
+    std::cout << "Adding connection failed: " << connection_result << '\n';
+    return;
+}
+```
+
+### Connecting over UDP
+
+When connecting over UDP, there are two setups to distinguish: server and client mode.
+
+#### Behave like a server
+
+This is the default connection mode for a ground station listening to a system/vehicle (this is the same as [add_udp_connection()](../api_reference/classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1aa43dfb00d5118d26ae5aabd0f9ba56b2)).
+
+In the server mode, we listen on an local networking interface (`INADDR_ANY`/`0.0.0.0`) on the set port and wait for any heartbeats arriving.
+This means that the drone has to send the UDP packets to that local IP, or broadcast them on the network.
+
+The code snippet below shows how to set up a connection in server mode and listen on the "SDK port 14540":
+
+```cpp
+Mavsdk mavsdk;
+ConnectionResult connection_result = mavsdk.add_any_connection("udp://:14540");
+if (connection_result != ConnectionResult::Success) {
+    std::cout << "Adding connection failed: " << connection_result << '\n';
+    return;
+}
+```
+
+> **Note** The connection string used above (`udp://:14540`) is to the [standard PX4 UDP port](https://docs.px4.io/master/en/simulation/#default-px4-mavlink-udp-ports) for off-board APIs (14540).
+  This is the normal/most common way for offboard APIs to connect to PX4 over WiFi.
+  The standard way to talk to a ground station (e.g. QGC is on port 14550).
+
+#### Behave like a client
+
+If MAVSDK is used on the vehicle or companion side, it sometimes has to actually initiate the connection, rather than listen for it.
+In this case the IP and port, of where it should connect to, has to be set (this is the same as [setup_udp_remote()](../api_reference/classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1adb2a69282a5d3766fd6251662c28616d)). 
+
+E.g. to connect to a ground station on 192.168.1.12, you would do:
+
+```cpp
+Mavsdk mavsdk;
+ConnectionResult connection_result = mavsdk.add_any_connection("udp://192.168.1.12:14550");
+if (connection_result != ConnectionResult::Success) {
+    std::cout << "Adding connection failed: " << connection_result << '\n';
+    return;
+}
+```
+
+E.g. to listen locally to a mavlink-router endpoint at 14551, you would do:
+
+
+```cpp
+Mavsdk mavsdk;
+ConnectionResult connection_result = mavsdk.add_any_connection("udp://:14551");
+if (connection_result != ConnectionResult::Success) {
+    std::cout << "Adding connection failed: " << connection_result << '\n';
+    return;
+}
+```
+
+### Connecting over TCP
+
+For TCP connections, only the client connection is currently implemented.
+This is the same as [add_tcp_connection()](../api_reference/classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a91c7a70c6e8ffa43844f2ce04f2696f0).
+
+```cpp
+Mavsdk mavsdk;
+ConnectionResult connection_result = mavsdk.add_any_connection("tcp://192.168.1.12:14550");
+if (connection_result != ConnectionResult::Success) {
+    std::cout << "Adding connection failed: " << connection_result << '\n';
+    return;
+}
+```
+
+### Register for System-Detection Notifications
+
+MAVSDK monitors any added communication ports for new systems.
+Clients can register for notification when new systems are discovered using [subscribe_on_new_system()](../api_reference/classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a332ae41c7de84d5cfab11fb3e2e65522).
+
+The code fragment below shows how to register a callback (in this case the callback is a lambda function that just prints if a new vehicle has been discovered.
+
+```cpp
+Mavsdk mavsdk;
+... //add ports
+mavsdk.register_on_new_system([]() {
+    std::cout << "Discovered new system\n";
+});
+```
+
+## Iterating all Systems
+
+You can iterate all systems that have been detected by `Mavsdk` (since it was started, over all communication ports) using the [systems()](../api_reference/classmavsdk_1_1_mavsdk.md#classmavsdk_1_1_mavsdk_1a0d0bc4cdab14d96877b52baec5113fa8) method.
+This returns a vector of shared pointers to systems.
+
+The following code fragment shows how to iterate through the systems and checking their MAVLink system ID, whether they are connected, and what components they have:
+
+```cpp
+//Iterate through detected systems
+for (auto system : mavsdk.systems()) {
+    std::cout << "Found system with MAVLink system ID: " << static_cast<int>(system->get_system_id())
+              << ", connected: " << (system->is_connected() ? "yes" : "no")
+              << ", has autopilot: " << (system->has_autopilot() ? "yes" : "no") << '\n';
+}
+```
+
+## Accessing Systems
+
+To access a certain system, pick the one from the vector that you require, or use the first one if only one system is assumed:
+
+
+```cpp
+Mavsdk mavsdk;
+mavsdk.add_udp_connection();
+// Wait for the system to connect via heartbeat
+while (mavsdk.systems().size() == 0) {
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+// System got discovered.
+std::shared_ptr<System> system = mavsdk.systems()[0];
+```
+
+The `System` is used by the MAVSDK plugin classes to query and control the vehicle.
+For more information see [Using Plugins](../guide/using_plugins.md) (and the other guide topics).
+
+## Forwarding MAVLink between connections
+
+It is possible to add multiple connections to MAVSDK and forward all MAVLink messages. To do so, each connection which should forward messages needs to have forwarding set to on.
+
+To forward bi-directional from UDP to serial and serial to UDP, you would set both connections forwarding:
+
+```cpp
+Mavsdk mavsdk;
+mavsdk.add_any_connection("udp://:14540", ForwardingOption::ForwardingOn);
+mavsdk.add_any_connection("serial:///dev/serial/by-id/usb-FTDI_FT232R_USB_UART_XXXXXXXX-if00-port0:57600", ForwardingOption::ForwardingOn);
+```
+
+To forward only in one direction, e.g to send messages arriving on serial over UDP, you would only set up forwarding for the UDP connection:
+
+```cpp
+Mavsdk mavsdk;
+mavsdk.add_any_connection("udp://:14540", ForwardingOption::ForwardingOn);
+mavsdk.add_any_connection("serial:///dev/serial/by-id/usb-FTDI_FT232R_USB_UART_XXXXXXXX-if00-port0:57600", `ForwardingOption::ForwardingOff`);
+```
+
+Note that the default function overload is `ForwardingOption::ForwardingOff`.
diff --git a/docs/en/cpp/guide/dev_logging.md b/docs/en/cpp/guide/dev_logging.md
new file mode 100644
index 0000000000..db70343fa8
--- /dev/null
+++ b/docs/en/cpp/guide/dev_logging.md
@@ -0,0 +1,42 @@
+# Plugin/Test Logging
+
+The MAVSDK provides an API that developers can use for console logging in plugins and integration tests.
+Basic [message logging](#message_logging) can be enabled by building with a specific `#define`.
+
+
+## Plugin Log API
+
+The API methods display a custom message, prepending a timestamp and the type of log message (e.g. debug) and appending the origin of the message (file and line number).
+
+> **Tip** The API should be considered "internal". It is not exported, or intended, for use in SDK apps (and we do not commit to maintaining compatibility in future versions).
+
+### Usage
+
+The API is defined in [src/core/log.h](https://github.com/mavlink/MAVSDK/blob/main/src/core/log.h) (and made available to integration tests via [/src/integration_tests/integration_test_helper.h](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/integration_test_helper.h)).
+
+The API methods are called as shown below for `LogDebug()`, with the insertion operator (`<<`) used to append the message-specific text.
+
+```cpp
+#include "../path-to/core/log.h"
+...
+LogDebug() << "command unsupported (" << something.mavlink_command << ").";
+```
+
+### Log Methods
+
+Function | Description | Example
+--- | --- | ---
+`LogDebug()` | Debug messages.<br> For reporting internal progress/state.<br>*Not displayed in RELEASE builds.* | <code style="color:green;">[04:55:08&#124;Error]</code> `This is a debug message (test_file.cpp:26)`
+`LogInfo()` | Information messages.<br>For reporting progress and status. | <code style="color:#006fb8;">[04:55:08&#124;Error]</code> `This is an information message (test_file.cpp:26)`
+`LogWarn()` | Warning messages.<br>For reporting when vehicle not acting as commanded (e.g. rejecting commands). | <code style="color:#ffc706;">[04:55:08&#124;Error]</code> `This is a warning message (test_file.cpp:26)`
+`LogErr()` | Error messages.<br>For reporting errors in SDK behaviour (e.g. communication link issues/retry failures). | <code style="color:red;">[04:55:08&#124;Error]</code> `This is an error message (test_file.cpp:26)`
+
+
+## Message Logging {#message_logging}
+
+Basic logging is defined in source for both incoming (handled/ignored) and sent MAVLink messages.
+
+This functionality is disabled by default, and available only in debug build when built from source.
+To enable the logs, set `#define MESSAGE_DEBUGGING 1` in [src/core/system.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/core/system.cpp)
+
+<!-- Added: https://github.com/mavlink/MAVSDK/pull/194 -->
diff --git a/docs/en/cpp/guide/follow_me.md b/docs/en/cpp/guide/follow_me.md
new file mode 100644
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+++ b/docs/en/cpp/guide/follow_me.md
@@ -0,0 +1,114 @@
+# Follow Me
+
+The [Follow Me](../api_reference/classmavsdk_1_1_follow_me.md) class is used to engage the PX4 [Follow Me Mode](https://docs.px4.io/master/en/flight_modes/follow_me.html) (multicopter only).
+In this mode a copter will automatically yaw to face and follow a user at a specified position and distance.
+
+The API is used to supply the position(s) for the [target](../api_reference/structmavsdk_1_1_follow_me_1_1_target_location.md) and the relative [follow position](../api_reference/structmavsdk_1_1_follow_me_1_1_config.md) of the vehicle.
+Applications must get target position information from the underlying platform (or some other source). The location APIs for supported platforms are listed below:
+- Android: [Location](https://developer.android.com/reference/android/location/Location.html)
+- Apple: [Core Location Framework](https://developer.apple.com/documentation/corelocation)
+- Windows: [Windows.Devices.Geolocation](https://docs.microsoft.com/en-us/uwp/api/Windows.Devices.Geolocation)
+
+> **Warning** Running *QGroundControl* at the same time as the SDK *Follow Me* may result in unpredictable behaviour as both send position updates.
+> You **must** ensure that *GSC Position Streaming* is disabled.
+> Use the latest *QGC Daily Build* and ensure that the **[Application Setting > General](https://docs.qgroundcontrol.com/en/SettingsView/General.html) > Miscellaneous > Stream GCS Position** is set to *Never*.
+
+## Create the Plugin
+
+> **Tip** `FollowMe` objects are created in the same way as other SDK plugins.
+  General instructions are provided in the topic: [Using Plugins](../guide/using_plugins.md).
+
+The main steps are:
+
+1. [Create a connection](../guide/connections.md) to a `system`.
+   For example (basic code without error checking):
+   ```
+   #include <mavsdk/mavsdk.h>
+   Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
+   ConnectionResult conn_result = mavsdk.add_udp_connection();
+   // Wait for the system to connect via heartbeat
+   while (mavsdk.system().size() == 0) {
+      sleep_for(seconds(1));
+   }
+   // System got discovered.
+   System system = mavsdk.systems()[0];
+   ```
+1. Create an instance of `FollowMe` with the `system`:
+   ```
+   #include <mavsdk/plugins/follow_me/follow_me.h>
+   auto follow_me = FollowMe{system};
+   ```
+
+The `follow_me` object can then used to access the plugin API (as shown in the following sections).
+
+## Set the Follow Configuration
+
+By default the vehicle will follow directly behind the target at a height and distance of 8 metres.
+You can (optionally) call [set_config()](../api_reference/classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1aa76aab9a21bc3ae475bee6a55c0e4d30) at any time to specify a different height, follow distance, relative position (front left/right/centre or behind) and responsiveness to target movements.
+
+The code fragment below shows how to set the configuration:
+```cpp
+// configure follow me behaviour
+FollowMe::Config config;
+config.min_height_m = 12.f;  // Minimum height
+config.follow_distance_m = 20.f;  // Follow distance
+config.responsiveness = 0.2f;  // Higher responsiveness
+config.follow_direction = FollowMe::Config::FollowDirection::FRONT;  //Follow from front-centre
+
+// Apply configuration
+FollowMe::Result config_result = follow_me.set_config(config);
+if (config_result != FollowMe::Result::Success) {
+    // handle config-setting failure (in this case print error)
+    std::cout << "Setting configuration failed:" << config_result << '\n';
+}
+```
+
+The [get_config()](../api_reference/classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1aca2e599cd6fb889b9f80dc7a9da57ee9) method is provided to get the current configuration:
+```cpp
+auto curr_config = follow_me.get_config();
+```
+
+## Following a Target
+
+To start and stop following a target, call [start()](../api_reference/classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a4b6ae3ec1ff07d8b3a79038e04992003) and [stop()](../api_reference/classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a202a7b9edf56d9b883c974a09c14ba7d), respectively - `start()` puts the vehicle into [Follow-Me mode](https://docs.px4.io/master/en/flight_modes/follow_me.html) and `stop()` puts it into [Hold mode](https://docs.px4.io/master/en/flight_modes/hold.html).
+
+Use [set_target_location()](../api_reference/classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1a1a99e282472235f726bfde430873ffd5) to set the target position(s) for the vehicle to follow (the app typically passes its host's current position, which it would obtain using OS-specific methods).
+This can be called at any time, but messages will only be sent once following is started.
+The plugin automatically resends the last set position at the rate required by the autopilot/flight mode (1 Hz).
+
+> **Note** Typically you would call `set_target_location()` before or shortly after starting the mode. If you call `start()` without having set any target location, or if the connection is broken, the vehicle will climb to minimum altitude (if needed) and remain in the mode waiting for messages.
+
+```cpp
+// Start following
+FollowMe::Result follow_me_result = follow_me.start();
+if (follow_me_result != FollowMe::Result::Success) {
+    // handle start failure (in this case print error)
+    std::cout << "Failed to start following:" << follow_me_result << '\n';
+}
+
+
+// Get target position from underlying platform and supply to vehicle.
+//   For this example we just show one point being set (instead of a stream).
+follow_me.set_target_location({ 47.39776569, 8.54553292, 0.f, 0.f, 0.f, 0.f });
+
+
+// Stop following
+follow_me_result = follow_me.stop();
+if (follow_me_result != FollowMe::Result::Success) {
+    // handle stop failure (in this case print error)
+    std::cout << "Failed to stop following:" << follow_me_result << '\n';
+}
+```
+
+The last location that was set can be retrieved using [get_last_location()](../api_reference/classmavsdk_1_1_follow_me.md#classmavsdk_1_1_follow_me_1af2a1af346ee2fa7761b58b406e9e6e0c).
+Before a target position is first set this API will return `Nan`.
+
+
+
+## Further Information
+
+Additional information/examples for the Follow Me API are linked below:
+
+* [Example:Follow Me Mode](../examples/follow_me.md)
+* Integration tests:
+  * [follow_me.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/follow_me.cpp)
diff --git a/docs/en/cpp/guide/general_usage.md b/docs/en/cpp/guide/general_usage.md
new file mode 100644
index 0000000000..e9d9a9ddbe
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+++ b/docs/en/cpp/guide/general_usage.md
@@ -0,0 +1,117 @@
+# SDK Paradigms/Usage
+
+This topic provides general/overview information about how the MAVSDK is used, designed and some limitations.
+
+## Object Management
+
+[Mavsdk](../api_reference/classmavsdk_1_1_mavsdk.md) is the main library class.
+Applications must create a `Mavsdk` object and destroy it during application shut down.
+The object is usually created as an automatic variable that is cleaned up when it goes out of scope (you can also dynamically create/destroy the object using `new`/`delete`).
+
+API consumers use [Mavsdk](../api_reference/classmavsdk_1_1_mavsdk.md) to discover and connect to [System](../api_reference/classmavsdk_1_1_system.md) objects (vehicles/cameras etc.).
+
+Access to drone information and control objects are provided [by plugins](../guide/using_plugins.md) (e.g. Telemetry, Action, Mission etc.).
+Plugin objects are instantiated with a *specific* `System` object (a plugin instance must be created for every system that needs it).
+
+Plugin objects are created as shared pointers that will be destroyed when all associated handles are out of scope.
+All objects are automatically cleaned up when the parent `Mavsdk` object is destroyed.
+
+
+## Error Handling
+
+MAVSDK APIs do not raise exceptions! Instead, methods that can fail return success or an error reason as `enum` values.
+
+> **Tip** The error code usually reflects acknowledgment from the vehicle that it will perform the requested action (or not).
+  The operation itself may not yet have completed (e.g. taking off).
+
+The various classes also all provide stream operators for getting human readable strings from their associated result enum.
+You can see how these are used in the example code.
+
+## Callbacks
+
+Some of the APIs use callbacks, e.g. subscriptions to a stream like [Telemetry::subscribe_position(PositionCallback callback)](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a61bda57b3ca47000ea7e4758b2a33134) or async functions like [Action::takeoff_async(ResultCallback callback)](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1ab658d938970326db41709d83e02b41e6).
+
+All user callbacks are called from one thread.
+Users must not do anything inside a callback that takes a long time to complete, as this will stall subsequent callbacks.
+For more information on how to work with and debug callbacks see [Troubleshooting](../troubleshooting.md#user_callbacks).
+
+
+## Shared Vehicle Control
+
+A vehicle can receive commands from multiple sources, including a Ground Control Station, or other MAVLink applications.
+
+SDK applications, which are running in environments where it is possible, can explicitly monitor for changes in flight mode (outside application control) and change behaviour appropriately (e.g. using [Telemetry::subscribe_flight_mode()](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a53db5fb36bf10fbc7ac004a3be9100a4)).
+
+
+## API Limitations/Behaviour
+
+### Supported Vehicles
+
+The SDK has been designed to manage *aircraft* that use the PX4 autopilot.
+It has primarily been tested for use with multicopters, but also has basic support for fixed wing and [VTOL](../guide/vtol.md).
+
+The APIs include methods that do not make sense for other vehicle types - including "takeoff" and "land".
+While ground vehicles may work, they are not supported and are untested.
+Similarly, other autopilots may well work, but, they are not explicitly supported and are untested.
+
+
+### Connection Strings {#connection_string}
+
+MAVSDK monitors a specified port for vehicles (for the C++ API see [Connecting to Systems (Vehicles)](../guide/connections.md)).
+All programming language libraries reference this port using a *connection string* with the following format:
+
+Connection | URL Format
+--- | ---
+UDP | `udp://[Bind_host][:Bind_port]`
+TCP | `tcp://[Server_host][:Server_port]`
+Serial | `serial://[Dev_Node][:Baudrate]`
+
+Concrete examples are for different platforms are:
+
+Connection type |  String | Example
+--- | --- | ---
+Windows connected to the vehicle via USB (includes USB-connected Telemetry radios).  | `serial:///COMn`,  where `n` = the COM port. Note: `///` will change to `//` in a future release (incorrect on Windows). | `serial:///COM1`
+Linux (e.g Raspberry Pi) connected to the vehicle via Serial port | `serial:///dev/ttyACMn`,  where `n` = the port | `serial:///dev/ttyACM0`
+Linux connected to the vehicle via USB | `serial:///dev/ttyUSBn`,  where `n` = the port | `serial:///dev/ttyUSB0`
+macOS connected to the vehicle via Serial port | `serial:///dev/tty.usbserial-n`,  where `n` = the USB device id | `serial:///dev/tty.usbserial-DA00AG57`
+macOS connected to the vehicle via USB | `serial:///dev/tty.usbmodem-n`,  where `n` = the USB device id | `serial:///dev/tty.usbmodem--DA00AG57`
+SITL connected to the vehicle via UDP | `udp://:14540`
+
+
+### Connection Status
+
+A system is considered to be disconnected (timed-out) if its heartbeat message is not detected within 3 seconds.
+
+
+### Telemetry/Information
+
+The SDK gets and stores vehicle state/telemetry information from received MAVLink messages.
+The information is supplied to callback subscribers as soon as message updates are received.
+Clients can also query the API synchronously, and will get the information from the last received message (depending on channel latency, this information will become increasingly "stale" between messages).
+
+The rate at which update messages are sent by the vehicle can be specified using the API (but will be limited by the bandwidth of the channel).
+Developers need to use a channel and a message update rate that allows their desired control algorithm to be effective - there is no point trying to use computer vision over an unreliable high-latency link.
+
+`Info` information does not change for a particular vehicle, so will be accurate whenever read.
+
+
+### Actions/Offboard
+
+`Action` methods (and any other "vehicle instructions") return when the vehicle has confirmed that the message was received and will be acted on (or not).
+The methods do not wait for the commanded action to complete.
+
+So, for example, the [Action::land()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1af6429e1bdb2875deebfe98ed53da3d41) method returns as soon as the vehicle confirms it will land, but will actually land at some later point.
+
+The implication is that developers will need to separately monitor the completion of the requested actions, if this is important to the application.
+
+
+### Missions
+
+The `Mission` and `MissionItem` APIs provide a the most useful *subset* of MAVLink mission commands as a developer-friendly API.
+
+Not every mission command behaviour supported by the protocol and PX4 will be supported by the SDK.
+For example, at time of writing the API does not allow you to specify commands that jump back to previous mission items.
+
+The API allows you to download/import missions.
+Note however that this will fail if the mission contains a command that is not supported by the API.
+
diff --git a/docs/en/cpp/guide/index.md b/docs/en/cpp/guide/index.md
new file mode 100644
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--- /dev/null
+++ b/docs/en/cpp/guide/index.md
@@ -0,0 +1,3 @@
+# C++ Guide
+
+This guide provides topics showing how to use the MAVSDK APIs to perform common (and not so common) tasks.
diff --git a/docs/en/cpp/guide/installation.md b/docs/en/cpp/guide/installation.md
new file mode 100644
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--- /dev/null
+++ b/docs/en/cpp/guide/installation.md
@@ -0,0 +1,36 @@
+# Installation {#installation}
+
+MAVSDK C++ is a library that can be installed and then used in your C++ code.
+
+The latest release can be installed using prebuilt artefacts. If you need the latest state or want to debug the library itself, you need to [build it from source](build.md).
+
+## Linux
+
+- **Ubuntu:** Download the **.deb** file for your system from [MAVSDK releases](https://github.com/mavlink/MAVSDK/releases) and install it using `dpkg`:
+  ```
+  sudo dpkg -i mavsdk_0.37.0_ubuntu20.04_amd64.deb
+  ```
+
+- **Fedora:** Download the **.rpm** file for your system from [MAVSDK releases](https://github.com/mavlink/MAVSDK/releases) and install it using `rpm`:
+   ```
+   sudo rpm -U mavsdk-0.37.0-1.fc33-x86_64.rpm
+   ```
+
+- **Arch Linux:** mavsdk is available from the [AUR](https://aur.archlinux.org/) and can be installed e.g. using [yay](https://aur.archlinux.org/packages/yay/):
+   ```
+   yay -S mavsdk
+   ```
+
+## macOS
+
+**MacOS:** Install [Homebrew](https://brew.sh/) and use it to install the library:
+```
+brew install mavsdk
+```
+
+## Windows
+
+For Windows you can download the **mavsdk-windows-x64-release.zip** file from [MAVSDK releases](https://github.com/mavlink/MAVSDK/releases) containing the headers and library and extract it locally (see [information how to use a locally installed library](toolchain.md#sdk_local_install)).
+
+> **Note** As the library is installed locally (in a local directory) you need to point cmake to that directory at configure time using `CMAKE_PREFIX_PATH` when building your application.
+> i.e.: `cmake -Bbuild -DCMAKE_PREFIX_PATH=../mavsdk_extracted` -H.
diff --git a/docs/en/cpp/guide/logging.md b/docs/en/cpp/guide/logging.md
new file mode 100644
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+++ b/docs/en/cpp/guide/logging.md
@@ -0,0 +1,46 @@
+# Logging
+MAVSDK core and plugins output some useful log messages during their work.
+By default, the messages are printed to `stdout`. You may want to override this
+behavior, e.g. redirect messages to an external logging system, or disable
+printing messages unless they are important enough.
+
+## Usage
+It is possible to customize logging with a user-defined callback function:
+```c++
+#include <mavsdk/log_callback.h>
+
+// ...
+
+mavsdk::log::subscribe([](mavsdk::log::Level level,   // message severity level
+                          const std::string& message, // message text
+                          const std::string& file,    // source file from which the message was sent
+                          int line) {                 // line number in the source file
+  // process the log message in a way you like
+  my_nice_log(level, message);
+  
+  // returning true from the callback disables printing the message to stdout
+  return level < mavsdk::log::Level::Warn;
+});
+```
+
+In this example all log messages will be passed to `my_nice_log`, and all messages
+having level `Warn` or `Err` will be printed to stdout as well.
+Possible levels are:
+```c++
+enum class Level : int { Debug = 0, Info = 1, Warn = 2, Err = 3 };
+```
+Currently, only one callback is supported. Calling `mavsdk::log::subscribe`
+the second time will overwrite previous callback. To unsubscribe (revert to default
+logging behaviour) call subscribe with a `nullptr` callback:
+```c++
+mavsdk::log::subscribe(nullptr);
+```
+
+## Important notes
+Please note that callback can be called from different threads. Synchronization
+is not handled on MAVSDK's side for performance reasons. You may want to
+implement synchronization yourself if your logging system isn't thread
+safe already.
+
+Avoid doing long duration heavy tasks in the callback, it should return as
+quickly as possible.
diff --git a/docs/en/cpp/guide/missions.md b/docs/en/cpp/guide/missions.md
new file mode 100644
index 0000000000..d471b7734c
--- /dev/null
+++ b/docs/en/cpp/guide/missions.md
@@ -0,0 +1,265 @@
+# Missions
+
+The Mission API (plugin) allows you to create, upload, download, run, pause, restart, jump to item in, and track missions.
+Missions can have multiple "mission items", each which may specify a position, altitude, fly-through behaviour, camera action, gimbal position, and the speed to use when traveling to the next position.
+
+Missions are *managed* though the [Mission](../api_reference/classmavsdk_1_1_mission.md) class, which communicates with the vehicle to upload mission information and run, pause, track the mission progress etc.
+The mission that is uploaded to the vehicle is defined as a vector of [MissionItem](../api_reference/structmavsdk_1_1_mission_1_1_mission_item.md) objects.
+
+> **Tip** The [Mission plugin](../api_reference/classmavsdk_1_1_mission.md) described here only supports a small subset of the full functionality of MAVLink missions. If you require the full mission item spec as MAVLink provides it, you might be better off using the [MissionRaw plugin](../api_reference/classmavsdk_1_1_mission_raw.md).
+> Furthermore MissionRaw allows importing mission from QGroundControl.
+
+## Supported Mission Commands {#supported_mission_commands}
+
+The [MissionItem](../api_reference/structmavsdk_1_1_mission_1_1_mission_item.md) class abstracts a small but useful subset of the mission commands supported by PX4 (and the MAVLink specification):
+
+The supported set is:
+* [MAV_CMD_NAV_WAYPOINT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT)
+* [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED)
+* [MAV_CMD_DO_MOUNT_CONTROL](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_MOUNT_CONTROL)
+* [MAV_CMD_IMAGE_START_CAPTURE](https://mavlink.io/en/messages/common.html#MAV_CMD_IMAGE_START_CAPTURE)
+* [MAV_CMD_IMAGE_STOP_CAPTURE](https://mavlink.io/en/messages/common.html#MAV_CMD_IMAGE_STOP_CAPTURE)
+* [MAV_CMD_VIDEO_START_CAPTURE](https://mavlink.io/en/messages/common.html#MAV_CMD_VIDEO_START_CAPTURE)
+* [MAV_CMD_VIDEO_STOP_CAPTURE](https://mavlink.io/en/messages/common.html#MAV_CMD_VIDEO_STOP_CAPTURE)
+* [MAV_CMD_NAV_LOITER_TIME](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TIME)
+
+Additionally, the following commands are supported only for mission import/download (there are no corresponding `MissionItem` methods):
+* [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND)
+* [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF)
+
+> **Tip** The Mission API does not (at time of writing) provide explicit functionality to "repeat", takeoff, return to land etc.
+> The SDK provides some omitted functionality through the [Action](../guide/taking_off_landing.md) API.
+
+
+## Create the Plugin
+
+> **Tip** `Mission` objects are created in the same way as other MAVSDK plugins.
+  General instructions are provided in the topic: [Using Plugins](../guide/using_plugins.md).
+
+The main steps are:
+
+1. [Create a connection](../guide/connections.md) to a `system`.
+   For example (basic code without error checking):
+   ```
+   #include <mavsdk/mavsdk.h>
+   Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
+   ConnectionResult conn_result = mavsdk.add_udp_connection();
+   // Wait for the system to connect via heartbeat
+   while (mavsdk.system().size() == 0) {
+      sleep_for(seconds(1));
+   }
+   // System got discovered.
+   System system = mavsdk.systems()[0];
+   ```
+1. Create an instance of `Mission` with the `system`:
+   ```
+   #include <mavsdk/plugins/mission/mission.h>
+   auto mission = Mission{system};
+   ```
+
+The `mission` object can then used to access the plugin API (as shown in the following sections).
+
+
+## Defining a Mission
+
+A mission must be defined as a vector of [MissionItem](../api_reference/structmavsdk_1_1_mission_1_1_mission_item.md) objects as shown below:
+```cpp
+std::vector<std::shared_ptr<MissionItem>> mission_items;
+```
+
+You can create as many `MissionItem` objects as you like and use `std_vector::push_back()` to add them to the back of the mission item vector.
+The example below shows how to create and add a `MissionItem` that sets the target position.
+```cpp
+// Create MissionItem and set its position
+std::shared_ptr<MissionItem> new_item(new MissionItem());
+new_item->latitude_deg = 47.40;
+new_item->longitude_deg = 8.5455360114574432;
+
+// Add new_item to the vector
+mission_items.push_back(new_item);
+```
+
+The example below shows how you might set the other options on a second `MissionItem` (and add it to the mission).
+
+```cpp
+std::shared_ptr<MissionItem> new_item2(new MissionItem());
+new_item2->latitude_deg = 47.40;
+new_item2->longitude_deg = 8.5455360114574432);
+new_item2->relative_altitude_m = 2.0f;
+new_item2->speed_m_s = 5.0f;
+new_item2->is_fly_through = true;
+new_item2->gimbal_pitch_deg = 20.0f;
+new_item2->gimbal_pitch_deg = 20.0f;
+new_item2->gimbal_yaw_deg = 60.0f;
+new_item2->camera_action = MissionItem::CameraAction::TakePhoto;
+new_item2->loiter_time_s = 1.0f;
+new_item2->camera_photo_interval_s =  1.0f;
+
+//Add new_item2 to the vector
+mission_items.push_back(new_item2);
+```
+
+> **Note** The autopilot has sensible default values for the attributes.
+  If you do set a value (e.g. the desired speed) then it will be the default for the remainder of the mission.
+
+<span></span>
+> **Note** There are also getter methods for querying the current value of `MissionItem` attributes.
+  The default values of most fields are `NaN` (which means they are ignored/not sent).
+
+The mission (`mission_items`) can then be uploaded as shown in the section [Uploading a Mission](#uploading_mission) below.
+
+### Convenience Function
+
+The [Fly Mission](../examples/fly_mission.md) uses a convenience function to create `MissionItem` objects.
+Using this approach you have to specify every attribute for every mission item, whether or not the value is actually used.
+
+The definition and use of this function is shown below:
+
+```cpp
+static Mission::MissionItem make_mission_item(
+    double latitude_deg,
+    double longitude_deg,
+    float relative_altitude_m,
+    float speed_m_s,
+    bool is_fly_through,
+    float gimbal_pitch_deg,
+    float gimbal_yaw_deg,
+    Mission::MissionItem::CameraAction camera_action);
+
+
+mission_items.push_back(
+    make_mission_item(47.398170327054473,
+                      8.5456490218639658,
+                      10.0f, 5.0f, false,
+                      20.0f, 60.0f,
+                      MissionItem::CameraAction::NONE));
+```
+
+## Uploading a Mission {#uploading_mission}
+
+Use [Mission::upload_mission()](../api_reference/classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a38274b1c1509375a182c44711ee9f7b1) to upload the mission defined in the previous section.
