SetRoiCommand

public final class SetRoiCommand : MavlinkStandard.MavlinkCommand

MAVLink command which allows to set a Region Of Interest.

  • ROI mode.

    See more

    Declaration

    Swift

    public enum Mode : Int, CustomStringConvertible

  • ROI mode.

    Declaration

    Swift

    public var mode: Mode { get }

  • Waypoint index or target ID.

    Declaration

    Swift

    public var waypointIndex: Int { get }

  • ROI index.

    Declaration

    Swift

    public var roiIndex: Int { get }

  • When mode is .waypointNext then it is the pitch offset from next waypoint, when .location then it is the latitude.

    Declaration

    Swift

    public var pitchOrLatitude: Double { get }

  • When mode is .waypointNext it is ignored, when .location then it is the longitude.

    Declaration

    Swift

    public var rollOrLongitude: Double { get }

  • When mode is .waypointNext then it is the yaw offset from next waypoint, when .location then it is the altitude.

    Declaration

    Swift

    public var yawOrAltitude: Double { get }

  • Constructor.

    Declaration

    Swift

    public init(mode: Mode,
            waypointIndex: Int,
            roiIndex: Int,
            pitchOrLatitude: Double,
            rollOrLongitude: Double,
            yawOrAltitude: Double,
            frame: Frame = .relative)

    Parameters

    mode

    Region of interest mode.
    waypointIndex

    Waypoint index/ target ID (depends on param 1).
    roiIndex

    Region of interest index. (allows a vehicle to manage multiple ROI’s).
    pitchOrLatitude

    when mode is .waypointNext functions as the pitch offset from next waypoint, when .location functions as latitude.
    rollOrLongitude

    when mode is .waypointNext it is ignored, when .location functions as longitude. Roll is ignored by Anafi 2.
    yawOrAltitude

    when mode is .waypointNext functions as the yaw offset from next waypoint, when .location functions as altitude.
    frame

    the reference frame of the coordinates.