The class represents a target point in the waypoint mission. For a waypoint mission, a flight route consists of multiple Waypoint objects. The user can also define the actions to perform for each Waypoint.
@FloatRange(from = MIN_ALTITUDE, to = MAX_ALTITUDE) float altitude
Package:
dji.common.mission.waypoint
Description:
Altitude of the aircraft in meters when it reaches waypoint. The altitude of the aircraft is relative to the ground at the take-off location, and should not be larger than the aircraft's maximum altitude. If two adjacent waypoints have different altitudes, the altitude will gradually change as the aircraft flies between waypoints.
@IntRange(from = MIN_HEADING, to = MAX_HEADING) int heading
Package:
dji.common.mission.waypoint
Description:
The heading to which the aircraft will rotate by the time it reaches the waypoint. The aircraft heading will gradually change between two waypoints with different headings if the waypoint mission's getHeadingMode is set to USING_WAYPOINT_HEADING. A heading has a range of [-180, 180] degrees, where 0 represents True North. heading relate to behavior between this waypoint and the next waypoint in the mission.
@FloatRange(from = MIN_CORNER_RADIUS, to = MAX_CORNER_RADIUS) float cornerRadiusInMeters = 0.2f
Package:
dji.common.mission.waypoint
Description:
Corner radius of the waypoint. When the flight path mode is CURVED the flight path near a waypoint will be a curve (rounded corner) with radius [0.2,1000]. When there is a corner radius, the aircraft will never go through the waypoint. By default, the radius is 0.2 m. If the corner is made of three adjacent waypoints (Short for A,B,C) . Then the radius of A(short for Ra) plus radius of B(short for Rb) must be smaller than the distance between A and B. The radius of the first and the last waypoint in a mission does not affect the flight path and it should keep the default value (0.2m).
Determines whether the aircraft will turn clockwise or anticlockwise when changing its heading. turnMode relate to behavior between this waypoint and the next waypoint in the mission. Not supported by Mavic 2 Series and Phantom 4 RTK.
@FloatRange(from = MIN_SPEED, to = MAX_SPEED) float speed
Package:
dji.common.mission.waypoint
Description:
The base automatic speed of the aircraft as it moves between this waypoint and the next waypoint with range [0, 15] m/s. By default, it is 0.0 and the aircraft will fly with getAutoFlightSpeed of the waypoint mission. If greater than 0, 'speed' will override getAutoFlightSpeed. This 'speed' can only define movement forward through the waypoint mission in comparison to getAutoFlightSpeed which can be both forward and backwards through a waypoint mission. Waypoint mission speed priority from highest to lowest is: 1) manual speed adjustment with remote controller joy sticks 2) 'speed' 3) DJIWaypointMissionOperator_setAutoFlightSpeed 4) getAutoFlightSpeed Warning: 'speed', shootPhotoTimeInterval and shootPhotoDistanceInterval relate to behavior between this waypoint and the next waypoint in the mission. In comparison. Only supported by flight controller firmware 3.2.10.0 or above.
The time interval in seconds when two photos are taken as the aircraft moves between the current waypoint and the next waypoint. The first photo will be taken as the aircraft leaves the current waypoint. The maximum value is 6,000.0. The minimum value is above 0.0 and depends on the camera type and the camera parameters. When the photo file format is JPEG, the recommended minimum value is 2.0. When the photo file format is RAW, the minimum value is 10.0. If the input exceeds the camera's capability, the pictures will be taken at the maximum possible speed. The default value is 0.0 and no photo will be taken. For a waypoint, either shootPhotoTimeInterval or shootPhotoDistanceInterval is 0.0. Input with precision of greater than 1 decimal places, will be rounded to 1. Warning: 'speed', shootPhotoTimeInterval and shootPhotoDistanceInterval relate to behavior between this waypoint and the next waypoint in the mission. Only supported by flight controller firmware 3.2.10.0 or above.
The distance interval in meters when two photos are taken as the aircraft moves between the current waypoint and the next waypoint. The maximum value is 6,000.0. The minimum value is above 0.0 and depends on the camera type, the camera parameters and the flight speed. When the photo file format is JPEG, the time interval between two photos cannot smaller than 2 seconds. When the photo file format is RAW, the time interval between two photos cannot smaller than 10 seconds. If the input exceeds the camera's capability, the taken photos may be less than expectation. The default value is 0.0 and no photo will be taken. For a waypoint, either shootPhotoTimeInterval or shootPhotoDistanceInterval is 0.0. Input with precision of greater than 1 decimal places, will be rounded to 1. Warning: 'speed', shootPhotoTimeInterval and shootPhotoDistanceInterval relate to behavior between this waypoint and the next waypoint in the mission. Only supported by flight controller firmware 3.2.10.0 or above.
Array of all waypoint actions for the respective waypoint. The waypoint actions will be executed consecutively from the start of the array once the aircraft reaches the waypoint.
@IntRange(from = MIN_ACTION_TIMEOUT, to = MAX_ACTION_TIMEOUT) int actionTimeoutInSeconds = 999
Package:
dji.common.mission.waypoint
Description:
The maximum time set to execute all the waypoint actions for a waypoint. If the time while executing the waypoint actions goes above the time set, the aircraft will stop executing the waypoint actions for the current waypoint and will move on to the next waypoint. The value of this property must be in the range of [0, 999] seconds. The default value is 60 seconds.
Adds a waypoint action to a waypoint. The number of waypoint actions should not be larger than MAX_ACTION_COUNT. The action will only be executed when the mission's getFlightPathMode property is set to NORMAL and will not be executed when the mission's getFlightPathMode property is set to CURVED. The maximum number of waypoint actions you can add is 15.
true if the waypoint action has been added to the waypoint. false if the waypoint action count is too high, or if the waypoint action was incorrectly setup.
booleaninsertAction(WaypointAction action, int index)
Package:
dji.common.mission.waypoint
Description:
Insert a waypoint action at index. @return true, if the waypoint action has been inserted. false if the waypoint action count is too high or the index is invalid.