+
+The example below shows how this is done.
+
+```cpp
+// ... declare and populate the mission vector: mission_items
+
+{
+    std::cout << "Uploading mission..." << '\n';
+    Mission::MissionPlan mission_plan{};
+    mission_plan.mission_items = mission_items;
+    const Mission::Result result = mission.upload_mission(
+        mission_plan);
+
+    if (result != Mission::Result::Success) {
+        std::cout << "Mission upload failed (" << result << "), exiting." << '\n';
+        return 1;
+    }
+    std::cout << "Mission uploaded." << '\n';
+}
+```
+
+## Starting/Pausing Missions
+
+Start or resume a paused mission using [Mission::start_mission](../api_reference/classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a927fecc7734810d01cc218153780e6e3).
+The vehicle must already have a mission (the mission need not have been uploaded using the SDK).
+
+The code fragment below shows how this is done.
+
+```cpp
+{
+    const Mission::Result result = mission.start_mission();
+
+    if (result != Mission::Result::Success) {
+        std::cout << "Mission start failed (" << result << "), exiting." << '\n';
+        return 1;
+    }
+    std::cout << "Started mission." << '\n';
+}
+```
+
+To pause a mission use [Mission::pause_mission()](../api_reference/classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1ab569500d992d6d859c1c35052db07315).
+The code is almost exactly the same as for starting a mission:
+
+```cpp
+{
+    std::cout << "Pausing mission..." << '\n';
+
+    const Mission::Result result = mission.pause_mission();
+    if (result != Mission::Result::Success) {
+        std::cout << "Failed to pause mission (" << result << ")" << '\n';
+    } else {
+        std::cout << "Mission paused." << '\n';
+    }
+}
+```
+
+## Monitoring Progress
+
+Asynchronously monitor progress using [Mission::subscribe_mission_progress()](../api_reference/classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a6dd32b92e593c1a692fe59e5bfb670fb),
+which receives a regular callback with the current `MissionItem` number and the total number of items.
+
+The code fragment just takes a lambda function that reports the current status.
+
+```cpp
+mission.subscribe_mission_progress( [](Mission::MissionProgress mission_progress)) {
+       std::cout << "Mission status update: " << mission_progress.current << " / " << mission_progress.total << '\n';
+    });
+```
+
+> **Note** The mission is complete when `current == total`.
+
+The following synchronous methods is also available for checking mission progress:
+* [is_mission_finished()](../api_reference/classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a1ecf4f8798ab9ae96882dfbd34f23466) - Checks if mission has been finished.
+
+
+
+## Taking Off, Landing, Returning
+
+If using a copter or VTOL vehicle then PX4 will automatically takeoff when it is armed and a mission is started (even without a takeoff mission item).
+For Fixed Wing vehicles the vehicle must be launched before starting a mission.
+
+At time of writing the Mission API does not provide takeoff, land or "return to launch" `MissionItems`.
+If required you can instead use the appropriate commands in the [Action](../guide/taking_off_landing.md) class.
+
+<!-- Update if we get new mission items -->
+
+## Downloading Missions
+
+Use [Mission::download_mission()](../api_reference/classmavsdk_1_1_mission.md#classmavsdk_1_1_mission_1a23e9f7da32f42bcce7ef16ea8044fe53) to download a mission from the vehicle.
+The mission is downloaded as a vector of [MissionItem](../api_reference/structmavsdk_1_1_mission_1_1_mission_item.md) objects, that you can then view or manipulate as required.
+
+> **Note** Mission download will fail if the mission contains a command that is outside the [supported set](#supported_mission_commands).
+> Missions created using *QGroundControl* are not guaranteed to successfully download!
+> Again, for that case [MissionRaw](../api_reference/classmavsdk_1_1_mission_raw.md) might be a better fit.
+
+The code fragment below shows how to download a mission:
+
+```cpp
+{
+    std::cout << "Downloading mission." << '\n';
+    std::pair<Result, Mission::MissionPlan> result = mission.download_mission();
+
+    if (result.first != Mission::Result::Success) {
+        std::cout << "Mission download failed (" << result.first << "), exiting." << '\n';
+        return 1;
+    }
+
+    std::cout << "Mission downloaded (MissionItems: "
+        << result.second.mission_items.size()
+        << ")" << '\n';
+}
+```
+
+
+## Further Information
+
+* [Mission Flight Mode](https://docs.px4.io/master/en/flight_modes/mission.html) (PX4 User Guide)
+* [Example:Fly Mission](../examples/fly_mission.md)
+* Integration tests:
+  * [mission.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/mission.cpp)
+  * [mission_cancellation.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/mission_cancellation.cpp)
+  * [mission_change_speed.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/mission_change_speed.cpp)
+  * [mission_raw_mission_changed.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/mission_raw_mission_changed.cpp)
+  * [mission_rtl.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/mission_rtl.cpp)
+  * [mission_transfer_lossy.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/mission_transfer_lossy.cpp)
diff --git a/docs/en/cpp/guide/offboard.md b/docs/en/cpp/guide/offboard.md
new file mode 100644
index 0000000000..f3dd0314d1
--- /dev/null
+++ b/docs/en/cpp/guide/offboard.md
@@ -0,0 +1,218 @@
+# Offboard Control
+
+The [Offboard](../api_reference/classmavsdk_1_1_offboard.md) MAVSDK plugin provides a simple API for controlling the vehicle using velocity and yaw setpoints.
+It is useful for tasks requiring direct control from a companion computer; for example to implement collision avoidance.
+
+> **Note** The API uses the PX4 [Offboard flight mode](https://docs.px4.io/master/en/flight_modes/offboard.html).
+  The class can only be used with copter and VTOL vehicles (not fixed wing - a PX4 limitation) and currently only supports *velocity setpoint commands* (PX4 additionally supports position and thrust setpoints).
+
+Client code must specify a setpoint before starting *Offboard mode*.
+The Offboard plugin automatically resends setpoints at 20Hz (PX4 requires that setpoints are minimally resent at 2Hz).
+If more precise control is required, clients can call the setpoint methods at whatever rate is required or whenever an updated setpoint is available.
+
+
+## Create the Plugin
+
+> **Tip** `Offboard` objects are created in the same way as other SDK plugins.
+  General instructions are provided in the topic: [Using Plugins](../guide/using_plugins.md).
+
+The main steps are:
+
+1. [Create a connection](../guide/connections.md) to a `system`. For example (basic code without error checking):
+   ```
+   #include <mavsdk/mavsdk.h>
+   Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
+   ConnectionResult conn_result = mavsdk.add_udp_connection();
+   // Wait for the system to connect via heartbeat
+   while (mavsdk.system().size() == 0) {
+      sleep_for(seconds(1));
+   }
+   // System got discovered.
+   System system = mavsdk.systems()[0];
+   ```
+1. Create a shared pointer to an instance of `Offboard` instantiated with the `system`:
+   ```
+   #include <mavsdk/plugins/offboard/offboard.h>
+   auto offboard = Offboard{system};
+   ```
+
+The `offboard` pointer can then used to access the plugin API (as shown in the following sections).
+
+## Starting/Stopping Offboard Mode
+
+To use offboard mode you must first create a setpoint using any of the setpoint setter methods (e.g. [set_velocity_ned()](../api_reference/classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a4edbc6e4528ff955d4e46e7c4e711732) or [set_velocity_body()](../api_reference/classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1abe7364f0a48dda4df34c5c67d177cfb4)).
+You can use any setpoint you like - the vehicle will start acting on the current setpoint as soon as the mode starts.
+
+After you have created a setpoint call [start()](../api_reference/classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1ab71d0dd2a81f76e3a0330b0304daa30b) or [start_async()](../api_reference/classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a0c880ad3f663142e194dd6f187cfc934) to switch to offboard mode.
+
+```cpp
+// Create a setpoint before starting offboard mode (in this case a null setpoint)
+offboard.set_velocity_body({0.0f, 0.0f, 0.0f, 0.0f});
+
+// Start offboard mode.
+Offboard::Result offboard_result = offboard.start();
+if (result != Offboard::Result::Success) {
+        std::cerr << "Offboard::start() failed: " << offboard_result << '\n';
+    }
+```
+
+The methods return/complete with a [Result](../api_reference/classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a2d4d594301d8c756429457b0982130e9) indicating whether the command was successful.
+Above we use the synchronous API, and then print a human readable string for the returned enum.
+
+You can change the setpoints as needed (new setpoints replace any old setpoints).
+
+To stop offboard mode call [Offboard::stop()](../api_reference/classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a626810cbfa02b36019dde2d2fd4c3da9) or [stop_async()](../api_reference/classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1a86c163d7fa1217b4e82a03daf52065c3).
+The SDK will then clear the current setpoint and put the vehicle into [Hold flight mode](https://docs.px4.io/master/en/flight_modes/hold.html).
+The synchronous API is used as shown below:
+
+```cpp
+//Stop offboard mode
+offboard_result = offboard.stop();
+if (result != Offboard::Result::Success) {
+        std::cerr << "Offboard::stop() failed: " << offboard_result << '\n';
+    }
+```
+
+> **Note** Offboard mode can also be stopped by moving the vehicle into another mode (e.g. using the `Action` API).
+
+
+## Velocity Setpoints
+
+The API provides methods to set velocity and yaw components using the NED frame (`set_velocity_ned()`) and the body frame (`set_velocity_body()`).
+The difference is that NED is relative to an absolute coordinate system (North, East, Down) while body frame is relative to the vehicle orientation (front, right, down).
+
+The NED frame is used to move towards a specific compass direction or face the vehicle in a specific compass direction.
+Body frame is usually used for tasks where the vehicle needs to *deviate* from the current path (e.g. to avoid an obstacle) or to rotate the vehicle at a specific rate.
+Movement up/down is the same in either frame.
+
+The following sections provide some common usage examples.
+
+### Move in Compass Direction
+
+The `set_velocity_ned()` can be used to move towards any particular compass direction - e.g. North, West, South-East, etc.
+
+Calling `set_velocity_ned()` using an initialiser list type declaration for the [VelocityNEDYaw](../api_reference/structmavsdk_1_1_offboard_1_1_velocity_ned_yaw.md) argument,
+the first three values are the velocity components in North, East, and Down directions (in metres/second).
+
+Examples:
+
+* Head North at 3 m/s:
+  ```cpp
+  offboard.set_velocity_ned({3.0f, 0.0f, 0.0f, 0.0f});
+  ```
+* Head North-West with 5 m/s on each velocity component (notice that a negative value is required on the `east_m_s` value to move West):
+  ```cpp
+  offboard.set_velocity_ned({5.0f, -5.0f, 0.0f, 0.0f});
+  ```
+
+
+### Go Up or Down
+
+Both coordinate systems use the same definition for "down", and both methods take an argument where the third value is used to specify the velocity component in this direction.
+The following examples show how you set the velocity component down (positive) or up (negative) using the two methods:
+
+Examples:
+
+* Go *up* at 2 m/s (note, negative value to go up!):
+  ```cpp
+  offboard.set_velocity_ned({0.0f, 0.0f, -2.0f, 0.0f});
+  ```
+* Go down at 3 m/s:
+  ```cpp
+  offboard.set_velocity_body({0.0f, 0.0f, 3.0f, 0.0f});
+  ```
+
+
+### Turn/Yaw Vehicle to Face a Compass Direction
+
+The `set_velocity_ned()` can be used to face the vehicle in a particular direction, independent of the direction of travel.
+The direction is specified in clockwise degrees relative to North (0 is North, 90 is East, 180 is South, etc.)
+
+Calling `set_velocity_ned()` using an initialiser list type declaration for the `VelocityNEDYaw` argument,
+the final (fourth) value is the yaw direction.
+
+Examples:
+* Turn to face West:
+  ```cpp
+  offboard.set_velocity_ned({0.0f, 0.0f, 0.0f, 270.0f});
+  ```
+* Turn to face North:
+  ```cpp
+  offboard.set_velocity_ned({0.0f, 0.0f, 0.0f, 0.0f});
+  ```
+
+It is not possible to control the rate or direction that the vehicle will use to turn towards the setpoint direction (it will turn in whatever direction reaches the setpoint fastest).
+
+
+### Turn/Yaw Vehicle in specified Direction/at Rate
+
+The `set_velocity_body()` can be used to rotate the vehicle at a specific rate and in a specified direction.
+This is set in [VelocityBodyYawspeed::yawspeed_deg_s](../api_reference/structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed.md#structmavsdk_1_1_offboard_1_1_velocity_body_yawspeed_1a102d7011d9a87c6e103f1c1b92d169ee), as the angular rate in degrees/second. If viewed from above, the vehicle will turn clockwise if the value is positive and anticlockwise if it is negative.
+
+Calling `set_velocity_body()` using an initialiser list type declaration the final (fourth) value is the yaw rate/direction.
+
+Examples:
+
+* Turn clock-wise at 60 degrees per second:
+  ```cpp
+  offboard.set_velocity_body({0.0f, 0.0f, 0.0f, 60.0f});
+  ```
+* Turn anti clock-wise at 5 degrees per second:
+  ```cpp
+  offboard.set_velocity_body({0.0f, 0.0f, 0.0f, -5.0f});
+  ```
+
+### Fly Forwards
+
+Use `set_velocity_body()` to set the velocity components relative to the body frame.
+To fly forwards, simply set the first parameter (`Offboard::VelocityBodyYawspeed::forward_m_s`) when the vehicle is not rotating.
+
+```cpp
+offboard.set_velocity_body({5.0f, 0.0f, 0.0f, 0.0f});
+```
+
+### Fly a Circle
+
+To fly a circle, use `set_velocity_body()` with both forward and rotational components.
+This will force the vehicle to travel in a curved path.
+
+```cpp
+offboard.set_velocity_body({5.0f, 0.0f, 0.0f, 30.0f});
+```
+
+You can force the vehicle to fly sideways by using the (`Offboard::VelocityBodyYawspeed::right_m_s` value), and in the other direction by using a negative rotation value:
+```cpp
+// Fly a circle sideways
+offboard.set_velocity_body({0.0f, -5.0f, 0.0f, -30.0f});
+```
+
+
+## Position/Thrust Setpoints
+
+The SDK does not support position or thrust setpoints (at time of writing).
+
+
+## Waiting on Setpoints
+
+The vehicle will obey the last setpoint called (when you call a setpoint the last one is cleared).
+The SDK examples use timers to separate commands (e.g. `sleep_for(seconds(8))`) but in a real-world use case you might use telemetry or sensors to control when the setpoint is changed.
+
+
+## Monitoring Offboard Mode
+
+The vehicle may change out of offboard mode outside the control of your application (for example if a GCS were to put the vehicle into *Hold mode*).
+In this case, the SDK will automatically stop sending setpoints and [Offboard::is_active()](../api_reference/classmavsdk_1_1_offboard.md#classmavsdk_1_1_offboard_1aa5e0f3c02a03f2667f82d5e162221ff5) will change from `true` to `false`.
+
+Calls to change the setpoint do not return an error!
+Depending on the particular use case, offboard code may need to explicitly monitor for flight mode and change behaviour appropriately (e.g. using [Telemetry::subscribe_flight_mode()](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a53db5fb36bf10fbc7ac004a3be9100a4)).
+
+
+## Further Information
+
+Additional information/examples for the Offboard API are linked below:
+
+* [Example: Offboard Velocity](../examples/offboard_velocity.md)
+* Integration tests:
+  * [offboard_velocity.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/offboard_velocity.cpp)
+
+
diff --git a/docs/en/cpp/guide/system_information.md b/docs/en/cpp/guide/system_information.md
new file mode 100644
index 0000000000..0785fed824
--- /dev/null
+++ b/docs/en/cpp/guide/system_information.md
@@ -0,0 +1,64 @@
+# System Information
+
+The [Info](../api_reference/classmavsdk_1_1_info.md) class is used to get system (vehicle) information, including the UUID (MAVLink `SYS_ID` if no UUID is stored in hardware), PX4 firmware version, vendor firmware version, host OS version (e.g. for NuttX) and vendor and product ids/names.
+
+> **Note** Not all version information will necessarily be relevant on all vehicles. Where this occurs the
+hardware may return garbage values (for example, the simulator provides garbage values for the vendor
+firmware semantic version).
+
+## Preconditions
+
+The following code assumes that you already have included `mavsdk.h` (`#include <mavsdk/mavsdk.h>`) and that there is a [connection to a system](../guide/connections.md) obtained as shown below:
+```cpp
+System system = mavsdk.systems()[0];
+```
+
+The code also assumes that you have defined `info`, an instance of the `Info` class associated with the system (see [Using Plugins](../guide/using_plugins.md)):
+```cpp
+#include <mavsdk/plugins/info/info.h>
+auto info = Info{system};
+```
+
+## Query System Information
+
+The code below shows how to query the hardware uid, version, and product, information and print it to the console:
+
+> **Tip** The UUID/uid with type uint64_t has been replaced by uid2 called hardware_uid with type char[18]. This was a a change inherited from mavlink in order to prevent ID conflicts.
+
+```cpp
+std::cout << "hardware uid: " << info.hardware_uid() << '\n';
+
+// Wait until version/firmware information has been populated from the vehicle
+while (info.get_identification().first==Info::Result::INFORMATION_NOT_RECEIVED_YET) {
+    std::cout << "Waiting for Version information to populate from system." << '\n';
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+
+// Get the system Version struct
+const Info::Version &systemVersion =  info.get_version().second;
+
+// Print out the vehicle version information.
+std::cout << "  flight_sw_major: " << systemVersion.flight_sw_major<< '\n'
+          << "  flight_sw_minor: " << systemVersion.flight_sw_minor<< '\n'
+          << "  flight_sw_patch: " << systemVersion.flight_sw_patch<< '\n'
+          << "  flight_sw_vendor_major: " << systemVersion.flight_sw_vendor_major<< '\n'
+          << "  flight_sw_vendor_minor: " << systemVersion.flight_sw_vendor_minor<< '\n'
+          << "  flight_sw_vendor_patch: " << systemVersion.flight_sw_vendor_patch<< '\n'
+          << "  flight_sw_git_hash: " << systemVersion.flight_sw_git_hash<< '\n'
+          << "  os_sw_major: " << systemVersion.os_sw_major<< '\n'
+          << "  os_sw_minor: " << systemVersion.os_sw_minor<< '\n'
+          << "  os_sw_patch: " << systemVersion.os_sw_patch<< '\n'
+          << "  os_sw_git_hash: " << systemVersion.os_sw_git_hash<< '\n';
+
+// Get the system Product struct
+const Info::Product &systemProduct =  info.get_product().second;
+
+// Print out the vehicle product information.
+std::cout << "  vendor_id: " << systemProduct.vendor_id<< '\n'
+          << "  vendor_name: " << systemProduct.vendor_name<< '\n'
+          << "  product_id: " << systemProduct.product_id<< '\n'
+          << "  product_name: " << systemProduct.product_id<< '\n';
+```
+
+> **Tip** It is possible to query for the information before all values have been retrieved.
+  Note above how we use `Info::is_complete()` to check that the version information (`Info::Version` and `Info::Product`) has all been obtained from the vehicle before printing it.
diff --git a/docs/en/cpp/guide/taking_off_landing.md b/docs/en/cpp/guide/taking_off_landing.md
new file mode 100644
index 0000000000..129cbca7f5
--- /dev/null
+++ b/docs/en/cpp/guide/taking_off_landing.md
@@ -0,0 +1,269 @@
+# Actions (Take-off, Landing, Arming, etc)
+
+The [Action](../api_reference/classmavsdk_1_1_action.md) class is used for commanding the vehicle to arm, takeoff, land, return home and land, disarm, kill and transition between VTOL modes.
+
+Most of the methods have both synchronous and asynchronous versions.
+The methods send commands to a vehicle, and return/complete with the vehicle's response.
+It is important to understand that a successful response indicates whether or not the vehicle intends to act on the command, not that it has finished the action (e.g. arming, landing, taking off etc.).
+
+> **Note** The implication is that you may need to monitor for completion of actions!
+
+
+## Create the Plugin
+
+> **Tip** `Action` objects are created in the same way as for other SDK plugins.
+General instructions are provided in the topic: [Using Plugins](../guide/using_plugins.md).
+
+The main steps are:
+
+1. [Create a connection](../guide/connections.md) to a `system`. For example (basic code without error checking):
+   ```
+   #include <mavsdk/mavsdk.h>
+   Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
+   ConnectionResult conn_result = mavsdk.add_udp_connection();
+   // Wait for the system to connect via heartbeat
+   while (mavsdk.system().size() == 0) {
+      sleep_for(seconds(1));
+   }
+   // System got discovered.
+   System system = mavsdk.systems()[0];
+   ```
+1. Create an instance of `Action` with the `system`:
+   ```
+   #include <mavsdk/plugins/action/action.h>
+   auto action = Action{system};
+   ```
+
+The `action` object can then used to access the plugin API (as shown in the following sections).
+
+> **Note** Some of the sections below additionally assume you have created a `Telemetry` instance that can be accessed using `telemetry`.
+
+
+## Taking Off
+
+The recommended way to take off using the SDK (and PX4) is to use either of the [takeoff()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a0121d39baf922b1d88283230207ab5d0) or [takeoff_async()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1ab658d938970326db41709d83e02b41e6) methods. If a takeoff command is accepted the vehicle will change to the [Takeoff mode](https://docs.px4.io/master/en/flight_modes/takeoff.html), fly to the takeoff altitude, and then hover (in takeoff mode) until another instruction is received.
+
+> **Note** PX4/SDK also provides other ways to take off:
+> - A copter or VTOL will take off automatically if a mission is started (fixed-wing will not).
+> - You can also take off by manually driving the vehicle using the offboard API.
+
+The vehicle will only take off once *armed*, and can only arm once it is "healthy" (has been calibrated, the home position has been set, and there is a high-enough quality GPS lock). After it starts flying, code needs to check that takeoff is complete before sending additional instructions.
+
+
+### Health Check
+
+The code fragment below shows very simple code to synchronously poll for health status (using [Telemetry:health_all_ok()](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad6d833741b5576f07204d268c5cd4d06)) prior to arming:
+
+```cpp
+// Wait until health is OK and vehicle is ready to arm
+while (telemetry.health_all_ok() != true) {
+    std::cout << "Vehicle not ready to arm ..." << '\n';
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+```
+
+The code fragment below performs the same task, but additionally exits the app if calibration is required reports what conditions are still required before the vehicle is "healthy":
+<!-- update for subscribe_health_all_ok -->
+```cpp
+// Exit if calibration is required
+Telemetry::Health check_health = telemetry.health();
+bool calibration_required = false;
+if (!check_health.gyrometer_calibration_ok) {
+    std::cout << ERROR_CONSOLE_TEXT << "Gyro requires calibration." << NORMAL_CONSOLE_TEXT << '\n';
+    calibration_required=true;
+}
+if (!check_health.accelerometer_calibration_ok) {
+    std::cout << ERROR_CONSOLE_TEXT << "Accelerometer requires calibration." << NORMAL_CONSOLE_TEXT << '\n';
+    calibration_required=true;
+}
+if (!check_health.magnetometer_calibration_ok) {
+    std::cout << ERROR_CONSOLE_TEXT << "Magnetometer (compass) requires calibration." << NORMAL_CONSOLE_TEXT << '\n';
+    calibration_required=true;
+}
+if (!check_health.level_calibration_ok) {
+    std::cout << ERROR_CONSOLE_TEXT << "Level calibration required." << NORMAL_CONSOLE_TEXT << '\n';
+    calibration_required=true;
+}
+if (calibration_required) {
+    return 1;
+}
+
+
+// Check if ready to arm (reporting status)
+while (telemetry.health_all_ok() != true) {
+    std::cout << ERROR_CONSOLE_TEXT << "Vehicle not ready to arm. Waiting on:" << NORMAL_CONSOLE_TEXT << '\n';
+    Telemetry::Health current_health = telemetry.health();
+    if (!current_health.global_position_ok) {
+        std::cout << ERROR_CONSOLE_TEXT << "  - GPS fix." << NORMAL_CONSOLE_TEXT << '\n';
+    }
+    if (!current_health.local_position_ok) {
+        std::cout << ERROR_CONSOLE_TEXT << "  - Local position estimate." << NORMAL_CONSOLE_TEXT << '\n';
+    }
+    if (!current_health.home_position_ok) {
+        std::cout << ERROR_CONSOLE_TEXT << "  - Home position to be set." << NORMAL_CONSOLE_TEXT << '\n';
+    }
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+```
+
+> **Note** Vehicle health can also be checked using [Telemetry:subscribe_health_all_ok()](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a0f94ea6d707ff314e412367d6681bd8f).
+
+
+### Arming
+
+Once the vehicle is ready, use the following synchronous code to arm:
+```cpp
+// Arm vehicle
+std::cout << "Arming..." << '\n';
+const Action::Result arm_result = action.arm();
+
+if (arm_result != Action::Result::Success) {
+    std::cout << "Arming failed:" << arm_result <<  '\n';
+    return 1; //Exit if arming fails
+}
+```
+
+> **Tip** If the `arm()` method returns `Action::Result::Success` then the vehicle is armed and can proceed to takeoff. This can be confirmed using [Telemetry::armed()](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a6620142adc47f069262e5bf69dbb3876).
+
+
+### Get/Set Takeoff Altitude
+
+The default/current takeoff altitude can be queried using [get_takeoff_altitude()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a85df48432c5ed2c6e23831409139ed39).
+This target can be changed at any point before takeoff using [set_takeoff_altitude()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1ace2188fe367b3bb10b17b89c88d1f952).
+The code fragment below shows how to set the takeoff altitude to 3 metres:
+```cpp
+action.set_takeoff_altitude(3.0);
+```
+
+### Takeoff Action
+
+Once the vehicle is armed it can be commanded to take off.
+The code below uses the synchronous `takeoff()` method, and fails if the vehicle refuses the command:
+```cpp
+// Command Take off
+std::cout << "Taking off..." << '\n';
+const Action::Result takeoff_result = action.takeoff();
+if (takeoff_result != Action::Result::Success) {
+    std::cout << "Takeoff failed:" << takeoff_result << '\n';
+    return 1;
+}
+```
+
+If the command succeeds the vehicle will takeoff, and hover at the takeoff altitude. Code should wait until takeoff has completed before sending the next instruction. Unfortunately there is no specific indicator to inform code that takeoff is complete.
+
+> **Note** One alternative is to simply wait for enough time that the vehicle *should* have reached the takeoff altitude.
+
+The code below checks for takeoff completion by polling the current altitude until the target altitude is reached:
+
+```cpp
+float target_alt=action.get_takeoff_altitude_m();
+float current_position=0;
+while (current_position<target_alt) {
+    current_position = telemetry.position().relative_altitude_m;
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+// Reached target altitude - continue with next instruction.
+```
+
+
+## Landing
+
+The best way to land the vehicle at the current location is to use the [land()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1af6429e1bdb2875deebfe98ed53da3d41) or [land_async()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a89d146a766d49f1c706c66a3e2b9252d) methods.
+If the command is accepted the vehicle will change to the [Land mode](https://docs.px4.io/master/en/flight_modes/land.html) and land at the current point.
+
+> **Note** The SDK does not at time of writing recommend other approaches for landing: land mission items are not supported and manually landing the vehicle using the offboard is not as safe.
+
+The code below shows how to use the land action.
+
+```cpp
+const Action::Result land_result = action.land();
+if (land_result != Action::Result::Success) {
+    //Land failed, so exit (in reality might try a return to land or kill.)
+    return 1;
+}
+```
+
+The vehicle should land and then automatically disarm.
+If you want to monitor the landing you can trigger completion of the app based on the armed state, as shown below.
+
+```cpp
+while (telemetry.armed()) {
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+std::cout << "Disarmed, exiting." << '\n';
+```
+
+
+## Return/RTL
+
+[Return mode](https://docs.px4.io/master/en/flight_modes/return.html) (also known as "Return to Launch", "Return to Land", "Return to Home") flies the vehicle back to the home position and may also land the vehicle (depending on vehicle configuration).
+This mode is invoked from `Action` using the [return_to_launch()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1afd7c225df0495b0947f00e7d2dd64877) or [return_to_launch_async()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1afd7c225df0495b0947f00e7d2dd64877) methods.
+
+The code below shows how to use the synchronous method:
+
+```cpp
+const Action::Result rtl_result = telemetry.return_to_launch();
+if (rtl_result != Action::Result::Success) {
+    //RTL failed, so exit (in reality might send kill command.)
+    return 1;
+}
+```
+
+Depending on the vehicle it may land or hover around the return point. For vehicles that are configured to land you can use the same code as in the [previous section](#landing) to determine when the vehicle has disarmed.
+
+## Disarm/Kill
+
+Use the disarm or kill methods to stop the drone motors (the difference is that disarming will only succeed if the drone considers itself landed, while kill will disarm a vehicle even in flight).
+
+The methods are listed below. These are used in the same way as other similar `Action` APIs:
+- [disarm()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a44c61110965bcdd3dfb90a08d3c6b6b9), [disarm_async](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a3107f7f5a2f4a478024667f187f8f2aa)
+- [kill()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1af40fc1ddf588b3796134a9303ebc3667), [kill_async](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a78c1f15c3b190ba94793045621819e69)
+
+
+> **Tip** PX4 will automatically disarm the vehicle after landing. The disarm methods explicitly invoke the same functionality.
+
+
+## Get/Set Cruise Speed
+
+You can get/set the normal horizontal velocity used in *Return mode*, *Hold mode*, *Takeoff* (and other [AUTO Flight Modes](https://docs.px4.io/master/en/getting_started/flight_modes.html#categories) using the following methods:
+* [set_maximum_speed()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a5fccee1636215bccf8d77d9dca15134e)
+* [get_maximum_speed](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a128bf73fe8d0d359f36a3a9a327799ee)
+
+> **Note** These methods get/set the [MPC_XY_CRUISE](https://docs.px4.io/master/en/advanced_config/parameter_reference.html#MPC_XY_CRUISE) parameter.
+  They are used in the same way as the other `Action` methods.
+
+
+
+## Switch Between VTOL Modes {#transition_vtol}
+
+`Action` provides methods to transition between VTOL fixed wing and multicopter modes, with both synchronous and asynchronous versions:
+* [transition_to_fixedwing()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a8d5cf999a48ea3859ec75db27cf4fbda), [transition_to_multicopter()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1aac94bfb8613a8e9869e3620b3dc9bb8e)
+* [transition_to_fixedwing_async()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1aa56181441cd64e092a8fb91a38c7c9fd), [transition_to_multicopter_async()](../api_reference/classmavsdk_1_1_action.md#classmavsdk_1_1_action_1a8c109076641b5c9aa6dd78ea8b913529)
+
+The associated action will only be executed for VTOL vehicles (on other vehicle types the command will fail with a `Result` of `VTOL_TRANSITION_SUPPORT_UNKNOWN` or `NO_VTOL_TRANSITION_SUPPORT`).
+The command will succeed if called when the vehicle is already in the mode.
+
+The code fragment below shows how to call the synchronous action to transition to fixed wing,
+and to print the result of the call (the other synchronous method is used in the same way).
+
+```cpp
+const Action::Result fw_result = action.transition_to_fixedwing();
+
+if (fw_result != Action::Result::Success) {
+    std::cout << "Transition to fixed wing failed: "
+        << fw_result << '\n';
+}
+```
+
+
+## Further Information
+
+Additional information/examples for the Action API are linked below:
+
+* [Example: Takeoff and Land](../examples/takeoff_and_land.md)
+* [Example: VTOL Transitions](../examples/transition_vtol_fixed_wing.md)
+* Integration tests:
+  * [action_hover_async.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/action_hover_async.cpp)
+  * [action_takeoff_and_kill.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/action_takeoff_and_kill.cpp)
+  * [action_transition_multicopter_fixedwing.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/action_transition_multicopter_fixedwing.cpp)
+
diff --git a/docs/en/cpp/guide/telemetry.md b/docs/en/cpp/guide/telemetry.md
new file mode 100644
index 0000000000..f66bf249ea
--- /dev/null
+++ b/docs/en/cpp/guide/telemetry.md
@@ -0,0 +1,225 @@
+# Telemetry
+
+The [Telemetry](../api_reference/classmavsdk_1_1_telemetry.md) class is used to get vehicle telemetry, including state and flight mode information.
