DJI Mobile SDK Documentation

Mobile SDK

      Manager Classes
      DJISDKManager
      DJIKeyManager
      DJIFlyZoneManager
      DJIAppActivationManager
      DJIUserAccountManager
      DJIDataProtectionManager
      DJILDMManager
      DJIUTMISSManager
      DJIFlightHubManager
      DJIUASRemoteIDManager
      DJIUpgradeManager
      Base Classes
      DJIBaseProduct
      DJIBaseComponent
      Product Classes
      DJIAircraft
      DJIHandheld
      Component Classes
      DJIFlightController
      DJIBattery
      DJICamera
      DJIGimbal
      DJIAirLink
      DJIRemoteController
      DJIHandheldController
      DJIMobileRemoteController
      DJIPayload
      DJIPipeline
      DJIAccessoryAggregation
      DJIRTKBaseStation
      DJILidar
      Mission Classes
      DJIMissionControl
      DJIMissionAction
      DJIMissionTrigger
      DJIWaypointMissionOperator
      DJIWaypointV2MissionOperator
      DJIFollowMeMissionOperator
      DJIPanoramaMissionOperator
      DJIHotpointMissionOperator
      DJIIntelligentHotpointMissionOperator
      DJITapFlyMissionOperator
      DJIActiveTrackMissionOperator
      DJIMission
      Misc Classes
      DJIParamCapability
      NSError
      DJIDiagnostics
      DJIRemoteLogger

      class DJIWaypointV2MissionOperator

      @interface DJIWaypointV2MissionOperator : NSObject
      Header:DJIWaypointV2MissionOperator.h
      Inherits From:NSObject
      Description:

      The waypoint operator is the only object that controls, runs and monitors Waypoint V2 Missions. It can be accessed from DJIMissionControl.

      Class Members:
      enum DJIWaypointV2MissionState
      typedef NS_ENUM(NSInteger, DJIWaypointV2MissionState)
      Header:DJIWaypointV2MissionOperator.h
      Description:

      All the possible state of DJIWaypointV2MissionOperator.

      Enum Members:
      DJIWaypointV2MissionStateUnknownThe state of the operator is unknown.
      DJIWaypointV2MissionStateDisconnectedThe connection between the mobile device, remote controller and aircraft is broken.
      DJIWaypointV2MissionStateRecoveringThe connection between the mobile device, remote controller and aircraft is built-up. The operator is synchronizing the state from the aircraft.
      DJIWaypointV2MissionStateNotSupportedThe connected product does not support waypoint mission 2.0.
      DJIWaypointV2MissionStateReadyToUploadThe aircraft is ready to upload a mission.
      DJIWaypointV2MissionStateUploadingThe uploading is started successfully. Detail information for each waypoint is being uploaded one by one.
      DJIWaypointV2MissionStateReadyToExecuteWaypoint mission is uploaded completely and the aircraft is ready to start the execution.
      DJIWaypointV2MissionStateExecutingThe execution is started successfully.
      DJIWaypointV2MissionStateInterruptedWaypoint mission is paused successfully. User can call interruptMissionWithCompletion to continue the execution.
      enum DJIWaypointV2MissionActionState
      typedef NS_ENUM(NSInteger, DJIWaypointV2MissionActionState)
      Header:DJIWaypointV2MissionOperator.h
      Description:

      All the possible action state of DJIWaypointV2MissionOperator.

