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AUTELWaypoint

class AUTELWaypoint​

description：This class provides the info of waypoints

property altitude​

@property(nonatomic, assign) float altitude;

description： This property describes the altitude of aircraft is the relative altitude of the take off point when it reaches the waypoint. The value of altitude in meters. The valid range for the altitude is from -200m to 500m.The altitude value must be smaller than maximum flight altitude. We can invoke [AUTELFlightLimitation getMaxFlightHeightWithCompletion:] and [AUTELFlightLimitation setMaxFlightHeight:withCompletion:] to read and write flight altitude limitation.

property holdTime​

@property(nonatomic, assign) float holdTime;

description： Hold time (s). The default holeTime is 0s.

method initWithCoordinate:​

- (instancetype)initWithCoordinate:(CLLocationCoordinate2D)coordinate;

description： Initial the waypoint object by using GPS coordinate.

param：

coordinates：GPS coordinate.

return： Target waypoint .

class AUTELWaypointG2​

description： This class contains information about a Waypoint.

property waypointIndex​

@property(nonatomic) int waypointIndex;

description： Waypoint index subscript.

property missionId​

@property(nonatomic, assign) int missionId;

description： missionId.

property waypointId​

@property(nonatomic) int waypointId;

description：The identifier of the task is a 32-bit integer

property style​

@property (nonatomic) AUTELWaypointStyle style;

description： AUTELWaypointStyle.

property speed​

@property (nonatomic, assign) float speed;

description： Speed.

property focusCoordinate​

@property (nonatomic, assign) CLLocationCoordinate2D focusCoordinate;

description： Focus point coordinates.

property focusAltitude​

@property (nonatomic, assign) float focusAltitude;

description： Focus point height.

property beizerParam​

@property (nonatomic, assign) int beizerParam;

description： Avoidance is invalid.

property altitudePriorityMode​

@property (nonatomic, assign) AUTELWaypointAltitudePriorityMode altitudePriorityMode;

description： AUTELWaypointAltitudePriorityMode, High priority mode.

property headingMode​

@property (nonatomic, assign) AUTELWaypointHeadingMode headingMode;

description： AUTELWaypointHeadingMode

property userDefinedHeading​

@property (nonatomic, assign) float userDefinedHeading;

description： Customize the nose orientation angle.

property cameraPitch​

@property (nonatomic, assign) float cameraPitch;

description： The pitch angle of the camera, that is, the pitch angle of the gimbal.

property cameraYaw​

@property (nonatomic, assign) float cameraYaw;

description： Camera yaw angle.

property actionCount​

@property (nonatomic, assign) float actionCount;

description： number of actions.

class AUTELWaypointMC​

description： This class contains information about a Waypoint.

property groundlap​

@property(nonatomic) float groundlap;

description： ground lap

property headinglap​

@property(nonatomic) float headinglap;

description： heading lap

property sidelap​

@property(nonatomic) float sidelap;

description： side lap

property headAngle​

@property(nonatomic) float headAngle;

description： head angle

property poiIndex​

@property(nonatomic) int poiIndex;

description： interesting point index, -1 if none.

property actions​

@property(nonatomic) NSArray <AUTELWaypointAction *> *actions;

description： waypoint action list

class AUTELCoordinate3D​

description：

property latitude​

@property(nonatomic) CLLocationDegrees latitude;

description： latitude

property longitude​

@property(nonatomic) CLLocationDegrees longitude;

description： longitude

property altitude​

@property(nonatomic) CLLocationDegrees altitude;

description： altitude

class InterestPointModel​

description： Interest Point Model

property coord​

@property(nonatomic) AUTELCoordinate3D *coord;

description： coord

property index​

@property(nonatomic) int index;

description： index

class AUTELWaypointActionPara​

description： Waypoint action parameter.

property cameraPitch​

@property(nonatomic) float cameraPitch;

description： camera Pitch 0 - 90

property cameraYaw​

@property(nonatomic) float cameraYaw;

description： camera Yaw

property cameraRoll​

@property(nonatomic) float cameraRoll;

description： camera roll

property timeInterval​

@property(nonatomic) float timeInterval;

description： actionTimeout

property timeIntervalTimeDuration​

@property(nonatomic) float timeIntervalTimeDuration;

description：timeInterval Time Duration

property distanceInterval​

@property(nonatomic) float distanceInterval;

description： distance Interval(m)

property recordVideoTimeDuration​

@property(nonatomic) float recordVideoTimeDuration;

description： record Video Time Duration(s)

property hoverTimeDuration​

@property(nonatomic) float hoverTimeDuration;

description： hover Time Duration(s)

property cameraZoom​

@property(nonatomic) float cameraZoom;

description： camera zoom

class AUTELWaypointAction​

description： This class contains information about a Waypoint action.