+
+All the methods have both synchronous and asynchronous versions, and users can set the rate at which the vehicle provides updates for each type of information.
+All the methods of a particular type (synchronous, asynchronous, and set_rate methods) are used in the same way.
+
+
+## API Overview
+
+The `Telemetry` API provides methods to return the following types of information:
+
+* [AccelerationFrd](../api_reference/structmavsdk_1_1_telemetry_1_1_acceleration_frd.md)
+* [ActuatorControlTarget](../api_reference/structmavsdk_1_1_telemetry_1_1_actuator_control_target.md)
+* [ActuatorOutputStatus](../api_reference/structmavsdk_1_1_telemetry_1_1_actuator_output_status.md)
+* [AngularVelocityBody](../api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_body.md)
+* [AngularVelocityNed](../api_reference/structmavsdk_1_1_telemetry_1_1_angular_velocity_frd.md)
+* [Battery](../api_reference/structmavsdk_1_1_telemetry_1_1_battery.md) - voltage and percentage power remaining.
+* [Covariance](../api_reference/structmavsdk_1_1_telemetry_1_1_covariance.md)
+* [EulerAngle](../api_reference/structmavsdk_1_1_telemetry_1_1_euler_angle.md) - vehicle attitude/orientation as Euler Angle
+* [FixedwingMetrics](../api_reference/structmavsdk_1_1_telemetry_1_1_fixedwing_metrics.md)
+* [GpsInfo](../api_reference/structmavsdk_1_1_telemetry_1_1_gps_info.md) - type of fix, if any, and number of satellites.
+* [GroundTruth](../api_reference/structmavsdk_1_1_telemetry_1_1_ground_truth.md)
+* [Health](../api_reference/structmavsdk_1_1_telemetry_1_1_health.md) - calibration status of various sensors and confirmation that position estimates are good enough for position control.
+* [Imu](../api_reference/structmavsdk_1_1_telemetry_1_1_imu.md)
+* [MagneticFieldFrd](../api_reference/structmavsdk_1_1_telemetry_1_1_magnetic_field_frd.md)
+* [Odometry](../api_reference/structmavsdk_1_1_telemetry_1_1_odometry.md)
+* [Position](../api_reference/structmavsdk_1_1_telemetry_1_1_position.md) - latitude and longitude in degrees, and altitude relative to sea level and to the takeoff altitude.
+* [PositionBody](../api_reference/structmavsdk_1_1_telemetry_1_1_position_body.md)
+* [PositionNed](../api_reference/structmavsdk_1_1_telemetry_1_1_position_ned.md)
+* [VelocityNed](../api_reference/structmavsdk_1_1_telemetry_1_1_velocity_ned.md)
+* [VelocityBody](../api_reference/structmavsdk_1_1_telemetry_1_1_velocity_body.md)
+* [PositionVelocityNed](../api_reference/structmavsdk_1_1_telemetry_1_1_position_velocity_ned.md)
+* [Quaternion](../api_reference/structmavsdk_1_1_telemetry_1_1_quaternion.md) - vehicle attitude/orientation as a quaternion
+* [RcStatus](../api_reference/structmavsdk_1_1_telemetry_1_1_rc_status.md) - connection status, signal strength, and whether RC has ever been connected.
+* [StatusText](../api_reference/structmavsdk_1_1_telemetry_1_1_status_text.md)
+
+
+In addition there are a number of methods that return vehicle "state":
+* Current flight mode ([flight_mode()](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a4972a3968e379d565e7700f2f51158dd)).
+* Whether the vehicle is "all healthy" (aggregates the vehicle [Health](../api_reference/structmavsdk_1_1_telemetry_1_1_health.md) information).
+  This is used to check if the vehicle is *ready* to arm.
+* Whether the vehicle is armed/disarmed.
+* Whether the vehicle is flying/in air.
+
+
+## Create the Plugin
+
+> **Tip** `Telemetry` objects are created in the same way as objects in other SDK plugins.
+General instructions are provided in the topic: [Using Plugins](../guide/using_plugins.md).
+
+The main steps are:
+
+1. [Create a connection](../guide/connections.md) to a `system`. For example (basic code without error checking):
+   ```
+   #include <mavsdk/mavsdk.h>
+   Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
+   ConnectionResult conn_result = mavsdk.add_udp_connection();
+   // Wait for the system to connect via heartbeat
+   while (mavsdk.system().size() == 0) {
+      sleep_for(seconds(1));
+   }
+   // System got discovered.
+   System system = mavsdk.systems()[0];
+   ```
+1. Create an instance of `Telemetry` with the `system`:
+   ```
+   #include <mavsdk/plugins/telemetry/telemetry.h>
+   auto telemetry = Telemetry{system};
+   ```
+
+The `telemetry` object can then used to access the plugin API (as shown in the following sections).
+
+
+## Setting the Update Rate {#update-rate}
+
+The telemetry update rate determines the frequency at which callbacks will be invoked with new information, and also the probable "freshness" of data obtained when using synchronous telemetry APIs. The default update rate depends on the autopilot and may also be limited by the characteristics of the communications channel.
+You can set the rate for *each* type of telemetry, and both synchronous or asynchronous rate-setting methods are provided.
+
+> **Note** For PX4 running on hardware the *default* rates are set on a per-mode basis in [mavlink_main.cpp](https://github.com/PX4/Firmware/blob/master/src/modules/mavlink/mavlink_main.cpp#L2025) (search on `configure_stream`).
+  For PX4 running on SITL, the default rates are defined in the [startup file](https://docs.px4.io/master/en/concept/system_startup.html).
+
+The rate-setting methods are all used in the same way, so we just show one example for both the asynchronous and synchronous methods below.
+In both cases we set the rate for position updates.
+
+To set the position update rate synchronously (in this case using [set_rate_position()](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a665439f3d5f8c58b3ef3dd427cf4782b)):
+```cpp
+// Set position update rate to 1 Hz.
+const Telemetry::Result set_rate_result = telemetry.set_rate_position(1.0);
+if (set_rate_result != Telemetry::Result::Success) {
+    // handle rate-setting failure (in this case print error)
+    std::cout << "Setting rate failed:" << set_rate_result << '\n';
+}
+```
+
+To set the position update rate asynchronously with [set_rate_position_async()](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad7e5b576edb9398c8f5f2f14626b984a) (here we use a *promise* to block until we have a result):
+```cpp
+{
+    std::cout << "Setting rate updates..." << '\n';
+
+    auto prom = std::make_shared<std::promise<Telemetry::Result>>();
+    auto future_result = prom->get_future();
+    // Set position update rate to 1 Hz.
+    telemetry.set_rate_position_async(1.0, [prom](Telemetry::Result result) {
+        prom->set_value(result); //fulfill promise
+    });
+
+    //Block until promise is fulfilled (in callback function)
+    const Telemetry::Result result = future_result.get();
+    if (result != Telemetry::Result::Success) {
+        // handle rate-setting failure (in this case print error)
+        std::cout << "Setting telemetry rate failed (" << result << ")." << '\n';
+    }
+}
+```
+
+
+## Getting Regular Updates
+
+The best way to get telemetry updates is to use the asynchronous methods.
+These methods are non-blocking; they take a callback function argument and return immediately.
+The callback will be invoked with a populated `struct` of the associated type as soon as an update message arrives from the vehicle.
+The rate at which this occurs can be set through the API [as discussed above](#update-rate).
+
+For example, the [Telemetry::subscribe_position()](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a61bda57b3ca47000ea7e4758b2a33134) has the following prototype, where `callback` is called with a populated [PositionCallback](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a978b371d636226e198995462afa63552) function:
+```cpp
+void mavsdk::Telemetry::subscribe_position(PositionCallback callback)
+```
+
+The code fragment below shows this method being use with a lambda function for the callback, which simply prints out the current position and altitude).
+```cpp
+telemetry.subscribe_position([](Telemetry::Position position) {
+    std::cout << "Altitude: " << position.relative_altitude_m << " m" << std::endl
+              << "Latitude: " << position.latitude_deg << std::endl
+              << "Longitude: " << position.longitude_deg << '\n';
+});
+
+```
+
+
+## Detecting Changes (only)
+
+The asynchronous callbacks are updated every time new information is provided by the vehicle.
+For some types of telemetry you may only wish to report only when the value changes.
+
+The example below shows how to use [subscribe_flight_mode()](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1a53db5fb36bf10fbc7ac004a3be9100a4) to report only when the current flight mode changes.
+The example uses a lambda function callback that captures a variable for the last mode.
+This variable is compared to the current flight mode to determine whether the value has changed and needs to be reported.
+
+```cpp
+// Set up callback to monitor flight mode 'changes'
+Telemetry::FlightMode oldFlightMode=Telemetry::FlightMode::Unknown;
+telemetry.subscribe_flight_mode([&oldFlightMode](Telemetry::FlightMode flightMode) {
+    if (oldFlightMode != flightMode) {
+        //Flight mode changed. Print!
+        std::cout << "FlightMode: " << flightMode << '\n';
+        oldFlightMode=flightMode; //Save updated mode.
+    }
+});
+```
+
+You can stop flight mode updates altogether with:
+```cpp
+telemetry.subscribe_flight_mode(nullptr);
+```
+
+This same approach can be used to report only messages that meet some condition.
+
+> **Tip** In future we may add a mechanism *in the API* to support just reporting changes: [Issue #63](https://github.com/mavlink/MAVSDK/issues/63).
+
+
+## Blocking Telemetry Requests (State Management)
+
+Some commands/vehicle operations must be performed in a certain sequence, or can only be called when the vehicle reaches a certain state.
+For example, in order to takeoff the vehicle must first be armed, and in order to arm, the vehicle must have a home position/GPS lock.
+For these cases you will want to monitor for the vehicle being in a certain state and block other commands until it is ready to proceed.
+
+Often the easiest approach is to use synchronous methods and poll for the result.
+For example, the following code shows how you might poll for whether the vehicle is ready to arm ([health_all_ok()](../api_reference/classmavsdk_1_1_telemetry.md#classmavsdk_1_1_telemetry_1ad6d833741b5576f07204d268c5cd4d06)).
+
+```cpp
+// Check if vehicle is ready to arm
+while (!telemetry.health_all_ok()) {
+    std::cout << "Vehicle not ready to arm" << '\n';
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+}
+// now ready to arm ...
+```
+
+Similarly, you can use the asynchronous method and block
+
+```cpp
+{
+    std::cout << "Waiting for system to be ready" << '\n';
+    auto prom = std::make_shared<std::promise<void>>();
+    auto future_result = prom->get_future();
+    telemetry.subscribe_health_all_ok(
+    [prom](bool result) {
+        //fulfill promise if health is OK
+        if (result) {// health OK
+            prom->set_value();
+        }
+    });
+
+    future_result.get(); //Block until promise is fulfilled.
+    // Now ready to arm
+}
+```
+> **Note** Note that `prom->set_value()` must only be called once.
+  If your code can potentially call this multiple times, remember to unsubscribe from the callback after it succeeds (e.g. using `telemetry.subscribe_health_all_ok(nullptr)`).
+
+Depending on the architecture of your application, you may even wish to arm the vehicle in your callback function.
+Usually though it is easier to understand program flow using the approach above.
+
+
+## Further Information
+
+Additional information/examples for the Telemetry API are linked below:
+
+* [SDK Examples](../examples/index.md)
+* Integration tests:
+  * [telemetry_async.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/telemetry_async.cpp)
+  * [telemetry_health.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/telemetry_health.cpp)
+  * [telemetry_modes.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/telemetry_modes.cpp)
+  * [telemetry_sync.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/telemetry_sync.cpp)
diff --git a/docs/en/cpp/guide/test.md b/docs/en/cpp/guide/test.md
new file mode 100644
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--- /dev/null
+++ b/docs/en/cpp/guide/test.md
@@ -0,0 +1,86 @@
+# Testing
+
+The MAVSDK C++ library has both unit and integration tests, written using the [Google C++ Test Framework](https://google.github.io/googletest/primer.html) (`gtest`).
+The unit tests are run every time new code is committed to the library, and must pass before the code can be merged.
+
+This topic shows how to run the existing tests.
+
+> **Tip** For information on _writing_ tests see: [Writing Plugins &gt; Test Code](../contributing/plugins.md#testing).
+
+## Running Unit Tests
+
+To run all unit tests:
+
+```
+./build/default/src/unit_tests_runner
+```
+
+## Running Integration Tests
+
+Tests can be run against the simulator (either manually starting PX4 SITL or letting the tests start it automatically) or against a real vehicle.
+
+> **Tip** To run SITL you will need to install the _Gazebo_ simulator.
+> This is included as part of the standard PX4 installation for [macOS](https://docs.px4.io/master/en/dev_setup/dev_env_mac.html)
+> and [Linux](https://docs.px4.io/master/en/dev_setup/dev_env_linux_ubuntu.html).
+> It does not run on Windows.
+
+### Autostart PX4 SITL
+
+Make sure that the [PX4 Gazebo simulation](https://docs.px4.io/master/en/simulation/gazebo.html) is built and works:
+
+```
+cd path/to/Firmware/
+make px4_sitl gazebo
+```
+
+Then press **Ctrl+C** to stop the simulation and run the integration tests:
+
+```
+cd path/to/MAVSDK/
+AUTOSTART_SITL=1 ./build/debug/src/integration_tests/integration_tests_runner
+```
+
+To run the tests without the 3D viewer (_gzclient_), use:
+
+```
+AUTOSTART_SITL=1 HEADLESS=1 ./build/debug/src/integration_tests/integration_tests_runner
+```
+
+### Run PX4 SITL Manually
+
+Build and run the PX4 simulation manually:
+
+```
+cd path/to/Firmware/
+make px4_sitl gazebo
+```
+
+Then run the tests as shown:
+
+```
+cd path/to/MAVSDK/
+./build/debug/src/integration_tests/integration_tests_runner
+```
+
+> **Tip** The tests are designed to run in simulation, and may not be safe if run on a real vehicle.
+
+### Gtest Tricks
+
+To list all integration tests:
+
+```
+./build/default/src/integration_tests/integration_tests_runner --gtest_list_tests
+```
+
+To run a single integration test:
+
+```
+./build/default/src/integration_tests/integration_tests_runner --gtest_filter="SitlTest.TelemetryAsync"
+```
+
+To run all telemetry tests:
+
+```
+./build/default/src/integration_tests/integration_tests_runner --gtest_filter="SitlTest.Telemetry*"
+```
+
diff --git a/docs/en/cpp/guide/toolchain.md b/docs/en/cpp/guide/toolchain.md
new file mode 100644
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--- /dev/null
+++ b/docs/en/cpp/guide/toolchain.md
@@ -0,0 +1,123 @@
+# Building C++ Apps
+
+The MAVSDK core C++ library is written in C++17 and exposes C++11 interfaces such as `std::function`. Therefore, applications using the library need to be C++11 or later as well.
+
+Applications can be built using your preferred build system, compiler and linker toolchain. The only requirement is that the build system must be able to locate the MAVSDK C++ headers and libraries (installed as described [here](installation.md)).
+
+MAVSDK itself uses the [cmake](https://cmake.org/) build system, and we recommend that you do too.
+*CMake* is an open-source, cross-platform toolchain that allows you to build your examples on macOS, Linux and Windows using the same build file definition.
+
+Below we explain how to set up a minimal build setup (**CMakeLists.txt**) file for your application.
+
+
+## Build Definition File - CMakeLists.txt
+
+*Cmake* uses a definition file named **CMakeLists.txt** to define the project. This specifies the name of the project, compiler flags for different platforms and targets, where to find dependencies (libraries and header files), source files to build, and the name of the generated binary. **CMakeLists.txt** is typically stored in the root directory of your app project.
+
+The sections below show how you can set up the file for when the SDK is [installed system wide](installation.md) (the default) or [locally](build.md#sdk_local_install).
+
+> **Warning** On Windows use the [local installation](#sdk_local_install).
+
+A "template" **CMakeLists.txt** is shown below.
+Most of file is boilerplate - the main things you need to change are *your_project_name*, *your_executable_name* and *your_source_file*. You should also make sure that any plugins used by your app are listed in the `target_link_libraries` section.
+
+```cmake
+cmake_minimum_required(VERSION 3.15)
+
+# Specify your project's name
+project(your_project_name)
+
+# Specify at least C++11, better C++17
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Enable strict handling of warnings
+add_definitions("-Wall -Wextra -Werror")
+
+# Finds MAVSDK when installed system wide.
+find_package(MAVSDK REQUIRED)
+
+# Specify your app's executable name, and list of source files used to create it.
+add_executable(your_executable_name
+    your_source_file.cpp
+    # ... any other source files
+)
+
+# Specify your app's executable name and a list of linked libraries
+target_link_libraries(your_executable_name
+    MAVSDK::mavsdk             #All apps link against mavsdk library
+    MAVSDK::mavsdk_action      # If action plugin used by app ...
+    MAVSDK::mavsdk_telemetry   #If telemetry plugin used by app ...
+    # ... Any other linked libraries
+)
+```
+
+> **Note** The file format and required modifications are self-explanatory.
+> If additional information is required see the [cmake documentation](https://cmake.org/cmake/help/latest/manual/cmake-commands.7.html).
+
+
+## Building the App
+
+In order to build the application, the MAVSDK library and header files need to be installed.
+
+### MAVSDK Installed System-wide {#sdk_installed_system_wide}
+
+If MAVSDK has been installed using the **.deb** or **.rpm** file from [MAVSDK releases](https://github.com/mavlink/MAVSDK/releases) it is installed in `/usr/`, so system-wide.
+If MAVSDK has been built from source and installed in `/usr/local`, we also consider that system-wide.
+
+For this case `find_package(MAVSDK REQUIRED)` as used in `CMakeLists.txt` above should find the library automatically.
+
+To build the example we would do:
+
+```bash
+   cmake -Bbuild -H.
+   cmake --build build -j8
+```
+
+### MAVSDK Installed Locally {#sdk_local_install}
+
+For Windows we need to install the library and header files locally by extracting **mavsdk-windows-x64-release.zip** file from [MAVSDK releases](https://github.com/mavlink/MAVSDK/releases).
+
+On macOS/Linux, you can also use locally installed library artefacts by [building from source](build.md) if that is required (e.g. during development in order not to conflict with a system-wide installed library).
+
+For the case where the library is installed in some local directory, you need to specify this path using the `CMAKE_PREFIX_PATH`.
+
+E.g. here there would be a directory called mavsdk just one directory up:
+
+```bash
+cmake -Bbuild -DCMAKE_PREFIX_PATH=../mavsdk -H.
+cmake --build build -j8
+```
+
+## Run the App
+
+To Execute the file (in your build directory):
+
+```bash
+build/your_executable_name  # Run your new executable
+```
+
+## Release Build
+
+In order to build in Release mode where the file size is smaller and optimizations are turned on, do:
+
+**macOS/Linux:**
+```
+cmake -Bbuild -DCMAKE_BUILD_TYPE=Release -H.
+cmake --build build -j8
+```
+
+**Windows:**
+
+```
+cmake -Bbuild -H.
+cmake --build build -j8 --config Release
+```
+
+## Useful Links
+
+We only show a small fraction of what *Cmake* is capable of! Check out the links below for more information and examples.
+
+* [cmake resources page](https://cmake.org/documentation/)
+* [cmake documentation](https://cmake.org/cmake/help/latest/) (latest)
+* [cmake commands](https://cmake.org/cmake/help/latest/manual/cmake-commands.7.html)
diff --git a/docs/en/cpp/guide/using_plugins.md b/docs/en/cpp/guide/using_plugins.md
new file mode 100644
index 0000000000..7187d97742
--- /dev/null
+++ b/docs/en/cpp/guide/using_plugins.md
@@ -0,0 +1,27 @@
+# Managing Systems/Vehicles (Using Plugins)
+
+Access to drone information, telemetry and control objects are provided by a number of different *plugins*.
+For example, the [Action](../api_reference/classmavsdk_1_1_action.md) plugin is used to arm, takeoff and land the vehicle,
+while the [Telemetry](../guide/telemetry.md) plugin can be used to query the vehicle GPS status, flight mode, etc.
+A separate plugin instance must be created for each system that needs it.
+
+> **Note** All plugins are declared/used in the same way. This topic uses the `Action` plugin for the purposes of the demonstration.
+
+> **Note** Plugins are named using the convention **mavsdk\__plugin\_name_.so**.
+  For more information see [Building C++ Apps](../guide/toolchain.md)
+
+
+In the application source code:
+1. `#include` the header file for the plugin.
+   ```cpp
+   #include <mavsdk/plugins/action/action.h>
+   ```
+1. [Create a connection](../guide/connections.md) to a `System` object (below named: `system`).
+1. Create the plugin instance, specifying the `System` it is to be used with:
+   ```cpp
+   auto action = Action{system};
+   ```
+1. The pointer can then be used to invoke actions on the specified system. For example, to takeoff you would call the API as shown:
+   ```cpp
+   action.takeoff();
+   ```
diff --git a/docs/en/cpp/guide/vtol.md b/docs/en/cpp/guide/vtol.md
new file mode 100644
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--- /dev/null
+++ b/docs/en/cpp/guide/vtol.md
@@ -0,0 +1,39 @@
+# VTOL Support
+
+MAVSDK has only basic support for VTOL vehicles.
+VTOL waypoint missions are only supported using the [MissionRaw plugin](../api_reference/classmavsdk_1_1_mission_raw.md).
+
+> **Note** Most design and test effort has gone into multicopter support.
+> [Get in touch](../../index.md#getting-help) if you would like to help enhance the VTOL/Fixed-wing experience!
+
+## Supported Functionality
+
+Much of the functionality in MAVSDK is generic, and useful on all vehicle types.
+At time of writing the only *VTOL-specific* functionality are the actions to
+[transition between fixed wing and copter modes](../guide/taking_off_landing.md#transition_vtol).
+
+MAVSDK can be used to command VTOL vehicles to:
+
+- Take off and land in *multicopter* mode.
+- Fly in multicopter mode and transition to fly in fixed wing mode.
+- Use the camera/gimbal and other generic features.
+
+
+## Remaining Work
+
+Known omissions:
+
+- You can't include the transition to/from fixed wing in the mission itself, but have to use the transition actions.
+- VTOL takeoff in fixed wing mode is not supported.
+- VTOL specific testing needs to be considered and implemented.
+
+
+## Further Information
+
+Additional information/examples are linked below:
+
+* [Guide: Taking Off and Landing > Transition to fixed wing mode](../guide/taking_off_landing.md#transition_vtol)
+* [Example: VTOL Transitions](../examples/transition_vtol_fixed_wing.md)
+* Integration tests:
+  * [action_transition_multicopter_fixedwing.cpp](https://github.com/mavlink/MAVSDK/blob/main/src/integration_tests/action_transition_multicopter_fixedwing.cpp)
+
diff --git a/docs/en/cpp/index.md b/docs/en/cpp/index.md
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+++ b/docs/en/cpp/index.md
@@ -0,0 +1,65 @@
+# MAVSDK C++ Library <div style="float:right; padding:10px; margin-right:20px;"><img src="../../assets/site/sdk_logo_full.png" title="MAVSDK Logo" width="180px"/></div>
+[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)&nbsp;[![Discuss](https://img.shields.io/badge/discuss-MAVSDK-ff69b4.svg)](https://discuss.px4.io/c/sdk) [![GitHub Actions Status](https://github.com/mavlink/MAVSDK/workflows/Build%20and%20Test/badge.svg?branch=main)](https://github.com/mavlink/MAVSDK/actions?query=branch%3Amain) [![Coverage Status](https://coveralls.io/repos/github/mavlink/MAVSDK/badge.svg?branch=main)](https://coveralls.io/github/mavlink/MAVSDK?branch=main)
+
+The MAVSDK C++ library provides a simple C++ API for managing one or more vehicles via MAVLink.
+It enables programmatic access to vehicle information and telemetry, and control over missions, movement and other operations.
+The C++ library is designed to be performant, and can be used to enable tasks like computer vision, obstacle avoidance, and route planning.
+
+
+## Project Status
+
+The MAVSDK C++ library is a robust and well-tested library that is in use in production environments.
+Note however that the API is still being evolved and the project does not provide future compatibility guarantees.
+
+## Getting Started
+
+Check out the [QuickStart guide](quickstart.md) to get started.
+
+A simple complete example can be found in [Takeoff and Land](examples/takeoff_and_land.md).
+
+## Updating / API changes
+
+Information about API changes between versions: [API changes](api_changes.md).
+
+## API Overview
+
+[Mavsdk](api_reference/classmavsdk_1_1_mavsdk.md) is the main library class.
+API consumers use [Mavsdk](api_reference/classmavsdk_1_1_mavsdk.md) to discover and access vehicles ([System](api_reference/classmavsdk_1_1_system.md) objects), which in turn provide access to all other drone information and control objects (e.g. [Telemetry](api_reference/classmavsdk_1_1_telemetry.md), [Mission](api_reference/classmavsdk_1_1_mission.md) etc.).
+
+The most important classes are:
+
+- [Mavsdk](api_reference/classmavsdk_1_1_mavsdk.md): Discover and connect to vehicles ([System](api_reference/classmavsdk_1_1_system.md)).
+- [System](api_reference/classmavsdk_1_1_system.md): Represents a connected vehicle (e.g. a copter or VTOL drone).
+  It provides access to vehicle information and control through the classes listed below.
+- [Info](api_reference/classmavsdk_1_1_info.md): Basic version information about the hardware and/or software of a system.
+- [Telemetry](api_reference/classmavsdk_1_1_telemetry.md): Get vehicle telemetry and state information and set telemetry update rates.
+- [Action](api_reference/classmavsdk_1_1_action.md): Simple drone actions including arming, taking off, and landing.
+- [Mission](api_reference/classmavsdk_1_1_mission.md): Waypoint mission creation and upload/download.
+  Missions are created from [MissionItem](api_reference/structmavsdk_1_1_mission_1_1_mission_item.md) objects.
+- [Offboard](api_reference/classmavsdk_1_1_offboard.md): Control a drone with velocity commands.
+- [Geofence](api_reference/classmavsdk_1_1_geofence.md): Specify a geofence.
+- [Gimbal](api_reference/classmavsdk_1_1_gimbal.md): Control a gimbal.
+- [Camera](api_reference/classmavsdk_1_1_camera.md): Control a camera.
+- [FollowMe](api_reference/classmavsdk_1_1_follow_me.md): Drone tracks a position supplied by the SDK.
+- [Calibration](api_reference/classmavsdk_1_1_calibration.md):  Calibrate sensors (e.g.: gyro, accelerometer, and magnetometer).
+- [LogFiles](api_reference/classmavsdk_1_1_log_files.md): Download log files from the vehicle.
+
+
+In addition, "[Server Plugins](server_plugins.md)" can be used to implement vehicle-side MAVLink functionality.
+The might be used to expose a MAVLink interface from non-MAVLink autopilots or components.
+
+
+The following APIs provide more direct access to underlying MAVLink messages/types.
+They should only be used where features are missing from the main APIs above.
+* [Param](api_reference/classmavsdk_1_1_param.md): Raw access to get and set parameters.
+* [MissionRaw](api_reference/classmavsdk_1_1_mission_raw.md): Direct access to MAVLink mission items.
+* [MavlinkPassthrough](api_reference/classmavsdk_1_1_mavlink_passthrough.md): Provides full/direct MAVLink access
+
+
+## Contributing/Extending
+
+The [Contributing](contributing/index.md) section contains everything you need to contribute to project, including topics about building the SDK from source code, running our integration and unit tests, and all other aspects of core development.
+
+## Troubleshooting
+
+If something doesn't work as expected, make sure to check [Troubleshooting](troubleshooting.md).
diff --git a/docs/en/cpp/quickstart.md b/docs/en/cpp/quickstart.md
new file mode 100644
index 0000000000..8eb61a2781
--- /dev/null
+++ b/docs/en/cpp/quickstart.md
@@ -0,0 +1,101 @@
+# C++ QuickStart
+
+This quickstart shows you how to build and run a simple MAVSDK C++ example application against a simulated vehicle, and observe the operation using the console and in a ground station.
+
+> **Note** MAVSDK is essentially a C++ library (or rather multiple library files) that you can include and link in your C++ application.
+
+
+## Install MAVSDK library
+
+### Linux
+
+**Ubuntu**
+
+If you have an older version already installed remove that first:
+```
+sudo apt remove mavsdk
+```
+
+The prebuilt C++ library can be downloaded as a **.deb** from [releases](https://github.com/mavlink/MAVSDK/releases), e.g.:
+
+```
+wget https://github.com/mavlink/MAVSDK/releases/download/v2.6.0/libmavsdk-dev_2.6.0_ubuntu22.04_amd64.deb
+sudo dpkg -i libmavsdk-dev_2.6.0_ubuntu22.04_amd64.deb
+```
+
+### macOS
+
+Install [Homebrew](https://brew.sh/) and use it to install the library:
+```
+brew install mavsdk
+```
+
+### Windows
+
+For Windows you can download the **mavsdk-windows-x64-release.zip** file from [MAVSDK releases](https://github.com/mavlink/MAVSDK/releases) containing the headers and library and extract it locally (see [information how to use a locally installed library](guide/toolchain.md#sdk_local_install)).
+
+For more detailed instructions or other platforms check out the [installation notes](guide/installation.md).
+
+## Setting up a Simulator {#simulator}
+
+The easiest way to try out MAVSDK is to run one of the MAVSDK examples against a simulated version of the vehicle.
+
+To set up and run the PX4 simulator, you need to either [set up the PX4 SITL developer environment](https://docs.px4.io/master/en/dev_setup/dev_env.html).
+
+Or use a [pre-built docker container to run PX4 and the simulator](https://github.com/JonasVautherin/px4-gazebo-headless):
+```
+docker run --rm -it jonasvautherin/px4-gazebo-headless:1.11.0
+```
+
+## Install QGroundControl
+
+You can use *QGroundControl* to connect the simulator and observe vehicle movement and behaviour while the examples are running.
+*QGroundControl* will automatically connect to the PX4 simulation as soon as it is started.
+
+See [QGroundControl > Download and Install](https://docs.qgroundcontrol.com/en/getting_started/download_and_install.html) for information about setting up *QGroundControl* on your platform.
+
+
+## Build and Try Example {#build_examples}
+
+The examples are stored as part of the projects source code.
+Get them using *git* in a terminal:
+```
+git clone https://github.com/mavlink/MAVSDK.git --recursive
+cd MAVSDK
+```
+
+The examples can be found in the examples directory:
+```
+cd examples
+```
+
+To build the takeoff and land example, you can do:
+
+```sh
+cd takeoff_and_land/
+cmake -Bbuild -H.
+cmake --build build -j4
+```
+
+## Running an Example {#running_the_examples}
+
+First start PX4 in SITL (Simulation) and *QGroundControl* as described above.
+
+Then run the example app (from the **example/takeoff_land/build** directory) as shown:
+```sh
+build/takeoff_and_land udp://:14540
+```
+
+The MAVSDK application should connect to PX4, and you will be able to observe the example running in the SDK terminal, SITL terminal, and/or *QGroundControl*.
+The expected behaviour is shown here: [Example: Takeoff and Land](examples/takeoff_and_land.md).
+
+> **Note** The first argument above is the connection string (`udp://:14540`).
+  This is the standard PX4 UDP port for connecting to offboard APIs (also see [Connecting to Systems](guide/connections.md)).
+
+
+## Next Steps
+
+Once MAVSDK is installed we recommend you:
+- Try the [other examples](examples/index.md)
+- See how to [write your own application](guide/toolchain.md) in C++.
+- Browse the [API reference](api_reference/index.md) to get an overview of the functionality.
diff --git a/docs/en/cpp/server_plugins.md b/docs/en/cpp/server_plugins.md
new file mode 100644
index 0000000000..f1fb29537d
--- /dev/null
+++ b/docs/en/cpp/server_plugins.md
@@ -0,0 +1,29 @@
+# Server Plugins
+
+MAVSDK _Server_ plugins are used to expose MAVLink services on non-MAVLink flight stacks, companions computers, cameras, gimbals and other components.