      Enum Members:
      DJIWaypointV2MissionActionStateUnknownThe state of the operator is unknown. It is the initial action state when the operator is just created.
      DJIWaypointV2MissionActionStateDisconnectedThe connection between the mobile device, remote controller and aircraft is broken.
      DJIWaypointV2MissionActionStateRecoveringThe connection between the mobile device, remote controller and aircraft is built-up. The operator is synchronizing the action state from the aircraft.
      DJIWaypointV2MissionActionStateNotSupportedThe connected product does not support waypoint mission 2.0.
      DJIWaypointV2MissionActionStateReadyToUploadThe aircraft is ready to upload actions.
      DJIWaypointV2MissionActionStateUploadingThe uploading is started successfully. Detail information for each action is being uploaded one by one.
      DJIWaypointV2MissionActionStateReadyToExecuteWaypoint mission is uploaded completely and the aircraft is ready to start the execution.
      DJIWaypointV2MissionActionStateExecutingThe execution is started successfully.
      DJIWaypointV2MissionActionStateInterruptedWaypoint mission is interrupted successfully. User can call interruptMissionWithCompletion to continue the execution.
      enum DJIWaypointV2InterruptRecoverAction
      typedef NS_ENUM (NSInteger, DJIWaypointV2InterruptRecoverAction)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Determines the recover mission flying to which point. call recoverMissionWithCompletion to recover mission. The waypoint mission is interrupted by invoking interruptMissionWithCompletion. The waypoint mission is interrupted by moving remote controller's joystick. Other interruption such as obstacle avoidance.

      Enum Members:
      DJIWaypointV2InterruptRecoverActionGoBackToRecordedPointWhen the mission is recovered, the aircraft flying to the recorded point.
      DJIWaypointV2InterruptRecoverActionGoBackToNextWaypointWhen the mission is recovered, the aircraft flying to next waypoint.
      DJIWaypointV2InterruptRecoverActionGoBackToNextTwoWaypointWhen the mission is recovered, the aircraft will fly to the waypoint next to the next waypoint.
      enum DJIWaypointV2MissionRCLostAction
      typedef NS_ENUM (NSInteger, DJIWaypointV2MissionRCLostAction)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      The action of waypoint mission that will be executed when the remote controller signal lost.

      Enum Members:
      DJIWaypointV2MissionRCLostActionStopMissionStops current mission when the remote controller signal is lost.
      DJIWaypointV2MissionRCLostActionContinueContinues the mission when the remote controller signal is lost.
      enum DJIWaypointV2MissionFinishedAction
      typedef NS_ENUM (uint8_t, DJIWaypointV2MissionFinishedAction)
      Header:DJIWaypointV2MissionTypes.h
      Description:

      Actions will be taken when the waypoint mission is finished.

      Enum Members:
      DJIWaypointV2MissionFinishedActionNoActionNo further action will be taken. The aircraft can be controlled by the remote controller.
      DJIWaypointV2MissionFinishedActionGoHomeGoes home when the mission is finished. The aircraft will land directly if it is within 20 meters away from the home point.
      DJIWaypointV2MissionFinishedActionAutoLandingThe aircraft will land automatically at the last waypoint.
      DJIWaypointV2MissionFinishedActionGoToFirstWaypointThe aircraft will go back to the first waypoint and hover.
      DJIWaypointV2MissionFinishedActionContinueUntilStopWhen the aircraft reaches its final waypoint, it will hover without ending the mission. The joystick can still be used to pull the aircraft back along its previous waypoints. The only way this mission can end is if stopMission is called.
      DJIWaypointV2MissionFinishedActionUnknownUnknow finished action.
      typedef block DJIWaypointV2MissionOperatorActionUploadEventBlock
      typedef void (^DJIWaypointV2MissionOperatorActionUploadEventBlock)(DJIWaypointV2MissionActionUploadEvent *event)
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Block that receive the actions updated upload event.

      Input Parameters:
      DJIWaypointV2MissionActionUploadEvent * eventThe updated upload event.
      typedef block DJIWaypointV2MissionOperatorActionDownloadEventBlock
      typedef void (^DJIWaypointV2MissionOperatorActionDownloadEventBlock)(DJIWaypointV2MissionActionDownloadEvent *event)
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Block to receive the updated download event.

