Overview#

The Ground SDK FlightPlan is sent as a MAVlink text file to the drone.

The first line contains the file format and version information, while subsequent lines are mission item which can be either waypoints or actions (Example: Start/Stop recording, take picture).

QGC WPL <VERSION>
<INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE>

Note

The <COORD FRAME> is only a subset of the coordinate frame information. Each parameter will be of type float.

Only MAV_FRAME_GLOBAL (0), MAV_FRAME_MISSION (2) and MAV_FRAME_GLOBAL_RELATIVE_ALT (3) are supported. (0) is using the altitude above mean sea level. (3) is using the altitude above take-off.

Mission item#

Mission items are a subset of MAVlink messages with custom messages added in.

Messages are interpreted using the following specification: V2 is closer to the standard MAVlink specifications. It is supported on ANAFI Ai.

Start Sequence#

ANAFI Ai implements a new start sequence to guarantee a consistent and repeatable start of a FlightPlan.

At the start of the FlightPlan, two intermediate waypoints, A and B, will be added to the sequence.

A will be set above the current drone position and the altitude will be determined by the highest between:

  1. Traveling altitude of the Return to Home (RTH) feature

  2. Altitude of the first waypoint

  3. Current altitude

B will be created above the first waypoint of the FlightPlan and at the same altitude of A. During the translation between A and B, the camera will always look towards B.

_images/gtfp.png

Example#

The following example shows a simple Ground SDK FlightPlan containing the instructions:

  1. Take-off

  2. Go to waypoint

  3. Take a picture

  1. Start capture

  2. 10s delay

  3. Stop capture

  1. Land

QGC WPL 120
0   1       3       22      15.000000       0.000000        0.000000        nan     48.878601       2.366549        15.000000       1
1   0       3       16      0.000000        0.000000        0.000000        0.000000        48.879000       2.366549        20.000000       1
2   0       2       2000    0.000000        1.000000        1.000000        1.000000        0.000000        0.000000        0.000000        1
3   0       2       93      10.000000       0.000000        0.000000        0.000000        0.000000        0.000000        0.000000        1
4   0       2       2001    0.000000        0.000000        0.000000        0.000000        0.000000        0.000000        0.000000        1
5   0       3       21      0.000000        0.000000        0.000000        nan     48.879139       2.367296        0.000000        1