Skip to main content

class PathMission

Description: Waypoint mission, mainly contains the number of waypoints, coordinates of the home point, specific information of the waypoint.

public class PathMission {
    /**
     * number of waypoints
     */
    public short WPNum;
    /**
     * whether to use the default radius. Values: 0: no, 1: yes
     */
    public short default_R_flag;
    /**
     * coordinate of Home point
     */
    public double[] HomeLLA;//3
    /**
     * number of pieces of waypoint information (500)
     */
    public PathPoint[] WP_Info_strc;//500
}

class PathPoint

Description: Sets the waypoint information including the coordinate, flight attitude, camera actions, and POIs.

public class PathPoint {
    /** Waypoint type: 1: waypoint where the aircraft will stop, 2: waypoint where the aircraft will turns ahead before reaching it */
    public short WPTypeUsr;

    /** User-defined waypoint, longitude, latitude, and height */
    public double[] WPLLAUsr;//3

    /** User-defined turning radius*/
    public double RadUsr;

    /** Speed */
    public double VelRefUsr;

    /** Waypoint altitude priority  1: indicates that the priority of this waypoint is higher than the previous waypoint, -1: indicates that the priority of this waypoint is lower than the previous waypoint, 0: there is no priority */
    public short AltPrioUsr;

    /** Heading mode at this waypoint   1: coordinated turn mode, 2: manual, 3: custom mode */
    public short Heading_Mode;

    /** Whether a POI exists    -1: no POI exists, 1: there is a POI*/
    public short POI_Valid;

    /** Coordinate of the POI, longitude, latitude, and height */
    public double[] POIUsr;//3

    /** Total number of camera actions at this waypoint */
    public short ActionNum;

    /** Number of camera actions at this waypoint. The maximum number is 10. */
    public CameraActionJNI[] MSN_ActionInfo;//10
}

class CameraActionJNI

Description: Sets the camera actions during waypoint flight.

public class CameraActionJNI {
     /** Action type */
    public int Action_Type;

     /** Pitch angle of the gimbal */
    public float Gimbal_Pitch;

     /** Roll angle of the gimbal */
    public float Gimbal_Roll;

     /** Yaw angle of the gimbal */
    public float Action_Yaw_Ref;

     /** Interval between periodic shoots (s) */
    public int Shoot_Time_Interval;

     /** Distance for fixed-distance photography (mm) */
    public float Shoot_Dis_Interval;

     /** Action execution time (s) */
    public int Action_Time;

     /** zoom factor */
    public int Zoom_Rate;

     /** Reserved */
    public int[] reserved;//2
}

class AirLineCreator

method getWayPointMissionPath​

public static PathResultMission getWayPointMissionPath(PathMission mission)

Description: Calls the algorithm to convert the configured waypoint flight attributes to a specific route plan.

Input parameter: PathMission. Manually configured waypoint flight attributes

Output parameter: PathResultMission Route planning result

**Related parameter: PathMission

method writeMissionFile​

public static boolean writeMissionFile(String path, TaskModel taskModel)

Description: Writes the route planning result into a local file.

Input parameter: path. Path of the local location

Input parameter: TaskModel. Route planning entity class generated by the algorithm

Output parameter bool. true: write successful false: write failed

class PathResultMission

Description: The route planning algorithm outputs the result.

public class PathResultMission {
    /** Total flight time */
    public float T_ttl_fly;

    /** Total flight distance */
    public float L_ttl_fly;

    /** Total number of photos */
    public int Photo_Num;

    /** Area, N/A for waypoint missions */
    public double area;

    /** Number of routes */
    public short FPNum;

    /** Number of plotting points */
    public int Pts4PlotNum;

    /** Expand the coordinates of all plotting points (Pts4PlotNum longitudes, Pts4PlotNum latitudes, Pts4PlotNum altitudes, the rest is 0; Valid value = The first 3 * Pts4PlotNum */
    public double[] Pts4PlotLLA;//141030

    /** Number of arrows **/
    public int ArrowNum;
    /** Arrow latitude, longitude, altitude, height, and direction (east: x-axis; south: y-axis; downward: z-axis) Expand the coordinates of all arrow points (ArrowNum latitudes, ArrowNum longitudes, ArrowNum altitudes, ArrowNum arrow directions; Valid value = The first 4 * ArrowNum **/
    public double[] ArrowPosDirLLA;
    /** Maximum radius that can be set at the waypoint **/
    public float[] R_max;
    /* The number of valid points for the route information is FPNum. */
    public PathResultLine[] FP_Info_strc;
}

class  MissionManager

method startMission​

void startMission(CallbackWithNoParam startCallback);

Description: Makes the aircraft start a mission.

Input parameter: None

Output parameter: None

**Related parameter: CallbackWithNoParam

method pauseMission​

void pauseMission(CallbackWithNoParam startCallback);

Description: Pauses the mission being performed by the aircraft.

Input parameter: None

Output parameter: None

**Related parameter: CallbackWithNoParam

method resumeMission​

void resumeMission(CallbackWithNoParam startCallback);

Description: Resumes the mission suspended by the aircraft.

Input parameter: None

Output parameter: None

**Related parameter: CallbackWithNoParam

method cancelMission​

void cancelMission(CallbackWithNoParam startCallback);

Description: Cancels the mission being performed by the aircraft.

Input parameter: None

Output parameter: None

**Related parameter: CallbackWithNoParam

class CallbackWithNoParam

method onSuccess​

void onSuccess()

Description: Callback of success.

Input parameter: None

Output parameter: None

method onSuccess​

void onFailure(AutelError error)

Description: Callback of failure.

Input parameter: None

Output parameter: None