MissionRaw

public class MissionRaw

Enable raw missions as exposed by MAVLink.

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  • Initializes a new MissionRaw 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 RuntimeMissionRawError : Error
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  • Undocumented

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    Declaration

    Swift

    public struct MissionRawError : Error
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  • Mission progress type.

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    Declaration

    Swift

    public struct MissionProgress : Equatable
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  • Mission item exactly identical to MAVLink MISSION_ITEM_INT.

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    Declaration

    Swift

    public struct MissionItem : Equatable
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  • Mission import data

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    Declaration

    Swift

    public struct MissionImportData : Equatable
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  • Result type.

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    Declaration

    Swift

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

    The raw 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(missionItems: [MissionItem]) -> Completable

    Parameters

    missionItems

    The mission items
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  • Cancel an ongoing mission upload.

    Declaration

    Swift

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

    Declaration

    Swift

    public func downloadMission() -> Single<[MissionItem]>
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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 raw 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 raw mission item, the mission will be set to this item.

    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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  • Subscribe to mission progress updates.

    Declaration

    Swift

    public lazy var missionProgress: Observable<MissionProgress> { get set }
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  • * Subscribes to mission changed.

    This notification can be used to be informed if a ground station has been uploaded or changed by a ground station or companion computer.

    @param callback Callback to notify about change.

    Declaration

    Swift

    public lazy var missionChanged: Observable<Bool> { get set }
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  • Import a QGroundControl missions in JSON .plan format.

    Supported:

    • Waypoints
    • Survey Not supported:

    • Structure Scan

    Declaration

    Swift

    public func importQgroundcontrolMission(qgcPlanPath: String) -> Single<MissionImportData>

    Parameters

    qgcPlanPath

    File path of the QGC plan
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