GSReturnHomePilotingItf
@objc
public protocol GSReturnHomePilotingItf : ActivablePilotingItf, PilotingItf
Undocumented
-
Tells whether a given reason is partly responsible of the unavailable state of this piloting interface.
Declaration
Swift
func hasUnavailabilityReason(_ reason: ReturnHomeIssue) -> Bool
Parameters
reason
the reason to query
Return Value
true
if the piloting interface is partly unavailable because of the given reason. -
Return Home mode for auto trigger. This setting permit to enable or diable auto triggered return home
Declaration
Swift
var autoTriggerMode: BoolSetting? { get }
-
Reason why the return home is active or not.
Declaration
Swift
var reason: ReturnHomeReason { get }
-
Current home location,
nil
if unknown.Declaration
Swift
var homeLocation: CLLocation? { get }
-
Current return home target. May be different from the one selected by preferredTarget if the requirement of the selected target are not met.
Declaration
Swift
var currentTarget: ReturnHomeTarget { get }
-
If current target is
TakeOffPosition
, indicates if the first GPS fix was made before or after takeoff. If the first fix was made after take off, the drone will return at this first fix position that may be different from the takeoff positionDeclaration
Swift
var gpsWasFixedOnTakeOff: Bool { get }
-
Return home target settings, to select if the drone should return to its take-off position or to the current pilot position.
Declaration
Swift
var preferredTarget: ReturnHomePreferredTarget { get }
-
Return home ending behavior settings, to select if the drone will end its return home by landing or hovering.
Declaration
Swift
var endingBehavior: ReturnHomeEnding { get }
-
Minimum return home altitude in meters, relative to the take off point. If the drone is below this altitude when starting its return home, it will first reach the minimum altitude. If it is higher than this minimum altitude, it will operate its return home at its actual.
nil
if not supported by the drone.Declaration
Swift
var minAltitude: DoubleSetting? { get }
-
Return home ending hovering altitude in meters, relative to the take off point.
nil
if not supported by the drone.Declaration
Swift
var endingHoveringAltitude: DoubleSetting? { get }
-
Delay before starting return home when the controller connection is lost, in seconds.
Declaration
Swift
var autoStartOnDisconnectDelay: IntSetting { get }
-
Estimation of the possibility for the drone to reach its return point.
Declaration
Swift
var homeReachability: HomeReachability { get }
-
Delay in seconds before the drone starts an automatic return home when
homeReachability
is.warning
, meaningless otherwise. This delay is computed by the drone to allow it to reach its home position before the battery is empty.Declaration
Swift
var autoTriggerDelay: TimeInterval { get }
-
true
if an ongoing return home is currently suspended for some reason;false
otherwise.Declaration
Swift
var suspended: Bool { get }
-
Activates this piloting interface.
If successful, it deactivates the current piloting interface and activate this one.
Declaration
Swift
func activate() -> Bool
Return Value
true
on success,false
if the piloting interface can’t be activated -
Cancels any current auto trigger. If
homeReachability
is.warning
, this cancels the planned return home.Declaration
Swift
func cancelAutoTrigger()
-
Set a custom location to the drone. This location will be used by the drone for the rth
If this method is called while the preferredTarget is not set to
customPosition
, it will do nothingDeclaration
Swift
func setCustomLocation(latitude: Double, longitude: Double, altitude: Double)
Parameters
latitude
latitude of the location (in degrees) to reach
longitude
longitude of the location (in degrees) to reach
altitude
altitude above ground level (in meters) to reach