GuidedPilotingItf

public protocol GuidedPilotingItf : ActivablePilotingItf, PilotingItf

Guided piloting interface.

This interface used is to request a relative (move ‘by’) or absolute (move ‘to’) displacement of the drone.

This piloting interface can be retrieved by:

drone.getPilotingItf(PilotingItfs.guided)
  • 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

    func moveToLocation(latitude: Double, longitude: Double, altitude: Double, orientation: OrientationDirective)

    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

  • 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

    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)

  • 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 }
  • 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 }