+
+The plugins listen for commands from a ground station or other MAVLink client, pass them to the underlying native system using callbacks, and respond as needed. 
+
+> **Note** They are called "server" plugins because they perform the server role in communication - listening for commands and responding.
+> The client role is usually performed by a ground station (or "ordinary" MAVSDK plugin)
+
+
+## Adding MAVLink support to your vehicle
+
+Adding MAVLink support to your vehicle is as simple as instantiating the required server plugin and actioning the vehicle on the appropriate callback.
+
+## Examples
+
+The [Autopilot Server](./examples/autopilot_server.md) example uses many different MAVSDK server plugins to replicate a simple vehicle and autopilot system, with telemetry, mission handling, parameters and more.
+
+## Plugins
+
+The plugins developed specifically for this case are usually suffixed with `Server`, e.g.:
+
+- [ActionServer](./api_reference/classmavsdk_1_1_action_server.md)
+- [MissionRawServer](./api_reference/classmavsdk_1_1_mission_raw_server.md)
+- [ParamServer](./api_reference/classmavsdk_1_1_param_server.md)
+- [TelemetryServer](./api_reference/classmavsdk_1_1_telemetry_server.md)
+- [TrackingServer](./api_reference/classmavsdk_1_1_tracking_server.md)
+
+These server plugins can potentially also be used to test the "client" plugins of MAVSDK in the future. The [Autopilot Server](./examples/autopilot_server.md) example uses multiple MAVSDK instances in this way.
diff --git a/docs/en/cpp/troubleshooting.md b/docs/en/cpp/troubleshooting.md
new file mode 100644
index 0000000000..8e30a94aba
--- /dev/null
+++ b/docs/en/cpp/troubleshooting.md
@@ -0,0 +1,78 @@
+# Troubleshooting
+
+## User callbacks {#user_callbacks}
+
+All callbacks back to the user of the library are called from one thread. The callbacks are stored in a queue. If the user does not return quickly enough from the callback, it can happen that the user callback queue fills up.
+
+If a callback takes more than one second, the user sees the warning:
+```
+[02:56:26|Warn ] Callback took more than 1 second to run.
+See: https://mavsdk.mavlink.io/main/en/cpp/troubleshooting.html#user_callbacks (system_impl.cpp:327)
+```
+
+At 10 queued callbacks, the user sees the warning:
+```
+[02:56:26|Warn ] User callback queue too slow.
+See: https://mavsdk.mavlink.io/main/en/cpp/troubleshooting.html#user_callbacks (system_impl.cpp:1213)
+```
+At 100 queued callbacks, the user sees the error message:
+```
+[02:56:35|Error] User callback queue overflown
+See: https://mavsdk.mavlink.io/main/en/cpp/troubleshooting.html#user_callbacks (system_impl.cpp:1218)
+```
+
+### How to debug this?
+
+To determine which callback is blocking the queue, you can set the environment variable `MAVSDK_CALLBACK_DEBUGGING` to `1`, which will print more debug information and abort the program as soon as the problem occurs.
+
+```
+MAVSDK_CALLBACK_DEBUGGING=1 ./my_executable_using_mavsdk
+```
+or:
+```
+export MAVSDK_CALLBACK_DEBUGGING=1
+./my_executable_using_mavsdk
+```
+
+You should then see something like this hinting at which callback might be responsible:
+```
+[03:00:02|Warn ] Callback called from telemetry_impl.cpp:533 took more than 1 second to run. (system_impl.cpp:320)
+[2]    1261673 abort (core dumped)  MAVSDK_CALLBACK_DEBUGGING=1  ..."
+```
+
+Note that this does not point to the blocking code, but only to the place where your blocking callback was called.
+
+### How to avoid this?
+
+The rule is to spend as little time and CPU in the callbacks as possible.
+For instance, inside the callbacks you should not wait on other events or sleep.
+
+If you really want to do something that takes longer inside a callback, the workaround is to just spawn that activity on another thread, e.g. using `std::thread`:
+
+```
+void my_callback(Telemetry::Position position)
+{
+    std::thread([position]() {
+        std::this_thread_sleep_for(std::chrono::seconds(3));
+        my_delayed_action(position);
+    }).detach();
+}
+```
+
+### Why did this use to work?
+
+Before introducing the callback queue, we used a thread pool of 3 threads to call user callbacks.
+The thread pool was written to avoid everything from stalling if a user blocked in one of the callbacks.
+It generally worked provided the user did not block in more than 3 callbacks at any given time.
+
+However, it had also some disadvantages:
+
+- Due to the thread pool multiple threads could call a function at any given time.
+  This means that one callback can be called from at least two threads at the same time which is quite likely if the callback is called at a high rate.
+  This can create race conditions on the user side unless a mutex is used to prevent this.
+  However, it's not very intuitive that a mutex is needed for that, and mutexes in general should be avoided, if possible, for performance reasons.
+  Such race conditions also showed up as CI test failures, see: [MAVSDK#1010](https://github.com/mavlink/MAVSDK/issues/1010), [MAVSDK#1045](https://github.com/mavlink/MAVSDK/issues/1045).
+- For developers the old thread pool behaviour was unclear and unpredictable.
+  Basically, without code inspection, it was difficult to know if blocking in a callback is safe or not.
+  When trying with one blocking callback, it would work, however, this can create a false sense of security as with 3 blocking callbacks it would suddenly lock up.
+- Previously, when this happened, it was difficult to debug because it would either lead to a crash on destruction, or lock up at which point the backtrace of all threads need to be looked at using gdb.
diff --git a/docs/en/faq.md b/docs/en/faq.md
new file mode 100644
index 0000000000..e9ecaee2b7
--- /dev/null
+++ b/docs/en/faq.md
@@ -0,0 +1,129 @@
+# FAQ
+
+### Why was the core of MAVSDK written in C++?
+
+The aim was to have an API in a language which is cross-platform and has many language bindings.
+The library also needs to be lightweight and fast, so it does not slow down for onboard usage at higher rate messaging.
+Additionally, MAVSDK should be able to run efficiently in embedded setups, e.g. as part of an app or onboard a drone on a companion computer, as well as provide a simple and safe API. This favoured C++ over C as it allows for more expressive but type-safe APIs using standard library containers (e.g. `std::vector<MissionItem>`) for usage in embedded setups.
+
+### Are multiple vehicles supported?
+
+Yes.
+- The MAVSDK C++ library allows C++ applications to connect to multiple vehicles at a time.
+- Python, Swift, and other language wrappers can only connect to a _single vehicle at a time_.
+  However you can instantiate multiple copies of wrappers in order to connect to multiple systems.
+
+A maximum of 255 vehicles can be connected.
+
+> **Note** The maximum number of vehicles is defined by the MAVLink protocol.
+  MAVLink refers to vehicles as "systems", which are comprised of components (for example, a drone with a gimbal and a camera).
+  Each system has a network-unique MAVLink system ID, with a value between 1 and 255 (0 is a "broadcast address").
+  Each component in a system shares its system id, and has a system-unique component ID, again with a value 1 and 255.
+
+### Is MAVLink 1 supported?
+
+No. MAVSDK only supports [MAVLink 2.0](https://mavlink.io/en/guide/mavlink_2.html).
+
+### What sorts of vehicles are supported?
+
+The MAVSDK API is designed for interacting with *aircraft*.
+It has primarily been tested for use with multicopters, but also has basic support for fixed wing and [VTOL](cpp/guide/vtol.md).
+
+The API *may* "work" with ground-based or other types of vehicles, but some methods will not make sense.
+This use-case is mostly unsupported and untested.
+
+### Does MAVSDK support indoor use?
+
+Indoor use is supported, however, some modes such as mission or position control are not available indoor, unless some additional positioning method is available (e.g. optical flow, visual-inertial odometry, a motion capture system, etc.).
+
+Note that PX4 currently does not support missions using "local coordinates" (i.e. meters) but only supports using "global coordinates" (i. e. latitude/longitude).
+
+### What UAV flight stacks are supported?
+
+MAVSDK, so far, is optimised for use with the PX4 flight stack and all testing is done against PX4.
+
+While many features should work on other flight stacks there may be implementation differences at the [MAVLink microservices level](https://mavlink.io/en/protocol/overview.html) which means that not every API will work.
+For example, PX4 and ArduPilot implement the parameter protocol differently, and vary slightly in the mission upload/download protocol (e.g. ArduPilot uses the 0 entry as the home position).
+
+> **Note** The SDK welcomes contributions to better support flight stacks other than PX4.
+> We do however expect contributors to also help with testing and maintenance support for using the SDK with their autopilot.
+
+### Are serial connections supported?
+
+Yes. Serial, TCP, and UDP connections are supported, see [notes on connection](cpp/guide/connections.md).
+
+### Why is libCURL a dependency?
+
+libCURL will be required to download the camera definition file which is referenced in [CAMERA_INFORMATION](https://mavlink.io/en/messages/common.html#CAMERA_INFORMATION).
+It might also come in handy whenever any other REST resources are required.
+
+### How are plugins added?
+
+Check out [C++/Contributing/Plugins](cpp/contributing/plugins.md).
+
+### Can a plugin depend on another one?
+
+Yes - but it should not!
+The idea is that plugins don't have any coupling between each other which allows for any plugin to be changed or removed without breaking the rest.
+This will lead to some duplication at places, and that's an acceptable trade-off.
+If the same code is used in many places, it can always be moved to core and get re-used from there.
+
+We have sometimes moved functionality from plugins to the core if it was exposed in multiple plugins. As an example mission upload/download has been moved to the core so it can be used in the Mission plugin as well as the MissionRaw and Geofence plugins.
+
+### Can MAVSDK run on an embedded platform / microcontroller?
+
+MAVSDK is generally written at a bit higher level, geared towards ARM devices such as a Raspberry Pi, a smartphone, or a similar device with equal/better performance.
+
+As MAVSDK does not actually require too much CPU power, it could in theory be run on a microcontroller such as an ARM Cortex M4, however, it would require the POSIX APIs for serial and networking communication, as well as the C++ standard library for classes/functions such as `std::thread` or `std::vector`.
+
+The recommendation for usage with a microcontroller would be to use the pure [C MAVLink headers](https://mavlink.io/en/mavgen_c/).
+
+### Why is MAVLink Passthrough only available in C++?
+
+The C++ MAVLink passthrough plugin basically exposes the direct C MAVLink API. While it would be nice to have access to all MAVLink messages in the language wrappers, there are some technical challenges:
+
+- Essentially, it would mean that all MAVLink APIs would have to be duplicated by the [proto APIs](https://github.com/mavlink/MAVSDK-Proto/tree/main/protos).
+  This would increase the API and code size considerably.
+- Alternatively, the API could be exposed without types, using some sort of runtime access like `get_message("ATTITUDE").get_field("pitch").as_float()`.
+  This would come with the cost of no type safety and runtime overhead for parsing the strings.
+
+From a MAVSDK project point of view, there is also an advantage of not having a passthrough available in language wrappers; it encourages that required features are contributed back to the open-source project, rather than implemented in private using passthrough, and thus benefitting everyone.
+
+### Why is gRPC used for the language wrappers?
+
+There are multiple ways to support multiple programming languages all with their pros and cons:
+
+1. Separate implementation per language:
+   `+` Nice native API.
+   `+` No non-native dependencies (often) in language wrappers.
+   `-` Lots of implementation effort required, does not scale well with a small team.
+   `-` Languages will not have consistency of feature parity.
+2. Direct language bindings based on [Swig](http://www.swig.org/).
+   `+` Many languages "almost for free".
+   `-` Not always optimal/super clean API, unless another layer is written manually.
+   `-` Requires linking to non-native dependencies.
+3. Direct language bindings manually written, or based on various tools like [pybind11](https://github.com/pybind/pybind11).
+   `+` Some languages "almost for free".
+   `-` Varies on the language. If done manually likely to have bugs.
+   `-` Requires linking to nan-native dependencies.
+4. Language bindings based on proto definitions (protobuf) and gRPC.
+   `+` Nice native APIs can be auto-generated from proto files.
+   `+` No non-native dependencies in language wrappers.
+   `+` mavsdk_server (gRPC server) can be run on other machine, or over network, in cloud, etc.
+   `-` gRPC requires quite a few dependencies.
+
+When writing the language wrappers for MAVSDK we decided to try gRPC, however, we underestimated just how much work was required to write all the auto-generation for the various function signatures (sync, async, result handling, streams, etc.), and also were not aware about the pain that comes with every dependency.
+
+You can [read more about the auto-generation](cpp/contributing/autogen.md), and [learn how to add functionality](cpp/contributing/plugins.md#add-api-to-proto).
+
+We are not ruling out direct-bindings for the future, there is e.g. a [prototype for Python using pybind11](https://github.com/mavlink/MAVSDK/pull/1283), so this is an ongoing topic.
+
+### Use of deleted function Mavsdk()
+
+```
+error: use of deleted function ‘mavsdk::Mavsdk::Mavsdk()’
+
+mavsdk::Mavsdk mavsdk;
+```
+
+The API to construct `Mavsdk` has changed with v2. Check [API changes](cpp/api_changes.md):
diff --git a/docs/en/index.md b/docs/en/index.md
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+++ b/docs/en/index.md
@@ -0,0 +1,88 @@
+<div style="float:right; padding:10px; margin-right:20px;"><img src="../assets/site/sdk_logo_full.png" title="MAVSDK Logo" width="400px"/></div>
+
+# MAVSDK (main)
+
+[![Discord](https://img.shields.io/badge/Discord-Join_Us!-blue)](https://discord.com/invite/dronecode)&nbsp;[![Discuss](https://img.shields.io/badge/discuss-MAVSDK-ff69b4.svg)](https://discuss.px4.io/c/sdk) [![GitHub Actions Status](https://github.com/mavlink/MAVSDK/workflows/Build%20and%20Test/badge.svg?branch=main)](https://github.com/mavlink/MAVSDK/actions?query=branch%3Amain)
+[![Coverage Status](https://coveralls.io/repos/github/mavlink/MAVSDK/badge.svg?branch=main)](https://coveralls.io/github/mavlink/MAVSDK?branch=main)
+
+*MAVSDK* is a collection of libraries for various programming languages to interface with [MAVLink](https://mavlink.io/en/) systems such as drones, cameras or ground systems.
+
+The libraries provides a simple API for managing one or more vehicles, providing programmatic access to vehicle information and telemetry, and control over missions, movement and other operations.
+
+The libraries can be used onboard a drone on a companion computer or on the ground for a  ground station or mobile device.
+
+MAVSDK is cross-platform: Linux, macOS, Windows, Android and iOS.
+
+## Programming Languages
+
+MAVSDK is primarily written in C++ with wrappers available for several programming languages:
+
+- [MAVSDK-C++](https://github.com/mavlink/MAVSDK) (2016): Used in production.
+- [MAVSDK-Swift](https://github.com/mavlink/MAVSDK-Swift) (2018): Used in production.
+- [MAVSDK-Python](https://github.com/mavlink/MAVSDK-Python) (2019): Used in production.
+- [MAVSDK-Java](https://github.com/mavlink/MAVSDK-Java) (2019): Used in production.
+- [MAVSDK-Go](https://github.com/mavlink/MAVSDK-Go) (2020): Proof of concept.
+- [MAVSDK-JavaScript](https://github.com/mavlink/MAVSDK-JavaScript) (2019): Proof of concept.
+- [MAVSDK-CSharp](https://github.com/mavlink/MAVSDK-CSharp) (2019). Proof of concept.
+- [MAVSDK-Rust](https://github.com/mavlink/MAVSDK-Rust) (2019): Proof of concept.
+
+## Getting Started
+
+Check out the quickstart guide for [C++](cpp/quickstart.md) and [Python](python/quickstart.md).
+And no matter which language you are using, use the [C++ Guide](cpp/guide) to learn how to
+perform common tasks and use the library in general.
+
+## Getting Help {#getting-help}
+
+This guide contains information and examples showing how to use MAVSDK.
+If you have specific questions that are not answered by the documentation, these can be raised on:
+
+* [Discuss board](https://discuss.px4.io/c/mavsdk)
+* [Discord (#mavsdk)](https://discord.gg/dronecode) 
+
+Use Github for bug reports/enhancement requests:
+
+* [C++ API](https://github.com/mavlink/MAVSDK/issues)
+* [C++ Documentation](https://github.com/mavlink/MAVSDK-docs/issues)
+* [Swift API and docs](https://github.com/mavlink/MAVSDK-Swift/issues)
+* [Python API and docs](https://github.com/mavlink/MAVSDK-Python/issues)
+<!-- Add info about where other API issues are reported). -->
+
+
+## Contributing
+
+We welcome contributions! If you want to help or have suggestions/bug reports [please get in touch with the development team](#getting-help).
+
+The [Contributing](cpp/contributing/index.md) (C++) section contains more information on how and what to contribute, including topics about building MAVSDK from source code, running our integration and unit tests, and all other aspects of core development.
+
+## Maintenance
+
+This project is maintained by volunteers:
+- [Julian Oes](https://github.com/julianoes) ([sponsoring](https://github.com/sponsors/julianoes), [consulting](https://julianoes.com)).
+- [Jonas Vautherin](https://github.com/JonasVautherin)
+
+Maintenance is not sponsored by any company, however, hosting of the [docs](https://mavsdk.mavlink.io/main/en/) and the [forum](https://discuss.px4.io/c/mavsdk/) is provided by the [Dronecode Foundation](https://dronecode.org).
+
+## Support and issues
+
+If you just have a question, consider asking in the [forum](https://discuss.px4.io/c/mavsdk/).
+
+If you have run into an issue, discovered a bug, or want to request a feature, create an [issue](https://github.com/mavlink/MAVSDK/issues). If it is important or urgent to you, consider sponsoring any of the maintainers to move the issue up on their todo list.
+
+If you need private support, consider paid consulting:
+- [Julian Oes consulting](https://julianoes.com)
+
+(Create a pull request if you wish to be listed here.)
+
+## License
+
+* The *MAVSDK* is licensed under the permissive [BSD 3-clause](https://github.com/mavlink/MAVSDK/blob/main/LICENSE.md).
+* This documentation is licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) license.
+
+## Governance
+
+The MAVSDK project is hosted under the governance of the [Dronecode Foundation](https://www.dronecode.org/).
+
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="../assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
+<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="../assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
+<div style="padding:10px">&nbsp;</div>
diff --git a/docs/en/python/index.md b/docs/en/python/index.md
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+++ b/docs/en/python/index.md
@@ -0,0 +1,4 @@
+# MAVSDK-Python
+
+* [Python QuickStart](quickstart.md)
+* [API documentation](http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/)
diff --git a/docs/en/python/quickstart.md b/docs/en/python/quickstart.md
new file mode 100644
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+# Python QuickStart
+
+## Prerequisites
+
+* __Python 3.6+:__ run `python --version` or `python3 --version` in a terminal to check the installed version.
+* __A running SITL instance__ ([jMAVSim](https://docs.px4.io/master/en/simulation/jmavsim.html), [gazebo](https://docs.px4.io/master/en/simulation/gazebo.html), …).
+  A quick way to run a headless gazebo SITL instance using docker is documented [here](https://github.com/jonasvautherin/px4-gazebo-headless).
+
+## Install
+
+MAVSDK-Python is distributed through [PyPi](https://pypi.org/project/mavsdk/), and can therefore be installed with `pip3`:
+
+```sh
+pip3 install mavsdk
+```
+
+Make sure that the output of this command confirms that the installation succeeded!
+
+> **Tip** On some systems, you may have to run `pip3 install --user mavsdk`, or you may want to run in a Python venv.
+
+For the quick start below we will also install the lightweight package called “aioconsole”.
+This provides a REPL (interactive shell) called `apython` that we can use for running asyncio code:
+
+```sh
+pip3 install aioconsole
+```
+
+## Run SITL
+
+It is always good to make sure that SITL works before trying to connect MAVSDK to it.
+One way is to run the following commands in the `pxh>` prompt when SITL is running:
+
+```
+commander takeoff
+commander land
+```
+
+The simulated drone should takeoff and land.
+If it doesn't, it may mean that SITL is not ready, or that there is a problem.
+
+## Take off from MAVSDK
+
+When we know that the simulator is ready, we can open an `apython` REPL:
+```sh
+apython
+```
+
+Import MAVSDK into the environment by entering:
+```python
+from mavsdk import System
+```
+
+We then create a `System` object, in this case named `drone`, and make it connect to the drone (this object is our "handle" to access the rest of the MAVSDK functions):
+```python
+drone = System()
+await drone.connect()
+```
+
+Once connected, we can arm and takeoff using the appropriate MAVSDK commands:
+
+```python
+await drone.action.arm()
+await drone.action.takeoff()
+```
+
+If everything went well, your drone should takeoff.
+In the `pxh` console, you should see a log line like:
+
+```bash
+INFO [commander] Takeoff detected
+```
+
+If running a graphical interface, you should see the drone taking off.
+Here is what it looks like in jMAVSim:
+
+![jMAVSim after a successful takeoff](../../assets/python/quickstart/jmavsim_takeoff.png)
+
+> **Note** Make sure to send the `takeoff()` command within (at most) a few seconds of `arm()`; the drone will automatically disarm after a few seconds if it does not receive a command to takeoff.
+
+You get an exception, as shown below:
+```python
+raise ActionError(result, “arm()”)
+mavsdk.generated.action.ActionError: COMMAND_DENIED: ‘Command denied’; origin: arm(); params: ()
+```
+
+This is not a bug! It means that the `arm()` call was rejected by PX4, with the error code `COMMAND_DENIED`.
+It happens for instance when you try to arm before the drone gets a GPS fix.
+Most functions in MAVSDK-Python can raise exceptions that your code should handle with `try... except`.
+
+Now that the drone is flying, we can land:
+
+```python
+await drone.action.land()
+```
+
+> **Note** We have been using the apython REPL to run all that interactively, but the same can be achieved by running the [takeoff_and_land.py](https://github.com/mavlink/MAVSDK-Python/blob/master/examples/takeoff_and_land.py) example (in which case the `aioconsole` package is not needed).
+
+## Using an IDE
+
+Running from the REPL is convenient for testing a few commands interactively, but `aioconsole` does not provide auto-completion.
+However, IDEs like PyCharm do.
+This is very helpful, as typing `drone.` is enough to get a list of suggestions.
+The following screenshot shows PyCharm auto-completion for `drone.action.`:
+
+![Auto-completion in PyCharm](../../assets/python/quickstart/mavsdk_pycharm.png)
+
+## Examples
+
+We do have a [number of examples](https://github.com/mavlink/MAVSDK-Python/tree/master/examples) available in the repository, which are certainly a good starting point for learning about MAVSDK-Python.
+
+## Next Steps
+
+Once MAVSDK is installed we recommend you:
+- Try the [other examples](https://github.com/mavlink/MAVSDK-Python/tree/main/examples)
+- Browse the [API reference](http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/) to get an overview of the functionality.
diff --git a/docs/en/swift/index.md b/docs/en/swift/index.md
new file mode 100644
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+++ b/docs/en/swift/index.md
@@ -0,0 +1,3 @@
+# MAVSDK-Swift
+
+* [API documentation](http://mavsdk-swift-docs.s3.eu-central-1.amazonaws.com/main/index.html)
diff --git a/docs/index.md b/docs/index.md
new file mode 100644
index 0000000000..6f78a65e57
--- /dev/null
+++ b/docs/index.md
@@ -0,0 +1,33 @@
+---
+layout: home
+
+hero:
+  name: "MAVSDK"
+  text: "Developer Guide"
+  tagline: The easiest way to control Drones using MAVLink.
+  image: ../assets/site/sdk_logo_full.png
+  actions:
+    - theme: brand
+      text: Documentation
+      link: /en/index.md
+    - theme: alt
+      text: Support
+      link: https://discuss.px4.io/c/mavsdk/19
+    - theme: alt
+      text: Source code
+      link: https://github.com/mavlink/MAVSDK
+
+features:
+  - title: Multi-Vehicle
+    details: Connect to up to 255 PX4-based UAS vehicles (copter, plane, VTOL), fetching telemetry and controlling movement.
+  - title: Cross-Platform
+    details: Develop in Python, Java, Objective C, on Linux, Mac OS X, Windows, for Linux, Android, Windows, Mac OSX.
+  - title: Plugin Architecture
+    details: Integrate with custom hardware over MAVLink (e.g. camera, gimbal) or add any other MAVLink API you need.
+
+
+search: false
+footer: CC-BY-4.0
+---
+
+<!-- <Redirect to="/en/README.md" /> -->
\ No newline at end of file
diff --git a/docs/package.json b/docs/package.json
new file mode 100644
index 0000000000..1c8fa2091c
--- /dev/null
+++ b/docs/package.json
@@ -0,0 +1,24 @@
+{
+  "name": "MAVSDK_Docs",
+  "version": "1.0.1",
+  "repository": "https://github.com/mavlink/MAVSDK",
+  "license": "CC-BY-4.0",
+  "scripts": {
+    "docs:dev": "vitepress dev .",
+    "docs:preview": "vitepress preview .",
+    "docs:build": "vitepress build .",
+    "docs:gen_alt_sidebar_ubuntu": "python3 ./scripts/gen_alt_sidebar.py",
+    "docs:get_alt_sidebar_windows": "python ./scripts/gen_alt_sidebar.py",
+    "start": "yarn docs:dev",
+    "linkcheck": "markdown_link_checker_sc -d en -i assets"
+  },
+  "dependencies": {
+    "vitepress": "^1.5.0",
+    "@red-asuka/vitepress-plugin-tabs": "^0.0.3",
+    "lite-youtube-embed": "^0.3.2",
+    "markdown-it-mathjax3": "^4.3.2",
+    "medium-zoom": "^1.1.0",
+    "open-editor": "^5.0.0",
+    "vue3-tabs-component": "^1.3.7"
+  }
+}
\ No newline at end of file
diff --git a/docs/public/site/logo_mavsdk_header_darkmode.png b/docs/public/site/logo_mavsdk_header_darkmode.png
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diff --git a/docs/scripts/gen_alt_sidebar.py b/docs/scripts/gen_alt_sidebar.py
new file mode 100644
index 0000000000..a9c50256db
--- /dev/null
+++ b/docs/scripts/gen_alt_sidebar.py
@@ -0,0 +1,44 @@
+#! /usr/bin/python
+
+"""
+Generates a file _sidebar.md for each SUMMARY.md in the immediate folders (e.g. /en/SUMMARY.md)
+This is stored in github. Can be called at build time to create/deploy for docsify builds.
+Note, we don't "support" docsify - this is experimental
+"""
+import os
+import re
+
+
+def modify_summary_links(directory):
+    # Iterate over all immediate subdirectories
+    for subdir in next(os.walk(directory))[1]:
+        summary_md_path = os.path.join(directory, subdir, 'SUMMARY.md')
+        # Check if SUMMARY.md exists in the subdirectory
+        if os.path.isfile(summary_md_path):
+            # print(f"Processing: {summary_md_path}")
+            # Read the SUMMARY.md content
+            with open(summary_md_path, 'r', encoding='utf-8') as f:
+                summary_content = f.read()
+
+            # Modify the URLs to start with '/'
+            modified_content = re.sub(r'\]\((?!/)', '](/', summary_content)
+
+            # Add generated disclaimer
+            disclaimer = "<!-- GENERATED CONTENT: DO NOT EDIT -->\n"
+            modified_content = disclaimer + modified_content
+            # Create the output file path
+            output_path = os.path.join(directory, subdir, '_sidebar.md')
+
+            # Write the modified content to the output file
+            with open(output_path, 'w', encoding='utf-8') as f:
+                f.write(modified_content)
+
+            # print(f"Modified SUMMARY.md saved as {output_path}")
+
+
+if __name__ == "__main__":
+    # Specify the directory to search for SUMMARY.md files
+    specified_directory = "."
+
+    # Call the function to modify SUMMARY.md links in all subdirectories
+    modify_summary_links(specified_directory)
diff --git a/docs/scripts/gen_sitemap.py b/docs/scripts/gen_sitemap.py
new file mode 100644
index 0000000000..02cc107b55
--- /dev/null
+++ b/docs/scripts/gen_sitemap.py
@@ -0,0 +1,132 @@
+#! /usr/bin/python
+
+"""
+
+"""
+
+#import lxml.etree as ET
+#import requests
+#from bs4 import BeautifulSoup as bs
+import re
+import os # for walk, evironment vars
+import subprocess #so I can use git to get the modified dates.
+import argparse
+
+dir_name='.'
+#git log -1 --format="%as" -- .\zh\uavcan\notes.md
+
+include_dirs = set(['en','zh','ko','uk']) #update for new language builds.
+exclude_dirs = set(['.vitepress','node_modules']) #update for new language builds.
+
+my_parser = argparse.ArgumentParser(description='Generate sitemap for all markdown files in directory (default to main for output)')
+# Add the arguments                      
+my_parser.add_argument('-v',
+                       '--version',
+                       action='store',
+                       type=str,
+                       #nargs=1,
+                       default='main')
+my_parser.add_argument('-d',
+                       '--date',
+                       action='store_true',
+                       help='generate date information')
+my_parser.add_argument('-o',
+                       '--output',
+                       action='store',
+                       type=str,
+                       #nargs=1,
+                       default='./.vitepress/dist/')
+
+# Execute the parse_args() method
+args = my_parser.parse_args()
+build_version = args.version
+
+#Get build version from process env by preference.
+BRANCH_NAME = os.getenv('BRANCH_NAME')
+if BRANCH_NAME:
+    build_version=BRANCH_NAME
+    
+url_prefix = 'https://docs.px4.io/%s' % build_version
+
+sitemapitems=[]
+
+for subdir, dirs, files in os.walk(dir_name, topdown=True):
+    
+    if subdir == '.':
+        #print("RootFile: %s" % originalfile)
+        #Handle a root file.
+        continue
+    
+    # Check if any of the include directories is in the subdir path
+    if any(f"/{inc_dir}/" in subdir or f"\\{inc_dir}\\" in subdir for inc_dir in include_dirs):
+        pass
+        #print(f"SUBDIR: {subdir}")
+    else:
+        continue
+
+    if any(f"/{ex_dir}/" in subdir or f"\\{ex_dir}\\" in subdir for ex_dir in exclude_dirs):
+        continue
+        #print(f"SUBDIR Ex: {subdir}")
+        
+
+    for file in files:
+        #print(f"xxDebug: {file}")
+        sitemapitem = dict()
+        sitemapitem['changefreq']='daily'
+        if not file.endswith('.md'): #only process md files.