      Input Parameters:
      DJIWaypointV2MissionActionDownloadEvent * eventThe updated download event.
      typedef block DJIWaypointV2MissionOperatorActionExecutionEventBlock
      typedef void (^DJIWaypointV2MissionOperatorActionExecutionEventBlock)(DJIWaypointV2MissionActionExecutionEvent *event)
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Block to receive the updated execution event.

      Input Parameters:
      DJIWaypointV2MissionActionExecutionEvent * eventThe updated execution event.
      typedef block DJIWaypointV2MissionOperatorExecutionEventBlock
      typedef void (^DJIWaypointV2MissionOperatorExecutionEventBlock)(DJIWaypointV2MissionExecutionEvent *event)
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Block to receive the updated execution event.

      Input Parameters:
      DJIWaypointV2MissionExecutionEvent * eventThe updated execution event.
      typedef block DJIWaypointV2MissionOperatorSimpleEventBlock
      typedef void (^DJIWaypointV2MissionOperatorSimpleEventBlock)(void)
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Block to receive the notification that a waypoint mission is started successfully.

      typedef block DJIWaypointV2MissionOperatorUploadEventBlock
      typedef void (^DJIWaypointV2MissionOperatorUploadEventBlock)(DJIWaypointV2MissionUploadEvent *event)
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Block that receive the updated upload event.

      Input Parameters:
      DJIWaypointV2MissionUploadEvent * eventThe updated upload event.
      typedef block DJIWaypointV2MissionOperatorDownloadEventBlock
      typedef void (^DJIWaypointV2MissionOperatorDownloadEventBlock)(DJIWaypointV2MissionDownloadEvent *event)
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Block to receive the updated download event.

      Input Parameters:
      DJIWaypointV2MissionDownloadEvent * eventThe updated download event.
      Mission Action Execution Event
      class
      DJIWaypointV2MissionActionExecutionEvent
      Mission Action Download Event
      class
      DJIWaypointV2MissionActionDownloadEvent
      Mission Action Upload Event
      class
      DJIWaypointV2MissionActionUploadEvent
      Mission Execution Event
      class
      DJIWaypointV2MissionExecutionEvent
      Mission Download Event
      class
      DJIWaypointV2MissionDownloadEvent
      Mission Upload Event
      class
      DJIWaypointV2MissionUploadEvent
      Waypoint Action
      class
      DJIWaypointV2Action


      Preparation

      Loaded Mission
      property
      loadedMission
      property loadedMission
      @property (readonly, nonatomic, nullable) DJIWaypointV2Mission *loadedMission
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Gets the currently loaded mission of the operator. There are two ways to load a mission. 1. A mission can be loaded by user through loadMission:withCompletion. 2. If the aircraft is already executing a waypoint mission when SDK is re-connected, the operator will download part of the mission's information from the aircraft and load it automatically. In that case, the loaded mission will only contain the summary of the executing mission but information for each waypoint is absent. User can call downloadMissionWithCompletion to get all the information for the loaded mission. The loadedMission will be reset to nil when the execution of the loadedMission is stopped, finished.

      See Also:

      DJIWaypointV2Mission

      Load Mission
      method
      loadMission:withCompletion
      method loadMission:withCompletion
      -(void)loadMission:(DJIWaypointV2Mission *)mission withCompletion:(DJICompletionBlock)completion
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Loads a waypoint mission into the operator. A mission can be loaded only when the DJIWaypointV2MissionState is one of the following :
      - DJIWaypointV2MissionStateReadyToUpload
      - DJIWaypointV2MissionStateReadyToExecute
      Calling loadMission:withCompletion when the current state is DJIWaypointV2MissionStateReadyToExecute will change the state to DJIWaypointV2MissionStateReadyToUpload. After calling loadedMission,

      Input Parameters:
      DJIWaypointV2Mission * missionWaypoint mission to load.
      DJICompletionBlock completionCompletion block to receive the result.
      Loaded Action Count
      property
      loadedActionCount
      property loadedActionCount
      @property (readonly, nonatomic) NSUInteger loadedActionCount
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Gets the currently loaded actions count of the operator. There are two ways to load a mission. 1. Actions can be loaded by user through loadMission:withCompletion. 2. If the aircraft is already executing a waypoint mission and it has uploaded actions when SDK is re-connected, the operator will recover uploaded action count.

