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_MISSION (2) and MAV_FRAME_GLOBAL_RELATIVE_ALT (3) are supported. (3) is the altitude above take-off.

Mission item#

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

Messages can be interpreted in two different ways. V1 or legacy, is the behavior on ANAFI. 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