+           #print(f"Skip: {file} (not md)")
+           continue
+       
+        originalfile=subdir+'\\'+file
+        dir_name=subdir[2:].replace('\\','/')
+        orig_file_forwardslash=originalfile.replace('\\','/')
+        #git log -1 --format="%as" -- .\zh\uavcan\notes.md
+        if args.date:
+            modified_datestamp = subprocess.run(["git", "log", "-1", '--format="%as"', "--", "%s" % orig_file_forwardslash],capture_output=True).stdout.decode('UTF-8')
+            sitemapitem['modified']=modified_datestamp.strip().strip('"')
+            #print(f"debugXX: {sitemapitem['modified']}")
+        file_name=file[:-3]+'.html'
+        if file_name.startswith('README'):
+            file_name=''
+        if file_name.startswith('index'):
+            file_name=''
+        url=f"{url_prefix}/{dir_name}/{file_name}"
+        sitemapitem['url']=url
+
+        #print("OrigFile: %s" % originalfile)
+        #print("dir_name: %s" % dir_name)
+        #print("Subdir: %s" % subdir )
+        #print("file_name: %s" % file_name)
+        #print(sitemapitem['url'])
+        
+        sitemapitems.append(sitemapitem)
+        
+        
+# Generate the sitemap from the sitemapitems
+all_sitemap_item_text = ""
+for item in sitemapitems:
+   sitemap_item_text=''
+   sitemap_item_text+='  <url>\n'
+   sitemap_item_text+=f"    <loc>{item['url']}</loc>\n"
+   sitemap_item_text+=f"    <changefreq>{item['changefreq']}</changefreq>\n"
+   if args.date:
+       sitemap_item_text+=f"    <lastmod>{item['modified']}</lastmod>\n"
+   sitemap_item_text+='  </url>\n'
+   
+   all_sitemap_item_text+=sitemap_item_text
+
+sitemaptext = '''<?xml version="1.0" encoding="UTF-8"?>
+<urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9">
+%s</urlset>
+''' % all_sitemap_item_text
+
+# Write the sitemap to file
+outputfile=args.output+'sitemap.xml'
+with open(outputfile,"w") as f: 
+    f.write(sitemaptext)
+
+print("Sitemap generated to: %s" % outputfile)
+
+#print("BRANCH_NAME: %s" % BRANCH_NAME)
+#print("Build version: %s" % build_version)
+
diff --git a/docs/yarn.lock b/docs/yarn.lock
new file mode 100644
index 0000000000..a392e1c847
--- /dev/null
+++ b/docs/yarn.lock
@@ -0,0 +1,1736 @@
+# THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
+# yarn lockfile v1
+
+
+"@algolia/autocomplete-core@1.17.7":
+  version "1.17.7"
+  resolved "https://registry.yarnpkg.com/@algolia/autocomplete-core/-/autocomplete-core-1.17.7.tgz#2c410baa94a47c5c5f56ed712bb4a00ebe24088b"
+  integrity sha512-BjiPOW6ks90UKl7TwMv7oNQMnzU+t/wk9mgIDi6b1tXpUek7MW0lbNOUHpvam9pe3lVCf4xPFT+lK7s+e+fs7Q==
+  dependencies:
+    "@algolia/autocomplete-plugin-algolia-insights" "1.17.7"
+    "@algolia/autocomplete-shared" "1.17.7"
+
+"@algolia/autocomplete-plugin-algolia-insights@1.17.7":
+  version "1.17.7"
+  resolved "https://registry.yarnpkg.com/@algolia/autocomplete-plugin-algolia-insights/-/autocomplete-plugin-algolia-insights-1.17.7.tgz#7d2b105f84e7dd8f0370aa4c4ab3b704e6760d82"
+  integrity sha512-Jca5Ude6yUOuyzjnz57og7Et3aXjbwCSDf/8onLHSQgw1qW3ALl9mrMWaXb5FmPVkV3EtkD2F/+NkT6VHyPu9A==
+  dependencies:
+    "@algolia/autocomplete-shared" "1.17.7"
+
+"@algolia/autocomplete-preset-algolia@1.17.7":
+  version "1.17.7"
+  resolved "https://registry.yarnpkg.com/@algolia/autocomplete-preset-algolia/-/autocomplete-preset-algolia-1.17.7.tgz#c9badc0d73d62db5bf565d839d94ec0034680ae9"
+  integrity sha512-ggOQ950+nwbWROq2MOCIL71RE0DdQZsceqrg32UqnhDz8FlO9rL8ONHNsI2R1MH0tkgVIDKI/D0sMiUchsFdWA==
+  dependencies:
+    "@algolia/autocomplete-shared" "1.17.7"
+
+"@algolia/autocomplete-shared@1.17.7":
+  version "1.17.7"
+  resolved "https://registry.yarnpkg.com/@algolia/autocomplete-shared/-/autocomplete-shared-1.17.7.tgz#105e84ad9d1a31d3fb86ba20dc890eefe1a313a0"
+  integrity sha512-o/1Vurr42U/qskRSuhBH+VKxMvkkUVTLU6WZQr+L5lGZZLYWyhdzWjW0iGXY7EkwRTjBqvN2EsR81yCTGV/kmg==
+
+"@algolia/client-abtesting@5.20.0":
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/client-abtesting/-/client-abtesting-5.20.0.tgz#984472e4ae911285a8e3be2b81c121108f87a179"
+  integrity sha512-YaEoNc1Xf2Yk6oCfXXkZ4+dIPLulCx8Ivqj0OsdkHWnsI3aOJChY5qsfyHhDBNSOhqn2ilgHWxSfyZrjxBcAww==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+    "@algolia/requester-browser-xhr" "5.20.0"
+    "@algolia/requester-fetch" "5.20.0"
+    "@algolia/requester-node-http" "5.20.0"
+
+"@algolia/client-analytics@5.20.0":
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/client-analytics/-/client-analytics-5.20.0.tgz#25944c8c7bcc06a16ae3b26ddf86d0d18f984349"
+  integrity sha512-CIT9ni0+5sYwqehw+t5cesjho3ugKQjPVy/iPiJvtJX4g8Cdb6je6SPt2uX72cf2ISiXCAX9U3cY0nN0efnRDw==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+    "@algolia/requester-browser-xhr" "5.20.0"
+    "@algolia/requester-fetch" "5.20.0"
+    "@algolia/requester-node-http" "5.20.0"
+
+"@algolia/client-common@5.20.0":
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/client-common/-/client-common-5.20.0.tgz#0b6b96c779d30afada68cf36f20f0c280e3f1273"
+  integrity sha512-iSTFT3IU8KNpbAHcBUJw2HUrPnMXeXLyGajmCL7gIzWOsYM4GabZDHXOFx93WGiXMti1dymz8k8R+bfHv1YZmA==
+
+"@algolia/client-insights@5.20.0":
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/client-insights/-/client-insights-5.20.0.tgz#37b59043a86423dd283d05909faea06e4eff026b"
+  integrity sha512-w9RIojD45z1csvW1vZmAko82fqE/Dm+Ovsy2ElTsjFDB0HMAiLh2FO86hMHbEXDPz6GhHKgGNmBRiRP8dDPgJg==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+    "@algolia/requester-browser-xhr" "5.20.0"
+    "@algolia/requester-fetch" "5.20.0"
+    "@algolia/requester-node-http" "5.20.0"
+
+"@algolia/client-personalization@5.20.0":
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/client-personalization/-/client-personalization-5.20.0.tgz#d10da6d798f9a5f6cf239c57b9a850deb29e5683"
+  integrity sha512-p/hftHhrbiHaEcxubYOzqVV4gUqYWLpTwK+nl2xN3eTrSW9SNuFlAvUBFqPXSVBqc6J5XL9dNKn3y8OA1KElSQ==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+    "@algolia/requester-browser-xhr" "5.20.0"
+    "@algolia/requester-fetch" "5.20.0"
+    "@algolia/requester-node-http" "5.20.0"
+
+"@algolia/client-query-suggestions@5.20.0":
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/client-query-suggestions/-/client-query-suggestions-5.20.0.tgz#1d4f1d638f857fad202cee7feecd3ffc270d9c60"
+  integrity sha512-m4aAuis5vZi7P4gTfiEs6YPrk/9hNTESj3gEmGFgfJw3hO2ubdS4jSId1URd6dGdt0ax2QuapXufcrN58hPUcw==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+    "@algolia/requester-browser-xhr" "5.20.0"
+    "@algolia/requester-fetch" "5.20.0"
+    "@algolia/requester-node-http" "5.20.0"
+
+"@algolia/client-search@5.20.0":
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/client-search/-/client-search-5.20.0.tgz#4b847bda4bef2eee8ba72ef3ce59be612319e8d0"
+  integrity sha512-KL1zWTzrlN4MSiaK1ea560iCA/UewMbS4ZsLQRPoDTWyrbDKVbztkPwwv764LAqgXk0fvkNZvJ3IelcK7DqhjQ==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+    "@algolia/requester-browser-xhr" "5.20.0"
+    "@algolia/requester-fetch" "5.20.0"
+    "@algolia/requester-node-http" "5.20.0"
+
+"@algolia/ingestion@1.20.0":
+  version "1.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/ingestion/-/ingestion-1.20.0.tgz#b91849fe4a8efed21c048a0a69ad77934d2fc3fd"
+  integrity sha512-shj2lTdzl9un4XJblrgqg54DoK6JeKFO8K8qInMu4XhE2JuB8De6PUuXAQwiRigZupbI0xq8aM0LKdc9+qiLQA==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+    "@algolia/requester-browser-xhr" "5.20.0"
+    "@algolia/requester-fetch" "5.20.0"
+    "@algolia/requester-node-http" "5.20.0"
+
+"@algolia/monitoring@1.20.0":
+  version "1.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/monitoring/-/monitoring-1.20.0.tgz#5b3a7964b08a91b1c71466bf5adb8a1597e3134b"
+  integrity sha512-aF9blPwOhKtWvkjyyXh9P5peqmhCA1XxLBRgItT+K6pbT0q4hBDQrCid+pQZJYy4HFUKjB/NDDwyzFhj/rwKhw==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+    "@algolia/requester-browser-xhr" "5.20.0"
+    "@algolia/requester-fetch" "5.20.0"
+    "@algolia/requester-node-http" "5.20.0"
+
+"@algolia/recommend@5.20.0":
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/recommend/-/recommend-5.20.0.tgz#49f8f8d31f815b107c8ebd1c35220d90b22fd876"
+  integrity sha512-T6B/WPdZR3b89/F9Vvk6QCbt/wrLAtrGoL8z4qPXDFApQ8MuTFWbleN/4rHn6APWO3ps+BUePIEbue2rY5MlRw==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+    "@algolia/requester-browser-xhr" "5.20.0"
+    "@algolia/requester-fetch" "5.20.0"
+    "@algolia/requester-node-http" "5.20.0"
+
+"@algolia/requester-browser-xhr@5.20.0":
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/requester-browser-xhr/-/requester-browser-xhr-5.20.0.tgz#998fd5c1123fbc49b664c484c6b0cd7cefc6a1fa"
+  integrity sha512-t6//lXsq8E85JMenHrI6mhViipUT5riNhEfCcvtRsTV+KIBpC6Od18eK864dmBhoc5MubM0f+sGpKOqJIlBSCg==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+
+"@algolia/requester-fetch@5.20.0":
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/requester-fetch/-/requester-fetch-5.20.0.tgz#fed4f135f22c246ce40cf23c9d6518884be43e5e"
+  integrity sha512-FHxYGqRY+6bgjKsK4aUsTAg6xMs2S21elPe4Y50GB0Y041ihvw41Vlwy2QS6K9ldoftX4JvXodbKTcmuQxywdQ==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+
+"@algolia/requester-node-http@5.20.0":
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/@algolia/requester-node-http/-/requester-node-http-5.20.0.tgz#920a9488be07c0521951da92f36be61f47c4d0e0"
+  integrity sha512-kmtQClq/w3vtPteDSPvaW9SPZL/xrIgMrxZyAgsFwrJk0vJxqyC5/hwHmrCraDnStnGSADnLpBf4SpZnwnkwWw==
+  dependencies:
+    "@algolia/client-common" "5.20.0"
+
+"@babel/helper-string-parser@^7.25.9":
+  version "7.25.9"
+  resolved "https://registry.yarnpkg.com/@babel/helper-string-parser/-/helper-string-parser-7.25.9.tgz#1aabb72ee72ed35789b4bbcad3ca2862ce614e8c"
+  integrity sha512-4A/SCr/2KLd5jrtOMFzaKjVtAei3+2r/NChoBNoZ3EyP/+GlhoaEGoWOZUmFmoITP7zOJyHIMm+DYRd8o3PvHA==
+
+"@babel/helper-validator-identifier@^7.25.9":
+  version "7.25.9"
+  resolved "https://registry.yarnpkg.com/@babel/helper-validator-identifier/-/helper-validator-identifier-7.25.9.tgz#24b64e2c3ec7cd3b3c547729b8d16871f22cbdc7"
+  integrity sha512-Ed61U6XJc3CVRfkERJWDz4dJwKe7iLmmJsbOGu9wSloNSFttHV0I8g6UAgb7qnK5ly5bGLPd4oXZlxCdANBOWQ==
+
+"@babel/parser@^7.25.3":
+  version "7.26.7"
+  resolved "https://registry.yarnpkg.com/@babel/parser/-/parser-7.26.7.tgz#e114cd099e5f7d17b05368678da0fb9f69b3385c"
+  integrity sha512-kEvgGGgEjRUutvdVvZhbn/BxVt+5VSpwXz1j3WYXQbXDo8KzFOPNG2GQbdAiNq8g6wn1yKk7C/qrke03a84V+w==
+  dependencies:
+    "@babel/types" "^7.26.7"
+
+"@babel/types@^7.26.7":
+  version "7.26.7"
+  resolved "https://registry.yarnpkg.com/@babel/types/-/types-7.26.7.tgz#5e2b89c0768e874d4d061961f3a5a153d71dc17a"
+  integrity sha512-t8kDRGrKXyp6+tjUh7hw2RLyclsW4TRoRvRHtSyAX9Bb5ldlFh+90YAYY6awRXrlB4G5G2izNeGySpATlFzmOg==
+  dependencies:
+    "@babel/helper-string-parser" "^7.25.9"
+    "@babel/helper-validator-identifier" "^7.25.9"
+
+"@docsearch/css@3.8.2":
+  version "3.8.2"
+  resolved "https://registry.yarnpkg.com/@docsearch/css/-/css-3.8.2.tgz#7973ceb6892c30f154ba254cd05c562257a44977"
+  integrity sha512-y05ayQFyUmCXze79+56v/4HpycYF3uFqB78pLPrSV5ZKAlDuIAAJNhaRi8tTdRNXh05yxX/TyNnzD6LwSM89vQ==
+
+"@docsearch/js@3.8.2":
+  version "3.8.2"
+  resolved "https://registry.yarnpkg.com/@docsearch/js/-/js-3.8.2.tgz#bdcfc9837700eb38453b88e211ab5cc5a3813cc6"
+  integrity sha512-Q5wY66qHn0SwA7Taa0aDbHiJvaFJLOJyHmooQ7y8hlwwQLQ/5WwCcoX0g7ii04Qi2DJlHsd0XXzJ8Ypw9+9YmQ==
+  dependencies:
+    "@docsearch/react" "3.8.2"
+    preact "^10.0.0"
+
+"@docsearch/react@3.8.2":
+  version "3.8.2"
+  resolved "https://registry.yarnpkg.com/@docsearch/react/-/react-3.8.2.tgz#7b11d39b61c976c0aa9fbde66e6b73b30f3acd42"
+  integrity sha512-xCRrJQlTt8N9GU0DG4ptwHRkfnSnD/YpdeaXe02iKfqs97TkZJv60yE+1eq/tjPcVnTW8dP5qLP7itifFVV5eg==
+  dependencies:
+    "@algolia/autocomplete-core" "1.17.7"
+    "@algolia/autocomplete-preset-algolia" "1.17.7"
+    "@docsearch/css" "3.8.2"
+    algoliasearch "^5.14.2"
+
+"@esbuild/aix-ppc64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/aix-ppc64/-/aix-ppc64-0.21.5.tgz#c7184a326533fcdf1b8ee0733e21c713b975575f"
+  integrity sha512-1SDgH6ZSPTlggy1yI6+Dbkiz8xzpHJEVAlF/AM1tHPLsf5STom9rwtjE4hKAF20FfXXNTFqEYXyJNWh1GiZedQ==
+
+"@esbuild/android-arm64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/android-arm64/-/android-arm64-0.21.5.tgz#09d9b4357780da9ea3a7dfb833a1f1ff439b4052"
+  integrity sha512-c0uX9VAUBQ7dTDCjq+wdyGLowMdtR/GoC2U5IYk/7D1H1JYC0qseD7+11iMP2mRLN9RcCMRcjC4YMclCzGwS/A==
+
+"@esbuild/android-arm@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/android-arm/-/android-arm-0.21.5.tgz#9b04384fb771926dfa6d7ad04324ecb2ab9b2e28"
+  integrity sha512-vCPvzSjpPHEi1siZdlvAlsPxXl7WbOVUBBAowWug4rJHb68Ox8KualB+1ocNvT5fjv6wpkX6o/iEpbDrf68zcg==
+
+"@esbuild/android-x64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/android-x64/-/android-x64-0.21.5.tgz#29918ec2db754cedcb6c1b04de8cd6547af6461e"
+  integrity sha512-D7aPRUUNHRBwHxzxRvp856rjUHRFW1SdQATKXH2hqA0kAZb1hKmi02OpYRacl0TxIGz/ZmXWlbZgjwWYaCakTA==
+
+"@esbuild/darwin-arm64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/darwin-arm64/-/darwin-arm64-0.21.5.tgz#e495b539660e51690f3928af50a76fb0a6ccff2a"
+  integrity sha512-DwqXqZyuk5AiWWf3UfLiRDJ5EDd49zg6O9wclZ7kUMv2WRFr4HKjXp/5t8JZ11QbQfUS6/cRCKGwYhtNAY88kQ==
+
+"@esbuild/darwin-x64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/darwin-x64/-/darwin-x64-0.21.5.tgz#c13838fa57372839abdddc91d71542ceea2e1e22"
+  integrity sha512-se/JjF8NlmKVG4kNIuyWMV/22ZaerB+qaSi5MdrXtd6R08kvs2qCN4C09miupktDitvh8jRFflwGFBQcxZRjbw==
+
+"@esbuild/freebsd-arm64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/freebsd-arm64/-/freebsd-arm64-0.21.5.tgz#646b989aa20bf89fd071dd5dbfad69a3542e550e"
+  integrity sha512-5JcRxxRDUJLX8JXp/wcBCy3pENnCgBR9bN6JsY4OmhfUtIHe3ZW0mawA7+RDAcMLrMIZaf03NlQiX9DGyB8h4g==
+
+"@esbuild/freebsd-x64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/freebsd-x64/-/freebsd-x64-0.21.5.tgz#aa615cfc80af954d3458906e38ca22c18cf5c261"
+  integrity sha512-J95kNBj1zkbMXtHVH29bBriQygMXqoVQOQYA+ISs0/2l3T9/kj42ow2mpqerRBxDJnmkUDCaQT/dfNXWX/ZZCQ==
+
+"@esbuild/linux-arm64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/linux-arm64/-/linux-arm64-0.21.5.tgz#70ac6fa14f5cb7e1f7f887bcffb680ad09922b5b"
+  integrity sha512-ibKvmyYzKsBeX8d8I7MH/TMfWDXBF3db4qM6sy+7re0YXya+K1cem3on9XgdT2EQGMu4hQyZhan7TeQ8XkGp4Q==
+
+"@esbuild/linux-arm@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/linux-arm/-/linux-arm-0.21.5.tgz#fc6fd11a8aca56c1f6f3894f2bea0479f8f626b9"
+  integrity sha512-bPb5AHZtbeNGjCKVZ9UGqGwo8EUu4cLq68E95A53KlxAPRmUyYv2D6F0uUI65XisGOL1hBP5mTronbgo+0bFcA==
+
+"@esbuild/linux-ia32@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/linux-ia32/-/linux-ia32-0.21.5.tgz#3271f53b3f93e3d093d518d1649d6d68d346ede2"
+  integrity sha512-YvjXDqLRqPDl2dvRODYmmhz4rPeVKYvppfGYKSNGdyZkA01046pLWyRKKI3ax8fbJoK5QbxblURkwK/MWY18Tg==
+
+"@esbuild/linux-loong64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/linux-loong64/-/linux-loong64-0.21.5.tgz#ed62e04238c57026aea831c5a130b73c0f9f26df"
+  integrity sha512-uHf1BmMG8qEvzdrzAqg2SIG/02+4/DHB6a9Kbya0XDvwDEKCoC8ZRWI5JJvNdUjtciBGFQ5PuBlpEOXQj+JQSg==
+
+"@esbuild/linux-mips64el@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/linux-mips64el/-/linux-mips64el-0.21.5.tgz#e79b8eb48bf3b106fadec1ac8240fb97b4e64cbe"
+  integrity sha512-IajOmO+KJK23bj52dFSNCMsz1QP1DqM6cwLUv3W1QwyxkyIWecfafnI555fvSGqEKwjMXVLokcV5ygHW5b3Jbg==
+
+"@esbuild/linux-ppc64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/linux-ppc64/-/linux-ppc64-0.21.5.tgz#5f2203860a143b9919d383ef7573521fb154c3e4"
+  integrity sha512-1hHV/Z4OEfMwpLO8rp7CvlhBDnjsC3CttJXIhBi+5Aj5r+MBvy4egg7wCbe//hSsT+RvDAG7s81tAvpL2XAE4w==
+
+"@esbuild/linux-riscv64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/linux-riscv64/-/linux-riscv64-0.21.5.tgz#07bcafd99322d5af62f618cb9e6a9b7f4bb825dc"
+  integrity sha512-2HdXDMd9GMgTGrPWnJzP2ALSokE/0O5HhTUvWIbD3YdjME8JwvSCnNGBnTThKGEB91OZhzrJ4qIIxk/SBmyDDA==
+
+"@esbuild/linux-s390x@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/linux-s390x/-/linux-s390x-0.21.5.tgz#b7ccf686751d6a3e44b8627ababc8be3ef62d8de"
+  integrity sha512-zus5sxzqBJD3eXxwvjN1yQkRepANgxE9lgOW2qLnmr8ikMTphkjgXu1HR01K4FJg8h1kEEDAqDcZQtbrRnB41A==
+
+"@esbuild/linux-x64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/linux-x64/-/linux-x64-0.21.5.tgz#6d8f0c768e070e64309af8004bb94e68ab2bb3b0"
+  integrity sha512-1rYdTpyv03iycF1+BhzrzQJCdOuAOtaqHTWJZCWvijKD2N5Xu0TtVC8/+1faWqcP9iBCWOmjmhoH94dH82BxPQ==
+
+"@esbuild/netbsd-x64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/netbsd-x64/-/netbsd-x64-0.21.5.tgz#bbe430f60d378ecb88decb219c602667387a6047"
+  integrity sha512-Woi2MXzXjMULccIwMnLciyZH4nCIMpWQAs049KEeMvOcNADVxo0UBIQPfSmxB3CWKedngg7sWZdLvLczpe0tLg==
+
+"@esbuild/openbsd-x64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/openbsd-x64/-/openbsd-x64-0.21.5.tgz#99d1cf2937279560d2104821f5ccce220cb2af70"
+  integrity sha512-HLNNw99xsvx12lFBUwoT8EVCsSvRNDVxNpjZ7bPn947b8gJPzeHWyNVhFsaerc0n3TsbOINvRP2byTZ5LKezow==
+
+"@esbuild/sunos-x64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/sunos-x64/-/sunos-x64-0.21.5.tgz#08741512c10d529566baba837b4fe052c8f3487b"
+  integrity sha512-6+gjmFpfy0BHU5Tpptkuh8+uw3mnrvgs+dSPQXQOv3ekbordwnzTVEb4qnIvQcYXq6gzkyTnoZ9dZG+D4garKg==
+
+"@esbuild/win32-arm64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/win32-arm64/-/win32-arm64-0.21.5.tgz#675b7385398411240735016144ab2e99a60fc75d"
+  integrity sha512-Z0gOTd75VvXqyq7nsl93zwahcTROgqvuAcYDUr+vOv8uHhNSKROyU961kgtCD1e95IqPKSQKH7tBTslnS3tA8A==
+
+"@esbuild/win32-ia32@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/win32-ia32/-/win32-ia32-0.21.5.tgz#1bfc3ce98aa6ca9a0969e4d2af72144c59c1193b"
+  integrity sha512-SWXFF1CL2RVNMaVs+BBClwtfZSvDgtL//G/smwAc5oVK/UPu2Gu9tIaRgFmYFFKrmg3SyAjSrElf0TiJ1v8fYA==
+
+"@esbuild/win32-x64@0.21.5":
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/@esbuild/win32-x64/-/win32-x64-0.21.5.tgz#acad351d582d157bb145535db2a6ff53dd514b5c"
+  integrity sha512-tQd/1efJuzPC6rCFwEvLtci/xNFcTZknmXs98FYDfGE4wP9ClFV98nyKrzJKVPMhdDnjzLhdUyMX4PsQAPjwIw==
+
+"@iconify-json/simple-icons@^1.2.21":
+  version "1.2.22"
+  resolved "https://registry.yarnpkg.com/@iconify-json/simple-icons/-/simple-icons-1.2.22.tgz#c100b0ee6e4cdcd8f69cdec3138f57fbc718922a"
+  integrity sha512-0UzThRMwHuOJfgpp+tyV/y2uEBLjFVrxC4igv9iWjSEQEBK4tNjWZNTRCBCYyv/FwWVYyKAsA8tZQ8vUYzvFnw==
+  dependencies:
+    "@iconify/types" "*"
+
+"@iconify/types@*":
+  version "2.0.0"
+  resolved "https://registry.yarnpkg.com/@iconify/types/-/types-2.0.0.tgz#ab0e9ea681d6c8a1214f30cd741fe3a20cc57f57"
+  integrity sha512-+wluvCrRhXrhyOmRDJ3q8mux9JkKy5SJ/v8ol2tu4FVjyYvtEzkc/3pK15ET6RKg4b4w4BmTk1+gsCUhf21Ykg==
+
+"@jridgewell/sourcemap-codec@^1.5.0":
+  version "1.5.0"
+  resolved "https://registry.yarnpkg.com/@jridgewell/sourcemap-codec/-/sourcemap-codec-1.5.0.tgz#3188bcb273a414b0d215fd22a58540b989b9409a"
+  integrity sha512-gv3ZRaISU3fjPAgNsriBRqGWQL6quFx04YMPW/zD8XMLsU32mhCCbfbO6KZFLjvYpCZ8zyDEgqsgf+PwPaM7GQ==
+
+"@red-asuka/vitepress-plugin-tabs@^0.0.3":
+  version "0.0.3"
+  resolved "https://registry.yarnpkg.com/@red-asuka/vitepress-plugin-tabs/-/vitepress-plugin-tabs-0.0.3.tgz#5c3d4956ca7af74ca99ed7c1fe245fa61b16dcc8"
+  integrity sha512-YZX7lBzoL8rgNRahk85XmXtOYfX9P8RFtHpT33K2LClrbYF1N2J1ds5iKK1nQ9e5m9Wt4shC6Bk/rGwCxhHPHg==
+  dependencies:
+    markdown-it "^13.0.1"
+    markdown-it-container "^3.0.0"
+
+"@rollup/rollup-android-arm-eabi@4.32.1":
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-android-arm-eabi/-/rollup-android-arm-eabi-4.32.1.tgz#c18bad635ba24220a6c8cc427ab2cab12e1531a3"
+  integrity sha512-/pqA4DmqyCm8u5YIDzIdlLcEmuvxb0v8fZdFhVMszSpDTgbQKdw3/mB3eMUHIbubtJ6F9j+LtmyCnHTEqIHyzA==
+
+"@rollup/rollup-android-arm64@4.32.1":
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-android-arm64/-/rollup-android-arm64-4.32.1.tgz#b5c00344b80f20889b72bfe65d3c209cef247362"
+  integrity sha512-If3PDskT77q7zgqVqYuj7WG3WC08G1kwXGVFi9Jr8nY6eHucREHkfpX79c0ACAjLj3QIWKPJR7w4i+f5EdLH5Q==
+
+"@rollup/rollup-darwin-arm64@4.32.1":
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-darwin-arm64/-/rollup-darwin-arm64-4.32.1.tgz#78e5358d4a2a08c090f75dd87fa2eada42eca1e5"
+  integrity sha512-zCpKHioQ9KgZToFp5Wvz6zaWbMzYQ2LJHQ+QixDKq52KKrF65ueu6Af4hLlLWHjX1Wf/0G5kSJM9PySW9IrvHA==
+
+"@rollup/rollup-darwin-x64@4.32.1":
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-darwin-x64/-/rollup-darwin-x64-4.32.1.tgz#c04c9e173244d44de50278f3f893fb68d987fcc6"
+  integrity sha512-sFvF+t2+TyUo/ZQqUcifrJIgznx58oFZbdHS9TvHq3xhPVL9nOp+yZ6LKrO9GWTP+6DbFtoyLDbjTpR62Mbr3Q==
+
+"@rollup/rollup-freebsd-arm64@4.32.1":
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-freebsd-arm64/-/rollup-freebsd-arm64-4.32.1.tgz#3bdf18d4ef32dcfe9b20bba18d7a53a101ed79d9"
+  integrity sha512-NbOa+7InvMWRcY9RG+B6kKIMD/FsnQPH0MWUvDlQB1iXnF/UcKSudCXZtv4lW+C276g3w5AxPbfry5rSYvyeYA==
+
+"@rollup/rollup-freebsd-x64@4.32.1":
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-freebsd-x64/-/rollup-freebsd-x64-4.32.1.tgz#35867b15c276f4b4ca8eb226f7dd6df8c64640db"
+  integrity sha512-JRBRmwvHPXR881j2xjry8HZ86wIPK2CcDw0EXchE1UgU0ubWp9nvlT7cZYKc6bkypBt745b4bglf3+xJ7hXWWw==
+
+"@rollup/rollup-linux-arm-gnueabihf@4.32.1":
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm-gnueabihf/-/rollup-linux-arm-gnueabihf-4.32.1.tgz#92c212d1b38c105bd1eb101254722d27d869b1ac"
+  integrity sha512-PKvszb+9o/vVdUzCCjL0sKHukEQV39tD3fepXxYrHE3sTKrRdCydI7uldRLbjLmDA3TFDmh418XH19NOsDRH8g==
+
