public MissionDebugger(CameraDefinition cameraDefinition, SurveyArea surveyArea, Mission mission, Transform droneTransform)
{
this.cameraDefinition = cameraDefinition;
this.surveyArea = surveyArea;
this.flightPlan = mission.CalculateFlightPlan();
this.droneTransform = droneTransform;
}
public MissionExecution(CameraDefinition cameraDefinition, SurveyArea surveyArea, Georeferencing georeferencing, Mission mission, Transform droneTransform, float flightSpeed, string folderPath)
{
// Calculate the flight plan
FlightPlan flightPlan = mission.CalculateFlightPlan();
Debug.Log(string.Format("Mission calculated. Will take {0} images.", flightPlan.waypoints.Count));
// Build helpers that will move the drone, take the images, and log everything to later geotag the images
droneMovement = new DroneMovement(droneTransform, flightPlan, flightSpeed);
waypointProcessor = new WaypointProcessor(cameraDefinition, surveyArea, georeferencing, flightPlan.waypoints.Count, folderPath);
// Save all configuration as XML
SaveXML(cameraDefinition, surveyArea, flightPlan, georeferencing, folderPath);
// Add event listeners
droneMovement.OnReachedWaypoint += ReachedWaypoint;
waypointProcessor.OnProcessedAllWaypoints += () => OnMissionFinished?.Invoke();
}