#include <dji_waypoint_v2.hpp>

Public Member Functions
	WaypointV2MissionOperator (Vehicle *vehiclePtr)

ErrorCode::ErrorCodeType	init (WayPointV2InitSettings *info, int timeout)
	Init waypoint v2 mission settings. More...

ErrorCode::ErrorCodeType	downloadInitSetting (WayPointV2InitSettingsInternal &info, int timeout)
	Download the waypoint v2 init settings. More...

ErrorCode::ErrorCodeType	start (int timeout)
	Start　execute waypoint v2 mission. More...

ErrorCode::ErrorCodeType	stop (int timeout)
	Stop execute waypoint v2 mission. More...

ErrorCode::ErrorCodeType	pause (int timeout)
	Pause waypoint v2 mission. More...

ErrorCode::ErrorCodeType	resume (int timeout)
	Resume waypoint v2 mission. More...

ErrorCode::ErrorCodeType	uploadMission (int timeout)
	Upload all the waypoint v2 mission. More...

ErrorCode::ErrorCodeType	downloadMission (std::vector< WaypointV2 > &mission, int timeout)
	Download all the waypoint v2 mission. More...

ErrorCode::ErrorCodeType	getGlobalCruiseSpeed (GlobalCruiseSpeed &cruiseSpeed, int timeout)
	Get the global cruise speed setting from flight controller. More...

ErrorCode::ErrorCodeType	setGlobalCruiseSpeed (const GlobalCruiseSpeed &cruiseSpeed, int timeout)
	Set the global cruise speed to flight controller. More...

ErrorCode::ErrorCodeType	uploadAction (std::vector< DJIWaypointV2Action > &actions, int timeout)
	Upload all actions to flight controller. More...

ErrorCode::ErrorCodeType	getActionRemainMemory (GetRemainRamAck &remainRamAck, int timeout)
	Get action's remain memory. More...

ErrorCode::ErrorCodeType	getWaypointIndexInList (GetWaypontStartEndIndexAck &startEndIndexAck, int timeout)
	Get mission's waypoint start index and end index. More...

DJIWaypointV2MissionState	getCurrentState ()
	Get current status of the mission executing process. More...

DJIWaypointV2MissionState	getPrevState ()
	Get previous status of the mission executing process. More...

void	setPrevState (DJIWaypointV2MissionState state)
	Set previous status of the mission executing process. More...

void	setCurrentState (DJIWaypointV2MissionState state)
	Set current state of the waypoint V2 mission. More...

float32_t	getTakeoffAltitude ()
	Get the take-off altitude of waypoint V2 mission. More...

void	setTakeoffAltitude (float32_t altitude)
	set the take-off altitude of waypoint V2 mission More...

void	RegisterMissionEventCallback (void *userData, PushCallback cb=NULL)
	Subscribe to waypointV2 event with a callback function. More...

void	RegisterMissionStateCallback (void *userData, PushCallback cb=NULL)
	Subscribe to waypointV2 mission state with a callback function. More...

Public Attributes
const uint16_t	MAX_WAYPOINT_NUM_SIGNAL_PUSH = 260

Detailed Description

The waypoint operator is the only object that controls, runs and monitors Waypoint v2 Missions.

Member Function Documentation

◆ downloadInitSetting()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::downloadInitSetting	(	WayPointV2InitSettingsInternal &	info,
		int	timeout
	)

Download the waypoint v2 init settings.

Supported Platforms : M300

Parameters

Info	init settings struct DJI::OSDK::WayPointV2InitSettingsInternal
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ downloadMission()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::downloadMission	(	std::vector< WaypointV2 > &	mission,
		int	timeout
	)

Download all the waypoint v2 mission.

Supported Platforms : M300

Parameters

mission	vector contains of a series of WaypointV2, refer the definition of DJI::OSDK::WaypointV2
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ getActionRemainMemory()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::getActionRemainMemory	(	GetRemainRamAck &	remainRamAck,
		int	timeout
	)

Get action's remain memory.

Supported Platforms : M300

Parameters

remainRamAck	contains total memory and remain memory refer to the definition of DJI::OSDK::GetRemainRamAck
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ getCurrentState()

DJIWaypointV2MissionState DJI::OSDK::WaypointV2MissionOperator::getCurrentState ( )

inline

Get current status of the mission executing process.

Supported Platforms : M300

Returns: DJIWaypointV2MissionState state

◆ getGlobalCruiseSpeed()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::getGlobalCruiseSpeed	(	GlobalCruiseSpeed &	cruiseSpeed,
		int	timeout
	)

Get the global cruise speed setting from flight controller.

Supported Platforms : M300

Parameters

cruiseSpeed	auto cruise speed refer to definition of DJI::OSDK::GlobalCruiseSpeed,
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code, 0: success, other: fail

◆ getPrevState()

DJIWaypointV2MissionState DJI::OSDK::WaypointV2MissionOperator::getPrevState ( )

inline

Get previous status of the mission executing process.

