MissionWaypointTask.msg

# constant for action_on_finish
uint8 FINISH_NO_ACTION       = 0  # no action
uint8 FINISH_RETURN_TO_HOME  = 1  # return to home
uint8 FINISH_AUTO_LANDING    = 2  # auto landing
uint8 FINISH_RETURN_TO_POINT = 3  # return to point 0
uint8 FINISH_NO_EXIT         = 4  # infinite mode， no exit

# constant for yaw_mode
uint8 YAW_MODE_AUTO     = 0       # auto mode (point to next waypoint)
uint8 YAW_MODE_LOCK     = 1       # lock as an initial value
uint8 YAW_MODE_RC       = 2       # controlled by RC
uint8 YAW_MODE_WAYPOINT = 3       # use waypoint's yaw(tgt_yaw)

# constant for trace_mode
uint8 TRACE_POINT       = 0       # point to point, after reaching the target waypoint hover, complete waypt action (if any), then fly to the next waypt
uint8 TRACE_COORDINATED = 1       # 1: Coordinated turn mode, smooth transition between waypts, no waypts task

# constants for action_on_rc_lost
uint8 ACTION_FREE       = 0       # exit waypoint and failsafe
uint8 ACTION_AUTO       = 1       # continue the waypoint

# constants for gimbal_pitch_mode
uint8 GIMBAL_PITCH_FREE = 0       # free mode, no control on gimbal
uint8 GIMBAL_PITCH_AUTO = 1       # auto mode, Smooth transition between waypoints on gimbal

float32 velocity_range    # Maximum speed joystick input(2~15m)
float32 idle_velocity     # Cruising Speed (without joystick input, no more than vel_cmd_range)
uint8 action_on_finish    # See constants above for possible actions
uint8 mission_exec_times  # 1: once ; 2: twice
uint8 yaw_mode            # see constants above for possible yaw modes
uint8 trace_mode          # see constants above for possible trace modes
uint8 action_on_rc_lost   # see constants above for possible actions
uint8 gimbal_pitch_mode   # see constants above for pissible gimbal modes
MissionWaypoint[] mission_waypoint  # a vector of waypoints