      Loaded Actions
      property
      loadedActions
      property loadedActions
      @property (readonly, nonatomic) NSArray<DJIWaypointV2Action *>* loadedActions
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Gets the count of loaded actions in current operator. There are two ways to load a mission. 1. Actions can be loaded by user through loadMission:withCompletion. 2. If the aircraft is already executing a waypoint mission and it has uploaded actions when SDK is re-connected, the operator will recover uploaded action count. load it automatically. In that case, the loaded actions will be nil, if user want get summary of the executing actions user can call downloadMissionWithCompletion to get all the information for the loaded actions. The loadedActions will be reset to nil when the execution of the getLoadedMission is stopped, finished.

      See Also:

      DJIWaypointV2Action

      Current State
      property
      currentState
      property currentState
      @property (readonly, nonatomic) DJIWaypointV2MissionState currentState
      Header:DJIWaypointV2MissionOperator.h
      Description:

      The current state of the operator.

      See Also:

      DJIWaypointV2MissionState

      Current Action State
      property
      currentActionState
      property currentActionState
      @property (readonly, nonatomic) DJIWaypointV2MissionActionState currentActionState
      Header:DJIWaypointV2MissionOperator.h
      Description:

      The current action state of the operator.

      See Also:

      DJIWaypointV2MissionActionState

      Upload Mission
      method
      uploadMissionWithCompletion
      method uploadMissionWithCompletion
      - (void)uploadMissionWithCompletion:(DJICompletionBlock)completion
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Starts to upload the loadedMission to the aircraft. It can only be called when the loadedMission is complete and the currentState is DJIWaypointV2MissionStateReadyToUpload. If a timeout error occurs during the previous upload, the upload operation will resume from the previous break-point. After a mission is uploaded successfully, the DJIWaypointV2MissionState will become DJIWaypointV2MissionStateReadyToExecute.

      Input Parameters:
      DJICompletionBlock completionCompletion block will be invoked with the result if the upload command has been received successfully by the aircraft. If the upload command is successfully sent, use addListenerToUploadEvent:withQueue:andBlock to check the detailed progress.
      Upload Waypoint Actions
      method
      uploadWaypointActions:withCompletion
      method uploadWaypointActions:withCompletion
      - (void)uploadWaypointActions:(NSArray*)actions withCompletion:(DJICompletionBlock)completion
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Starts to upload the loadedActions to the aircraft. It can only be called when the loadedActions is complete and the currentState is DJIWaypointV2MissionStateReadyToExecute. If a timeout error occurs during the previous upload, the upload operation will resume from the previous break-point. After a mission is uploaded successfully, the DJIWaypointV2MissionActionState will become DJIWaypointV2MissionActionStateReadyToExecute.

      Input Parameters:
      NSArray* actionsAn array of waypoint actions.
      DJICompletionBlock completionCompletion block will be invoked with the result if the upload action command has been received successfully by the aircraft. If the upload command is successfully sent, use addListenerToActionUploadEvent:withQueue:andBlock to receive the detailed progress.
      Download Mission
      method
      downloadMissionWithCompletion
      method downloadMissionWithCompletion
      - (void)downloadMissionWithCompletion:(DJICompletionBlock)completion
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Downloads information of each waypoint from aircraft and save it to loadedMission. If a download operation starts, the operator will download the information of waypoints missing in loadedMission ascending order. If loadedMission is already complete (containing all the waypoints), this method will call completion immediately without error. It can only be called when the currentState is one of the following: - DJIWaypointV2MissionActionStateExecuting - DJIWaypointV2MissionStateInterrupted

