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Update mission docs #271

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merged 2 commits into from
Feb 19, 2018
Merged

Update mission docs #271

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4c0b031
Update mission docs
hamishwillee Feb 16, 2018
98eb720
Merge branch 'develop' into doc_updates
hamishwillee Feb 16, 2018
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18 changes: 13 additions & 5 deletions plugins/mission/mission.h
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Original file line number Diff line number Diff line change
Expand Up @@ -72,11 +72,19 @@ class Mission : public PluginBase
typedef std::vector<std::shared_ptr<MissionItem>> mission_items_t;

/**
* @brief Imports QGroundControl(QGC) mission and composes DroneCore mission items out of it.
* @param[out] mission_items Imported mission items from QGC plan.
* @param qgc_plan_file Path of the QGC plan.
* @sa [QGroundControl Plan file format](https://dev.qgroundcontrol.com/en/file_formats/plan.html) (QGroundControl Dev Guide)
* @return SUCCESS if successful in importing QGC mission items, error code otherwise.
* @brief Imports a **QGroundControl** (QGC) mission plan.
*
* The method composes the plan into a vector of MissionItem shared pointers that can
* then be uploaded to a vehicle.
* The method will fail if any of the imported mission items are not supported
* by the %DroneCore API.
*
* @param[out] mission_items Vector of mission items imported from QGC plan.
* @param qgc_plan_file File path of the QGC plan.
* @sa [QGroundControl Plan file format](https://dev.qgroundcontrol.com/en/file_formats/plan.html) (QGroundControl Dev Guide)
* @return Result::SUCCESS if successful in importing QGC mission items.
* Otherwise one of the error codes: Result::FAILED_TO_OPEN_QGC_PLAN,
* Result::FAILED_TO_PARSE_QGC_PLAN, Result::UNSUPPORTED_MISSION_CMD.
*/
static Result import_qgroundcontrol_mission(mission_items_t &mission_items,
const std::string &qgc_plan_file);
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5 changes: 3 additions & 2 deletions plugins/mission/mission_item.h
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Expand Up @@ -69,10 +69,11 @@ class MissionItem
/**
* @brief Set loiter time in seconds.
*
* This can be used to wait for vehicle to slow down or a gimbal to arrive at the set
* This specifies the delay at a waypoint before executing next mission item.
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This in particular needs to be checked. I assume the delay is at a waypoint.

* It can be used to wait for vehicle to slow down or a gimbal to arrive at the set
* orientation.
*
* @param loiter_time_s The time to wait (loiter) for, in seconds.
* @param loiter_time_s The time to wait (loiter), in seconds.
*/
void set_loiter_time(float loiter_time_s);

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