structmavsdk_1_1_mission_1_1_mission_item.md

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.

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)

Member Enumeration Documentation

enum CameraAction {#structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4}

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.

Field Documentation

latitude_deg {#structmavsdk_1_1_mission_1_1_mission_item_1af39e7086391121ace640feea0bfdd289}

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

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

longitude_deg {#structmavsdk_1_1_mission_1_1_mission_item_1afecfad42d0976a85842cc9489694c062}

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

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

relative_altitude_m {#structmavsdk_1_1_mission_1_1_mission_item_1aeb6371f7a6fe5f81f96d4826db550602}

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

Altitude relative to takeoff altitude in metres.

speed_m_s {#structmavsdk_1_1_mission_1_1_mission_item_1ab48b7ba0f5a85056ac516585f8df9729}

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

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

is_fly_through {#structmavsdk_1_1_mission_1_1_mission_item_1ac01a5fd31bee531537ec87658a4a3561}

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 {#structmavsdk_1_1_mission_1_1_mission_item_1af76dd7536ffd1fcad98c4e08fe33c791}

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

Gimbal pitch (in degrees)

gimbal_yaw_deg {#structmavsdk_1_1_mission_1_1_mission_item_1a6c0cf351a535a5e77b8079e5d532974b}

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

Gimbal yaw (in degrees)

camera_action {#structmavsdk_1_1_mission_1_1_mission_item_1a2f38fdb200201180ab370d811bb21f2f}

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

Camera action to trigger at this mission item.

loiter_time_s {#structmavsdk_1_1_mission_1_1_mission_item_1aa54196266e57f2a05ab46aa41fce1dd0}

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

Loiter time (in seconds)

camera_photo_interval_s {#structmavsdk_1_1_mission_1_1_mission_item_1a7b48c46ecb52f115e5461a944f619612}

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

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