DJI Mobile SDK Documentation

      class DJIWaypointV2Action

      @interface DJIWaypointV2Action : NSObject
      Header:DJIWaypointV2Action.h
      Inherits From:NSObject
      Description:

      This class represents an action for DJIWaypointV2Mission. It determines how action is performed when a waypoint mission is executed.

      Class Members:
      Action ID
      property
      property actionId
      @property (nonatomic, assign) NSUInteger actionId
      Header:DJIWaypointV2Action.h
      Description:

      The ID of Action.

      Trigger
      property
      property trigger
      @property (nonatomic, strong) DJIWaypointV2Trigger* trigger
      Header:DJIWaypointV2Action.h
      Description:

      The trigger of action.

      See Also:

      DJIWaypointV2Trigger

      Actuator
      property
      property actuator
      @property (nonatomic, strong) DJIWaypointV2Actuator* actuator
      Header:DJIWaypointV2Action.h
      Description:

      The actuator of action.

      See Also:

      DJIWaypointV2Actuator

      enum DJIWaypointV2TriggerAssociatedTimingType
      typedef NS_ENUM (uint8_t, DJIWaypointV2TriggerAssociatedTimingType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      The type of DJIWaypointV2AssociateTriggerParam, Determines the time to execute the trigger associated with another one.

      Enum Members:
      DJIWaypointV2TriggerAssociatedTimingTypeSimultaneouslyThe trigger starts simultaneously with the trigger that is associated.
      DJIWaypointV2TriggerAssociatedTimingTypeAfterFinishedThe trigger starts after the trigger associated has finished.
      DJIWaypointV2TriggerAssociatedTimingTypeUnknownUnkown timing type.
      enum DJIWaypointV2ActionIntervalType
      typedef NS_ENUM (uint8_t, DJIWaypointV2ActionIntervalType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      The type of DJIWaypointV2IntervalTriggerParam, Determines the interval type of how action repeats.

      Enum Members:
      DJIWaypointV2ActionIntervalTypeDistanceThe action will be repeated after a particular distance.
      DJIWaypointV2ActionIntervalTypeTimeThe action will be repeated after a particular period of time.
      DJIWaypointV2ActionIntervalTypeUnknownUnknown action trigger type.
      enum DJIWaypointV2ActionTriggerType
      typedef NS_ENUM (uint8_t, DJIWaypointV2ActionTriggerType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Possible types of action trigger.

      Enum Members:
      DJIWaypointV2ActionTriggerTypeReachPointThe action will be trigger when the aircraft reach the waypoint point. The parameters should be setting by DJIWaypointV2ReachPointTriggerParam.
      DJIWaypointV2ActionTriggerTypeActionAssociatedThe action will be triggered when action associated executes. The parameters should be defined by DJIWaypointV2AssociateTriggerParam.
      DJIWaypointV2ActionTriggerTypeTrajectoryThe action will be triggered when the aircraft flies from one waypoint to the next. This trigger applies only to DJIWaypointV2ActionActuatorGimbalOperationTypeAircraftControlGimbal. When this is triggered, the gimbal will rotate at a constant speed from the start waypoint index to the end waypoint index. The parameters should be defined by DJIWaypointV2TrajectoryTriggerParam.
      DJIWaypointV2ActionTriggerTypeIntervalThe action will be triggered when the aircraft flies between two waypoints The parameters should be defined by DJIWaypointV2IntervalTriggerParam.
      DJIWaypointV2ActionTriggerTypeUnknownUnknown.
      enum DJIWaypointV2ActionActuatorType
      typedef NS_ENUM (uint8_t, DJIWaypointV2ActionActuatorType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Possible types of action actuator.

