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AUTELWaypointMissionHandler

protocol AUTELWaypointMissionHandler​

description：Protocols for waypoint mission are used to download, perform, stop, and pause mission. subclass of AUTELMissionHandler

method stopMissionExecution:WithCompletion​

- (void)stopMissionExecution:(WaypointMissionFinishAction)finishAction WithCompletion:(AUTELCompletionBlock)completion;

description： Stops the current mission. The aircraft will hover in place.

param：

finishAction： WaypointMissionFinishAction，The action while the aircraft finish mission。

return：none。

protocol  AUTELMissionHandler ​

description：Protocols for Autopilot are used to download, perform, stop, and pause Autopilot tasks.

property handlerType​

@property  (assign, nonatomic, readonly) AUTELMissionHandlerType handlerType;

description： type of AUTELMissionHandler

property handlerState​

@property  (nonatomic, readonly) AUTELMissionHandlerState handlerState;

description：Return to the state of "uploading or downloading the task data"

property isRunning​

@property  (nonatomic, readonly) BOOL isRunning;

description： Whether the aircraft is performing or about to perform the handlerType task

If handlerType = AUTELMissionHandlerTypeWaypoint, isRunning means the state of "whether the aircraft is performing or about to perform the Waypoint task"

If handlerType = AUTELMissionHandlerTypeHotPoint, isRunning means the state of "whether the aircraft is performing or about to perform the Orbit task"

If handlerType = AUTELMissionHandlerTypeFollowMe, isRunning means the state of "whether the aircraft is performing or about to perform the Follow task"

Other tasks are the same.

method prepareMission:withProgresswith:Completion​

- (void)prepareMission:(AUTELMission *)mission withProgress:(AUTELMissionProgressHandler)preparationProgress withCompletion:(AUTELCompletionBlock)completion;

description： Prepares the mission for execution. For the waypoint mission, data needs to be uploaded to the aircraft (product) and the AUTELMissionProgressHandler can be used to monitor upload progress. The follow-me, panorama, hotpoint and custom missions require much shorter time for the preparation phase. PrepareMission should fail if a mission is currently executing.

param：

mission： Mission object.

preparationProgress: Progress handler callback method to monitor preparation progress .

completion: The callback method after execution is finished

return：none。

method downloadMissionWithProgress:downladProgress:withCompletion​

- (void)downloadMissionWithProgress:(AUTELMissionProgressHandler)downladProgress withCompletion:(AUTELMissionDownloadCompletionBlock)completion;

description： Download flight task from aircraft: only available when the aircraft is ready for the given flight task.

param：

downladProgress: Progress handler callback method to monitor download progress.

completion: Completion block.

method startMissionExecutionWithCompletion:​

- (void)startMissionExecutionWithCompletion:(AUTELCompletionBlock)completion;

description： Start performing the task: only available when the task is prepared successfully.

param：completion Completion block.

return：none。

method pauseMissionExecutionWithCompletion:​

- (void)pauseMissionExecutionWithCompletion:(AUTELCompletionBlock)completion;

description： Pauses the current mission being executed and the aircraft will hover in its current location. Current state will be saved until resumeMissionExecutionWithCompletion is called.

param：completion Completion block.

return：none。

method resumeMissionExecutionWithCompletion:​

- (void)resumeMissionExecutionWithCompletion:(AUTELCompletionBlock)completion;

description： Resumes the currently paused mission.

param：completion Completion block.

return：none。

method stopMissionExecutionWithCompletion:​

- (void)stopMissionExecutionWithCompletion:(AUTELCompletionBlock)completion;

description： Stops the current mission. The aircraft will hover in place.

param：none

return：none。

class AUTELMissionProgressStatus​

description： The class is an base class representing the progress of an executing mission.

property error​

@property(nonatomic, strong) NSError *error;

description： This property describes the error which are generated by executing mission.

class AUTELWaypointMissionStatus​

description： Provides current waypoint mission status.

property misstionStatus​

@property(nonatomic, readonly) WaypointMissionStatus misstionStatus;

description： way point status. 0:pause; 1:running; 2:completed; other:as defiens latter

property residualTime​

@property(nonatomic, readonly) NSInteger residualTime;

description： Remaining task time.

property residualDistance​

@property(nonatomic, readonly) NSInteger residualDistance;

description： Length of remaining mission route.

property photoCount​

@property(nonatomic, readonly) NSInteger photoCount;

description： Current number of photos taken.

property targetWaypointIndex​

@property(nonatomic, readonly) NSInteger targetWaypointIndex;

description： Index of the waypoint which the aircraft is flying to.

