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DJIWaypointMissionを開始しようとしていて、 "startMissionExecutionWithCompletion"を呼び出すとエラーが発生しています。私は明らかにprepareMissionを使用して無人機にミッションをアップロードしました。DJI SDK "ホームポイントはまだ記録されていません。"エラーコード：-5010
私に与えるエラーは、「ホームポイントはまだ記録されていません」です。私は、ホームポイントを設定する方法のドキュメントを見て、何も見つからなかったので、DJIMissionManagerオブジェクトのリストされたメソッドとDJIWayPointObjectを無駄にスキャンしました。私はまた無人機の現在の状態から取られた "aircraftLocation"を追加しようとしました。
以下はコードです。
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
}
}
私は数時間立ち往生していましたが、誰かがこれを以前に見ていたと思っていました。いつものように、私が問題を解決したら、私はこことDJIのフォーラムに解決策を掲載します。
私は夜でもそれを呼んでいます。だから、二つのことが
A）
self.flightController?.setHomeLocationUsingAircraftCurrentLocationWithCompletion(nil)
self.mission!.finishedAction=DJIWaypointMissionFinishedAction.GoHome
B）
間違っていたように見え
乾杯
HmmmかなりクールなdjiにはAPIがあります。 –
そうです。実際にはかなり強力です。あなたが本当にそれに乗りたいなら、あなたは何千ものために穀物を買うことができます。そしてあなたは機内のコンピュータとガイダンスシステムをコーディングすることができます。 また、Pythonでコーディングできる3DRソロに行くことができ、簡単にアクセス可能な入力と出力を備えたプログラマブルなオンボードコンピュータが付属しています –