waypoint V2如何设置航点动作悬停？

关键词：OSDK waypoint v2，悬停actions实现

可以按照以下顺序设置航点动作，实现悬停：

DJIWaypointV2AircraftControlFlyingParam停止飞行
DJIWaypointV2IntervalTriggerParam 间隔时间
DJIWaypointV2AircraftControlFlyingParam开始飞行

其中DJIWaypointV2IntervalTriggerParam 间隔时间参数单位：0.1s，可设置最大值为uint8：255

设置悬停5s，参考代码：

associateTriggerParam.waitingTime = 50; //5s

（以下代码节选自开发者自己实现代码，非原创。此部分代码实现简洁直观易懂，仅供参考）

std::vector<DJIWaypointV2Action> WaypointV2MissionSample::generateWaypointActions(uint16_t actionNum)
{
std::vector<DJIWaypointV2Action> actionVector;
#if 0
for(uint16_t i = 0; i < actionNum; i++)
{
DJIWaypointV2SampleReachPointTriggerParam sampleReachPointTriggerParam;
sampleReachPointTriggerParam.waypointIndex = i;
sampleReachPointTriggerParam.terminateNum = 0;

auto *trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeSampleReachPoint,&sampleReachPointTriggerParam);
auto *cameraActuatorParam = new DJIWaypointV2CameraActuatorParam(DJIWaypointV2ActionActuatorCameraOperationTypeTakePhoto, nullptr);
auto *actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeCamera, 0, cameraActuatorParam);
auto *action = new DJIWaypointV2Action(i, *trigger,*actuator);
actionVector.push_back(*action);
}
#endif

// pause when reach waypoint[1]
sampleReachPointTriggerParam.waypointIndex = 1;
sampleReachPointTriggerParam.terminateNum = 0;
trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeSampleReachPoint,&sampleReachPointTriggerParam);

flyControlParam.isStartFlying = 0;
aircraftActuatorParam = new DJIWaypointV2AircraftControlParam(DJIWaypointV2ActionActuatorAircraftControlOperationTypeFlyingControl, &flyControlParam);
actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeAircraftControl, 0, aircraftActuatorParam);

s = new DJIWaypointV2Action(action_id, *trigger,*actuator);
actionVector.push_back(*s);

action_id++;
delete trigger;
delete aircraftActuatorParam;
delete actuator;
delete s;

// resume after actions at waypoint[1]
associateTriggerParam.actionAssociatedType = DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised;
associateTriggerParam.waitingTime = 50;      //5s
associateTriggerParam.actionIdAssociated = action_id - 1;
trigger = new DJIWaypointV2Trigger(DJIWaypointV2ActionTriggerTypeActionAssociated,&associateTriggerParam);

flyControlParam.isStartFlying = 1;
aircraftActuatorParam = new DJIWaypointV2AircraftControlParam(DJIWaypointV2ActionActuatorAircraftControlOperationTypeFlyingControl, &flyControlParam);
actuator = new DJIWaypointV2Actuator(DJIWaypointV2ActionActuatorTypeAircraftControl, 0, aircraftActuatorParam);

s = new DJIWaypointV2Action(action_id, *trigger,*actuator);
actionVector.push_back(*s);

action_id++;
delete trigger;
delete aircraftActuatorParam;
delete actuator;
delete s;

return actionVector;
}