+"@rollup/rollup-linux-arm-musleabihf@4.32.1":
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm-musleabihf/-/rollup-linux-arm-musleabihf-4.32.1.tgz#ebb94d8cd438f23e38caa4a87ca80d4cf5b50fa1"
+  integrity sha512-9WHEMV6Y89eL606ReYowXuGF1Yb2vwfKWKdD1A5h+OYnPZSJvxbEjxTRKPgi7tkP2DSnW0YLab1ooy+i/FQp/Q==
+
+"@rollup/rollup-linux-arm64-gnu@4.32.1":
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm64-gnu/-/rollup-linux-arm64-gnu-4.32.1.tgz#ce6a5eacbd5fd4bdf7bf27bd818980230bdb9fab"
+  integrity sha512-tZWc9iEt5fGJ1CL2LRPw8OttkCBDs+D8D3oEM8mH8S1ICZCtFJhD7DZ3XMGM8kpqHvhGUTvNUYVDnmkj4BDXnw==
+
+"@rollup/rollup-linux-arm64-musl@4.32.1":
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-arm64-musl/-/rollup-linux-arm64-musl-4.32.1.tgz#31b4e0a543607e6eb4f982ffb45830919a952a83"
+  integrity sha512-FTYc2YoTWUsBz5GTTgGkRYYJ5NGJIi/rCY4oK/I8aKowx1ToXeoVVbIE4LGAjsauvlhjfl0MYacxClLld1VrOw==
+
+"@rollup/rollup-linux-loongarch64-gnu@4.32.1":
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-loongarch64-gnu/-/rollup-linux-loongarch64-gnu-4.32.1.tgz#ad7b35f193f1d2e0dc37eba733069b4af5f6498d"
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+
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+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-powerpc64le-gnu/-/rollup-linux-powerpc64le-gnu-4.32.1.tgz#b713a55d7eac4d2c8a0109c3daca6ea85fc178b3"
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+
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+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-riscv64-gnu/-/rollup-linux-riscv64-gnu-4.32.1.tgz#bea4fd8ad190e9bc1d11efafa2efc9d121f50b96"
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+
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+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-s390x-gnu/-/rollup-linux-s390x-gnu-4.32.1.tgz#cc98c32733ca472635759c78a79b5f8d887b2a6a"
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+
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+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-x64-gnu/-/rollup-linux-x64-gnu-4.32.1.tgz#5c009c264a7ce0e19b40890ca9945440bb420691"
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+
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+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-linux-x64-musl/-/rollup-linux-x64-musl-4.32.1.tgz#73d2f44070c23e031262b601927fdb4eec253bc1"
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+
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+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-win32-arm64-msvc/-/rollup-win32-arm64-msvc-4.32.1.tgz#fa106304818078f9d3fc9005642ad99f596eed2d"
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+
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+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-win32-ia32-msvc/-/rollup-win32-ia32-msvc-4.32.1.tgz#a1a394c705a0d2a974a124c4b471fc1cf851a56f"
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+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/@rollup/rollup-win32-x64-msvc/-/rollup-win32-x64-msvc-4.32.1.tgz#512db088df67afee8f07183cdf8c9eecd64f6ef8"
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+
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+  version "0.4.1"
+  resolved "https://registry.yarnpkg.com/@sec-ant/readable-stream/-/readable-stream-0.4.1.tgz#60de891bb126abfdc5410fdc6166aca065f10a0c"
+  integrity sha512-831qok9r2t8AlxLko40y2ebgSDhenenCatLVeW/uBtnHPyhHOvG0C7TvfgecV+wHzIm5KUICgzmVpWS+IMEAeg==
+
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+  version "2.1.0"
+  resolved "https://registry.yarnpkg.com/@shikijs/core/-/core-2.1.0.tgz#e767dddf2034ae4504e36210bbd881a94525f321"
+  integrity sha512-v795KDmvs+4oV0XD05YLzfDMe9ISBgNjtFxP4PAEv5DqyeghO1/TwDqs9ca5/E6fuO95IcAcWqR6cCX9TnqLZA==
+  dependencies:
+    "@shikijs/engine-javascript" "2.1.0"
+    "@shikijs/engine-oniguruma" "2.1.0"
+    "@shikijs/types" "2.1.0"
+    "@shikijs/vscode-textmate" "^10.0.1"
+    "@types/hast" "^3.0.4"
+    hast-util-to-html "^9.0.4"
+
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+  version "2.1.0"
+  resolved "https://registry.yarnpkg.com/@shikijs/engine-javascript/-/engine-javascript-2.1.0.tgz#5645a04629cd85c433354b76d601ce7127eb502b"
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+  dependencies:
+    "@shikijs/types" "2.1.0"
+    "@shikijs/vscode-textmate" "^10.0.1"
+    oniguruma-to-es "^2.3.0"
+
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+  version "2.1.0"
+  resolved "https://registry.yarnpkg.com/@shikijs/engine-oniguruma/-/engine-oniguruma-2.1.0.tgz#0990713d9ce4796172db47321a9b32fa9036003c"
+  integrity sha512-Ujik33wEDqgqY2WpjRDUBECGcKPv3eGGkoXPujIXvokLaRmGky8NisSk8lHUGeSFxo/Cz5sgFej9sJmA9yeepg==
+  dependencies:
+    "@shikijs/types" "2.1.0"
+    "@shikijs/vscode-textmate" "^10.0.1"
+
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+  version "2.1.0"
+  resolved "https://registry.yarnpkg.com/@shikijs/langs/-/langs-2.1.0.tgz#fdc88584b3f174b3d8aec24a3a706eb897edf4ed"
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+  dependencies:
+    "@shikijs/types" "2.1.0"
+
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+  version "2.1.0"
+  resolved "https://registry.yarnpkg.com/@shikijs/themes/-/themes-2.1.0.tgz#b482694577c4689746fabee8bac439a6a1d087a1"
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+  dependencies:
+    "@shikijs/types" "2.1.0"
+
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+  version "2.1.0"
+  resolved "https://registry.yarnpkg.com/@shikijs/transformers/-/transformers-2.1.0.tgz#cb381806a2f6ff0249225b6f10bf14ba20631425"
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+  dependencies:
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+    "@shikijs/types" "2.1.0"
+
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+  resolved "https://registry.yarnpkg.com/@shikijs/types/-/types-2.1.0.tgz#38e3c241263de1b5c30cbd9b9d03eb34cebd842e"
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+  dependencies:
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+    "@types/hast" "^3.0.4"
+
+"@shikijs/vscode-textmate@^10.0.1":
+  version "10.0.1"
+  resolved "https://registry.yarnpkg.com/@shikijs/vscode-textmate/-/vscode-textmate-10.0.1.tgz#d06d45b67ac5e9b0088e3f67ebd3f25c6c3d711a"
+  integrity sha512-fTIQwLF+Qhuws31iw7Ncl1R3HUDtGwIipiJ9iU+UsDUwMhegFcQKQHd51nZjb7CArq0MvON8rbgCGQYWHUKAdg==
+
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+  version "4.0.0"
+  resolved "https://registry.yarnpkg.com/@sindresorhus/merge-streams/-/merge-streams-4.0.0.tgz#abb11d99aeb6d27f1b563c38147a72d50058e339"
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+
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+  version "1.0.6"
+  resolved "https://registry.yarnpkg.com/@types/estree/-/estree-1.0.6.tgz#628effeeae2064a1b4e79f78e81d87b7e5fc7b50"
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+
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+  version "3.0.4"
+  resolved "https://registry.yarnpkg.com/@types/hast/-/hast-3.0.4.tgz#1d6b39993b82cea6ad783945b0508c25903e15aa"
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+  dependencies:
+    "@types/unist" "*"
+
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+  version "5.0.0"
+  resolved "https://registry.yarnpkg.com/@types/linkify-it/-/linkify-it-5.0.0.tgz#21413001973106cda1c3a9b91eedd4ccd5469d76"
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+
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+  version "14.1.2"
+  resolved "https://registry.yarnpkg.com/@types/markdown-it/-/markdown-it-14.1.2.tgz#57f2532a0800067d9b934f3521429a2e8bfb4c61"
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+  dependencies:
+    "@types/linkify-it" "^5"
+    "@types/mdurl" "^2"
+
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+  version "4.0.4"
+  resolved "https://registry.yarnpkg.com/@types/mdast/-/mdast-4.0.4.tgz#7ccf72edd2f1aa7dd3437e180c64373585804dd6"
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+  dependencies:
+    "@types/unist" "*"
+
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+  version "2.0.0"
+  resolved "https://registry.yarnpkg.com/@types/mdurl/-/mdurl-2.0.0.tgz#d43878b5b20222682163ae6f897b20447233bdfd"
+  integrity sha512-RGdgjQUZba5p6QEFAVx2OGb8rQDL/cPRG7GiedRzMcJ1tYnUANBncjbSB1NRGwbvjcPeikRABz2nshyPk1bhWg==
+
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+  version "3.0.3"
+  resolved "https://registry.yarnpkg.com/@types/unist/-/unist-3.0.3.tgz#acaab0f919ce69cce629c2d4ed2eb4adc1b6c20c"
+  integrity sha512-ko/gIFJRv177XgZsZcBwnqJN5x/Gien8qNOn0D5bQU/zAzVf9Zt3BlcUiLqhV9y4ARk0GbT3tnUiPNgnTXzc/Q==
+
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+  version "0.0.20"
+  resolved "https://registry.yarnpkg.com/@types/web-bluetooth/-/web-bluetooth-0.0.20.tgz#f066abfcd1cbe66267cdbbf0de010d8a41b41597"
+  integrity sha512-g9gZnnXVq7gM7v3tJCWV/qw7w+KeOlSHAhgF9RytFyifW6AF61hdT2ucrYhPq9hLs5JIryeupHV3qGk95dH9ow==
+
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+  resolved "https://registry.yarnpkg.com/@ungap/structured-clone/-/structured-clone-1.3.0.tgz#d06bbb384ebcf6c505fde1c3d0ed4ddffe0aaff8"
+  integrity sha512-WmoN8qaIAo7WTYWbAZuG8PYEhn5fkz7dZrqTBZ7dtt//lL2Gwms1IcnQ5yHqjDfX8Ft5j4YzDM23f87zBfDe9g==
+
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+  version "5.2.1"
+  resolved "https://registry.yarnpkg.com/@vitejs/plugin-vue/-/plugin-vue-5.2.1.tgz#d1491f678ee3af899f7ae57d9c21dc52a65c7133"
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+
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+  version "3.5.13"
+  resolved "https://registry.yarnpkg.com/@vue/compiler-core/-/compiler-core-3.5.13.tgz#b0ae6c4347f60c03e849a05d34e5bf747c9bda05"
+  integrity sha512-oOdAkwqUfW1WqpwSYJce06wvt6HljgY3fGeM9NcVA1HaYOij3mZG9Rkysn0OHuyUAGMbEbARIpsG+LPVlBJ5/Q==
+  dependencies:
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+    "@vue/shared" "3.5.13"
+    entities "^4.5.0"
+    estree-walker "^2.0.2"
+    source-map-js "^1.2.0"
+
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+  version "3.5.13"
+  resolved "https://registry.yarnpkg.com/@vue/compiler-dom/-/compiler-dom-3.5.13.tgz#bb1b8758dbc542b3658dda973b98a1c9311a8a58"
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+  dependencies:
+    "@vue/compiler-core" "3.5.13"
+    "@vue/shared" "3.5.13"
+
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+  version "3.5.13"
+  resolved "https://registry.yarnpkg.com/@vue/compiler-sfc/-/compiler-sfc-3.5.13.tgz#461f8bd343b5c06fac4189c4fef8af32dea82b46"
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+  dependencies:
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+    "@vue/compiler-core" "3.5.13"
+    "@vue/compiler-dom" "3.5.13"
+    "@vue/compiler-ssr" "3.5.13"
+    "@vue/shared" "3.5.13"
+    estree-walker "^2.0.2"
+    magic-string "^0.30.11"
+    postcss "^8.4.48"
+    source-map-js "^1.2.0"
+
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+  version "3.5.13"
+  resolved "https://registry.yarnpkg.com/@vue/compiler-ssr/-/compiler-ssr-3.5.13.tgz#e771adcca6d3d000f91a4277c972a996d07f43ba"
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+  dependencies:
+    "@vue/compiler-dom" "3.5.13"
+    "@vue/shared" "3.5.13"
+
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+  version "7.7.1"
+  resolved "https://registry.yarnpkg.com/@vue/devtools-api/-/devtools-api-7.7.1.tgz#6a44bf03ce27ba0230461171812d9ae98aeb2458"
+  integrity sha512-Cexc8GimowoDkJ6eNelOPdYIzsu2mgNyp0scOQ3tiaYSb9iok6LOESSsJvHaI+ib3joRfqRJNLkHFjhNuWA5dg==
+  dependencies:
+    "@vue/devtools-kit" "^7.7.1"
+
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+  version "7.7.1"
+  resolved "https://registry.yarnpkg.com/@vue/devtools-kit/-/devtools-kit-7.7.1.tgz#9b4cdef7111ffd8673c14e9a16a433c65ebb8a8e"
+  integrity sha512-yhZ4NPnK/tmxGtLNQxmll90jIIXdb2jAhPF76anvn5M/UkZCiLJy28bYgPIACKZ7FCosyKoaope89/RsFJll1w==
+  dependencies:
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+    birpc "^0.2.19"
+    hookable "^5.5.3"
+    mitt "^3.0.1"
+    perfect-debounce "^1.0.0"
+    speakingurl "^14.0.1"
+    superjson "^2.2.1"
+
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+  version "7.7.1"
+  resolved "https://registry.yarnpkg.com/@vue/devtools-shared/-/devtools-shared-7.7.1.tgz#3a92d7cc268c15fa639797c45b0aff79eae9b8d7"
+  integrity sha512-BtgF7kHq4BHG23Lezc/3W2UhK2ga7a8ohAIAGJMBr4BkxUFzhqntQtCiuL1ijo2ztWnmusymkirgqUrXoQKumA==
+  dependencies:
+    rfdc "^1.4.1"
+
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+  version "3.5.13"
+  resolved "https://registry.yarnpkg.com/@vue/reactivity/-/reactivity-3.5.13.tgz#b41ff2bb865e093899a22219f5b25f97b6fe155f"
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+  dependencies:
+    "@vue/shared" "3.5.13"
+
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+  version "3.5.13"
+  resolved "https://registry.yarnpkg.com/@vue/runtime-core/-/runtime-core-3.5.13.tgz#1fafa4bf0b97af0ebdd9dbfe98cd630da363a455"
+  integrity sha512-Fj4YRQ3Az0WTZw1sFe+QDb0aXCerigEpw418pw1HBUKFtnQHWzwojaukAs2X/c9DQz4MQ4bsXTGlcpGxU/RCIw==
+  dependencies:
+    "@vue/reactivity" "3.5.13"
+    "@vue/shared" "3.5.13"
+
+"@vue/runtime-dom@3.5.13":
+  version "3.5.13"
+  resolved "https://registry.yarnpkg.com/@vue/runtime-dom/-/runtime-dom-3.5.13.tgz#610fc795de9246300e8ae8865930d534e1246215"
+  integrity sha512-dLaj94s93NYLqjLiyFzVs9X6dWhTdAlEAciC3Moq7gzAc13VJUdCnjjRurNM6uTLFATRHexHCTu/Xp3eW6yoog==
+  dependencies:
+    "@vue/reactivity" "3.5.13"
+    "@vue/runtime-core" "3.5.13"
+    "@vue/shared" "3.5.13"
+    csstype "^3.1.3"
+
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+  version "3.5.13"
+  resolved "https://registry.yarnpkg.com/@vue/server-renderer/-/server-renderer-3.5.13.tgz#429ead62ee51de789646c22efe908e489aad46f7"
+  integrity sha512-wAi4IRJV/2SAW3htkTlB+dHeRmpTiVIK1OGLWV1yeStVSebSQQOwGwIq0D3ZIoBj2C2qpgz5+vX9iEBkTdk5YA==
+  dependencies:
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+    "@vue/shared" "3.5.13"
+
+"@vue/shared@3.5.13", "@vue/shared@^3.5.13":
+  version "3.5.13"
+  resolved "https://registry.yarnpkg.com/@vue/shared/-/shared-3.5.13.tgz#87b309a6379c22b926e696893237826f64339b6f"
+  integrity sha512-/hnE/qP5ZoGpol0a5mDi45bOd7t3tjYJBjsgCsivow7D48cJeV5l05RD82lPqi7gRiphZM37rnhW1l6ZoCNNnQ==
+
+"@vueuse/core@12.5.0", "@vueuse/core@^12.4.0":
+  version "12.5.0"
+  resolved "https://registry.yarnpkg.com/@vueuse/core/-/core-12.5.0.tgz#1321c75132c4f20f223e6313587ebeeec79957f2"
+  integrity sha512-GVyH1iYqNANwcahAx8JBm6awaNgvR/SwZ1fjr10b8l1HIgDp82ngNbfzJUgOgWEoxjL+URAggnlilAEXwCOZtg==
+  dependencies:
+    "@types/web-bluetooth" "^0.0.20"
+    "@vueuse/metadata" "12.5.0"
+    "@vueuse/shared" "12.5.0"
+    vue "^3.5.13"
+
+"@vueuse/integrations@^12.4.0":
+  version "12.5.0"
+  resolved "https://registry.yarnpkg.com/@vueuse/integrations/-/integrations-12.5.0.tgz#6496ea24772d087c8fec3973a471a6ab50f9e7c0"
+  integrity sha512-HYLt8M6mjUfcoUOzyBcX2RjpfapIwHPBmQJtTmXOQW845Y/Osu9VuTJ5kPvnmWJ6IUa05WpblfOwZ+P0G4iZsQ==
+  dependencies:
+    "@vueuse/core" "12.5.0"
+    "@vueuse/shared" "12.5.0"
+    vue "^3.5.13"
+
+"@vueuse/metadata@12.5.0":
+  version "12.5.0"
+  resolved "https://registry.yarnpkg.com/@vueuse/metadata/-/metadata-12.5.0.tgz#8f1778a2894bdda2bf458054377a379d40276306"
+  integrity sha512-Ui7Lo2a7AxrMAXRF+fAp9QsXuwTeeZ8fIB9wsLHqzq9MQk+2gMYE2IGJW48VMJ8ecvCB3z3GsGLKLbSasQ5Qlg==
+
+"@vueuse/shared@12.5.0":
+  version "12.5.0"
+  resolved "https://registry.yarnpkg.com/@vueuse/shared/-/shared-12.5.0.tgz#b93af7ab0fd6a8d879808c9bf37d540dac01da13"
+  integrity sha512-vMpcL1lStUU6O+kdj6YdHDixh0odjPAUM15uJ9f7MY781jcYkIwFA4iv2EfoIPO6vBmvutI1HxxAwmf0cx5ISQ==
+  dependencies:
+    vue "^3.5.13"
+
+algoliasearch@^5.14.2:
+  version "5.20.0"
+  resolved "https://registry.yarnpkg.com/algoliasearch/-/algoliasearch-5.20.0.tgz#15f4eb6428f258d083d1cbc47d04a8d66eecba5f"
+  integrity sha512-groO71Fvi5SWpxjI9Ia+chy0QBwT61mg6yxJV27f5YFf+Mw+STT75K6SHySpP8Co5LsCrtsbCH5dJZSRtkSKaQ==
+  dependencies:
+    "@algolia/client-abtesting" "5.20.0"
+    "@algolia/client-analytics" "5.20.0"
+    "@algolia/client-common" "5.20.0"
+    "@algolia/client-insights" "5.20.0"
+    "@algolia/client-personalization" "5.20.0"
+    "@algolia/client-query-suggestions" "5.20.0"
+    "@algolia/client-search" "5.20.0"
+    "@algolia/ingestion" "1.20.0"
+    "@algolia/monitoring" "1.20.0"
+    "@algolia/recommend" "5.20.0"
+    "@algolia/requester-browser-xhr" "5.20.0"
+    "@algolia/requester-fetch" "5.20.0"
+    "@algolia/requester-node-http" "5.20.0"
+
+ansi-colors@^4.1.1:
+  version "4.1.3"
+  resolved "https://registry.yarnpkg.com/ansi-colors/-/ansi-colors-4.1.3.tgz#37611340eb2243e70cc604cad35d63270d48781b"
+  integrity sha512-/6w/C21Pm1A7aZitlI5Ni/2J6FFQN8i1Cvz3kHABAAbw93v/NlvKdVOqz7CCWz/3iv/JplRSEEZ83XION15ovw==
+
+argparse@^2.0.1:
+  version "2.0.1"
+  resolved "https://registry.yarnpkg.com/argparse/-/argparse-2.0.1.tgz#246f50f3ca78a3240f6c997e8a9bd1eac49e4b38"
+  integrity sha512-8+9WqebbFzpX9OR+Wa6O29asIogeRMzcGtAINdpMHHyAg10f05aSFVBbcEqGf/PXw1EjAZ+q2/bEBg3DvurK3Q==
+
+birpc@^0.2.19:
+  version "0.2.19"
+  resolved "https://registry.yarnpkg.com/birpc/-/birpc-0.2.19.tgz#cdd183a4a70ba103127d49765b4a71349da5a0ca"
+  integrity sha512-5WeXXAvTmitV1RqJFppT5QtUiz2p1mRSYU000Jkft5ZUCLJIk4uQriYNO50HknxKwM6jd8utNc66K1qGIwwWBQ==
+
+boolbase@^1.0.0:
+  version "1.0.0"
+  resolved "https://registry.yarnpkg.com/boolbase/-/boolbase-1.0.0.tgz#68dff5fbe60c51eb37725ea9e3ed310dcc1e776e"
+  integrity sha512-JZOSA7Mo9sNGB8+UjSgzdLtokWAky1zbztM3WRLCbZ70/3cTANmQmOdR7y2g+J0e2WXywy1yS468tY+IruqEww==
+
+bundle-name@^4.1.0:
+  version "4.1.0"
+  resolved "https://registry.yarnpkg.com/bundle-name/-/bundle-name-4.1.0.tgz#f3b96b34160d6431a19d7688135af7cfb8797889"
+  integrity sha512-tjwM5exMg6BGRI+kNmTntNsvdZS1X8BFYS6tnJ2hdH0kVxM6/eVZ2xy+FqStSWvYmtfFMDLIxurorHwDKfDz5Q==
+  dependencies:
+    run-applescript "^7.0.0"
+
+ccount@^2.0.0:
+  version "2.0.1"
+  resolved "https://registry.yarnpkg.com/ccount/-/ccount-2.0.1.tgz#17a3bf82302e0870d6da43a01311a8bc02a3ecf5"
+  integrity sha512-eyrF0jiFpY+3drT6383f1qhkbGsLSifNAjA61IUjZjmLCWjItY6LB9ft9YhoDgwfmclB2zhu51Lc7+95b8NRAg==
+
+character-entities-html4@^2.0.0:
+  version "2.1.0"
+  resolved "https://registry.yarnpkg.com/character-entities-html4/-/character-entities-html4-2.1.0.tgz#1f1adb940c971a4b22ba39ddca6b618dc6e56b2b"
+  integrity sha512-1v7fgQRj6hnSwFpq1Eu0ynr/CDEw0rXo2B61qXrLNdHZmPKgb7fqS1a2JwF0rISo9q77jDI8VMEHoApn8qDoZA==
+
+character-entities-legacy@^3.0.0:
+  version "3.0.0"
+  resolved "https://registry.yarnpkg.com/character-entities-legacy/-/character-entities-legacy-3.0.0.tgz#76bc83a90738901d7bc223a9e93759fdd560125b"
+  integrity sha512-RpPp0asT/6ufRm//AJVwpViZbGM/MkjQFxJccQRHmISF/22NBtsHqAWmL+/pmkPWoIUJdWyeVleTl1wydHATVQ==
+
+cheerio-select@^1.5.0:
+  version "1.6.0"
+  resolved "https://registry.yarnpkg.com/cheerio-select/-/cheerio-select-1.6.0.tgz#489f36604112c722afa147dedd0d4609c09e1696"
+  integrity sha512-eq0GdBvxVFbqWgmCm7M3XGs1I8oLy/nExUnh6oLqmBditPO9AqQJrkslDpMun/hZ0yyTs8L0m85OHp4ho6Qm9g==
+  dependencies:
+    css-select "^4.3.0"
+    css-what "^6.0.1"
+    domelementtype "^2.2.0"
+    domhandler "^4.3.1"
+    domutils "^2.8.0"
+
+cheerio@1.0.0-rc.10:
+  version "1.0.0-rc.10"
+  resolved "https://registry.yarnpkg.com/cheerio/-/cheerio-1.0.0-rc.10.tgz#2ba3dcdfcc26e7956fc1f440e61d51c643379f3e"
+  integrity sha512-g0J0q/O6mW8z5zxQ3A8E8J1hUgp4SMOvEoW/x84OwyHKe/Zccz83PVT4y5Crcr530FV6NgmKI1qvGTKVl9XXVw==
+  dependencies:
+    cheerio-select "^1.5.0"
+    dom-serializer "^1.3.2"
+    domhandler "^4.2.0"
+    htmlparser2 "^6.1.0"
+    parse5 "^6.0.1"
+    parse5-htmlparser2-tree-adapter "^6.0.1"
+    tslib "^2.2.0"
+
+comma-separated-tokens@^2.0.0:
+  version "2.0.3"
+  resolved "https://registry.yarnpkg.com/comma-separated-tokens/-/comma-separated-tokens-2.0.3.tgz#4e89c9458acb61bc8fef19f4529973b2392839ee"
+  integrity sha512-Fu4hJdvzeylCfQPp9SGWidpzrMs7tTrlu6Vb8XGaRGck8QSNZJJp538Wrb60Lax4fPwR64ViY468OIUTbRlGZg==
+
+commander@9.2.0:
+  version "9.2.0"
+  resolved "https://registry.yarnpkg.com/commander/-/commander-9.2.0.tgz#6e21014b2ed90d8b7c9647230d8b7a94a4a419a9"
+  integrity sha512-e2i4wANQiSXgnrBlIatyHtP1odfUp0BbV5Y5nEGbxtIrStkEOAAzCUirvLBNXHLr7kwLvJl6V+4V3XV9x7Wd9w==
+
+commander@^6.1.0:
+  version "6.2.1"
+  resolved "https://registry.yarnpkg.com/commander/-/commander-6.2.1.tgz#0792eb682dfbc325999bb2b84fddddba110ac73c"
+  integrity sha512-U7VdrJFnJgo4xjrHpTzu0yrHPGImdsmD95ZlgYSEajAn2JKzDhDTPG9kBTefmObL2w/ngeZnilk+OV9CG3d7UA==
+
+copy-anything@^3.0.2:
+  version "3.0.5"
+  resolved "https://registry.yarnpkg.com/copy-anything/-/copy-anything-3.0.5.tgz#2d92dce8c498f790fa7ad16b01a1ae5a45b020a0"
+  integrity sha512-yCEafptTtb4bk7GLEQoM8KVJpxAfdBJYaXyzQEgQQQgYrZiDp8SJmGKlYza6CYjEDNstAdNdKA3UuoULlEbS6w==
+  dependencies:
+    is-what "^4.1.8"
+
+cross-spawn@^7.0.3:
+  version "7.0.6"
+  resolved "https://registry.yarnpkg.com/cross-spawn/-/cross-spawn-7.0.6.tgz#8a58fe78f00dcd70c370451759dfbfaf03e8ee9f"
+  integrity sha512-uV2QOWP2nWzsy2aMp8aRibhi9dlzF5Hgh5SHaB9OiTGEyDTiJJyx0uy51QXdyWbtAHNua4XJzUKca3OzKUd3vA==
+  dependencies:
+    path-key "^3.1.0"
+    shebang-command "^2.0.0"
+    which "^2.0.1"
+
+css-select@^4.3.0:
+  version "4.3.0"
+  resolved "https://registry.yarnpkg.com/css-select/-/css-select-4.3.0.tgz#db7129b2846662fd8628cfc496abb2b59e41529b"
+  integrity sha512-wPpOYtnsVontu2mODhA19JrqWxNsfdatRKd64kmpRbQgh1KtItko5sTnEpPdpSaJszTOhEMlF/RPz28qj4HqhQ==
