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:
Traveling altitude of the Return to Home (RTH) feature
Altitude of the first waypoint
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.

Example#
The following example shows a simple Ground SDK FlightPlan containing the instructions:
Take-off
Go to waypoint
Take a picture
Start capture
10s delay
Stop capture
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