      Input Parameters:
      DJICompletionBlock completionCompletion block that will be called when the download operation succeeds or fails to start. If it is started successfully, use addListenerToDownloadEvent:withQueue:andBlock to receive the detailed progress.
      method downloadActionsWithCompletion
      - (void)downloadActionsWithCompletion:(DJICompletionBlock)completion
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Downloads information of each waypoint from aircraft and save it to loadedMission. If a download operation starts, the operator will download the information of waypoints missing in loadedMission one-by-one in ascending order. If loadedMission is already complete (containing all the waypoints), this method will call completion immediately without error. It can only be called when the currentState is one of the following:
      - DJIWaypointV2MissionActionStateExecuting
      - DJIWaypointV2MissionStateInterrupted.

      Input Parameters:
      DJICompletionBlock completionCompletion block that will be called when the download operation succeeds or fails to start. If it is started successfully, use addListenerToDownloadEvent:withQueue:andBlock to receive the detailed progress.


      Listener

      method addListenerToUploadEvent:withQueue:andBlock
      - (void)addListenerToUploadEvent:(id)listener
                             withQueue:(nullable dispatch_queue_t)queue
                              andBlock:(DJIWaypointV2MissionOperatorUploadEventBlock)block
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Adds listener to receive the event related to upload.

      Input Parameters:
      id listenerListener that is interested on upload event.
      nullable dispatch_queue_t queueThe dispatch queue that block will be called on.
      DJIWaypointV2MissionOperatorUploadEventBlock blockBlock will be called when there is event updated related to upload.
      method addListenerToDownloadEvent:withQueue:andBlock
      - (void)addListenerToDownloadEvent:(id)listener
                               withQueue:(nullable dispatch_queue_t)queue
                                andBlock:(DJIWaypointV2MissionOperatorDownloadEventBlock)block
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Adds listener to receive the event related to download.

      Input Parameters:
      id listenerListener that is interested on download event.
      nullable dispatch_queue_t queueThe dispatch queue that block will be called on.
      DJIWaypointV2MissionOperatorDownloadEventBlock blockBlock will be called when there is event updated related to download.
      method addListenerToStarted:withQueue:andBlock
      - (void)addListenerToStarted:(id)listener
                         withQueue:(nullable dispatch_queue_t)queue
                          andBlock:(DJIWaypointV2MissionOperatorSimpleEventBlock)block
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Adds listener to receive the notification when a waypoint mission is started.

      Input Parameters:
      id listenerListener that is interested on the start of waypoint mission.
      nullable dispatch_queue_t queueThe dispatch queue that block will be called on.
      DJIWaypointV2MissionOperatorSimpleEventBlock blockBlock will be called when a waypoint mission is started.
      method addListenerToExecutionEvent:withQueue:andBlock
      - (void)addListenerToExecutionEvent:(id)listener
                                withQueue:(nullable dispatch_queue_t)queue
                                 andBlock:(DJIWaypointV2MissionOperatorExecutionEventBlock)block
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Adds listener to receive the event related to execution.

      Input Parameters:
      id listenerListener that is interested on execution event.
      nullable dispatch_queue_t queueThe dispatch queue that block will be called on.
      DJIWaypointV2MissionOperatorExecutionEventBlock blockBlock will be called when there is event updated related to execution.
      method addListenerToActionUploadEvent:withQueue:andBlock
      - (void)addListenerToActionUploadEvent:(id)listener
                                   withQueue:(nullable dispatch_queue_t)queue
                                    andBlock:(DJIWaypointV2MissionOperatorActionUploadEventBlock)block
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Adds listener to receive the event related to action upload.