      Enum Members:
      DJIWaypointV2ActionActuatorTypeCameraThe action will be executed by the camera. The parameters should be defined by DJIWaypointV2CameraActuatorParam.
      DJIWaypointV2ActionActuatorTypeGimbalThe action will be executed by the gimbal. The parameters should be defined by DJIWaypointV2GimbalActuatorParam.
      DJIWaypointV2ActionActuatorTypeAircraftControlThe action will executes by controlling aircraft. The parameters should be defined by DJIWaypointV2AircraftControlParam.
      DJIWaypointV2ActionActuatorTypeLidarThe action will executes by the lidar. The parameters should be defined by DJIWaypointV2LidarActuatorParam.
      DJIWaypointV2ActionActuatorTypeUnknownUnknown actuator type.
      enum DJIWaypointV2ActionActuatorGimbalOperationType
      typedef NS_ENUM (uint8_t, DJIWaypointV2ActionActuatorGimbalOperationType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      The type of gimbal actuator operation.

      Enum Members:
      DJIWaypointV2ActionActuatorGimbalOperationTypeRotateGimbalRotates the gimbal. The range of the pitch angle should be gotten from DJIGimbalParamAdjustPitch or DJIGimbalParamAdjustPitchUpwards. Only valid when the trigger type is DJIWaypointV2ActionTriggerTypeReachPoint.
      DJIWaypointV2ActionActuatorGimbalOperationTypeAircraftControlGimbalRotates the gimbal. Only valid when the trigger type is DJIWaypointV2ActionTriggerTypeTrajectory.
      DJIWaypointV2ActionActuatorGimbalOperationTypePathShootingRotates the gimbal then take photos. This type is only Supported by Zenmuse P1. You can use this type to achieve Smart Oblique Capture. Elevate the efficiency of your oblique photography mission using Smart Oblique Capture, where the gimbal automatically rotates to take photos at the different angles needed. Only photos essential to the reconstruction will be taken at the edge of the flight area, increasing the efficiency of post processing by 20% to 50%. Only valid when the trigger types are DJIWaypointV2ActionTriggerTypeReachPoint and DJIWaypointV2ActionTriggerTypeActionAssociated.
      DJIWaypointV2ActionActuatorGimbalOperationTypeUnknownUnknown.
      enum DJIWaypointV2ActionActuatorCameraOperationType
      typedef NS_ENUM (uint8_t, DJIWaypointV2ActionActuatorCameraOperationType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Possible types of camera actuator operation.

      Enum Members:
      DJIWaypointV2ActionActuatorCameraOperationTypeTakePhotoStarts to shoot a photo.
      DJIWaypointV2ActionActuatorCameraOperationTypeStartRecordVideoStarts to record a video.
      DJIWaypointV2ActionActuatorCameraOperationTypeStopRecordVideoStops to record a video.
      DJIWaypointV2ActionActuatorCameraOperationTypeCustomNameCustom Expand File or directory name. You can use this actuator type to customize the file name and folder name of photos during the flight route, it is convenient for users to manage the files after exporting media files from camera.
      DJIWaypointV2ActionActuatorCameraOperationTypeFocusYou can use this type to point focus or rectangle focus.
      DJIWaypointV2ActionActuatorCameraOperationTypeZoomAdjust the camera focal length. Only support those support zoom cameras.
      DJIWaypointV2ActionActuatorCameraOperationTypeFocusModeSet the camera focus mode. We currently support auto and manual modes.
      DJIWaypointV2ActionActuatorCameraOperationTypeUnknownUnknown.
      enum DJIWaypointV2GimbalPathShootingType
      typedef NS_ENUM(NSUInteger, DJIWaypointV2GimbalPathShootingType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Possible types of gimbal path shootting operation.

      Enum Members:
      DJIWaypointV2GimbalStartPathShootingStart path shooting.
      DJIWaypointV2GimbalStopPathShootingStop path shooting.
      DJIWaypointV2GimbalPathShootingTypeUnknownUnknown type.
      enum DJIWaypointV2ActionActuatorGimbalPathCycleMode
      typedef NS_ENUM (uint8_t, DJIWaypointV2ActionActuatorGimbalPathCycleMode)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Possible types of gimbal path cycle mode operation.

