嘿，我会的，所以我试图启动DJIWaypointMission，当我调用"startMissionExecutionWithComplete"时出现错误，我显然已经使用prepareMission成功地将任务上传到无人机。
它给我的错误是"家庭点尚未记录"。我查看了设置起始点的方法的文档，但没有找到任何东西，我已经浏览了DJIMissionManager对象和DJIWayPointObject列出的方法，但无济于事。我还尝试添加从无人机当前状态中获取的"飞机位置"。
下面是代码。
import UIKit
import MapKit
import CoreLocation
import DJISDK
import Foundation
class FlyToPointsViewController: DJIBaseViewController, DJIFlightControllerDelegate, DJIMissionManagerDelegate {
@IBOutlet weak var mapView: MKMapView!
var mission: DJIWaypointMission? = nil
var flightController: DJIFlightController?=nil
var missionCoordinates=[CLLocationCoordinate2D]()
var allSteps = [DJIWaypoint]()
var missionManager: DJIMissionManager?=nil
var currentState: DJIFlightControllerCurrentState?=nil
override func viewDidAppear(animated: Bool) {
let alertController = UIAlertController(title: "Hello Team", message:
"There are quite a few easter eggs hidden away in here. Hopefully you find them and have a good laugh. Sorry I couldn't make it to test, the mountains are calling. But I put alot of time into this so hopefully it works as expected. I didn't add a return to home functionality to make this a bit spicy for ya so make sure your last point is near you other wise you're gonna do a bit of walking... Cheers 🍻🍻🍻🍻🍻🍻", preferredStyle: UIAlertControllerStyle.Alert)
alertController.addAction(UIAlertAction(title: "Dismiss", style: UIAlertActionStyle.Default,handler: nil))
self.presentViewController(alertController, animated: true, completion: nil)
}
override func viewDidLoad() {
super.viewDidLoad()
//initialize our aircraft
mapView.delegate=self
let aircraft: DJIAircraft? = self.fetchAircraft()
if aircraft != nil {
//makes the view controller watch for particular functions like the flight controller one below
aircraft!.delegate = self
aircraft!.flightController?.delegate = self
}
else{
print("aircraft not found")
}
self.missionManager=DJIMissionManager.sharedInstance()
self.missionManager?.delegate=self
//initialize core location to put mapp on our location
let manager = CLLocationManager()
if CLLocationManager.authorizationStatus() == .NotDetermined {
manager.requestAlwaysAuthorization()
}
//start uploading location into manager object so we can use .location method
if CLLocationManager.locationServicesEnabled() {
manager.startUpdatingLocation()
}
//let location = manager.location!.coordinate; //get ipads current location and turn it into a coordinated
let location = CLLocationCoordinate2DMake(40.0150, -105.2705)
let region = MKCoordinateRegionMakeWithDistance(location, 7000, 7000) //create a square region using center point and size of square
mapView.region = region //tells the mapview to center itself around this region
// Do any additional setup after loading the view.
}
override func didReceiveMemoryWarning() {
super.didReceiveMemoryWarning()
// Dispose of any resources that can be recreated.
}
override func viewWillDisappear(animated: Bool) {
let aircraft: DJIAircraft? = self.fetchAircraft()
if aircraft != nil {
if aircraft!.flightController?.delegate === self {
aircraft!.flightController!.delegate = nil
}
}
}
@IBAction func revealRegionDetailsWithLongPressOnMap(sender: UILongPressGestureRecognizer) {
if sender.state != UIGestureRecognizerState.Began { return }
let touchLocation = sender.locationInView(mapView)
let locationCoordinate = mapView.convertPoint(touchLocation, toCoordinateFromView: mapView)
self.missionCoordinates.append(locationCoordinate)
print("Tapped at lat: (locationCoordinate.latitude) long: (locationCoordinate.longitude)")
let annotation = CustomMissionPressLocation(location: locationCoordinate)
mapView.addAnnotation(annotation)
}
//Mark: - Functions Called from Button Presses
@IBAction func clearCoordinates(sender: AnyObject) {
self.missionCoordinates=[]
mapView.removeAnnotations(mapView.annotations)
}
@IBAction func startMission(sender: AnyObject) {
if (!self.missionCoordinates.isEmpty){
print("start Mission Attempted")
self.mission = DJIWaypointMission()
self.mission!.autoFlightSpeed=10
self.mission!.maxFlightSpeed=15
self.mission!.exitMissionOnRCSignalLost=true
let waypoint = DJIWaypoint(coordinate: (self.currentState?.aircraftLocation)!)
