问DJI SDK -在圆形轨道上飞行，设置半径(米/英尺)和热点任务的空气2S

EN

var flightController: DJIFlightController?
var timer: Timer?
var radians: Float = 0.0
let velocity: Float = 0.1

@IBAction func actionOrbit(_ sender: Any) {
    setupFlightMode()
        // Schedule the timer at 2Hz while the default specified for DJI is between 5 and 25Hz
        timer = Timer.scheduledTimer(timeInterval: 0.5, target: self, selector: #selector(timerLoop), userInfo: nil, repeats: true)
}
    
private func setupFlightMode() {
    // Reset radians
    radians = 0.0
    // Invalidate timer if necessary
    // This allows switching between flight modes
    if timer != nil {
       print("invalidating")
       timer?.invalidate()
    }
 }
    
 @objc func timerLoop() {
    radians += velocity
    if(radians >= 6.283){ //360 degree it will stop the drone once the one orbit is complete
       self.timer?.invalidate()
       radians = 0.0
       self.verticalMoveUpward()
       //vertical throttle and then move forward and land
       return
    }
    x = cos(radians)
    y = sin(radians)
    z = 0
 }
    
 private func sendControlData(x: Float, y: Float, z: Float) {
    print("Sending x: \(x), y: \(y), z: \(z), yaw: \(yaw)")
    // Construct the flight control data object
    var controlData = DJIVirtualStickFlightControlData()
    controlData.verticalThrottle = z //throttle // in m/s
    controlData.roll = x //roll
    controlData.pitch = y //pitch
    controlData.yaw = self.yaw
        
    // Send the control data to the FC
    self.flightController?.send(controlData, withCompletion: { (error: Error?) in
        // There's an error so let's stop
        if error != nil {
            print("Error sending data")
            // Disable the timer
            self.timer?.invalidate()
        }
        else{
            print("Error sending data \(error.debugDescription)")
        }
    })
}