      Enum Members:
      DJIWaypointV2ActionActuatorGimbalPathCycleModeOncePath shooting will be executed once.
      DJIWaypointV2ActionActuatorGimbalPathCycleModeUnlimitedPath shooting will be executed countless times.
      enum DJIWaypointV2ActionActuatorLidarOperationType
      typedef NS_ENUM (uint8_t, DJIWaypointV2ActionActuatorLidarOperationType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Possible types of lidar operation.

      Enum Members:
      DJIWaypointV2ActionActuatorLidarOperationTypeRecordPointCloudPoint cloud record opration. You can use this type to start,stop,pause,resume record point cloud when a waypoint mission is executing.
      enum DJIWaypointV2LidarPointCloudRecordType
      typedef NS_ENUM(NSUInteger, DJIWaypointV2LidarPointCloudRecordType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Possible types of point cloud record operation.

      Enum Members:
      DJIWaypointV2LidarStopPointCloudRecordStop point cloud recording.
      DJIWaypointV2LidarStartPointCloudRecordStart point cloud recording.
      DJIWaypointV2LidarPausePointCloudRecordPause point cloud recording.
      DJIWaypointV2LidarResumePointCloudRecordResume point cloud recording.
      enum DJIWaypointV2ActionActuatorAircraftControlOperationType
      typedef NS_ENUM (uint8_t, DJIWaypointV2ActionActuatorAircraftControlOperationType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Possible types of aircraft control actuator operation.

      Enum Members:
      DJIWaypointV2ActionActuatorAircraftControlOperationTypeRotateYawRotates the aircraft's yaw.
      DJIWaypointV2ActionActuatorAircraftControlOperationTypeFlyingControlKeeps the aircraft stop flying or start flying.
      DJIWaypointV2ActionActuatorAircraftControlOperationTypeUnknownUnknown.
      enum DJIWaypointV2CameraCustomNameType
      typedef NS_ENUM(NSUInteger, DJIWaypointV2CameraCustomNameType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Possible types of custom expand name actuator operation.

      Enum Members:
      DJIWaypointV2CameraCustomFileNameCustom expand file name. When your set this type in waypoint action, after aircraft trigger the action, the name of next media file (video or photo) which would be stored in camera will be appended by the custom file name you set. For example, the default photo name is "DJI_2020012091415_999_WIDE.JPG", you could append "Waypoint1" after the default photo name, so the new photo's name will be "DJI_2020012091415_999_WIDE_Waypoint1.JPG". This action will only take effect once, if you want to append the same name for all photos in one mission, you need to set this action before taking each photo. Only Supported by Zenmuse P1, Zenmuse H20 and Zenmuse H20T.
      DJIWaypointV2CameraCustomDirectoryNameCustom expand directory name. When your set this type in waypoint action, after aircraft trigger the action, the newly generated media files (videos or photos) will be stored in the new folder when taking photo or record video, this new folder's name will be appended by your custom directory name. for example by default, the default folder name is "DJI_202001012359_01", you could append "Mission1" after it, so the new folder's name will be "DJI_202001012359_01_Mission1". Please notice that the default folder's name also would be updated automatically when the drone completes the landing, the camera will update the last two digits in "DJI_202001012359_01" to "DJI_202001012359_02", so before your drone taking off again, if you need to append the same custom folder name, you need to set the same name with the action again. This type is only Supported by Zenmuse P1, Zenmuse L1, Zenmuse H20 and Zenmuse H20T.
      enum DJIWaypointV2CameraFocusModeType
      typedef NS_ENUM(NSUInteger, DJIWaypointV2CameraFocusModeType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Possible types of camera focus mode.

      Enum Members:
      DJIWaypointV2CameraFocusMode_ManualManual focus mode
      DJIWaypointV2CameraFocusMode_AutoAuto focus mode
      enum DJIWaypointV2CameraFocusRegionType
      typedef NS_ENUM(NSUInteger, DJIWaypointV2CameraFocusRegionType)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Possible types of camera focus region.

      Enum Members:
      DJIWaypointV2CameraFocusRegionType_PointThe focus region is a point.
      DJIWaypointV2CameraFocusRegionType_RectangleThe focus region is a prectangle.