Hello,

So i have some code to execute a waypoint mission, the code runs and it seems to get loaded to the drone but nothing happens. Any help understanding what im doing wrong as well as how i can fix that would be greatly appreciated.

func waypointMission() -> DJIWaypointMission? {

           /// Define a new object class for the waypoint mission

           let mission = DJIMutableWaypointMission()

           print("mission activated")

           mission.maxFlightSpeed = 15 // user can speed up flight by holding the stick up this is the limit of the added acceleration

           mission.autoFlightSpeed = 8 // the flight speed the drone will travel at

           mission.finishedAction = .goHome // when the mission is finished the drone will return home

        mission.headingMode = .auto

           mission.flightPathMode = .normal

           mission.rotateGimbalPitch = false /// Change this to True if you want the camera gimbal pitch to move between waypoints

           mission.exitMissionOnRCSignalLost = true

           mission.gotoFirstWaypointMode = .pointToPoint

           mission.repeatTimes = 0

           /// Keep listening to the drone location included in latitude and longitude

         guard let droneLocationKey = DJIFlightControllerKey(param: DJIFlightControllerParamAircraftLocation) else {

            return nil

         }

       guard let droneLocationValue = DJISDKManager.keyManager()?.getValueFor(droneLocationKey) else {

               return nil

           }

           let droneLocation = droneLocationValue.value as! CLLocation

           let droneCoordinates = droneLocation.coordinate

           /// Check if the returned coordinate value is valid or not

           if !CLLocationCoordinate2DIsValid(droneCoordinates) {

               return nil

           }

           mission.pointOfInterest = droneCoordinates

        let loc1 = CLLocationCoordinate2D(latitude: pointList[0].position.latitude, longitude: zeusPointList[0].position.longitude)

           let waypoint1 = DJIWaypoint(coordinate: loc1)

           waypoint1.altitude = 2.0 /// The altitude which the drone flies to as the first point and should be of type float

           waypoint1.heading = 0 /// This is between [-180, 180] degrees, where the drone moves when reaching a waypoint. 0 means don't change the drone's heading

           waypoint1.actionRepeatTimes = 1 /// Repeat this mission just for one time

           waypoint1.actionTimeoutInSeconds = 60

           // waypoint1.cornerRadiusInMeters = 5

           waypoint1.turnMode = .clockwise /// When the drones changing its heading. It moves clockwise

           waypoint1.gimbalPitch = 0 /// This is between [-90, 0] degrees, if you want to change this value, then change rotateGimbalPitch to True. The drone gimbal will move by the value when the drone reaches its waypoint

           waypoint1.speed = 0.5 /// Note that this value does not make the drone move with speed 0.5 m/s because this is an error from the firmware and can't be fixed. However, we need to trigger it to be able to change the next one

        let loc2 = CLLocationCoordinate2DMake(pointList[1].position.latitude, zeusPointList[1].position.longitude)

           let waypoint2 = DJIWaypoint(coordinate: loc2)

           waypoint2.altitude = 15.0 /// should be of type float

           waypoint2.heading = 0

           waypoint2.actionRepeatTimes = 1

           waypoint2.actionTimeoutInSeconds = 60

           waypoint2.cornerRadiusInMeters = 5

           waypoint2.turnMode = .clockwise

           waypoint2.gimbalPitch = 0

           /// Chnage the velocity of the drone while moving to this waypoint

           waypoint2.speed = 0.5

          mission.add(waypoint1)

          mission.add(waypoint2)

        if let error =  DJISDKManager.missionControl()?.waypointMissionOperator().load(mission) {

            print(error.localizedDescription)

        }

        DJISDKManager.missionControl()?.waypointMissionOperator().addListener(toUploadEvent: self, with: DispatchQueue.main){

            error in

             print("upload")

            self.startMission((Any).self)

        }

           print("running mission", mission)

           return DJIWaypointMission(mission: mission)