property execState​

@property(nonatomic, readonly) AUTELWaypointMissionExecuteState execState;

description： Current execution state of the aircraft.

property isWaypointReached​

@property(nonatomic, readonly) BOOL isWaypointReached;

description： Whether or not the aircraft has reached a waypoint. Will return true if a waypoint has been reached.

property autoSpeed​

@property(nonatomic, readonly) float autoSpeed;

description： The speed of auto pilotion.

enum AUTELMissionHandlerState​

description： Autopilot task state

typedef NS_ENUM(uint8_t, AUTELMissionHandlerState) {
    /**
     *  @brief Idle
     *
     */
    AUTELMissionHandlerStateIdle,
    /**
     *  @brief Uploading task
     *
     */
    AUTELMissionHandlerStateUploadMissionData,
    /**
     *  @brief Downloading task
     *
     */
    AUTELMissionHandlerStateDownloadMissionData,
};

enum WaypointMissionFinishAction​

description： Waypoint task finish action

typedef NS_ENUM(uint8_t, WaypointMissionFinishAction) {
    /**
     *  @brief Hover
     *
     */
    WaypointMissionFinishActionHover,
    /**
     *  @brief go home
     *
     */
    WaypointMissionFinishActionGoHome
};

enum AUTELMissionHandlerType​

description：Autopilot type

typedef NS_ENUM(uint8_t, AUTELMissionHandlerType) {
    /**
     *  @brief Not performing any task.
     *
     */
    AUTELMissionHandlerTypeUnknown,
    /**
     *  @brief Waypoint task
     *
     */
    AUTELMissionHandlerTypeWaypoint,
    /**
     *  @brief Obrit task
     *
     */
    AUTELMissionHandlerTypeHotPoint,
    /**
     *  @brief Follow task
     *
     */
    AUTELMissionHandlerTypeFollowMe,
    /**
     *  @brief Track task
     *
     */
    AUTELMissionHandlerTypeTrack,
    /**
    *  @brief view point task
    *
    */
    AUTELMissionHandlerTypeViewpoint,
    /**
    *  @brief One shot video task
    *
    */
    AUTELMissionHandlerTypeOneShotVideo,
    /**
    *  @brief Precision Flight task
    *
    */
    AUTELMissionHandlerTypeTripod,
    /**
    *  @brief Dual Stability task
    *
    */
    AUTELMissionHandlerTypePhotographer,
    /**
    *  @brief Gesture task
    *
    */
    AUTELMissionHandlerTypeGesture,
    /**
    *  @brief time-lapse photography  task
    *
    */
    AUTELMissionHandlerTypeDelayShot,
    /**
    *  @brief Vision Orbit task
    *
    */
    AUTELMissionHandlerTypeVisionOrbit,
    /**
    *  @brief Vision Orbit time-lapse photography  task
    *
    */
    AUTELMissionHandlerTypeOrbitDelayShot,
    /**
    *  @brief Panoramic photography  task
    *
    */
    AUTELMissionHandlerTypePanoramicPhoto
};

enum WaypointMissionStatus​

description： misstion status

typedef NS_ENUM(uint8_t, WaypointMissionStatus) {
    /**
     *  @brief pause
     *
     */
    WaypointMissionStatusPause,
    /**
     *  @brief running
     *
     */
    WaypointMissionStatusRunning,
    /**
     *  @brief completed
     *
     */
    WaypointMissionStatusCompleted,
    /**
     *  @brief other:as defiens latter
     *
     */
    WaypointMissionStatusOther,
};

enum AUTELWaypointMissionExecuteState​

description： The executing state of the Waypoint task

typedef NS_ENUM(uint8_t, AUTELWaypointMissionExecuteState) {
    /**
     *  @brief Initializing the task
     *
     */
    AUTELWaypointMissionExecuteStateInitializing = 0,
    /**
     *  @brief Performing the Waypoint task.
     *
     */
    AUTELWaypointMissionExecuteStateMoving = 1,
    /**
     *  @brief Waypoint task paused. Aircraft hovering.
     *
     */
    AUTELWaypointMissionExecuteStatePause = 2,
    /**
    *  @brief Waypoint task finish,go home.
    *
    */
    AUTELWaypointMissionExecuteStateGoHome = 3,
    /**
    *  @brief Waypoint task finish,langding.
    *
    */
    AUTELWaypointMissionExecuteStateLanding = 4,
    
    /**
     *  @brief The Waypoint task is finished.
     *
     */
    AUTELWaypointMissionExecuteStateFinish = 5,
    /**
     *  @brief Waypoint task state unknown.
     *
     */
    AUTELWaypointMissionExecuteStateUnknown = 0xFF,
};