DJI SDK“尚未记录返航点。”错误代码：-5010

Posted 2023-03-10

【中文标题】DJI SDK“尚未记录返航点。”错误代码：-5010

【英文标题】：DJI SDK "Home point not recorded yet." error Code: -5010

【发布时间】：2017-02-05 04:20:18

【问题描述】：

嘿，你们好，我正在尝试启动 DJIWaypointMission，当我调用“startMissionExecutionWithCompletion”时出现错误，我显然已经使用 prepareMission 成功地将任务上传到无人机。

它给我的错误是“尚未记录原点”。我查看了有关设置起始点的方法的文档，但没有找到任何东西，并且我已经扫描了 DJIMissionManager 对象以及 DJIWayPointObject 的列出方法，但无济于事。我还尝试添加取自无人机当前状态的“aircraftLocation”。

下面是代码。

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
    

我已经被困了几个小时，希望有人以前见过这个。与往常一样，当我解决问题时，我会在此处和 DJI 论坛上发布解决方案。

不过，我是在晚上打电话给它。

干杯

【问题讨论】：

嗯，很酷的 dji 有一个 API。

是的。它实际上非常强大。如果您想真正深入了解它，您可以花 3,000 美元购买该矩阵，并且可以对车载计算机和导航系统进行编码。或者您可以使用 3DR 独奏，您可以使用 Python 编写代码，并配备可编程的板载计算机，可轻松访问输入和输出

@LukeWorley 你解决了吗？上传任务后飞行器失去返航点，完成任务后请勿返航

【参考方案1】：

所以有两件事似乎是错误的

一）

    self.flightController?.setHomeLocationUsingAircraftCurrentLocationWithCompletion(nil)


self.mission!.finishedAction=DJIWaypointMissionFinishedAction.GoHome

B)

无人机必须起飞才能上传任务，因此请致电

        self.flightController?.takeoffWithCompletion([weak self]

在尝试上传任务之前。

附：出于某种原因，您需要为其提供至少两个航路点才能使其成为有效任务。

干杯

【参考方案2】：

我从来不用手动建立飞机的原点。但是，您确实需要等到无人机获得足够的 GPS 定位后才能自行设置。

如果你实现了 DJIFlightControllerDelegate didUpdate:state 方法，你可以检查 state.homeLocation 看看它是否已经设置好了。

此外，您可以在起飞前将任务上传到无人机，只是不要旋转旋翼。当您开始执行任务时，它会为您执行此操作。