      Input Parameters:
      id listenerListener that is interested on upload event.
      nullable dispatch_queue_t queueThe dispatch queue that block will be called on.
      DJIWaypointV2MissionOperatorActionUploadEventBlock blockBlock will be called when there is event updated related to upload.
      Add to Action Download Event
      method
      addListenerToActionDownloadEvent:withQueue:andBlock
      method addListenerToActionDownloadEvent:withQueue:andBlock
      - (void)addListenerToActionDownloadEvent:(id)listener
                                     withQueue:(nullable dispatch_queue_t)queue
                                      andBlock:(DJIWaypointV2MissionOperatorActionDownloadEventBlock)block
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Adds listener to receive the event related to download.

      Input Parameters:
      id listenerListener that is interested on download event.
      nullable dispatch_queue_t queueThe dispatch queue that block will be called on.
      DJIWaypointV2MissionOperatorActionDownloadEventBlock blockBlock will be called when there is event updated related to download.
      Add to Action Execution Event
      method
      addListenerToActionExecutionEvent:withQueue:andBlock
      method addListenerToActionExecutionEvent:withQueue:andBlock
      - (void)addListenerToActionExecutionEvent:(id)listener
                                      withQueue:(nullable dispatch_queue_t)queue
                                       andBlock:(DJIWaypointV2MissionOperatorActionExecutionEventBlock)block
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Adds listener to receive the event related to execution.

      Input Parameters:
      id listenerListener that is interested on execution event.
      nullable dispatch_queue_t queueThe dispatch queue that block will be called on.
      DJIWaypointV2MissionOperatorActionExecutionEventBlock blockBlock will be called when there is an event updated related to execution.
      method addListenerToFinished:withQueue:andBlock
      - (void)addListenerToFinished:(id)listener
                          withQueue:(nullable dispatch_queue_t)queue
                           andBlock:(DJICompletionBlock)block
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Adds listener to receive the notification when a waypoint mission is finished.

      Input Parameters:
      id listenerListener that is interested on the finish of waypoint mission.
      nullable dispatch_queue_t queueThe dispatch queue that block will be called on.
      DJICompletionBlock blockBlock will be called when a waypoint mission is finished. If the mission is interrupted with an error, the error will be passed to the block.
      method addListenerToStopped:withQueue:andBlock
      - (void)addListenerToStopped:(id)listener
                         withQueue:(nullable dispatch_queue_t)queue
                          andBlock:(DJICompletionBlock)block
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Adds listener to receive the notification when a waypoint mission is stopped by the user.

      Input Parameters:
      id listenerListener that is interested on the stop of waypoint mission.
      nullable dispatch_queue_t queueThe dispatch queue that block will be called on.
      DJICompletionBlock blockBlock will be called when a waypoint mission is stopped by the user.
      Remove
      method
      removeListener
      method removeListener
      - (void)removeListener:(id)listener
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Removes listener. If the same listener is listening to multiple events and notifications (e.g. upload event and download event), it will not receive any update of them.

      Input Parameters:
      id listenerListener to be removed.
      method removeAllListeners
      - (void)removeAllListeners
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Remove all listeners.

      method removeListenerOfStarted
      - (void)removeListenerOfStarted:(id)listener
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Removes listener to stop listening to the notification that a mission is started.

      Input Parameters:
      id listenerListener to be removed.
      method removeListenerOfFinished
      - (void)removeListenerOfFinished:(id)listener
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Removes listener to stop listening to the notification that a mission is finished.

      Input Parameters:
      id listenerListener to be removed.
      method removeListenerOfUploadEvents
      - (void)removeListenerOfUploadEvents:(id)listener
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Removes listener to stop listening to upload events.

      Input Parameters:
      id listenerListener to be removed.
      method removeListenerOfDownloadEvents
      - (void)removeListenerOfDownloadEvents:(id)listener
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Removes listener to stop listening to download events.

      Input Parameters:
      id listenerListener to be removed.
      method removeListenerOfExecutionEvents
      - (void)removeListenerOfExecutionEvents:(id)listener
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Removes listener to stop listening to execution events.

