#include <dji_mission_type.hpp>
Public Attributes | |
| float64_t | longitude |
| float64_t | latitude |
| float32_t | relativeHeight |
| DJIWaypointV2FlightPathMode | waypointType |
| DJIWaypointV2HeadingMode | headingMode |
| WaypointV2Config | config |
| uint16_t | dampingDistance |
| float32_t | heading |
| DJIWaypointV2TurnMode | turnMode |
| RelativePosition | pointOfInterest |
| float32_t | maxFlightSpeed |
| float32_t | autoFlightSpeed |
Detailed Description
The struct represents a target point in the waypoint mission. For a waypoint mission, a flight route consists of multiple WaypointV2 objects.
Member Data Documentation
◆ autoFlightSpeed
| float32_t DJI::OSDK::WaypointV2::autoFlightSpeed |
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".
◆ config
| WaypointV2Config DJI::OSDK::WaypointV2::config |
Represents current waypoint's speed config.
◆ heading
| float32_t DJI::OSDK::WaypointV2::heading |
The heading to which the aircraft will rotate by the time it reaches the waypoint. The aircraft heading will gradually change between two waypoints with different headings if the waypoint mission's headingMode is set to DJIWaypointV2_DJIWaypointV2HeadingMode_WaypointCustom. A heading has a range of [-180, 180] degrees, where 0 represents True North.
◆ headingMode
| DJIWaypointV2HeadingMode DJI::OSDK::WaypointV2::headingMode |
Represents current aircraft's heading mode on current waypoint.
◆ longitude
| float64_t DJI::OSDK::WaypointV2::longitude |
waypoint position relative to WayPointV2InitSettings's reference point unit: m
◆ maxFlightSpeed
| float32_t DJI::OSDK::WaypointV2::maxFlightSpeed |
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.
◆ pointOfInterest
| RelativePosition DJI::OSDK::WaypointV2::pointOfInterest |
Property is used when DJIWaypointV2_headingMode is DJIWaypointV2_DJIWaypointV2HeadingMode_TowardPointOfInterest. Aircraft will always be heading to point while executing mission. Default is "kCLLocationCoordinate2DInvalid".
◆ turnMode
| DJIWaypointV2TurnMode DJI::OSDK::WaypointV2::turnMode |
Determines whether the aircraft will turn clockwise or anticlockwise when changing its heading.
◆ waypointType
| DJIWaypointV2FlightPathMode DJI::OSDK::WaypointV2::waypointType |
relative to takeoff height Waypoint flight path mode.
The documentation for this struct was generated from the following file:
- osdk-core/api/inc/dji_mission_type.hpp