Overview

The GroundSdk FlightPlan allows to execute predefined flight plans by Parrot drones, like Anafi.

The flight plan is written in file and can be sent and execute by drones with GroundSdk Mobile (iOs/Android).

File Format

The flight plan file format used is the (QGC format) (https://mavlink.io/en/file_formats/#mission_plain_text_file).

The first line contains the file format and version information, while subsequent line(s) are mission items.

<h1> QGC WPL <VERSION> <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> </h1>

Messages

Flight plan messages are a subset expanded of MAVLink messages (https://mavlink.io/en/messages/common.html) Description of the suported messages

Sample

Following, a sample of the GroundSdk Flight Plan file content. the mission describe is: Takeoff ; go to the waypoint … ; take a picture ; 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       16      0.000000        0.000000        0.000000        0.000000        48.879139       2.367296        0.000000        1
6   0       3       21      0.000000        0.000000        0.000000        nan     48.879139       2.367296        0.000000        1