+  dependencies:
+    boolbase "^1.0.0"
+    css-what "^6.0.1"
+    domhandler "^4.3.1"
+    domutils "^2.8.0"
+    nth-check "^2.0.1"
+
+css-what@^6.0.1:
+  version "6.1.0"
+  resolved "https://registry.yarnpkg.com/css-what/-/css-what-6.1.0.tgz#fb5effcf76f1ddea2c81bdfaa4de44e79bac70f4"
+  integrity sha512-HTUrgRJ7r4dsZKU6GjmpfRK1O76h97Z8MfS1G0FozR+oF2kG6Vfe8JE6zwrkbxigziPHinCJ+gCPjA9EaBDtRw==
+
+csstype@^3.1.3:
+  version "3.1.3"
+  resolved "https://registry.yarnpkg.com/csstype/-/csstype-3.1.3.tgz#d80ff294d114fb0e6ac500fbf85b60137d7eff81"
+  integrity sha512-M1uQkMl8rQK/szD0LNhtqxIPLpimGm8sOBwU7lLnCpSbTyY3yeU1Vc7l4KT5zT4s/yOxHH5O7tIuuLOCnLADRw==
+
+default-browser-id@^5.0.0:
+  version "5.0.0"
+  resolved "https://registry.yarnpkg.com/default-browser-id/-/default-browser-id-5.0.0.tgz#a1d98bf960c15082d8a3fa69e83150ccccc3af26"
+  integrity sha512-A6p/pu/6fyBcA1TRz/GqWYPViplrftcW2gZC9q79ngNCKAeR/X3gcEdXQHl4KNXV+3wgIJ1CPkJQ3IHM6lcsyA==
+
+default-browser@^5.2.1:
+  version "5.2.1"
+  resolved "https://registry.yarnpkg.com/default-browser/-/default-browser-5.2.1.tgz#7b7ba61204ff3e425b556869ae6d3e9d9f1712cf"
+  integrity sha512-WY/3TUME0x3KPYdRRxEJJvXRHV4PyPoUsxtZa78lwItwRQRHhd2U9xOscaT/YTf8uCXIAjeJOFBVEh/7FtD8Xg==
+  dependencies:
+    bundle-name "^4.1.0"
+    default-browser-id "^5.0.0"
+
+define-lazy-prop@^3.0.0:
+  version "3.0.0"
+  resolved "https://registry.yarnpkg.com/define-lazy-prop/-/define-lazy-prop-3.0.0.tgz#dbb19adfb746d7fc6d734a06b72f4a00d021255f"
+  integrity sha512-N+MeXYoqr3pOgn8xfyRPREN7gHakLYjhsHhWGT3fWAiL4IkAt0iDw14QiiEm2bE30c5XX5q0FtAA3CK5f9/BUg==
+
+dequal@^2.0.0:
+  version "2.0.3"
+  resolved "https://registry.yarnpkg.com/dequal/-/dequal-2.0.3.tgz#2644214f1997d39ed0ee0ece72335490a7ac67be"
+  integrity sha512-0je+qPKHEMohvfRTCEo3CrPG6cAzAYgmzKyxRiYSSDkS6eGJdyVJm7WaYA5ECaAD9wLB2T4EEeymA5aFVcYXCA==
+
+devlop@^1.0.0:
+  version "1.1.0"
+  resolved "https://registry.yarnpkg.com/devlop/-/devlop-1.1.0.tgz#4db7c2ca4dc6e0e834c30be70c94bbc976dc7018"
+  integrity sha512-RWmIqhcFf1lRYBvNmr7qTNuyCt/7/ns2jbpp1+PalgE/rDQcBT0fioSMUpJ93irlUhC5hrg4cYqe6U+0ImW0rA==
+  dependencies:
+    dequal "^2.0.0"
+
+dom-serializer@^1.0.1, dom-serializer@^1.3.2:
+  version "1.4.1"
+  resolved "https://registry.yarnpkg.com/dom-serializer/-/dom-serializer-1.4.1.tgz#de5d41b1aea290215dc45a6dae8adcf1d32e2d30"
+  integrity sha512-VHwB3KfrcOOkelEG2ZOfxqLZdfkil8PtJi4P8N2MMXucZq2yLp75ClViUlOVwyoHEDjYU433Aq+5zWP61+RGag==
+  dependencies:
+    domelementtype "^2.0.1"
+    domhandler "^4.2.0"
+    entities "^2.0.0"
+
+domelementtype@^2.0.1, domelementtype@^2.2.0:
+  version "2.3.0"
+  resolved "https://registry.yarnpkg.com/domelementtype/-/domelementtype-2.3.0.tgz#5c45e8e869952626331d7aab326d01daf65d589d"
+  integrity sha512-OLETBj6w0OsagBwdXnPdN0cnMfF9opN69co+7ZrbfPGrdpPVNBUj02spi6B1N7wChLQiPn4CSH/zJvXw56gmHw==
+
+domhandler@^3.3.0:
+  version "3.3.0"
+  resolved "https://registry.yarnpkg.com/domhandler/-/domhandler-3.3.0.tgz#6db7ea46e4617eb15cf875df68b2b8524ce0037a"
+  integrity sha512-J1C5rIANUbuYK+FuFL98650rihynUOEzRLxW+90bKZRWB6A1X1Tf82GxR1qAWLyfNPRvjqfip3Q5tdYlmAa9lA==
+  dependencies:
+    domelementtype "^2.0.1"
+
+domhandler@^4.0.0, domhandler@^4.2.0, domhandler@^4.3.1:
+  version "4.3.1"
+  resolved "https://registry.yarnpkg.com/domhandler/-/domhandler-4.3.1.tgz#8d792033416f59d68bc03a5aa7b018c1ca89279c"
+  integrity sha512-GrwoxYN+uWlzO8uhUXRl0P+kHE4GtVPfYzVLcUxPL7KNdHKj66vvlhiweIHqYYXWlw+T8iLMp42Lm67ghw4WMQ==
+  dependencies:
+    domelementtype "^2.2.0"
+
+domutils@^2.4.2, domutils@^2.5.2, domutils@^2.8.0:
+  version "2.8.0"
+  resolved "https://registry.yarnpkg.com/domutils/-/domutils-2.8.0.tgz#4437def5db6e2d1f5d6ee859bd95ca7d02048135"
+  integrity sha512-w96Cjofp72M5IIhpjgobBimYEfoPjx1Vx0BSX9P30WBdZW2WIKU0T1Bd0kz2eNZ9ikjKgHbEyKx8BB6H1L3h3A==
+  dependencies:
+    dom-serializer "^1.0.1"
+    domelementtype "^2.2.0"
+    domhandler "^4.2.0"
+
+emoji-regex-xs@^1.0.0:
+  version "1.0.0"
+  resolved "https://registry.yarnpkg.com/emoji-regex-xs/-/emoji-regex-xs-1.0.0.tgz#e8af22e5d9dbd7f7f22d280af3d19d2aab5b0724"
+  integrity sha512-LRlerrMYoIDrT6jgpeZ2YYl/L8EulRTt5hQcYjy5AInh7HWXKimpqx68aknBFpGL2+/IcogTcaydJEgaTmOpDg==
+
+entities@^2.0.0:
+  version "2.2.0"
+  resolved "https://registry.yarnpkg.com/entities/-/entities-2.2.0.tgz#098dc90ebb83d8dffa089d55256b351d34c4da55"
+  integrity sha512-p92if5Nz619I0w+akJrLZH0MX0Pb5DX39XOwQTtXSdQQOaYH03S1uIQp4mhOZtAXrxq4ViO67YTiLBo2638o9A==
+
+entities@^4.5.0:
+  version "4.5.0"
+  resolved "https://registry.yarnpkg.com/entities/-/entities-4.5.0.tgz#5d268ea5e7113ec74c4d033b79ea5a35a488fb48"
+  integrity sha512-V0hjH4dGPh9Ao5p0MoRY6BVqtwCjhz6vI5LT8AJ55H+4g9/4vbHx1I54fS0XuclLhDHArPQCiMjDxjaL8fPxhw==
+
+entities@~3.0.1:
+  version "3.0.1"
+  resolved "https://registry.yarnpkg.com/entities/-/entities-3.0.1.tgz#2b887ca62585e96db3903482d336c1006c3001d4"
+  integrity sha512-WiyBqoomrwMdFG1e0kqvASYfnlb0lp8M5o5Fw2OFq1hNZxxcNk8Ik0Xm7LxzBhuidnZB/UtBqVCgUz3kBOP51Q==
+
+env-editor@^1.1.0:
+  version "1.1.0"
+  resolved "https://registry.yarnpkg.com/env-editor/-/env-editor-1.1.0.tgz#bd510b6cb1528a64b17273aaeba272c050e786e9"
+  integrity sha512-7AXskzN6T7Q9TFcKAGJprUbpQa4i1VsAetO9rdBqbGMGlragTziBgWt4pVYJMBWHQlLoX0buy6WFikzPH4Qjpw==
+
+esbuild@^0.21.3:
+  version "0.21.5"
+  resolved "https://registry.yarnpkg.com/esbuild/-/esbuild-0.21.5.tgz#9ca301b120922959b766360d8ac830da0d02997d"
+  integrity sha512-mg3OPMV4hXywwpoDxu3Qda5xCKQi+vCTZq8S9J/EpkhB2HzKXq4SNFZE3+NK93JYxc8VMSep+lOUSC/RVKaBqw==
+  optionalDependencies:
+    "@esbuild/aix-ppc64" "0.21.5"
+    "@esbuild/android-arm" "0.21.5"
+    "@esbuild/android-arm64" "0.21.5"
+    "@esbuild/android-x64" "0.21.5"
+    "@esbuild/darwin-arm64" "0.21.5"
+    "@esbuild/darwin-x64" "0.21.5"
+    "@esbuild/freebsd-arm64" "0.21.5"
+    "@esbuild/freebsd-x64" "0.21.5"
+    "@esbuild/linux-arm" "0.21.5"
+    "@esbuild/linux-arm64" "0.21.5"
+    "@esbuild/linux-ia32" "0.21.5"
+    "@esbuild/linux-loong64" "0.21.5"
+    "@esbuild/linux-mips64el" "0.21.5"
+    "@esbuild/linux-ppc64" "0.21.5"
+    "@esbuild/linux-riscv64" "0.21.5"
+    "@esbuild/linux-s390x" "0.21.5"
+    "@esbuild/linux-x64" "0.21.5"
+    "@esbuild/netbsd-x64" "0.21.5"
+    "@esbuild/openbsd-x64" "0.21.5"
+    "@esbuild/sunos-x64" "0.21.5"
+    "@esbuild/win32-arm64" "0.21.5"
+    "@esbuild/win32-ia32" "0.21.5"
+    "@esbuild/win32-x64" "0.21.5"
+
+escape-goat@^3.0.0:
+  version "3.0.0"
+  resolved "https://registry.yarnpkg.com/escape-goat/-/escape-goat-3.0.0.tgz#e8b5fb658553fe8a3c4959c316c6ebb8c842b19c"
+  integrity sha512-w3PwNZJwRxlp47QGzhuEBldEqVHHhh8/tIPcl6ecf2Bou99cdAt0knihBV0Ecc7CGxYduXVBDheH1K2oADRlvw==
+
+esm@^3.2.25:
+  version "3.2.25"
+  resolved "https://registry.yarnpkg.com/esm/-/esm-3.2.25.tgz#342c18c29d56157688ba5ce31f8431fbb795cc10"
+  integrity sha512-U1suiZ2oDVWv4zPO56S0NcR5QriEahGtdN2OR6FiOG4WJvcjBVFB0qI4+eKoWFH483PKGuLuu6V8Z4T5g63UVA==
+
+estree-walker@^2.0.2:
+  version "2.0.2"
+  resolved "https://registry.yarnpkg.com/estree-walker/-/estree-walker-2.0.2.tgz#52f010178c2a4c117a7757cfe942adb7d2da4cac"
+  integrity sha512-Rfkk/Mp/DL7JVje3u18FxFujQlTNR2q6QfMSMB7AvCBx91NGj/ba3kCfza0f6dVDbw7YlRf/nDrn7pQrCCyQ/w==
+
+execa@^9.3.0:
+  version "9.5.2"
+  resolved "https://registry.yarnpkg.com/execa/-/execa-9.5.2.tgz#a4551034ee0795e241025d2f987dab3f4242dff2"
+  integrity sha512-EHlpxMCpHWSAh1dgS6bVeoLAXGnJNdR93aabr4QCGbzOM73o5XmRfM/e5FUqsw3aagP8S8XEWUWFAxnRBnAF0Q==
+  dependencies:
+    "@sindresorhus/merge-streams" "^4.0.0"
+    cross-spawn "^7.0.3"
+    figures "^6.1.0"
+    get-stream "^9.0.0"
+    human-signals "^8.0.0"
+    is-plain-obj "^4.1.0"
+    is-stream "^4.0.1"
+    npm-run-path "^6.0.0"
+    pretty-ms "^9.0.0"
+    signal-exit "^4.1.0"
+    strip-final-newline "^4.0.0"
+    yoctocolors "^2.0.0"
+
+figures@^6.1.0:
+  version "6.1.0"
+  resolved "https://registry.yarnpkg.com/figures/-/figures-6.1.0.tgz#935479f51865fa7479f6fa94fc6fc7ac14e62c4a"
+  integrity sha512-d+l3qxjSesT4V7v2fh+QnmFnUWv9lSpjarhShNTgBOfA0ttejbQUAlHLitbjkoRiDulW0OPoQPYIGhIC8ohejg==
+  dependencies:
+    is-unicode-supported "^2.0.0"
+
+focus-trap@^7.6.4:
+  version "7.6.4"
+  resolved "https://registry.yarnpkg.com/focus-trap/-/focus-trap-7.6.4.tgz#455ec5c51fee5ae99604ca15142409ffbbf84db9"
+  integrity sha512-xx560wGBk7seZ6y933idtjJQc1l+ck+pI3sKvhKozdBV1dRZoKhkW5xoCaFv9tQiX5RH1xfSxjuNu6g+lmN/gw==
+  dependencies:
+    tabbable "^6.2.0"
+
+fsevents@~2.3.2, fsevents@~2.3.3:
+  version "2.3.3"
+  resolved "https://registry.yarnpkg.com/fsevents/-/fsevents-2.3.3.tgz#cac6407785d03675a2a5e1a5305c697b347d90d6"
+  integrity sha512-5xoDfX+fL7faATnagmWPpbFtwh/R77WmMMqqHGS65C3vvB0YHrgF+B1YmZ3441tMj5n63k0212XNoJwzlhffQw==
+
+get-stream@^9.0.0:
+  version "9.0.1"
+  resolved "https://registry.yarnpkg.com/get-stream/-/get-stream-9.0.1.tgz#95157d21df8eb90d1647102b63039b1df60ebd27"
+  integrity sha512-kVCxPF3vQM/N0B1PmoqVUqgHP+EeVjmZSQn+1oCRPxd2P21P2F19lIgbR3HBosbB1PUhOAoctJnfEn2GbN2eZA==
+  dependencies:
+    "@sec-ant/readable-stream" "^0.4.1"
+    is-stream "^4.0.1"
+
+hast-util-to-html@^9.0.4:
+  version "9.0.4"
+  resolved "https://registry.yarnpkg.com/hast-util-to-html/-/hast-util-to-html-9.0.4.tgz#d689c118c875aab1def692c58603e34335a0f5c5"
+  integrity sha512-wxQzXtdbhiwGAUKrnQJXlOPmHnEehzphwkK7aluUPQ+lEc1xefC8pblMgpp2w5ldBTEfveRIrADcrhGIWrlTDA==
+  dependencies:
+    "@types/hast" "^3.0.0"
+    "@types/unist" "^3.0.0"
+    ccount "^2.0.0"
+    comma-separated-tokens "^2.0.0"
+    hast-util-whitespace "^3.0.0"
+    html-void-elements "^3.0.0"
+    mdast-util-to-hast "^13.0.0"
+    property-information "^6.0.0"
+    space-separated-tokens "^2.0.0"
+    stringify-entities "^4.0.0"
+    zwitch "^2.0.4"
+
+hast-util-whitespace@^3.0.0:
+  version "3.0.0"
+  resolved "https://registry.yarnpkg.com/hast-util-whitespace/-/hast-util-whitespace-3.0.0.tgz#7778ed9d3c92dd9e8c5c8f648a49c21fc51cb621"
+  integrity sha512-88JUN06ipLwsnv+dVn+OIYOvAuvBMy/Qoi6O7mQHxdPXpjy+Cd6xRkWwux7DKO+4sYILtLBRIKgsdpS2gQc7qw==
+  dependencies:
+    "@types/hast" "^3.0.0"
+
+hookable@^5.5.3:
+  version "5.5.3"
+  resolved "https://registry.yarnpkg.com/hookable/-/hookable-5.5.3.tgz#6cfc358984a1ef991e2518cb9ed4a778bbd3215d"
+  integrity sha512-Yc+BQe8SvoXH1643Qez1zqLRmbA5rCL+sSmk6TVos0LWVfNIB7PGncdlId77WzLGSIB5KaWgTaNTs2lNVEI6VQ==
+
+html-void-elements@^3.0.0:
+  version "3.0.0"
+  resolved "https://registry.yarnpkg.com/html-void-elements/-/html-void-elements-3.0.0.tgz#fc9dbd84af9e747249034d4d62602def6517f1d7"
+  integrity sha512-bEqo66MRXsUGxWHV5IP0PUiAWwoEjba4VCzg0LjFJBpchPaTfyfCKTG6bc5F8ucKec3q5y6qOdGyYTSBEvhCrg==
+
+htmlparser2@^5.0.0:
+  version "5.0.1"
+  resolved "https://registry.yarnpkg.com/htmlparser2/-/htmlparser2-5.0.1.tgz#7daa6fc3e35d6107ac95a4fc08781f091664f6e7"
+  integrity sha512-vKZZra6CSe9qsJzh0BjBGXo8dvzNsq/oGvsjfRdOrrryfeD9UOBEEQdeoqCRmKZchF5h2zOBMQ6YuQ0uRUmdbQ==
+  dependencies:
+    domelementtype "^2.0.1"
+    domhandler "^3.3.0"
+    domutils "^2.4.2"
+    entities "^2.0.0"
+
+htmlparser2@^6.1.0:
+  version "6.1.0"
+  resolved "https://registry.yarnpkg.com/htmlparser2/-/htmlparser2-6.1.0.tgz#c4d762b6c3371a05dbe65e94ae43a9f845fb8fb7"
+  integrity sha512-gyyPk6rgonLFEDGoeRgQNaEUvdJ4ktTmmUh/h2t7s+M8oPpIPxgNACWa+6ESR57kXstwqPiCut0V8NRpcwgU7A==
+  dependencies:
+    domelementtype "^2.0.1"
+    domhandler "^4.0.0"
+    domutils "^2.5.2"
+    entities "^2.0.0"
+
+human-signals@^8.0.0:
+  version "8.0.0"
+  resolved "https://registry.yarnpkg.com/human-signals/-/human-signals-8.0.0.tgz#2d3d63481c7c2319f0373428b01ffe30da6df852"
+  integrity sha512-/1/GPCpDUCCYwlERiYjxoczfP0zfvZMU/OWgQPMya9AbAE24vseigFdhAMObpc8Q4lc/kjutPfUddDYyAmejnA==
+
+is-docker@^3.0.0:
+  version "3.0.0"
+  resolved "https://registry.yarnpkg.com/is-docker/-/is-docker-3.0.0.tgz#90093aa3106277d8a77a5910dbae71747e15a200"
+  integrity sha512-eljcgEDlEns/7AXFosB5K/2nCM4P7FQPkGc/DWLy5rmFEWvZayGrik1d9/QIY5nJ4f9YsVvBkA6kJpHn9rISdQ==
+
+is-inside-container@^1.0.0:
+  version "1.0.0"
+  resolved "https://registry.yarnpkg.com/is-inside-container/-/is-inside-container-1.0.0.tgz#e81fba699662eb31dbdaf26766a61d4814717ea4"
+  integrity sha512-KIYLCCJghfHZxqjYBE7rEy0OBuTd5xCHS7tHVgvCLkx7StIoaxwNW3hCALgEUjFfeRk+MG/Qxmp/vtETEF3tRA==
+  dependencies:
+    is-docker "^3.0.0"
+
+is-plain-obj@^4.1.0:
+  version "4.1.0"
+  resolved "https://registry.yarnpkg.com/is-plain-obj/-/is-plain-obj-4.1.0.tgz#d65025edec3657ce032fd7db63c97883eaed71f0"
+  integrity sha512-+Pgi+vMuUNkJyExiMBt5IlFoMyKnr5zhJ4Uspz58WOhBF5QoIZkFyNHIbBAtHwzVAgk5RtndVNsDRN61/mmDqg==
+
+is-stream@^4.0.1:
+  version "4.0.1"
+  resolved "https://registry.yarnpkg.com/is-stream/-/is-stream-4.0.1.tgz#375cf891e16d2e4baec250b85926cffc14720d9b"
+  integrity sha512-Dnz92NInDqYckGEUJv689RbRiTSEHCQ7wOVeALbkOz999YpqT46yMRIGtSNl2iCL1waAZSx40+h59NV/EwzV/A==
+
+is-unicode-supported@^2.0.0:
+  version "2.1.0"
+  resolved "https://registry.yarnpkg.com/is-unicode-supported/-/is-unicode-supported-2.1.0.tgz#09f0ab0de6d3744d48d265ebb98f65d11f2a9b3a"
+  integrity sha512-mE00Gnza5EEB3Ds0HfMyllZzbBrmLOX3vfWoj9A9PEnTfratQ/BcaJOuMhnkhjXvb2+FkY3VuHqtAGpTPmglFQ==
+
+is-what@^4.1.8:
+  version "4.1.16"
+  resolved "https://registry.yarnpkg.com/is-what/-/is-what-4.1.16.tgz#1ad860a19da8b4895ad5495da3182ce2acdd7a6f"
+  integrity sha512-ZhMwEosbFJkA0YhFnNDgTM4ZxDRsS6HqTo7qsZM08fehyRYIYa0yHu5R6mgo1n/8MgaPBXiPimPD77baVFYg+A==
+
+is-wsl@^3.1.0:
+  version "3.1.0"
+  resolved "https://registry.yarnpkg.com/is-wsl/-/is-wsl-3.1.0.tgz#e1c657e39c10090afcbedec61720f6b924c3cbd2"
+  integrity sha512-UcVfVfaK4Sc4m7X3dUSoHoozQGBEFeDC+zVo06t98xe8CzHSZZBekNXH+tu0NalHolcJ/QAGqS46Hef7QXBIMw==
+  dependencies:
+    is-inside-container "^1.0.0"
+
+isexe@^2.0.0:
+  version "2.0.0"
+  resolved "https://registry.yarnpkg.com/isexe/-/isexe-2.0.0.tgz#e8fbf374dc556ff8947a10dcb0572d633f2cfa10"
+  integrity sha512-RHxMLp9lnKHGHRng9QFhRCMbYAcVpn69smSGcq3f36xjgVVWThj4qqLbTLlq7Ssj8B+fIQ1EuCEGI2lKsyQeIw==
+
+juice@^8.0.0:
+  version "8.1.0"
+  resolved "https://registry.yarnpkg.com/juice/-/juice-8.1.0.tgz#4ea23362522fe06418229943237ee3751a4fca70"
+  integrity sha512-FLzurJrx5Iv1e7CfBSZH68dC04EEvXvvVvPYB7Vx1WAuhCp1ZPIMtqxc+WTWxVkpTIC2Ach/GAv0rQbtGf6YMA==
+  dependencies:
+    cheerio "1.0.0-rc.10"
+    commander "^6.1.0"
+    mensch "^0.3.4"
+    slick "^1.12.2"
+    web-resource-inliner "^6.0.1"
+
+line-column-path@^3.0.0:
+  version "3.0.0"
+  resolved "https://registry.yarnpkg.com/line-column-path/-/line-column-path-3.0.0.tgz#c873b42feb57f5f97bc72af30d21581076b3119e"
+  integrity sha512-Atocnm7Wr9nuvAn97yEPQa3pcQI5eLQGBz+m6iTb+CVw+IOzYB9MrYK7jI7BfC9ISnT4Fu0eiwhAScV//rp4Hw==
+  dependencies:
+    type-fest "^2.0.0"
+
+linkify-it@^4.0.1:
+  version "4.0.1"
+  resolved "https://registry.yarnpkg.com/linkify-it/-/linkify-it-4.0.1.tgz#01f1d5e508190d06669982ba31a7d9f56a5751ec"
+  integrity sha512-C7bfi1UZmoj8+PQx22XyeXCuBlokoyWQL5pWSP+EI6nzRylyThouddufc2c1NDIcP9k5agmN9fLpA7VNJfIiqw==
+  dependencies:
+    uc.micro "^1.0.1"
+
+lite-youtube-embed@^0.3.2:
+  version "0.3.3"
+  resolved "https://registry.yarnpkg.com/lite-youtube-embed/-/lite-youtube-embed-0.3.3.tgz#2d9885c8f9c56eea4690cfe8bb44149630317815"
+  integrity sha512-gFfVVnj6NRjxVfJKo3qoLtpi0v5mn3AcR4eKD45wrxQuxzveFJUb+7Cr6uV6n+DjO8X3p0UzPPquhGt0H/y+NA==
+
+magic-string@^0.30.11:
+  version "0.30.17"
+  resolved "https://registry.yarnpkg.com/magic-string/-/magic-string-0.30.17.tgz#450a449673d2460e5bbcfba9a61916a1714c7453"
+  integrity sha512-sNPKHvyjVf7gyjwS4xGTaW/mCnF8wnjtifKBEhxfZ7E/S8tQ0rssrwGNn6q8JH/ohItJfSQp9mBtQYuTlH5QnA==
+  dependencies:
+    "@jridgewell/sourcemap-codec" "^1.5.0"
+
+mark.js@8.11.1:
+  version "8.11.1"
+  resolved "https://registry.yarnpkg.com/mark.js/-/mark.js-8.11.1.tgz#180f1f9ebef8b0e638e4166ad52db879beb2ffc5"
+  integrity sha512-1I+1qpDt4idfgLQG+BNWmrqku+7/2bi5nLf4YwF8y8zXvmfiTBY3PV3ZibfrjBueCByROpuBjLLFCajqkgYoLQ==
+
+markdown-it-container@^3.0.0:
+  version "3.0.0"
+  resolved "https://registry.yarnpkg.com/markdown-it-container/-/markdown-it-container-3.0.0.tgz#1d19b06040a020f9a827577bb7dbf67aa5de9a5b"
+  integrity sha512-y6oKTq4BB9OQuY/KLfk/O3ysFhB3IMYoIWhGJEidXt1NQFocFK2sA2t0NYZAMyMShAGL6x5OPIbrmXPIqaN9rw==
+
+markdown-it-mathjax3@^4.3.2:
+  version "4.3.2"
+  resolved "https://registry.yarnpkg.com/markdown-it-mathjax3/-/markdown-it-mathjax3-4.3.2.tgz#1e34aa86f8560b283fd283008334adc2d6b05a37"
+  integrity sha512-TX3GW5NjmupgFtMJGRauioMbbkGsOXAAt1DZ/rzzYmTHqzkO1rNAdiMD4NiruurToPApn2kYy76x02QN26qr2w==
+  dependencies:
+    juice "^8.0.0"
+    mathjax-full "^3.2.0"
+
+markdown-it@^13.0.1:
+  version "13.0.2"
+  resolved "https://registry.yarnpkg.com/markdown-it/-/markdown-it-13.0.2.tgz#1bc22e23379a6952e5d56217fbed881e0c94d536"
+  integrity sha512-FtwnEuuK+2yVU7goGn/MJ0WBZMM9ZPgU9spqlFs7/A/pDIUNSOQZhUgOqYCficIuR2QaFnrt8LHqBWsbTAoI5w==
+  dependencies:
+    argparse "^2.0.1"
+    entities "~3.0.1"
+    linkify-it "^4.0.1"
+    mdurl "^1.0.1"
+    uc.micro "^1.0.5"
+
+mathjax-full@^3.2.0:
+  version "3.2.2"
+  resolved "https://registry.yarnpkg.com/mathjax-full/-/mathjax-full-3.2.2.tgz#43f02e55219db393030985d2b6537ceae82f1fa7"
+  integrity sha512-+LfG9Fik+OuI8SLwsiR02IVdjcnRCy5MufYLi0C3TdMT56L/pjB0alMVGgoWJF8pN9Rc7FESycZB9BMNWIid5w==
+  dependencies:
+    esm "^3.2.25"
+    mhchemparser "^4.1.0"
+    mj-context-menu "^0.6.1"
+    speech-rule-engine "^4.0.6"
+
+mdast-util-to-hast@^13.0.0:
+  version "13.2.0"
+  resolved "https://registry.yarnpkg.com/mdast-util-to-hast/-/mdast-util-to-hast-13.2.0.tgz#5ca58e5b921cc0a3ded1bc02eed79a4fe4fe41f4"
+  integrity sha512-QGYKEuUsYT9ykKBCMOEDLsU5JRObWQusAolFMeko/tYPufNkRffBAQjIE+99jbA87xv6FgmjLtwjh9wBWajwAA==
+  dependencies:
+    "@types/hast" "^3.0.0"
+    "@types/mdast" "^4.0.0"
+    "@ungap/structured-clone" "^1.0.0"
+    devlop "^1.0.0"
+    micromark-util-sanitize-uri "^2.0.0"
+    trim-lines "^3.0.0"
+    unist-util-position "^5.0.0"
+    unist-util-visit "^5.0.0"
+    vfile "^6.0.0"
+
+mdurl@^1.0.1:
+  version "1.0.1"
+  resolved "https://registry.yarnpkg.com/mdurl/-/mdurl-1.0.1.tgz#fe85b2ec75a59037f2adfec100fd6c601761152e"
+  integrity sha512-/sKlQJCBYVY9Ers9hqzKou4H6V5UWc/M59TH2dvkt+84itfnq7uFOMLpOiOS4ujvHP4etln18fmIxA5R5fll0g==
+
+medium-zoom@^1.1.0:
+  version "1.1.0"
+  resolved "https://registry.yarnpkg.com/medium-zoom/-/medium-zoom-1.1.0.tgz#6efb6bbda861a02064ee71a2617a8dc4381ecc71"
+  integrity sha512-ewyDsp7k4InCUp3jRmwHBRFGyjBimKps/AJLjRSox+2q/2H4p/PNpQf+pwONWlJiOudkBXtbdmVbFjqyybfTmQ==
+
+mensch@^0.3.4:
+  version "0.3.4"
+  resolved "https://registry.yarnpkg.com/mensch/-/mensch-0.3.4.tgz#770f91b46cb16ea5b204ee735768c3f0c491fecd"
+  integrity sha512-IAeFvcOnV9V0Yk+bFhYR07O3yNina9ANIN5MoXBKYJ/RLYPurd2d0yw14MDhpr9/momp0WofT1bPUh3hkzdi/g==
+
+mhchemparser@^4.1.0:
+  version "4.2.1"
+  resolved "https://registry.yarnpkg.com/mhchemparser/-/mhchemparser-4.2.1.tgz#d73982e66bc06170a85b1985600ee9dabe157cb0"
+  integrity sha512-kYmyrCirqJf3zZ9t/0wGgRZ4/ZJw//VwaRVGA75C4nhE60vtnIzhl9J9ndkX/h6hxSN7pjg/cE0VxbnNM+bnDQ==
+
+micromark-util-character@^2.0.0:
+  version "2.1.1"
+  resolved "https://registry.yarnpkg.com/micromark-util-character/-/micromark-util-character-2.1.1.tgz#2f987831a40d4c510ac261e89852c4e9703ccda6"
+  integrity sha512-wv8tdUTJ3thSFFFJKtpYKOYiGP2+v96Hvk4Tu8KpCAsTMs6yi+nVmGh1syvSCsaxz45J6Jbw+9DD6g97+NV67Q==
+  dependencies:
+    micromark-util-symbol "^2.0.0"
+    micromark-util-types "^2.0.0"
+
+micromark-util-encode@^2.0.0:
+  version "2.0.1"
+  resolved "https://registry.yarnpkg.com/micromark-util-encode/-/micromark-util-encode-2.0.1.tgz#0d51d1c095551cfaac368326963cf55f15f540b8"
+  integrity sha512-c3cVx2y4KqUnwopcO9b/SCdo2O67LwJJ/UyqGfbigahfegL9myoEFoDYZgkT7f36T0bLrM9hZTAaAyH+PCAXjw==
+
+micromark-util-sanitize-uri@^2.0.0:
+  version "2.0.1"
+  resolved "https://registry.yarnpkg.com/micromark-util-sanitize-uri/-/micromark-util-sanitize-uri-2.0.1.tgz#ab89789b818a58752b73d6b55238621b7faa8fd7"
+  integrity sha512-9N9IomZ/YuGGZZmQec1MbgxtlgougxTodVwDzzEouPKo3qFWvymFHWcnDi2vzV1ff6kas9ucW+o3yzJK9YB1AQ==
+  dependencies:
+    micromark-util-character "^2.0.0"
+    micromark-util-encode "^2.0.0"
+    micromark-util-symbol "^2.0.0"
+
+micromark-util-symbol@^2.0.0:
+  version "2.0.1"
+  resolved "https://registry.yarnpkg.com/micromark-util-symbol/-/micromark-util-symbol-2.0.1.tgz#e5da494e8eb2b071a0d08fb34f6cefec6c0a19b8"
+  integrity sha512-vs5t8Apaud9N28kgCrRUdEed4UJ+wWNvicHLPxCa9ENlYuAY31M0ETy5y1vA33YoNPDFTghEbnh6efaE8h4x0Q==
+
+micromark-util-types@^2.0.0:
+  version "2.0.1"
+  resolved "https://registry.yarnpkg.com/micromark-util-types/-/micromark-util-types-2.0.1.tgz#a3edfda3022c6c6b55bfb049ef5b75d70af50709"
+  integrity sha512-534m2WhVTddrcKVepwmVEVnUAmtrx9bfIjNoQHRqfnvdaHQiFytEhJoTgpWJvDEXCO5gLTQh3wYC1PgOJA4NSQ==
+
+mime@^2.4.6:
+  version "2.6.0"
+  resolved "https://registry.yarnpkg.com/mime/-/mime-2.6.0.tgz#a2a682a95cd4d0cb1d6257e28f83da7e35800367"
+  integrity sha512-USPkMeET31rOMiarsBNIHZKLGgvKc/LrjofAnBlOttf5ajRvqiRA8QsenbcooctK6d6Ts6aqZXBA+XbkKthiQg==
+
+minisearch@^7.1.1:
+  version "7.1.1"
+  resolved "https://registry.yarnpkg.com/minisearch/-/minisearch-7.1.1.tgz#901d0367f078233cdc7a10be7264e09c6248cf5f"
+  integrity sha512-b3YZEYCEH4EdCAtYP7OlDyx7FdPwNzuNwLQ34SfJpM9dlbBZzeXndGavTrC+VCiRWomL21SWfMc6SCKO/U2ZNw==
+
+mitt@^3.0.1:
+  version "3.0.1"
+  resolved "https://registry.yarnpkg.com/mitt/-/mitt-3.0.1.tgz#ea36cf0cc30403601ae074c8f77b7092cdab36d1"
+  integrity sha512-vKivATfr97l2/QBCYAkXYDbrIWPM2IIKEl7YPhjCvKlG3kE2gm+uBo6nEXK3M5/Ffh/FLpKExzOQ3JJoJGFKBw==
+
+mj-context-menu@^0.6.1:
+  version "0.6.1"
