GSGuidedPilotingItf Protocol Reference


                    
                    
                    move(directive:)

Starts a guided flight. Moves the drone according to the specified movement directive

This interface will change to active when the drone starts, and then to idle when the drone reaches its destination or is stopped. It also becomes idle in case of error.

If this method is called while the previous guided flight is still in progress, it will be stopped immediately and the new guided flight is started.

In case of drone disconnection, the guided flight is interrupted.

Declaration

Swift

func move(directive: GuidedDirective)

Parameters


                                directive

movement directive


                    
                    
                    currentDirective

Current guided flight directive if there’s a guided flight in progress, nil otherwise.

It can be either a LocationDirective or a RelativeMoveDirective. The flight parameters have the values returned by the drone.

Declaration

Swift

var currentDirective: GuidedDirective? { get }


                    
                    
                    latestFinishedFlightInfo

Latest terminated guided flight information if any, nil otherwise.

It can be either a FinishedLocationFlightInfo or a FinishedRelativeMoveFlightInfo. The flight parameters have the values returned by the drone. It indicates the final state of the flight and, for a relative move, the move that the drone actually did.

Declaration

Swift

var latestFinishedFlightInfo: FinishedFlightInfo? { get }


                    
                    
                    hasUnavailabilityReason(_:)

Tells whether a given reason is partly responsible of the unavailable state of this piloting interface.

Declaration

Swift

func hasUnavailabilityReason(_ reason: GuidedIssue) -> Bool

Parameters


                                reason

the reason to query

Return Value

true if the piloting interface is partly unavailable because of the given reason.


                    
                    
                    moveToLocation(latitude:longitude:altitude:orientation:heading:)

Starts a location guided flight. Moves the drone to a specified location, and rotates heading to the specified value.

This interface will change to active when the drone starts, and then to idle when the drone reaches its destination or is stopped. It also becomes idle in case of error.

If this method is called while the previous guided flight is still in progress, it will be stopped immediately and the new guided flight is started.

In case of drone disconnection, the guided flight is interrupted.

Declaration

Swift

@available(*, deprecated, message: "Use func move(directive: GuidedDirective﹚ instead")
func moveToLocation(latitude: Double, longitude: Double, altitude: Double, orientation: GSOrientationDirective,
                    heading: Double)

Parameters

`latitude`	latitude of the location (in degrees) to reach
`longitude`	longitude of the location (in degrees) to reach
`altitude`	altitude above sea level (in meters) to reach
`orientation`	orientation of the location guided flight
`heading`	heading for the orientation (`headingStart`or `'headingDuring`)


                    
                    
                    moveToRelativePosition(forwardComponent:rightComponent:downwardComponent:headingRotation:)

Start sa relative move guided flight.

Rotates heading by a given angle, and then moves the drone to a relative position. Moves are relative to the current drone orientation (drone’s reference). Also note that the given rotation will not modify the move (i.e. moves are always rectilinear).

This interface will change to active when the drone starts, and then to idle when the drone reaches its destination or is stopped. It also becomes idle in case of error.

If this method is called while the previous guided flight is still in progress, it will be stopped immediately and the new guided flight is started.

In case of drone disconnection, the guided flight is interrupted.

Declaration

Swift

@available(*, deprecated, message: "Use func move(directive: GuidedDirective﹚ instead")
func moveToRelativePosition(
    forwardComponent: Double, rightComponent: Double, downwardComponent: Double, headingRotation: Double)

Parameters

`forwardComponent`	desired displacement along the front axis, in meters. Negative value for a backward move
`rightComponent`	desired displacement along the right axis, in meters. Negative value for a left move
`downwardComponent`	desired displacement along the down axis, in meters. Negative value for an upward move
`headingRotation`	desired relative rotation of heading, in degrees (clockwise)