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

Type	Description
enum CameraAction	Possible camera actions at a mission item.
enum VehicleAction	Possible 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.

Value	Description
`None`	No action.
`TakePhoto`	Take a single photo.
`StartPhotoInterval`	Start capturing photos at regular intervals.
`StopPhotoInterval`	Stop capturing photos at regular intervals.
`StartVideo`	Start capturing video.
`StopVideo`	Stop capturing video.
`StartPhotoDistance`	Start capturing photos at regular distance.
`StopPhotoDistance`	Stop capturing photos at regular distance.

enum VehicleAction

Possible vehicle actions at a mission item.

Value	Description
`None`	No action.
`Takeoff`	Vehicle will takeoff and go to defined waypoint.
`Land`	When a waypoint is reached vehicle will land at current position.
`TransitionToFw`	When a waypoint is reached vehicle will transition to fixed-wing mode.
`TransitionToMc`	When a waypoint is reached vehicle will transition to multi-copter mode.

Field Documentation

latitude_deg

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

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

longitude_deg

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

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

relative_altitude_m

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

Altitude relative to takeoff altitude in metres.

speed_m_s

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

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

is_fly_through

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

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

Gimbal pitch (in degrees)

gimbal_yaw_deg

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

Gimbal yaw (in degrees)

camera_action

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

Camera action to trigger at this mission item.

loiter_time_s

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

Loiter time (in seconds)

camera_photo_interval_s

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

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

acceptance_radius_m

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

Radius for completing a mission item (in metres)

yaw_deg

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

Absolute yaw angle (in degrees)

camera_photo_distance_m

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

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

vehicle_action

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

Vehicle action to trigger at this mission item.

struct MissionItem