      Input Parameters:
      id listenerListener to be removed.
      method removeListenerOfActionUploadEvents
      - (void)removeListenerOfActionUploadEvents:(id)listener
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Removes listener to stop listening to action upload events.

      Input Parameters:
      id listenerListener to be removed.
      method removeListenerOfActionDownloadEvents
      - (void)removeListenerOfActionDownloadEvents:(id)listener
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Removes listener to stop listening to action download events.

      Input Parameters:
      id listenerListener to be removed.
      method removeListenerOfActionExecutionEvents
      - (void)removeListenerOfActionExecutionEvents:(id)listener
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Removes listener to stop listening to action execution events.

      Input Parameters:
      id listenerListener to be removed.
      method removeListenerOfStopped
      - (void)removeListenerOfStopped:(id)listener
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Removes listener to stop listening to the notification that a mission is stopped by the user.

      Input Parameters:
      id listenerListener to be stopped.


      Mission Execution

      Start Mission
      method
      startMissionWithCompletion
      method startMissionWithCompletion
      - (void)startMissionWithCompletion:(DJICompletionBlock)completion
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Starts the execution of the uploaded mission. It can only be called when the currentState is DJIWaypointV2MissionStateReadyToExecute. After a mission is started successfully, the currentState will become DJIWaypointV2MissionActionStateExecuting.

      Input Parameters:
      DJICompletionBlock completionCompletion block that will be called when the operator succeeds or fails to start the execution. If it fails, an error will be returned.
      Interrupt Mission
      method
      interruptMissionWithCompletion
      method interruptMissionWithCompletion
      - (void)interruptMissionWithCompletion:(DJICompletionBlock)completion
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Pauses the executing mission. It can only be called when the DJIWaypointV2MissionState is DJIWaypointV2MissionActionStateExecuting. After a mission is paused successfully, the currentState will become DJIWaypointV2MissionStateInterrupted.

      Input Parameters:
      DJICompletionBlock completionCompletion block that will be called when the operator succeeds or fails to pause the mission. If it fails, an error will be returned.
      Recover Mission
      method
      recoverMissionWithCompletion
      method recoverMissionWithCompletion
      - (void)recoverMissionWithCompletion:(DJICompletionBlock)completion
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Resumes the paused mission. It can only be called when the currentState is DJIWaypointV2MissionStateInterrupted. After a mission is resumed successfully, the currentState will become DJIWaypointV2MissionActionStateExecuting.

      Input Parameters:
      DJICompletionBlock completionCompletion block that will be called when the operator succeeds or fails to resume the mission. If it fails, an error will be returned.
      method recoverMission:withCompletion
      - (void)recoverMission:(DJIWaypointV2InterruptRecoverAction)recoverType withCompletion:(DJICompletionBlock)completion
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Resumes the paused mission with recover type. It can only be called when the currentState is DJIWaypointV2MissionStateInterrupted. After a mission is resumed successfully, the currentState will become DJIWaypointV2MissionActionStateExecuting.

      Input Parameters:
      DJIWaypointV2InterruptRecoverAction recoverTypeAn enum value of DJIWaypointV2InterruptRecoverAction
      DJICompletionBlock completionCompletion block that will be called when the operator succeeds or fails to resume the mission. If it fails, an error will be returned.
      Stop Mission
      method
      stopMissionWithCompletion
      method stopMissionWithCompletion
      - (void)stopMissionWithCompletion:(DJICompletionBlock)completion
      Header:DJIWaypointV2MissionOperator.h
      Description:

      Stops the executing or paused mission. It can only be called when the currentState is one of the following:
      - DJIWaypointV2MissionActionStateExecuting
      - DJIWaypointV2MissionStateInterrupted After a mission finishes successfully, currentState will become DJIWaypointV2MissionStateReadyToUpload.

      Input Parameters:
      DJICompletionBlock completionCompletion block that will be called when the operator succeeds or fails to resume the mission. If it fails, an error will be returned.