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