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mavsdk::Mission::MissionItem Struct Reference ​

#include: mission.h

Type representing a mission item.

A MissionItem can contain a position and/or actions. Mission items are building blocks to assemble a mission, which can be sent to (or received from) a system. They cannot be used independently.

Public Types ​

TypeDescription
enum CameraActionPossible camera actions at a mission item.
enum VehicleActionPossible vehicle actions at a mission item.

Data Fields ​

double latitude_deg {double(NAN)} - Latitude in degrees (range: -90 to +90)

double longitude_deg {double(NAN)} - Longitude in degrees (range: -180 to +180)

float relative_altitude_m { float(NAN)} - Altitude relative to takeoff altitude in metres.

float speed_m_s { float(NAN)} - Speed to use after this mission item (in metres/second)

bool is_fly_through { false} - True will make the drone fly through without stopping, while false will make the drone stop on the waypoint.

float gimbal_pitch_deg {float(NAN)} - Gimbal pitch (in degrees)

float gimbal_yaw_deg {float(NAN)} - Gimbal yaw (in degrees)

CameraAction camera_action {} - Camera action to trigger at this mission item.

float loiter_time_s {float(NAN)} - Loiter time (in seconds)

double camera_photo_interval_s { 1.0} - Camera photo interval to use after this mission item (in seconds)

float acceptance_radius_m { float(NAN)} - Radius for completing a mission item (in metres)

float yaw_deg {float(NAN)} - Absolute yaw angle (in degrees)

float camera_photo_distance_m { NAN} - Camera photo distance to use after this mission item (in meters)

VehicleAction vehicle_action {} - Vehicle action to trigger at this mission item.

Member Enumeration Documentation ​

enum CameraAction ​

Possible camera actions at a mission item.

ValueDescription
NoneNo action.
TakePhotoTake a single photo.
StartPhotoIntervalStart capturing photos at regular intervals.
StopPhotoIntervalStop capturing photos at regular intervals.
StartVideoStart capturing video.
StopVideoStop capturing video.
StartPhotoDistanceStart capturing photos at regular distance.
StopPhotoDistanceStop capturing photos at regular distance.

enum VehicleAction ​

Possible vehicle actions at a mission item.

ValueDescription
NoneNo action.
TakeoffVehicle will takeoff and go to defined waypoint.
LandWhen a waypoint is reached vehicle will land at current position.
TransitionToFwWhen a waypoint is reached vehicle will transition to fixed-wing mode.
TransitionToMcWhen a waypoint is reached vehicle will transition to multi-copter mode.

Field Documentation ​

latitude_deg ​

cpp
double mavsdk::Mission::MissionItem::latitude_deg {double(NAN)}

Latitude in degrees (range: -90 to +90)

longitude_deg ​

cpp
double mavsdk::Mission::MissionItem::longitude_deg {double(NAN)}

Longitude in degrees (range: -180 to +180)

relative_altitude_m ​

cpp
float mavsdk::Mission::MissionItem::relative_altitude_m { float(NAN)}

Altitude relative to takeoff altitude in metres.

speed_m_s ​

cpp
float mavsdk::Mission::MissionItem::speed_m_s { float(NAN)}

Speed to use after this mission item (in metres/second)

is_fly_through ​

cpp
bool mavsdk::Mission::MissionItem::is_fly_through { false}

True will make the drone fly through without stopping, while false will make the drone stop on the waypoint.

gimbal_pitch_deg ​

cpp
float mavsdk::Mission::MissionItem::gimbal_pitch_deg {float(NAN)}

Gimbal pitch (in degrees)

gimbal_yaw_deg ​

cpp
float mavsdk::Mission::MissionItem::gimbal_yaw_deg {float(NAN)}

Gimbal yaw (in degrees)

camera_action ​

cpp
CameraAction mavsdk::Mission::MissionItem::camera_action {}

Camera action to trigger at this mission item.

loiter_time_s ​

cpp
float mavsdk::Mission::MissionItem::loiter_time_s {float(NAN)}

Loiter time (in seconds)

camera_photo_interval_s ​

cpp
double mavsdk::Mission::MissionItem::camera_photo_interval_s { 1.0}

Camera photo interval to use after this mission item (in seconds)

acceptance_radius_m ​

cpp
float mavsdk::Mission::MissionItem::acceptance_radius_m { float(NAN)}

Radius for completing a mission item (in metres)

yaw_deg ​

cpp
float mavsdk::Mission::MissionItem::yaw_deg {float(NAN)}

Absolute yaw angle (in degrees)

camera_photo_distance_m ​

cpp
float mavsdk::Mission::MissionItem::camera_photo_distance_m { NAN}

Camera photo distance to use after this mission item (in meters)

vehicle_action ​

cpp
VehicleAction mavsdk::Mission::MissionItem::vehicle_action {}

Vehicle action to trigger at this mission item.