Waypoints.swift

@objc private func initializeMission() {

    // 1.
    if mission.points.count < 2 {
        print("Not enough waypoints")
        return
    }
    
    // 2.
    if let mission = djiMission {
        mission.removeAllWaypoints()
    } else {
        djiMission = DJIMutableWaypointMission()
    }
  
    // 3.	  
    mission.pointsData().forEach { number, point, waypoint in 
        let waypoint = DJIWaypoint(coordinate: point.coordinate)
        waypoint.altitude = 40.0
	djiMission.add(waypoint)
    }

    // 4.
    djiMission.finishedAction = DJIWaypointMissionFinishedAction.noAction
    djiMission.autoFlightSpeed = 2
    djiMission.maxFlightSpeed = 4
    djiMission.headingMode = .auto
    djiMission.flightPathMode = .normal

    // 5.
    if let error = djiMission.checkParameters() {
        print("Waypoint Mission parameters are invalid: \(error.localizedDescription)")
        return
    }
    
    // 6.
    if let error = missionOperator.load(djiMission) {
        print(error.localizedDescription)
    }
    
    // 7.
    missionOperator.addListener(toUploadEvent: self, with: DispatchQueue.main) { error in
        print("Upload")
        if error.currentState.rawValue == 5 {
            self.state = .flying
            self.startMission()
        }
    }
    
    // 8.
    missionOperator.uploadMission() { error in
        if let error = error {
            print("Upload error")
            print(error.localizedDescription)
        } else {
            print("Upload finished")
            self.state = .flying
        }
    }
}