property actionId​

@property(nonatomic)int actionId;

description： actionId

property actionType​

@property(nonatomic) AUTELWaypointActionType actionType;

description： actionType

property actionTimeout​

@property(nonatomic) float actionTimeout;

description： actionTimeout

property actionPara​

@property(nonatomic) AUTELWaypointActionPara *actionPara;

description：actionParas

enum AUTELWaypointStyle​

description： Define Waypoint style

typedef NS_ENUM(int, AUTELWaypointStyle) {
    /**
     *  @brief fly over
     *
     */
    AUTELWaypointStyleNormal = 0,
    
    /**
     *  @brief Orbit
     *
     */
    AUTELWaypointStyleOrbit = 1,
    
    /**
     *  @brief Cylinder
     *
     */
    AUTELWaypointStyleCylinder = 2,
    
    /**
     *  @brief Panorama
     *
     *  Panorama。
     */
    AUTELWaypointStylePanorama = 3,
    
    /**
     *  @brief Mapping
     *
     */
    AUTELWaypointStyleMapping = 9,
    
    /**
     *  @brief emergency land
     *
     */
    AUTELWaypointStyleEmergencyLand = 10,
    
    /**
     *  @brief Hover
     *
     */
    AUTELWaypointStyleHover = 12,
    
    /**
    *  @brief Unknown
    *
    */
    AUTELWaypointStyleUnknown
};


enum AUTELWaypointAltitudePriorityMode​

description： Define Waypoint Altitude Priority Mode

typedef NS_ENUM(int, AUTELWaypointAltitudePriorityMode) {
    /**
     *  @brief Altitude priority mode is disabled, the aircraft will ascend (or descend) to the next waypoint altitude along with the flight.
     *
     */
    AUTELWaypointAltitudePriorityModeOff,
    /**
     *  @brief Altitude priority mode is turned on, the aircraft will first ascend (or descend) to the next waypoint altitude, and then fly to the next waypoint.
     *
     */
    AUTELWaypointAltitudePriorityModeOn,
};

enum AUTELWaypointHeadingMode​

description： Define Waypoint Heading Mode.

typedef NS_ENUM(int, AUTELWaypointHeadingMode) {
    /**
     *  @brief Avoidance is invalid
     *
     */
    AUTELWaypointHeadingModeInvalid = 0,
    /**
     *  @brief Avoidance is toward next waypoint
     *
     */
    AUTELWaypointHeadingModeTowardsNext = 1,
    /**
     *  @brief Keep the initial heading.
     *
     */
    AUTELWaypointHeadingModeInitial = 2,
    /**
     *  @brief Towards a user-defined direction.
     *
     */
    AUTELWaypointHeadingModeCustom = 3,
    /**
     *  @brief Avoidance is freedom
     *
     */
    AUTELWaypointHeadingModeFreedom = 4,
};

enum AUTELWaypointActionType​

description： Define Waypoint Action Type.

typedef NS_ENUM(int, AUTELWaypointActionType) {
    /**
     *  @brief Invalid
     *
     */
    AUTELWaypointActionTypeInvalid = 0,
    
    /**
     *  @brief TakePhoto
     *
     */
    AUTELWaypointActionTypeTakePhoto = 1,
    
    /**
     *  @brief Start Video Record
     *
     */
    AUTELWaypointActionTypeStartRecordVideo = 2,
    
    /**
     *  @brief Stop Video Record
     *
     */
    AUTELWaypointActionTypeStopRecordVideo = 3,
    
    /**
     *  @brief TakePhoto Interval
     *
     */
    AUTELWaypointActionTypeTimeInterval = 11,
    
    /**
     *  @brief TakePhoto Distance
     *
     */
    AUTELWaypointActionTypeDistance= 12,
    
    /**
    *  @brief Unknown
    *
    */
    AUTELWaypointActionTypeUnknown = 0xff
};