DJITapFlyMission

@interface DJITapFlyMission : DJIMission

A TapFly Mission is initialized with a position target from the live video stream. The 3D direction of the coordinate is calculated, and the aircraft will proceed to fly in that direction. The aircraft can automatically avoid obstacles when the scene is sufficiently illuminated (more than 300 lux but less than 10,000 lux). The aircraft will stop flying in the direction if it reaches its radius limitation, the mission is stopped, the user pulls back on the pitch stick or if it comes to an obstacle it cannot bypass. The Remote Controller yaw stick can be used to adjust the heading of the aircraft during mission execution, which also adjusts the direction of flight to the new yaw. Using any other stick controls will cancel the mission.

  • Aircraft’s auto flight speed during the mission. Use setAutoFlightSpeed:withCompletion: to dynamically set the flight speed. Auto flght speed range is [1, 10] m/s.

    Declaration

    Objective-C

    @property (assign, readwrite, nonatomic) float autoFlightSpeed;

  • YES allows aircraft to bypass or move around an obstacle by going to the left or right of the obstacle. If it is not enabled, the aircraft will only go over an obstacle to avoid it.

    Declaration

    Objective-C

    @property (assign, readwrite, nonatomic)
    BOOL isHorizontalObstacleAvoidanceEnabled;

  • The image point from the video feed where the vision system should calculate the flight direction from. The image point is normalized to [0,1] where (0,0) is the top left corner and (1,1) is the bottom right.

    Declaration

    Objective-C

    @property (assign, readwrite, nonatomic)
    CGPoint imageLocationToCalculateDirection;

  • TapFly Mission mode. Defaults to DJITapFlyModeForward, adjust to a different mode before starting mission.

    Additional modes only supported by the Phantom 4 Pro.

    Declaration

    Objective-C

    @property (assign, readwrite, nonatomic) DJITapFlyMode tapFlyMode;

  • Set TapFly Mission’s auto flight speed.

    Declaration

    Objective-C

    + (void)setAutoFlightSpeed:(float)speed
            withCompletion:(DJICompletionBlock)completion;

    Parameters

    completion

    Completion block that receives the execution result.

  • Reset aircraft heading to the flight direction. It can only be used when the TapFly mode is DJITapFlyModeFree.

    Declaration

    Objective-C

    + (void)resetHeadingWithCompletion:(DJICompletionBlock)completion;

    Parameters

    completion

    Completion block that receives the execution result.