Custom mission

Things to follow up on.

Mission Timeout

Testing gimbal yaw i1 mission gave a timeout after about 24 steps.

Error Domain=DJISDKErrorDomain Code=-1003
"Execution of this process has timed out(code:-1003)"
UserInfo={NSLocalizedDescription=Execution of this process has timed out(code:-1003)}

• How to handle?
• Is there a non-documented limit?
• Should we run consecutive missions?
• Is there a timeout we can set?

Mission Stopping

Stopping mission often fails - with an error about being busy or in a non-stopping state.

Error Domain=DJISDKCameraErrorDomain Code=-3002
"Camera is busy or the command is not supported in the camera's current state(code:-3002)"
UserInfo={NSLocalizedDescription=Camera is busy or the command is not supported in the camera's current state(code:-3002)}

How best to handle?

• Wait a beat and stop again?
• Keep trying until it stops?

What do DJI recommend?

Telemetry

The I1 and P4 needed gimbal yaw adjusted to match aircraft yaw. This is already shown not to be needed in a custom mission.

The gimbal yaw angle telemetry was off during testing - perhaps it's not needed there either. Needs testing