Mission planning

Waypoint Missions

A waypoint mission is an autonomous mission in which the aircraft performs a flight path that follows the defined waypoint items placed on the map by the user.

The mission path and direction are shown on the map, with ordered numbered circles for the waypoints. Other important types of points are marked with labelled points (e.g. "V" for VTOL takeoff).

A mission item can be edited directly from the map once it is selected. It is highlighted and its editor is opened in the list.

The Upload required button is used to upload missions to the vehicle (along with other plan types). Users can then switch to Fly View and run the mission.

Create a Waypoint Mission

Here is an instance of a simple end-to-end mission that includes takeoff, setting waypoints, and landing. Moreover, it also shows how to create and cancel a Point of Interest (POI) for the camera to capture.

Mission Start

1. Open the Plan View.

2. If there is an existing mission select the bin icon in the top right corner.

1. The Mission Start Editor is the first item in the mission command list. It is used to specify settings that apply to the whole mission (e.g. launch position), and settings.

Check that the Mission Start editor settings are correct for the planned flight. In particular, that the altitude is high enough to avoid obstacles when travelling to the first waypoint.

1. Set the initial altitude and the flight speed for the mission. The altitude can be changed for the waypoints, and will remain the same for subsequent waypoints.

1. Check if all the settings are correct, then proceed to select the Upload required button.

1. Navigate to the Fly view and select the Mission button to start the Mission.

Notes:

• Select Plan Tools > Waypoint to enable adding waypoints.

• Select a point on the map to add a Waypoint, it will automatically generate a waypoint item to the Mission editor.

• If needed, use the editor to modify the altitude. Camera triggering can also be configured from this panel (and will apply until the next waypoint).

• Add as many waypoints as needed along the desired path on the map.

• To insert waypoints between existing waypoints, select the mission item before where the new item is to be added (either on the map or its editor), then repeat the process to add waypoints.

• Check the Terrain Data Indicator to confirm that none of the waypoints is below ground. Use the Mission Information to check that each waypoint (and the whole mission) is flyable.

Edit waypoints

Select the desired waypoint to edit its configuration.

Waypoints can be moved on the map using drag-drop.

• To create a waypoint between the last two items, select the marker on the line between them.

Add Points of Interest (POI) for Cameras

• Enable Plan Tools > POI to enable adding a point of interest.

• Select a location on the map where you want to place a POI item ➡️ this will add the item editor in the mission item list on the right side of the display.

  
• Select the cancel POI in the left sidebar to clear the POI.

  

Mission End

Use the Return button in the Fly view or select a Mission end action from the Mission Editor.

• Hold: The aircraft will hover at its current position and altitude.

• Land: The aircraft is landing at its current position and altitude.

• Return to Launch: It creates a path back to the mission take-off point.

Upload the mission to the vehicle using the Upload Required button. Once the mission has been uploaded users can change to the Fly View and execute the mission.

Survey Patterns

Different patterns can be used to insert surveys and scans into a mission plan. Patterns provide a much easier and more flexible alternative for defining a survey/scan mission in contrast of manually specifying a flight path and camera triggering through individual waypoints.

The tools are accessed from the Plan Toolbar as shown.

After an option is selected, a basic pattern of the selected type is added to the map and to the mission editor. This can be edited to the desired shape:

Pattern	Description
Survey	A survey pattern that captures an arbitrarily complex polygonal region. This allows you to specify the polygon, grid and camera settings appropriate for creating geotagged images.
Corridor Scan	A survey pattern that follows a poly-line (for example, to survey a road).
Structure Scan	A survey pattern that captures images over vertical surfaces (polygonal or circular). Typically used for the visual inspection or creation of 3D models of structures. Not available for fixed-wing vehicles (i.e. any vehicle that cannot hover).