       }

Hello,

So i have some code to execute a waypoint mission, the code runs and it seems to get loaded to the drone but nothing happens. Any help understanding what im doing wrong as well as how i can fix that would be greatly appreciated.

func waypointMission() -> DJIWaypointMission? {

           /// Define a new object class for the waypoint mission

           let mission = DJIMutableWaypointMission()

           print("mission activated")

           mission.maxFlightSpeed = 15 // user can speed up flight by holding the stick up this is the limit of the added acceleration

           mission.autoFlightSpeed = 8 // the flight speed the drone will travel at

           mission.finishedAction = .goHome // when the mission is finished the drone will return home

        mission.headingMode = .auto

           mission.flightPathMode = .normal

           mission.rotateGimbalPitch = false /// Change this to True if you want the camera gimbal pitch to move between waypoints

           mission.exitMissionOnRCSignalLost = true

           mission.gotoFirstWaypointMode = .pointToPoint

           mission.repeatTimes = 0

           /// Keep listening to the drone location included in latitude and longitude

         guard let droneLocationKey = DJIFlightControllerKey(param: DJIFlightControllerParamAircraftLocation) else {

            return nil

         }

       guard let droneLocationValue = DJISDKManager.keyManager()?.getValueFor(droneLocationKey) else {

               return nil

           }

           let droneLocation = droneLocationValue.value as! CLLocation

           let droneCoordinates = droneLocation.coordinate

           /// Check if the returned coordinate value is valid or not

           if !CLLocationCoordinate2DIsValid(droneCoordinates) {

               return nil

           }

           mission.pointOfInterest = droneCoordinates

        let loc1 = CLLocationCoordinate2D(latitude: pointList[0].position.latitude, longitude: zeusPointList[0].position.longitude)

           let waypoint1 = DJIWaypoint(coordinate: loc1)

           waypoint1.altitude = 2.0 /// The altitude which the drone flies to as the first point and should be of type float

           waypoint1.heading = 0 /// This is between [-180, 180] degrees, where the drone moves when reaching a waypoint. 0 means don't change the drone's heading

           waypoint1.actionRepeatTimes = 1 /// Repeat this mission just for one time

           waypoint1.actionTimeoutInSeconds = 60

           // waypoint1.cornerRadiusInMeters = 5

           waypoint1.turnMode = .clockwise /// When the drones changing its heading. It moves clockwise

           waypoint1.gimbalPitch = 0 /// This is between [-90, 0] degrees, if you want to change this value, then change rotateGimbalPitch to True. The drone gimbal will move by the value when the drone reaches its waypoint

           waypoint1.speed = 0.5 /// Note that this value does not make the drone move with speed 0.5 m/s because this is an error from the firmware and can't be fixed. However, we need to trigger it to be able to change the next one

        let loc2 = CLLocationCoordinate2DMake(pointList[1].position.latitude, zeusPointList[1].position.longitude)

           let waypoint2 = DJIWaypoint(coordinate: loc2)

           waypoint2.altitude = 15.0 /// should be of type float

           waypoint2.heading = 0

           waypoint2.actionRepeatTimes = 1

           waypoint2.actionTimeoutInSeconds = 60

           waypoint2.cornerRadiusInMeters = 5

           waypoint2.turnMode = .clockwise

           waypoint2.gimbalPitch = 0

           /// Chnage the velocity of the drone while moving to this waypoint

           waypoint2.speed = 0.5

          mission.add(waypoint1)

          mission.add(waypoint2)

        if let error =  DJISDKManager.missionControl()?.waypointMissionOperator().load(mission) {

            print(error.localizedDescription)

        }

        DJISDKManager.missionControl()?.waypointMissionOperator().addListener(toUploadEvent: self, with: DispatchQueue.main){

            error in

             print("upload")

            self.startMission((Any).self)

        }

           print("running mission", mission)

           return DJIWaypointMission(mission: mission)

       }