+  resolved "https://registry.yarnpkg.com/mj-context-menu/-/mj-context-menu-0.6.1.tgz#a043c5282bf7e1cf3821de07b13525ca6f85aa69"
+  integrity sha512-7NO5s6n10TIV96d4g2uDpG7ZDpIhMh0QNfGdJw/W47JswFcosz457wqz/b5sAKvl12sxINGFCn80NZHKwxQEXA==
+
+nanoid@^3.3.8:
+  version "3.3.8"
+  resolved "https://registry.yarnpkg.com/nanoid/-/nanoid-3.3.8.tgz#b1be3030bee36aaff18bacb375e5cce521684baf"
+  integrity sha512-WNLf5Sd8oZxOm+TzppcYk8gVOgP+l58xNy58D0nbUnOxOWRWvlcCV4kUF7ltmI6PsrLl/BgKEyS4mqsGChFN0w==
+
+node-fetch@^2.6.0:
+  version "2.7.0"
+  resolved "https://registry.yarnpkg.com/node-fetch/-/node-fetch-2.7.0.tgz#d0f0fa6e3e2dc1d27efcd8ad99d550bda94d187d"
+  integrity sha512-c4FRfUm/dbcWZ7U+1Wq0AwCyFL+3nt2bEw05wfxSz+DWpWsitgmSgYmy2dQdWyKC1694ELPqMs/YzUSNozLt8A==
+  dependencies:
+    whatwg-url "^5.0.0"
+
+npm-run-path@^6.0.0:
+  version "6.0.0"
+  resolved "https://registry.yarnpkg.com/npm-run-path/-/npm-run-path-6.0.0.tgz#25cfdc4eae04976f3349c0b1afc089052c362537"
+  integrity sha512-9qny7Z9DsQU8Ou39ERsPU4OZQlSTP47ShQzuKZ6PRXpYLtIFgl/DEBYEXKlvcEa+9tHVcK8CF81Y2V72qaZhWA==
+  dependencies:
+    path-key "^4.0.0"
+    unicorn-magic "^0.3.0"
+
+nth-check@^2.0.1:
+  version "2.1.1"
+  resolved "https://registry.yarnpkg.com/nth-check/-/nth-check-2.1.1.tgz#c9eab428effce36cd6b92c924bdb000ef1f1ed1d"
+  integrity sha512-lqjrjmaOoAnWfMmBPL+XNnynZh2+swxiX3WUE0s4yEHI6m+AwrK2UZOimIRl3X/4QctVqS8AiZjFqyOGrMXb/w==
+  dependencies:
+    boolbase "^1.0.0"
+
+oniguruma-to-es@^2.3.0:
+  version "2.3.0"
+  resolved "https://registry.yarnpkg.com/oniguruma-to-es/-/oniguruma-to-es-2.3.0.tgz#35ea9104649b7c05f3963c6b3b474d964625028b"
+  integrity sha512-bwALDxriqfKGfUufKGGepCzu9x7nJQuoRoAFp4AnwehhC2crqrDIAP/uN2qdlsAvSMpeRC3+Yzhqc7hLmle5+g==
+  dependencies:
+    emoji-regex-xs "^1.0.0"
+    regex "^5.1.1"
+    regex-recursion "^5.1.1"
+
+open-editor@^5.0.0:
+  version "5.1.0"
+  resolved "https://registry.yarnpkg.com/open-editor/-/open-editor-5.1.0.tgz#50bfb02c2833d8abea2b7c3909446a43d637280d"
+  integrity sha512-KkNqM6FdoegD6WhY2YXmWcovOux45NV+zBped2+G3+V74zkDPkIl4cqh6hte2zNDojtwO2nBOV8U+sgziWfPrg==
+  dependencies:
+    env-editor "^1.1.0"
+    execa "^9.3.0"
+    line-column-path "^3.0.0"
+    open "^10.1.0"
+
+open@^10.1.0:
+  version "10.1.0"
+  resolved "https://registry.yarnpkg.com/open/-/open-10.1.0.tgz#a7795e6e5d519abe4286d9937bb24b51122598e1"
+  integrity sha512-mnkeQ1qP5Ue2wd+aivTD3NHd/lZ96Lu0jgf0pwktLPtx6cTZiH7tyeGRRHs0zX0rbrahXPnXlUnbeXyaBBuIaw==
+  dependencies:
+    default-browser "^5.2.1"
+    define-lazy-prop "^3.0.0"
+    is-inside-container "^1.0.0"
+    is-wsl "^3.1.0"
+
+parse-ms@^4.0.0:
+  version "4.0.0"
+  resolved "https://registry.yarnpkg.com/parse-ms/-/parse-ms-4.0.0.tgz#c0c058edd47c2a590151a718990533fd62803df4"
+  integrity sha512-TXfryirbmq34y8QBwgqCVLi+8oA3oWx2eAnSn62ITyEhEYaWRlVZ2DvMM9eZbMs/RfxPu/PK/aBLyGj4IrqMHw==
+
+parse5-htmlparser2-tree-adapter@^6.0.1:
+  version "6.0.1"
+  resolved "https://registry.yarnpkg.com/parse5-htmlparser2-tree-adapter/-/parse5-htmlparser2-tree-adapter-6.0.1.tgz#2cdf9ad823321140370d4dbf5d3e92c7c8ddc6e6"
+  integrity sha512-qPuWvbLgvDGilKc5BoicRovlT4MtYT6JfJyBOMDsKoiT+GiuP5qyrPCnR9HcPECIJJmZh5jRndyNThnhhb/vlA==
+  dependencies:
+    parse5 "^6.0.1"
+
+parse5@^6.0.1:
+  version "6.0.1"
+  resolved "https://registry.yarnpkg.com/parse5/-/parse5-6.0.1.tgz#e1a1c085c569b3dc08321184f19a39cc27f7c30b"
+  integrity sha512-Ofn/CTFzRGTTxwpNEs9PP93gXShHcTq255nzRYSKe8AkVpZY7e1fpmTfOyoIvjP5HG7Z2ZM7VS9PPhQGW2pOpw==
+
+path-key@^3.1.0:
+  version "3.1.1"
+  resolved "https://registry.yarnpkg.com/path-key/-/path-key-3.1.1.tgz#581f6ade658cbba65a0d3380de7753295054f375"
+  integrity sha512-ojmeN0qd+y0jszEtoY48r0Peq5dwMEkIlCOu6Q5f41lfkswXuKtYrhgoTpLnyIcHm24Uhqx+5Tqm2InSwLhE6Q==
+
+path-key@^4.0.0:
+  version "4.0.0"
+  resolved "https://registry.yarnpkg.com/path-key/-/path-key-4.0.0.tgz#295588dc3aee64154f877adb9d780b81c554bf18"
+  integrity sha512-haREypq7xkM7ErfgIyA0z+Bj4AGKlMSdlQE2jvJo6huWD1EdkKYV+G/T4nq0YEF2vgTT8kqMFKo1uHn950r4SQ==
+
+perfect-debounce@^1.0.0:
+  version "1.0.0"
+  resolved "https://registry.yarnpkg.com/perfect-debounce/-/perfect-debounce-1.0.0.tgz#9c2e8bc30b169cc984a58b7d5b28049839591d2a"
+  integrity sha512-xCy9V055GLEqoFaHoC1SoLIaLmWctgCUaBaWxDZ7/Zx4CTyX7cJQLJOok/orfjZAh9kEYpjJa4d0KcJmCbctZA==
+
+picocolors@^1.1.1:
+  version "1.1.1"
+  resolved "https://registry.yarnpkg.com/picocolors/-/picocolors-1.1.1.tgz#3d321af3eab939b083c8f929a1d12cda81c26b6b"
+  integrity sha512-xceH2snhtb5M9liqDsmEw56le376mTZkEX/jEb/RxNFyegNul7eNslCXP9FDj/Lcu0X8KEyMceP2ntpaHrDEVA==
+
+postcss@^8.4.43, postcss@^8.4.48:
+  version "8.5.1"
+  resolved "https://registry.yarnpkg.com/postcss/-/postcss-8.5.1.tgz#e2272a1f8a807fafa413218245630b5db10a3214"
+  integrity sha512-6oz2beyjc5VMn/KV1pPw8fliQkhBXrVn1Z3TVyqZxU8kZpzEKhBdmCFqI6ZbmGtamQvQGuU1sgPTk8ZrXDD7jQ==
+  dependencies:
+    nanoid "^3.3.8"
+    picocolors "^1.1.1"
+    source-map-js "^1.2.1"
+
+preact@^10.0.0:
+  version "10.25.4"
+  resolved "https://registry.yarnpkg.com/preact/-/preact-10.25.4.tgz#c1d00bee9d7b9dcd06a2311d9951973b506ae8ac"
+  integrity sha512-jLdZDb+Q+odkHJ+MpW/9U5cODzqnB+fy2EiHSZES7ldV5LK7yjlVzTp7R8Xy6W6y75kfK8iWYtFVH7lvjwrCMA==
+
+pretty-ms@^9.0.0:
+  version "9.2.0"
+  resolved "https://registry.yarnpkg.com/pretty-ms/-/pretty-ms-9.2.0.tgz#e14c0aad6493b69ed63114442a84133d7e560ef0"
+  integrity sha512-4yf0QO/sllf/1zbZWYnvWw3NxCQwLXKzIj0G849LSufP15BXKM0rbD2Z3wVnkMfjdn/CB0Dpp444gYAACdsplg==
+  dependencies:
+    parse-ms "^4.0.0"
+
+property-information@^6.0.0:
+  version "6.5.0"
+  resolved "https://registry.yarnpkg.com/property-information/-/property-information-6.5.0.tgz#6212fbb52ba757e92ef4fb9d657563b933b7ffec"
+  integrity sha512-PgTgs/BlvHxOu8QuEN7wi5A0OmXaBcHpmCSTehcs6Uuu9IkDIEo13Hy7n898RHfrQ49vKCoGeWZSaAK01nwVig==
+
+regex-recursion@^5.1.1:
+  version "5.1.1"
+  resolved "https://registry.yarnpkg.com/regex-recursion/-/regex-recursion-5.1.1.tgz#5a73772d18adbf00f57ad097bf54171b39d78f8b"
+  integrity sha512-ae7SBCbzVNrIjgSbh7wMznPcQel1DNlDtzensnFxpiNpXt1U2ju/bHugH422r+4LAVS1FpW1YCwilmnNsjum9w==
+  dependencies:
+    regex "^5.1.1"
+    regex-utilities "^2.3.0"
+
+regex-utilities@^2.3.0:
+  version "2.3.0"
+  resolved "https://registry.yarnpkg.com/regex-utilities/-/regex-utilities-2.3.0.tgz#87163512a15dce2908cf079c8960d5158ff43280"
+  integrity sha512-8VhliFJAWRaUiVvREIiW2NXXTmHs4vMNnSzuJVhscgmGav3g9VDxLrQndI3dZZVVdp0ZO/5v0xmX516/7M9cng==
+
+regex@^5.1.1:
+  version "5.1.1"
+  resolved "https://registry.yarnpkg.com/regex/-/regex-5.1.1.tgz#cf798903f24d6fe6e531050a36686e082b29bd03"
+  integrity sha512-dN5I359AVGPnwzJm2jN1k0W9LPZ+ePvoOeVMMfqIMFz53sSwXkxaJoxr50ptnsC771lK95BnTrVSZxq0b9yCGw==
+  dependencies:
+    regex-utilities "^2.3.0"
+
+rfdc@^1.4.1:
+  version "1.4.1"
+  resolved "https://registry.yarnpkg.com/rfdc/-/rfdc-1.4.1.tgz#778f76c4fb731d93414e8f925fbecf64cce7f6ca"
+  integrity sha512-q1b3N5QkRUWUl7iyylaaj3kOpIT0N2i9MqIEQXP73GVsN9cw3fdx8X63cEmWhJGi2PPCF23Ijp7ktmd39rawIA==
+
+rollup@^4.20.0:
+  version "4.32.1"
+  resolved "https://registry.yarnpkg.com/rollup/-/rollup-4.32.1.tgz#95309604d92c3d21cbf06c3ee46a098209ce13a4"
+  integrity sha512-z+aeEsOeEa3mEbS1Tjl6sAZ8NE3+AalQz1RJGj81M+fizusbdDMoEJwdJNHfaB40Scr4qNu+welOfes7maKonA==
+  dependencies:
+    "@types/estree" "1.0.6"
+  optionalDependencies:
+    "@rollup/rollup-android-arm-eabi" "4.32.1"
+    "@rollup/rollup-android-arm64" "4.32.1"
+    "@rollup/rollup-darwin-arm64" "4.32.1"
+    "@rollup/rollup-darwin-x64" "4.32.1"
+    "@rollup/rollup-freebsd-arm64" "4.32.1"
+    "@rollup/rollup-freebsd-x64" "4.32.1"
+    "@rollup/rollup-linux-arm-gnueabihf" "4.32.1"
+    "@rollup/rollup-linux-arm-musleabihf" "4.32.1"
+    "@rollup/rollup-linux-arm64-gnu" "4.32.1"
+    "@rollup/rollup-linux-arm64-musl" "4.32.1"
+    "@rollup/rollup-linux-loongarch64-gnu" "4.32.1"
+    "@rollup/rollup-linux-powerpc64le-gnu" "4.32.1"
+    "@rollup/rollup-linux-riscv64-gnu" "4.32.1"
+    "@rollup/rollup-linux-s390x-gnu" "4.32.1"
+    "@rollup/rollup-linux-x64-gnu" "4.32.1"
+    "@rollup/rollup-linux-x64-musl" "4.32.1"
+    "@rollup/rollup-win32-arm64-msvc" "4.32.1"
+    "@rollup/rollup-win32-ia32-msvc" "4.32.1"
+    "@rollup/rollup-win32-x64-msvc" "4.32.1"
+    fsevents "~2.3.2"
+
+run-applescript@^7.0.0:
+  version "7.0.0"
+  resolved "https://registry.yarnpkg.com/run-applescript/-/run-applescript-7.0.0.tgz#e5a553c2bffd620e169d276c1cd8f1b64778fbeb"
+  integrity sha512-9by4Ij99JUr/MCFBUkDKLWK3G9HVXmabKz9U5MlIAIuvuzkiOicRYs8XJLxX+xahD+mLiiCYDqF9dKAgtzKP1A==
+
+shebang-command@^2.0.0:
+  version "2.0.0"
+  resolved "https://registry.yarnpkg.com/shebang-command/-/shebang-command-2.0.0.tgz#ccd0af4f8835fbdc265b82461aaf0c36663f34ea"
+  integrity sha512-kHxr2zZpYtdmrN1qDjrrX/Z1rR1kG8Dx+gkpK1G4eXmvXswmcE1hTWBWYUzlraYw1/yZp6YuDY77YtvbN0dmDA==
+  dependencies:
+    shebang-regex "^3.0.0"
+
+shebang-regex@^3.0.0:
+  version "3.0.0"
+  resolved "https://registry.yarnpkg.com/shebang-regex/-/shebang-regex-3.0.0.tgz#ae16f1644d873ecad843b0307b143362d4c42172"
+  integrity sha512-7++dFhtcx3353uBaq8DDR4NuxBetBzC7ZQOhmTQInHEd6bSrXdiEyzCvG07Z44UYdLShWUyXt5M/yhz8ekcb1A==
+
+shiki@^2.1.0:
+  version "2.1.0"
+  resolved "https://registry.yarnpkg.com/shiki/-/shiki-2.1.0.tgz#49b9d612e613342ec2db8f18a44a246db4c5e323"
+  integrity sha512-yvKPdNGLXZv7WC4bl7JBbU3CEcUxnBanvMez8MG3gZXKpClGL4bHqFyLhTx+2zUvbjClUANs/S22HXb7aeOgmA==
+  dependencies:
+    "@shikijs/core" "2.1.0"
+    "@shikijs/engine-javascript" "2.1.0"
+    "@shikijs/engine-oniguruma" "2.1.0"
+    "@shikijs/langs" "2.1.0"
+    "@shikijs/themes" "2.1.0"
+    "@shikijs/types" "2.1.0"
+    "@shikijs/vscode-textmate" "^10.0.1"
+    "@types/hast" "^3.0.4"
+
+signal-exit@^4.1.0:
+  version "4.1.0"
+  resolved "https://registry.yarnpkg.com/signal-exit/-/signal-exit-4.1.0.tgz#952188c1cbd546070e2dd20d0f41c0ae0530cb04"
+  integrity sha512-bzyZ1e88w9O1iNJbKnOlvYTrWPDl46O1bG0D3XInv+9tkPrxrN8jUUTiFlDkkmKWgn1M6CfIA13SuGqOa9Korw==
+
+slick@^1.12.2:
+  version "1.12.2"
+  resolved "https://registry.yarnpkg.com/slick/-/slick-1.12.2.tgz#bd048ddb74de7d1ca6915faa4a57570b3550c2d7"
+  integrity sha512-4qdtOGcBjral6YIBCWJ0ljFSKNLz9KkhbWtuGvUyRowl1kxfuE1x/Z/aJcaiilpb3do9bl5K7/1h9XC5wWpY/A==
+
+source-map-js@^1.2.0, source-map-js@^1.2.1:
+  version "1.2.1"
+  resolved "https://registry.yarnpkg.com/source-map-js/-/source-map-js-1.2.1.tgz#1ce5650fddd87abc099eda37dcff024c2667ae46"
+  integrity sha512-UXWMKhLOwVKb728IUtQPXxfYU+usdybtUrK/8uGE8CQMvrhOpwvzDBwj0QhSL7MQc7vIsISBG8VQ8+IDQxpfQA==
+
+space-separated-tokens@^2.0.0:
+  version "2.0.2"
+  resolved "https://registry.yarnpkg.com/space-separated-tokens/-/space-separated-tokens-2.0.2.tgz#1ecd9d2350a3844572c3f4a312bceb018348859f"
+  integrity sha512-PEGlAwrG8yXGXRjW32fGbg66JAlOAwbObuqVoJpv/mRgoWDQfgH1wDPvtzWyUSNAXBGSk8h755YDbbcEy3SH2Q==
+
+speakingurl@^14.0.1:
+  version "14.0.1"
+  resolved "https://registry.yarnpkg.com/speakingurl/-/speakingurl-14.0.1.tgz#f37ec8ddc4ab98e9600c1c9ec324a8c48d772a53"
+  integrity sha512-1POYv7uv2gXoyGFpBCmpDVSNV74IfsWlDW216UPjbWufNf+bSU6GdbDsxdcxtfwb4xlI3yxzOTKClUosxARYrQ==
+
+speech-rule-engine@^4.0.6:
+  version "4.0.7"
+  resolved "https://registry.yarnpkg.com/speech-rule-engine/-/speech-rule-engine-4.0.7.tgz#b655dacbad3dae04acc0f7665e26ef258397dd09"
+  integrity sha512-sJrL3/wHzNwJRLBdf6CjJWIlxC04iYKkyXvYSVsWVOiC2DSkHmxsqOhEeMsBA9XK+CHuNcsdkbFDnoUfAsmp9g==
+  dependencies:
+    commander "9.2.0"
+    wicked-good-xpath "1.3.0"
+    xmldom-sre "0.1.31"
+
+stringify-entities@^4.0.0:
+  version "4.0.4"
+  resolved "https://registry.yarnpkg.com/stringify-entities/-/stringify-entities-4.0.4.tgz#b3b79ef5f277cc4ac73caeb0236c5ba939b3a4f3"
+  integrity sha512-IwfBptatlO+QCJUo19AqvrPNqlVMpW9YEL2LIVY+Rpv2qsjCGxaDLNRgeGsQWJhfItebuJhsGSLjaBbNSQ+ieg==
+  dependencies:
+    character-entities-html4 "^2.0.0"
+    character-entities-legacy "^3.0.0"
+
+strip-final-newline@^4.0.0:
+  version "4.0.0"
+  resolved "https://registry.yarnpkg.com/strip-final-newline/-/strip-final-newline-4.0.0.tgz#35a369ec2ac43df356e3edd5dcebb6429aa1fa5c"
+  integrity sha512-aulFJcD6YK8V1G7iRB5tigAP4TsHBZZrOV8pjV++zdUwmeV8uzbY7yn6h9MswN62adStNZFuCIx4haBnRuMDaw==
+
+superjson@^2.2.1:
+  version "2.2.2"
+  resolved "https://registry.yarnpkg.com/superjson/-/superjson-2.2.2.tgz#9d52bf0bf6b5751a3c3472f1292e714782ba3173"
+  integrity sha512-5JRxVqC8I8NuOUjzBbvVJAKNM8qoVuH0O77h4WInc/qC2q5IreqKxYwgkga3PfA22OayK2ikceb/B26dztPl+Q==
+  dependencies:
+    copy-anything "^3.0.2"
+
+tabbable@^6.2.0:
+  version "6.2.0"
+  resolved "https://registry.yarnpkg.com/tabbable/-/tabbable-6.2.0.tgz#732fb62bc0175cfcec257330be187dcfba1f3b97"
+  integrity sha512-Cat63mxsVJlzYvN51JmVXIgNoUokrIaT2zLclCXjRd8boZ0004U4KCs/sToJ75C6sdlByWxpYnb5Boif1VSFew==
+
+tr46@~0.0.3:
+  version "0.0.3"
+  resolved "https://registry.yarnpkg.com/tr46/-/tr46-0.0.3.tgz#8184fd347dac9cdc185992f3a6622e14b9d9ab6a"
+  integrity sha512-N3WMsuqV66lT30CrXNbEjx4GEwlow3v6rr4mCcv6prnfwhS01rkgyFdjPNBYd9br7LpXV1+Emh01fHnq2Gdgrw==
+
+trim-lines@^3.0.0:
+  version "3.0.1"
+  resolved "https://registry.yarnpkg.com/trim-lines/-/trim-lines-3.0.1.tgz#d802e332a07df861c48802c04321017b1bd87338"
+  integrity sha512-kRj8B+YHZCc9kQYdWfJB2/oUl9rA99qbowYYBtr4ui4mZyAQ2JpvVBd/6U2YloATfqBhBTSMhTpgBHtU0Mf3Rg==
+
+tslib@^2.2.0:
+  version "2.8.1"
+  resolved "https://registry.yarnpkg.com/tslib/-/tslib-2.8.1.tgz#612efe4ed235d567e8aba5f2a5fab70280ade83f"
+  integrity sha512-oJFu94HQb+KVduSUQL7wnpmqnfmLsOA/nAh6b6EH0wCEoK0/mPeXU6c3wKDV83MkOuHPRHtSXKKU99IBazS/2w==
+
+type-fest@^2.0.0:
+  version "2.19.0"
+  resolved "https://registry.yarnpkg.com/type-fest/-/type-fest-2.19.0.tgz#88068015bb33036a598b952e55e9311a60fd3a9b"
+  integrity sha512-RAH822pAdBgcNMAfWnCBU3CFZcfZ/i1eZjwFU/dsLKumyuuP3niueg2UAukXYF0E2AAoc82ZSSf9J0WQBinzHA==
+
+uc.micro@^1.0.1, uc.micro@^1.0.5:
+  version "1.0.6"
+  resolved "https://registry.yarnpkg.com/uc.micro/-/uc.micro-1.0.6.tgz#9c411a802a409a91fc6cf74081baba34b24499ac"
+  integrity sha512-8Y75pvTYkLJW2hWQHXxoqRgV7qb9B+9vFEtidML+7koHUFapnVJAZ6cKs+Qjz5Aw3aZWHMC6u0wJE3At+nSGwA==
+
+unicorn-magic@^0.3.0:
+  version "0.3.0"
+  resolved "https://registry.yarnpkg.com/unicorn-magic/-/unicorn-magic-0.3.0.tgz#4efd45c85a69e0dd576d25532fbfa22aa5c8a104"
+  integrity sha512-+QBBXBCvifc56fsbuxZQ6Sic3wqqc3WWaqxs58gvJrcOuN83HGTCwz3oS5phzU9LthRNE9VrJCFCLUgHeeFnfA==
+
+unist-util-is@^6.0.0:
+  version "6.0.0"
+  resolved "https://registry.yarnpkg.com/unist-util-is/-/unist-util-is-6.0.0.tgz#b775956486aff107a9ded971d996c173374be424"
+  integrity sha512-2qCTHimwdxLfz+YzdGfkqNlH0tLi9xjTnHddPmJwtIG9MGsdbutfTc4P+haPD7l7Cjxf/WZj+we5qfVPvvxfYw==
+  dependencies:
+    "@types/unist" "^3.0.0"
+
+unist-util-position@^5.0.0:
+  version "5.0.0"
+  resolved "https://registry.yarnpkg.com/unist-util-position/-/unist-util-position-5.0.0.tgz#678f20ab5ca1207a97d7ea8a388373c9cf896be4"
+  integrity sha512-fucsC7HjXvkB5R3kTCO7kUjRdrS0BJt3M/FPxmHMBOm8JQi2BsHAHFsy27E0EolP8rp0NzXsJ+jNPyDWvOJZPA==
+  dependencies:
+    "@types/unist" "^3.0.0"
+
+unist-util-stringify-position@^4.0.0:
+  version "4.0.0"
+  resolved "https://registry.yarnpkg.com/unist-util-stringify-position/-/unist-util-stringify-position-4.0.0.tgz#449c6e21a880e0855bf5aabadeb3a740314abac2"
+  integrity sha512-0ASV06AAoKCDkS2+xw5RXJywruurpbC4JZSm7nr7MOt1ojAzvyyaO+UxZf18j8FCF6kmzCZKcAgN/yu2gm2XgQ==
+  dependencies:
+    "@types/unist" "^3.0.0"
+
+unist-util-visit-parents@^6.0.0:
+  version "6.0.1"
+  resolved "https://registry.yarnpkg.com/unist-util-visit-parents/-/unist-util-visit-parents-6.0.1.tgz#4d5f85755c3b8f0dc69e21eca5d6d82d22162815"
+  integrity sha512-L/PqWzfTP9lzzEa6CKs0k2nARxTdZduw3zyh8d2NVBnsyvHjSX4TWse388YrrQKbvI8w20fGjGlhgT96WwKykw==
+  dependencies:
+    "@types/unist" "^3.0.0"
+    unist-util-is "^6.0.0"
+
+unist-util-visit@^5.0.0:
+  version "5.0.0"
+  resolved "https://registry.yarnpkg.com/unist-util-visit/-/unist-util-visit-5.0.0.tgz#a7de1f31f72ffd3519ea71814cccf5fd6a9217d6"
+  integrity sha512-MR04uvD+07cwl/yhVuVWAtw+3GOR/knlL55Nd/wAdblk27GCVt3lqpTivy/tkJcZoNPzTwS1Y+KMojlLDhoTzg==
+  dependencies:
+    "@types/unist" "^3.0.0"
+    unist-util-is "^6.0.0"
+    unist-util-visit-parents "^6.0.0"
+
+valid-data-url@^3.0.0:
+  version "3.0.1"
+  resolved "https://registry.yarnpkg.com/valid-data-url/-/valid-data-url-3.0.1.tgz#826c1744e71b5632e847dd15dbd45b9fb38aa34f"
+  integrity sha512-jOWVmzVceKlVVdwjNSenT4PbGghU0SBIizAev8ofZVgivk/TVHXSbNL8LP6M3spZvkR9/QolkyJavGSX5Cs0UA==
+
+vfile-message@^4.0.0:
+  version "4.0.2"
+  resolved "https://registry.yarnpkg.com/vfile-message/-/vfile-message-4.0.2.tgz#c883c9f677c72c166362fd635f21fc165a7d1181"
+  integrity sha512-jRDZ1IMLttGj41KcZvlrYAaI3CfqpLpfpf+Mfig13viT6NKvRzWZ+lXz0Y5D60w6uJIBAOGq9mSHf0gktF0duw==
+  dependencies:
+    "@types/unist" "^3.0.0"
+    unist-util-stringify-position "^4.0.0"
+
+vfile@^6.0.0:
+  version "6.0.3"
+  resolved "https://registry.yarnpkg.com/vfile/-/vfile-6.0.3.tgz#3652ab1c496531852bf55a6bac57af981ebc38ab"
+  integrity sha512-KzIbH/9tXat2u30jf+smMwFCsno4wHVdNmzFyL+T/L3UGqqk6JKfVqOFOZEpZSHADH1k40ab6NUIXZq422ov3Q==
+  dependencies:
+    "@types/unist" "^3.0.0"
+    vfile-message "^4.0.0"
+
+vite@^5.4.14:
+  version "5.4.14"
+  resolved "https://registry.yarnpkg.com/vite/-/vite-5.4.14.tgz#ff8255edb02134df180dcfca1916c37a6abe8408"
+  integrity sha512-EK5cY7Q1D8JNhSaPKVK4pwBFvaTmZxEnoKXLG/U9gmdDcihQGNzFlgIvaxezFR4glP1LsuiedwMBqCXH3wZccA==
+  dependencies:
+    esbuild "^0.21.3"
+    postcss "^8.4.43"
+    rollup "^4.20.0"
+  optionalDependencies:
+    fsevents "~2.3.3"
+
+vitepress@^1.5.0:
+  version "1.6.3"
+  resolved "https://registry.yarnpkg.com/vitepress/-/vitepress-1.6.3.tgz#4e4662ce2ad55ef64604ecf4f96231a8da2fe9ba"
+  integrity sha512-fCkfdOk8yRZT8GD9BFqusW3+GggWYZ/rYncOfmgcDtP3ualNHCAg+Robxp2/6xfH1WwPHtGpPwv7mbA3qomtBw==
+  dependencies:
+    "@docsearch/css" "3.8.2"
+    "@docsearch/js" "3.8.2"
+    "@iconify-json/simple-icons" "^1.2.21"
+    "@shikijs/core" "^2.1.0"
+    "@shikijs/transformers" "^2.1.0"
+    "@shikijs/types" "^2.1.0"
+    "@types/markdown-it" "^14.1.2"
+    "@vitejs/plugin-vue" "^5.2.1"
+    "@vue/devtools-api" "^7.7.0"
+    "@vue/shared" "^3.5.13"
+    "@vueuse/core" "^12.4.0"
+    "@vueuse/integrations" "^12.4.0"
+    focus-trap "^7.6.4"
+    mark.js "8.11.1"
+    minisearch "^7.1.1"
+    shiki "^2.1.0"
+    vite "^5.4.14"
+    vue "^3.5.13"
+
+vue3-tabs-component@^1.3.7:
+  version "1.3.7"
+  resolved "https://registry.yarnpkg.com/vue3-tabs-component/-/vue3-tabs-component-1.3.7.tgz#b6cc2d3909eeec0bd82b571029050731f6e4ce64"
+  integrity sha512-nitYlPlTrKCW8msQS1HdtajYNRAfZsSP+2wQQymJDGDCK3um62mXP4oKUgAF5pRe6md86LMRQud7Ic3zmu7Zpg==
+
+vue@^3.5.13:
+  version "3.5.13"
+  resolved "https://registry.yarnpkg.com/vue/-/vue-3.5.13.tgz#9f760a1a982b09c0c04a867903fc339c9f29ec0a"
+  integrity sha512-wmeiSMxkZCSc+PM2w2VRsOYAZC8GdipNFRTsLSfodVqI9mbejKeXEGr8SckuLnrQPGe3oJN5c3K0vpoU9q/wCQ==
+  dependencies:
+    "@vue/compiler-dom" "3.5.13"
+    "@vue/compiler-sfc" "3.5.13"
+    "@vue/runtime-dom" "3.5.13"
+    "@vue/server-renderer" "3.5.13"
+    "@vue/shared" "3.5.13"
+
+web-resource-inliner@^6.0.1:
+  version "6.0.1"
+  resolved "https://registry.yarnpkg.com/web-resource-inliner/-/web-resource-inliner-6.0.1.tgz#df0822f0a12028805fe80719ed52ab6526886e02"
+  integrity sha512-kfqDxt5dTB1JhqsCUQVFDj0rmY+4HLwGQIsLPbyrsN9y9WV/1oFDSx3BQ4GfCv9X+jVeQ7rouTqwK53rA/7t8A==
+  dependencies:
+    ansi-colors "^4.1.1"
+    escape-goat "^3.0.0"
+    htmlparser2 "^5.0.0"
+    mime "^2.4.6"
+    node-fetch "^2.6.0"
+    valid-data-url "^3.0.0"
+
+webidl-conversions@^3.0.0:
+  version "3.0.1"
+  resolved "https://registry.yarnpkg.com/webidl-conversions/-/webidl-conversions-3.0.1.tgz#24534275e2a7bc6be7bc86611cc16ae0a5654871"
+  integrity sha512-2JAn3z8AR6rjK8Sm8orRC0h/bcl/DqL7tRPdGZ4I1CjdF+EaMLmYxBHyXuKL849eucPFhvBoxMsflfOb8kxaeQ==
+
+whatwg-url@^5.0.0:
+  version "5.0.0"
+  resolved "https://registry.yarnpkg.com/whatwg-url/-/whatwg-url-5.0.0.tgz#966454e8765462e37644d3626f6742ce8b70965d"
+  integrity sha512-saE57nupxk6v3HY35+jzBwYa0rKSy0XR8JSxZPwgLr7ys0IBzhGviA1/TUGJLmSVqs8pb9AnvICXEuOHLprYTw==
+  dependencies:
+    tr46 "~0.0.3"
+    webidl-conversions "^3.0.0"
+
+which@^2.0.1:
+  version "2.0.2"
+  resolved "https://registry.yarnpkg.com/which/-/which-2.0.2.tgz#7c6a8dd0a636a0327e10b59c9286eee93f3f51b1"
+  integrity sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA==
+  dependencies:
+    isexe "^2.0.0"
+
+wicked-good-xpath@1.3.0:
+  version "1.3.0"
+  resolved "https://registry.yarnpkg.com/wicked-good-xpath/-/wicked-good-xpath-1.3.0.tgz#81b0e95e8650e49c94b22298fff8686b5553cf6c"
+  integrity sha512-Gd9+TUn5nXdwj/hFsPVx5cuHHiF5Bwuc30jZ4+ronF1qHK5O7HD0sgmXWSEgwKquT3ClLoKPVbO6qGwVwLzvAw==
+
+xmldom-sre@0.1.31:
+  version "0.1.31"
+  resolved "https://registry.yarnpkg.com/xmldom-sre/-/xmldom-sre-0.1.31.tgz#10860d5bab2c603144597d04bf2c4980e98067f4"
+  integrity sha512-f9s+fUkX04BxQf+7mMWAp5zk61pciie+fFLC9hX9UVvCeJQfNHRHXpeo5MPcR0EUf57PYLdt+ZO4f3Ipk2oZUw==
+
+yoctocolors@^2.0.0:
+  version "2.1.1"
+  resolved "https://registry.yarnpkg.com/yoctocolors/-/yoctocolors-2.1.1.tgz#e0167474e9fbb9e8b3ecca738deaa61dd12e56fc"
+  integrity sha512-GQHQqAopRhwU8Kt1DDM8NjibDXHC8eoh1erhGAJPEyveY9qqVeXvVikNKrDz69sHowPMorbPUrH/mx8c50eiBQ==
+
+zwitch@^2.0.4:
+  version "2.0.4"
+  resolved "https://registry.yarnpkg.com/zwitch/-/zwitch-2.0.4.tgz#c827d4b0acb76fc3e685a4c6ec2902d51070e9d7"
+  integrity sha512-bXE4cR/kVZhKZX/RjPEflHaKVhUVl85noU3v6b8apfQEc1x4A+zBxjZ4lN8LqGd6WZ3dl98pY4o717VFmoPp+A==