waypoint.altitude=15
waypoint.speed=10
waypoint.heading=0
waypoint.actionRepeatTimes = 1
waypoint.actionTimeoutInSeconds = 60
waypoint.cornerRadiusInMeters = 5
waypoint.turnMode = DJIWaypointTurnMode.Clockwise
self.mission!.addWaypoint(waypoint)
for locations in self.missionCoordinates{
let waypoint = DJIWaypoint(coordinate: locations)
waypoint.altitude=15
waypoint.speed=10
waypoint.heading=0
waypoint.actionRepeatTimes = 1
waypoint.actionTimeoutInSeconds = 60
waypoint.cornerRadiusInMeters = 5
waypoint.turnMode = DJIWaypointTurnMode.Clockwise
self.mission!.addWaypoint(waypoint)
}
let waypointStep = DJIWaypointStep(waypointMission: self.mission!)
self.startWayPointMission()
}
else{
let alertController = UIAlertController(title: "Mission Error", message:
"you haven't added any waypoints ya dingus", preferredStyle: UIAlertControllerStyle.Alert)
alertController.addAction(UIAlertAction(title: "Dismiss", style: UIAlertActionStyle.Default,handler: nil))
self.presentViewController(alertController, animated: true, completion: nil)
}
}
//avoids a bunch of knuckleheads from sending the drone to china
func missionIsntTooFar()-> Bool{
let startLoc=self.currentState?.aircraftLocation
let locations = self.missionCoordinates
//let startLoc=locations[0]
for locs in locations{
let distance = MKMetersBetweenMapPoints(MKMapPointForCoordinate(startLoc!), MKMapPointForCoordinate(locs))
if distance > 4000{
return false
}
}
return true
}
func startWayPointMission() {
if self.missionIsntTooFar(){
self.missionManager?.prepareMission(self.mission!, withProgress: nil, withCompletion: {[weak self]
(error: NSError?) -> Void in
if error == nil {
print("uploaded")
print(String(self?.missionManager?.isMissionReadyToExecute))
self?.missionManager?.startMissionExecutionWithCompletion({[weak self]
(error: NSError?)->Void in
if error == nil{
print("mission started")
}
else{
print("error: (error!)")
}
})
}
else {
self?.showAlertResult("mission upload failed (error!)")
}
})
}
else{
mapView.removeAnnotations(mapView.annotations)
let alertController = UIAlertController(title: "Mission is too far", message:
"you're trying to fly the drone too far ya knucklehead", preferredStyle: UIAlertControllerStyle.Alert)
alertController.addAction(UIAlertAction(title: "Dismiss", style: UIAlertActionStyle.Default,handler: nil))
self.presentViewController(alertController, animated: true, completion: nil)
}
}
//Mark: - Flight Controller Delegate Methods
func flightController(fc: DJIFlightController, didUpdateSystemState state: DJIFlightControllerCurrentState) {
self.flightController=fc
self.currentState=state
}
/*
// MARK: - Navigation
// In a storyboard-based application, you will often want to do a little preparation before navigation
override func prepare(for segue: UIStoryboardSegue, sender: Any?) {
// Get the new view controller using segue.destinationViewController.
// Pass the selected object to the new view controller.
}
*/
}
extension FlyToPointsViewController: MKMapViewDelegate{
func mapView(mapView: MKMapView, viewForAnnotation annotation: MKAnnotation) -> MKAnnotationView? {
let annotationView = DroneAnnotationView(annotation: annotation, reuseIdentifier: "Attraction")
annotationView.canShowCallout = false //we're going to customize the callout
return annotationView
}
}
我已经卡了几个小时，希望有人以前见过这个。与往常一样，如果我解决了问题，我将在此处和DJI的论坛上发布解决方案。
不过我晚上打电话给它。
干杯
所以有两件事似乎是错误的
一(
self.flightController?.setHomeLocationUsingAircraftCurrentLocationWithCompletion(nil)
self.mission!.finishedAction=DJIWaypointMissionFinishedAction.GoHome
二(
此外，无人机必须起飞才能上传任务，因此请致电
self.flightController?.takeoffWithCompletion({[weak self]
在尝试上传任务之前。
附言出于某种原因，您需要至少给它两个航点才能使其成为有效的任务。
干杯
我从来没有手动建立飞机的返航点。 但是，您确实需要等到无人机获得足够的GPS定位才能自行设置。
如果你实现了 DJIFlightControllerDelegate didUpdate：state 方法，你可以检查 state.homeLocation 以查看它是否已设置。
此外，您可以在起飞前将任务上传到无人机，只是不要旋转旋翼。 当您开始任务时，它会为您执行此操作。