-(void)WaypointVirtualStick
{
    CLLocation* WpLoca = self.WPLocations[self.index];
    if (self.index < [self.WPLocations count])
    {
        NSLog(@"Current waypoint: %d", self.index);
        [self WaypointMission:WpLoca];
    }else{
        [self.timeVS invalidate];
        // self.mYaw = VirtualStickBearing;
        self.mXVelocity = 0;
        WeakRef(target);
        [self.flightController setVirtualStickModeEnabled:NO withCompletion:^(NSError * _Nullable error) {
            WeakReturn(target);
            if (error){
                NSLog(@"Exit Virtual Stick False!");
            } else{
                NSLog(@"Exit Virtual Stick Successed!");
            }
        }];
        [self.flightController setIsVirtualStickAdvancedModeEnabled:NO];
    }


}


- (IBAction)onFly:(id)sender
{
    self.mXVelocity = 0;
    self.mYaw = 0;
    self.mThrottle = self.aircraftLocation.altitude;


    self.WPLocations = [[NSArray alloc] initWithObjects:(CLLocation*)[[CLLocation alloc] initWithCoordinate:CLLocationCoordinate2DMake(52.40561, 16.94785) altitude:self.aircraftLocation.altitude horizontalAccuracy:200.0 verticalAccuracy:200.0 timestamp:[NSDate date]], (CLLocation*)[[CLLocation alloc] initWithCoordinate:CLLocationCoordinate2DMake(52.40553, 16.94816) altitude:self.aircraftLocation.altitude horizontalAccuracy:200.0 verticalAccuracy:200.0 timestamp:[NSDate date]], (CLLocation*)[[CLLocation alloc] initWithCoordinate:CLLocationCoordinate2DMake(52.40542, 16.94791) altitude:self.aircraftLocation.altitude horizontalAccuracy:200.0 verticalAccuracy:200.0 timestamp:[NSDate date]], (CLLocation*)[[CLLocation alloc] initWithCoordinate:CLLocationCoordinate2DMake(52.40524, 16.94793) altitude:self.aircraftLocation.altitude horizontalAccuracy:200.0 verticalAccuracy:200.0 timestamp:[NSDate date]], (CLLocation*)[[CLLocation alloc] initWithCoordinate:CLLocationCoordinate2DMake(52.40536, 16.94768) altitude:self.aircraftLocation.altitude horizontalAccuracy:200.0 verticalAccuracy:200.0 timestamp:[NSDate date]], (CLLocation*)[[CLLocation alloc] initWithCoordinate:CLLocationCoordinate2DMake(52.40523, 16.94742) altitude:self.aircraftLocation.altitude horizontalAccuracy:200.0 verticalAccuracy:200.0 timestamp:[NSDate date]], (CLLocation*)[[CLLocation alloc] initWithCoordinate:CLLocationCoordinate2DMake(52.40544, 16.94745) altitude:self.aircraftLocation.altitude horizontalAccuracy:200.0 verticalAccuracy:200.0 timestamp:[NSDate date]], (CLLocation*)[[CLLocation alloc] initWithCoordinate:CLLocationCoordinate2DMake(52.40561, 16.94716) altitude:self.aircraftLocation.altitude horizontalAccuracy:200.0 verticalAccuracy:200.0 timestamp:[NSDate date]], (CLLocation*)[[CLLocation alloc] initWithCoordinate:CLLocationCoordinate2DMake(52.40561, 16.94751) altitude:self.aircraftLocation.altitude horizontalAccuracy:200.0 verticalAccuracy:200.0 timestamp:[NSDate date]], (CLLocation*)[[CLLocation alloc] initWithCoordinate:CLLocationCoordinate2DMake(52.40577, 16.9477) altitude:self.aircraftLocation.altitude horizontalAccuracy:200.0 verticalAccuracy:200.0 timestamp:[NSDate date]], nil];


    self.timeVS = [NSTimer scheduledTimerWithTimeInterval:0.02 target:self selector:@selector(WaypointVirtualStick) userInfo:nil repeats:YES];
}