Supported Platforms : M300

Returns: DJIWaypointV2MissionState state

◆ getTakeoffAltitude()

float32_t DJI::OSDK::WaypointV2MissionOperator::getTakeoffAltitude ( )

inline

Get the take-off altitude of waypoint V2 mission.

Supported Platforms : M300

Returns: Waypoint Mission take-off altitude

◆ getWaypointIndexInList()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::getWaypointIndexInList	(	GetWaypontStartEndIndexAck &	startEndIndexAck,
		int	timeout
	)

Get mission's waypoint start index and end index.

Supported Platforms : M300

Parameters

startEndIndexAck	contains start index and end index refer to the definition of DJI::OSDK::GetWaypontStartEndIndexAck
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ init()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::init	(	WayPointV2InitSettings *	info,
		int	timeout
	)

Init waypoint v2 mission settings.

Supported Platforms : M300

Parameters

Info	init settings struct DJI::OSDK::WayPointV2InitSettings
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

Unit transform from m/s to cm/s

Set reference altitude is takeoff altitude

waiting for takeoff altitude subscription

◆ pause()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::pause ( int timeout )

Pause waypoint v2 mission.

Supported Platforms : M300

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ RegisterMissionEventCallback()

void WaypointV2MissionOperator::RegisterMissionEventCallback	(	void *	userData,
		PushCallback	cb = `NULL`
	)

Subscribe to waypointV2 event with a callback function.

Supported Platforms : M300

Parameters

cb	callback function.default:null

◆ RegisterMissionStateCallback()

void WaypointV2MissionOperator::RegisterMissionStateCallback	(	void *	userData,
		PushCallback	cb = `NULL`
	)

Subscribe to waypointV2 mission state with a callback function.

Supported Platforms : M300

Parameters

cb	callback function.default:null

◆ resume()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::resume ( int timeout )

Resume waypoint v2 mission.

Supported Platforms : M300

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ setCurrentState()

void DJI::OSDK::WaypointV2MissionOperator::setCurrentState ( DJIWaypointV2MissionState state )

inline

Set current state of the waypoint V2 mission.

Supported Platforms : M300

◆ setGlobalCruiseSpeed()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::setGlobalCruiseSpeed	(	const GlobalCruiseSpeed &	cruiseSpeed,
		int	timeout
	)

Set the global cruise speed to flight controller.

Supported Platforms : M300

Parameters

cruiseSpeed	auto cruise speed refer to definition of DJI::OSDK::GlobalCruiseSpeed, cruiseSpeed must in the range of [0, WayPointV2InitSettings::maxFlightSpeed]
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code, 0: success, other: fail

◆ setPrevState()

void DJI::OSDK::WaypointV2MissionOperator::setPrevState ( DJIWaypointV2MissionState state )

inline

Set previous status of the mission executing process.

Supported Platforms : M300

◆ setTakeoffAltitude()

void DJI::OSDK::WaypointV2MissionOperator::setTakeoffAltitude ( float32_t altitude )

inline

set the take-off altitude of waypoint V2 mission

Supported Platforms : M300

◆ start()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::start ( int timeout )

Start　execute waypoint v2 mission.

Supported Platforms : M300

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ stop()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::stop ( int timeout )

Stop execute waypoint v2 mission.

Supported Platforms : M300

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ uploadAction()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::uploadAction	(	std::vector< DJIWaypointV2Action > &	actions,
		int	timeout
	)

Upload all actions to flight controller.

Supported Platforms : M300

Parameters

actions	vector contains of a series of action, refer for the definition of DJI::OSDK::DJIWaypointV2Action
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ uploadMission()

ErrorCode::ErrorCodeType WaypointV2MissionOperator::uploadMission ( int timeout )

Upload all the waypoint v2 mission.

Supported Platforms : M300

Parameters

mission	vector contains of a series of WaypointV2, refer the definition of DJI::OSDK::WaypointV2
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

The documentation for this class was generated from the following files:

osdk-core/api/inc/dji_waypoint_v2.hpp
osdk-core/api/src/dji_waypoint_v2.cpp

Onboard SDK

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ downloadInitSetting()

◆ downloadMission()

◆ getActionRemainMemory()

◆ getCurrentState()

◆ getGlobalCruiseSpeed()

◆ getPrevState()

◆ getTakeoffAltitude()

◆ getWaypointIndexInList()

◆ init()

◆ pause()

◆ RegisterMissionEventCallback()

◆ RegisterMissionStateCallback()

◆ resume()

◆ setCurrentState()

◆ setGlobalCruiseSpeed()

◆ setPrevState()

◆ setTakeoffAltitude()

◆ start()

◆ stop()

◆ uploadAction()

◆ uploadMission()