如何获取无人机航点飞行时的飞行状态

关键词：航点、飞行状态

可以通过设置回调函数去获取无人机的航点飞行的实时状态

step1.先在MissionSample.cpp中定义 

void callback(DJI::OSDK::Vehicle *vehicle, DJI::OSDK::RecvContainer recvFrame, DJI::OSDK::UserData userData)
 {
 printf("status = %d",recvFrame.recvData.wayPointStatusPushData.current_status); 
 }

step2.在runWaypointMission()函数中设置回调

v->missionManager->wpMission->setWaypointCallback(callback,NULL);

编译运行后即可获得无人机航点飞行的当前状态

相关结构体：（WayPointReachedData数据为航点状态数据，只有到达航点后才会进行更新）

/*!
 * @brief This struct captures PushData while ground-station is enabled on
 * Assistant's SDK Page, CMD: 0x02, 0x04
 */
 typedef struct WayPointReachedData
 {
 uint8_t incident_type; /*! see WayPointIncidentType */
 uint8_t waypoint_index; /*! the index of current waypt mission */
 uint8_t current_status; /*! 4: pre-action, 6: post-action */
 uint8_t reserved_1;
 uint8_t reserved_2;
 } WayPointReachedData; // pack(1)
 
 /*!
 * @brief This struct captures PushData while ground-station is enabled on
 * Assistant's SDK Page, CMD: 0x02, 0x03
 */
 typedef struct WayPointStatusPushData{
 uint8_t mission_type; /*! see WayPointPushDataIncidentType */
 uint8_t waypoint_index; /*! the index of current waypt mission */
 uint8_t current_status; /*! 0: pre-mission, 1: in-action, 5: first waypt , 6: reached */
 uint8_t error_notification;
 uint16_t reserved_1;
 } WayPointStatusPushData;
 /*!