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 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:
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