Mission

public class Mission

Enable waypoint missions.

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  • Initializes a new Mission plugin.

    Normally never created manually, but used from the Drone helper class instead.

    Declaration

    Swift

    public convenience init(address: String = "localhost",
                        port: Int32 = 50051,
                        scheduler: SchedulerType = ConcurrentDispatchQueueScheduler(qos: .background))

    Parameters

    address

    The address of the MavsdkServer instance to connect to
    port

    The port of the MavsdkServer instance to connect to
    scheduler

    The scheduler to be used by Observables
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  • Undocumented

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    Declaration

    Swift

    public struct RuntimeMissionError : Error
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  • Undocumented

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    Declaration

    Swift

    public struct MissionError : Error
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  • Type representing a mission item.

    A MissionItem can contain a position and/or actions. Mission items are building blocks to assemble a mission, which can be sent to (or received from) a system. They cannot be used independently.

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    Declaration

    Swift

    public struct MissionItem : Equatable
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  • Mission plan type

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    Declaration

    Swift

    public struct MissionPlan : Equatable
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  • Mission progress type.

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    Declaration

    Swift

    public struct MissionProgress : Equatable
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  • Result type.

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    Declaration

    Swift

    public struct MissionResult : Equatable
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  • Progress data coming from mission upload.

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    Declaration

    Swift

    public struct ProgressData : Equatable
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  • Progress data coming from mission download, or the mission itself (if the transfer succeeds).

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    Declaration

    Swift

    public struct ProgressDataOrMission : Equatable
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  • Upload a list of mission items to the system.

    The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

    Declaration

    Swift

    public func uploadMission(missionPlan: MissionPlan) -> Completable

    Parameters

    missionPlan

    The mission plan
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  • Upload a list of mission items to the system and report upload progress.

    The mission items are uploaded to a drone. Once uploaded the mission can be started and executed even if the connection is lost.

    Declaration

    Swift

    public func uploadMissionWithProgress(missionPlan: MissionPlan) -> Observable<ProgressData>
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  • Cancel an ongoing mission upload.

    Declaration

    Swift

    public func cancelMissionUpload() -> Completable
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  • Download a list of mission items from the system (asynchronous).

    Will fail if any of the downloaded mission items are not supported by the MAVSDK API.

    Declaration

    Swift

    public func downloadMission() -> Single<MissionPlan>
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  • Download a list of mission items from the system (asynchronous) and report progress.

    Will fail if any of the downloaded mission items are not supported by the MAVSDK API.

    Declaration

    Swift

    public func downloadMissionWithProgress() -> Observable<ProgressDataOrMission>
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  • Cancel an ongoing mission download.

    Declaration

    Swift

    public func cancelMissionDownload() -> Completable
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  • Start the mission.

    A mission must be uploaded to the vehicle before this can be called.

    Declaration

    Swift

    public func startMission() -> Completable
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  • Pause the mission.

    Pausing the mission puts the vehicle into HOLD mode. A multicopter should just hover at the spot while a fixedwing vehicle should loiter around the location where it paused.

    Declaration

    Swift

    public func pauseMission() -> Completable
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  • Clear the mission saved on the vehicle.

    Declaration

    Swift

    public func clearMission() -> Completable
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  • Sets the mission item index to go to.

    By setting the current index to 0, the mission is restarted from the beginning. If it is set to a specific index of a mission item, the mission will be set to this item.

    Note that this is not necessarily true for general missions using MAVLink if loop counters are used.

    Declaration

    Swift

    public func setCurrentMissionItem(index: Int32) -> Completable

    Parameters

    index

    Index of the mission item to be set as the next one (0-based)
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  • Check if the mission has been finished.

    Declaration

    Swift

    public func isMissionFinished() -> Single<Bool>
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  • Subscribe to mission progress updates.

    Declaration

    Swift

    public lazy var missionProgress: Observable<MissionProgress> { get set }
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  • Get whether to trigger Return-to-Launch (RTL) after mission is complete.

    Before getting this option, it needs to be set, or a mission needs to be downloaded.

    Declaration

    Swift

    public func getReturnToLaunchAfterMission() -> Single<Bool>
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  • Set whether to trigger Return-to-Launch (RTL) after the mission is complete.

    This will only take effect for the next mission upload, meaning that the mission may have to be uploaded again.

    Declaration

    Swift

    public func setReturnToLaunchAfterMission(enable: Bool) -> Completable

    Parameters

    enable

    If true, trigger an RTL at the end of the mission
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