DJI SDK CustomMissionでTakeOffした後に動作を行わない

###前提・実現したいこと
DJIのSDKを用いて、CustomMissionを動作させたいです。
現在takeoffを行った後、4つのwaypointを巡ることをさせたいと思っています

###発生している問題・エラーメッセージ
phantom3はtakeoffを行った後に、waypointが実行されません。
ソースコードはrunnableを実装し、ボタンを押した時点で、missoinをスタートさせようとしています。

###ソースコード

Java
1package ;
2
3import java.util.LinkedList;
4import java.util.List;
5
6import dji.sdk.FlightController.DJIFlightController;
7import dji.sdk.FlightController.DJIFlightControllerDataType;
8import dji.sdk.MissionManager.DJICustomMission;
9import dji.sdk.MissionManager.DJIMission;
10import dji.sdk.MissionManager.DJIMissionManager;
11import dji.sdk.MissionManager.DJIWaypoint;
12import dji.sdk.MissionManager.DJIWaypointMission;
13import dji.sdk.MissionManager.MissionStep.DJIMissionStep;
14import dji.sdk.MissionManager.MissionStep.DJITakeoffStep;
15import dji.sdk.MissionManager.MissionStep.DJIWaypointStep;
16import dji.sdk.Products.DJIAircraft;
17import dji.sdk.base.DJIBaseComponent;
18import dji.sdk.base.DJIBaseProduct;
19import dji.sdk.base.DJIError;
20
21
22public class waypoint implements Runnable{
23
24
25
26    protected DJIBaseProduct mproduct;
27
28    
29    //座標
30    final double PointAlat = ;
31    final double PointBlat = ;
32    final double PointClat = ;
33    final double PointDlat = ;
34
35    final double PointAlon = ;
36    final double PointBlon = ;
37    final double PointClon = ;
38    final double PointDlon = ;
39
40
41    protected double homeLocationLatitude;
42    protected double homeLocationLongitude;
43
44    private  DJIMissionManager djiMissionManager = null;
45
46    @Override
47    public void run() {
48
49        try {
50            mproduct = FPVApplication.getProductInstance();
51        } catch (Exception e) {
52            mproduct = null;
53        }
54        if (mproduct != null) {
55            djiMissionManager = mproduct.getMissionManager();
56            DJIAircraft aircraft = (DJIAircraft)mproduct;
57            DJIFlightController flightcontroller = aircraft.getFlightController();
58            homeLocationLatitude = getcurrentlocation(flightcontroller).getAltitude();
59            homeLocationLongitude =  getcurrentlocation(flightcontroller).getLongitude();
60        }
61
62
63        DJIWaypointMission waypointMission = new DJIWaypointMission();
64        waypointMission.autoFlightSpeed = 2;
65        List<DJIWaypoint> waypoints = new LinkedList<>();
66
67        DJIWaypoint waypoint1 = new DJIWaypoint(PointAlat, PointAlon, 20f);
68        DJIWaypoint waypoint2 = new DJIWaypoint(PointBlat, PointBlon, 20f);
69        DJIWaypoint waypoint3 = new DJIWaypoint(PointClat, PointClon, 20f);
70        DJIWaypoint waypoint4 = new DJIWaypoint(PointDlat, PointDlon, 20f);
71        DJIWaypoint  home = new  DJIWaypoint(homeLocationLatitude, homeLocationLongitude, 20f){
72            {
73                heading = 0;
74                gimbalPitch = -90;
75            }
76        };
77
78        DJIWaypoint.DJIWaypointAction djiWaypointAction = new DJIWaypoint.DJIWaypointAction(DJIWaypoint.DJIWaypointActionType.Stay,1000);
79
80        waypoint1.addAction(djiWaypointAction);
81        waypoint2.addAction(djiWaypointAction);
82        waypoint3.addAction(djiWaypointAction);
83        waypoint4.addAction(djiWaypointAction);
84        home.addAction(djiWaypointAction);
85
86        waypoints.add(waypoint1);
87        waypoints.add(waypoint2);
88        waypoints.add(waypoint3);
89        waypoints.add(waypoint4);
90        waypoints.add(home);
91        waypointMission.addWaypoints(waypoints);
92
93        List<DJIMissionStep> djiMissionSteps = new LinkedList<>();
94            djiMissionSteps.add(new DJITakeoffStep(new DJIBaseComponent.DJICompletionCallback() {
95                @Override
96                public void onResult(DJIError djiError) {
97
98                }
99            }));
100
101            djiMissionSteps.add(new DJIWaypointStep(waypointMission, new DJIBaseComponent.DJICompletionCallback() {
102                @Override
103                public void onResult(DJIError djiError) {
104
105                }
106
107            }));
108
109        DJICustomMission djiMission = new DJICustomMission(djiMissionSteps);
110
111        if(djiMissionManager != null) {
112            djiMissionManager.prepareMission(djiMission, new DJIMission.DJIMissionProgressHandler() {
113                @Override
114                public void onProgress(DJIMission.DJIProgressType djiProgressType, float v) {
115
116                }
117            }, new DJIBaseComponent.DJICompletionCallback() {
118
119                @Override
120                public void onResult(DJIError djiError) {
121
122                }
123            });
124            djiMissionManager.startMissionExecution(new DJIBaseComponent.DJICompletionCallback() {
125                @Override
126                public void onResult(DJIError djiError) {
127
128                }
129            });
130        }
131    }
132
133    private  DJIFlightControllerDataType.DJILocationCoordinate3D  getcurrentlocation(DJIFlightController flightcontroller) {
134        DJIFlightControllerDataType.DJIFlightControllerCurrentState flightControllerCurrentState = flightcontroller.getCurrentState();
135        DJIFlightControllerDataType.DJILocationCoordinate3D djiLocationCoordinate3D = flightControllerCurrentState.getAircraftLocation();
136
137        return  djiLocationCoordinate3D;
138    }
139}