DJI Mobile SDK Documentation

      class DJIMutableWaypointMission

      @interface DJIMutableWaypointMission : DJIWaypointMission
      Header:DJIWaypointMission.h
      Inherits From:DJIWaypointMission
      Description:

      The class represents a waypoint mission that can be changed. This class should be used to initialize the parameters of a waypoint mission.

      Class Members:
      Add Waypoint
      method
      method addWaypoint
      - (void)addWaypoint:(DJIWaypoint *)waypoint
      Header:DJIWaypointMission.h
      Description:

      Add a waypoint to the waypoint mission. The number of waypoints should be in the range [2, 99]. When a waypoint is added successfully, waypointCount will increment by 1. A waypoint will only be valid if the distance (in three dimensions) between two adjacent waypoints is in range [0.5,2000] meters.

      Input Parameters:
      DJIWaypoint * waypointto be added to the waypoint mission.
      Add Waypoints
      method
      method addWaypoints
      - (void)addWaypoints:(NSArray *)waypoints
      Header:DJIWaypointMission.h
      Description:

      Adds an array of waypoints to the waypoint mission. The number of waypoints should be in the range [2, 99]`. When the waypoints are added successfully, waypointCount will increment by the number of added waypoints.

      Input Parameters:
      NSArray * waypointsArray of waypoints to be added to the waypoint mission.
      Remove Waypoint
      method
      method removeWaypoint
      - (void)removeWaypoint:(DJIWaypoint *)waypoint
      Header:DJIWaypointMission.h
      Description:

      Removes the last waypoint stored in the mission. When the waypoint is removed successfully, waypointCount will decrease by 1.

      Input Parameters:
      DJIWaypoint * waypointWaypoint object to be removed.
      method removeWaypointAtIndex
      - (void)removeWaypointAtIndex:(NSInteger)index
      Header:DJIWaypointMission.h
      Description:

      Removes the waypoint at an index. When the waypoint is removed successfully, waypointCount will decrease by 1.

      Input Parameters:
      NSInteger indexIndex of the waypoint to be removed from the waypoint mission.
      method removeAllWaypoints
      - (void)removeAllWaypoints
      Header:DJIWaypointMission.h
      Description:

      Removes all waypoints from the waypoint mission. When all waypoints are removed successfully, waypointCount will be 0.

      property autoFlightSpeed
      @property(nonatomic, readwrite) float autoFlightSpeed
      Header:DJIWaypointMission.h
      Description:

      The base automatic speed of the aircraft as it moves between waypoints with range [-15, 15] m/s. The aircraft's actual speed is a combination of the base automatic speed, and the speed control given by the throttle joystick on the remote controller. If "autoFlightSpeed >0": Actual speed is "autoFlightSpeed" + Joystick Speed (with combined max of "maxFlightSpeed") If "autoFlightSpeed =0": Actual speed is controlled only by the remote controller joystick. If "autoFlightSpeed <0" and the aircraft is at the first waypoint, the aircraft will hover in place until the speed is made positive by the remote controller joystick. In flight controller firmware 3.2.10.0 or above, different speeds between individual waypoints can also be set in waypoint objects which will overwrite "autoFlightSpeed".

      property gotoFirstWaypointMode
      @property(nonatomic, readwrite) DJIWaypointMissionGotoWaypointMode gotoFirstWaypointMode
      Header:DJIWaypointMission.h
      Description:

      Determines how the aircraft will reach first waypoint from current position. Default is DJIWaypointMissionGotoWaypointSafely.

      See Also:

      DJIWaypointMissionGotoWaypointMode

      property finishedAction
      @property(nonatomic, readwrite) DJIWaypointMissionFinishedAction finishedAction
      Header:DJIWaypointMission.h
      Description:

      Action the aircraft will take when the waypoint mission is complete.

      See Also:

      DJIWaypointMissionFinishedAction

      property exitMissionOnRCSignalLost
      @property(nonatomic, readwrite) BOOL exitMissionOnRCSignalLost
      Header:DJIWaypointMission.h
      Description:

      Determines whether exit mission when RC signal lost. Default is NO.

      property
      property repeatTimes
      @property(nonatomic, readwrite) int repeatTimes
      Header:DJIWaypointMission.h
      Description:

      Repeat times for mission execution. Default is 1.

      property maxFlightSpeed
      @property(nonatomic, readwrite) float maxFlightSpeed
      Header:DJIWaypointMission.h
      Description:

      While the aircraft is travelling between waypoints, you can offset its speed by using the throttle joystick on the remote controller. "maxFlightSpeed" is this offset when the joystick is pushed to maximum deflection. For example, If maxFlightSpeed is 10 m/s, then pushing the throttle joystick all the way up will add 10 m/s to the aircraft speed, while pushing down will subtract 10 m/s from the aircraft speed. If the remote controller stick is not at maximum deflection, then the offset speed will be interpolated between "[0, maxFlightSpeed]"" with a resolution of 1000 steps. If the offset speed is negative, then the aircraft will fly backwards to previous waypoints. When it reaches the first waypoint, it will then hover in place until a positive speed is applied. "maxFlightSpeed" has a range of [2,15] m/s.

      property rotateGimbalPitch
      @property(nonatomic, readwrite) BOOL rotateGimbalPitch
      Header:DJIWaypointMission.h
      Description:

      Determines whether the aircraft can rotate gimbal pitch when executing waypoint mission. If YES, the aircraft will control gimbal pitch rotation between waypoints using the gimbalPitch of the DJIWaypoint.

      property
      property headingMode
      @property(nonatomic, readwrite) DJIWaypointMissionHeadingMode headingMode
      Header:DJIWaypointMission.h
      Description:

      Heading of the aircraft as it moves between waypoints. Default is DJIWaypointMissionHeadingAuto.

      See Also:

      DJIWaypointMissionHeadingMode

      property pointOfInterest
      @property(nonatomic, readwrite) CLLocationCoordinate2D pointOfInterest
      Header:DJIWaypointMission.h
      Description:

      Property is used when DJIWaypointMissionHeadingMode is DJIWaypointMissionHeadingTowardPointOfInterest. Aircraft will always be heading to point while executing mission. Default is "kCLLocationCoordinate2DInvalid".

      property flightPathMode
      @property(nonatomic, readwrite) DJIWaypointMissionFlightPathMode flightPathMode
      Header:DJIWaypointMission.h
      Description:

      Flight path mode of the waypoint mission.

      See Also:

      DJIWaypointMissionFlightPathMode