Hi,
I’m trying to run a mission on an ANAFI USA using GronudSDK. I’m currently using the FlightPlanPilotingItf to upload a Mavlink mission file (example format shown below). I’m able to upload and start the mission, however the behaviour of the waypoint navigation command is not as expected. In the GroundSDK and Mavlink documentation, it specifies that setting the yaw to NaN will use the default yaw setting (towards the next waypoint), however the drone always yaws to 0 degrees. Setting it to a different value manually works as expected, however I would like it to yaw towards the next waypoint. Similarly, using the SetRoiCommand to set the roi to the next waypoint also does not do anything, and continues to yaw towards 0 degrees. Is there a way to resolve this issue and have the drone yaw towards the next waypoint?
QGC WPL 120
0 0 2 16 1.000000 2.000000 NaN NaN 45.473949 -75.127298 25.000000 1
1 0 2 16 1.000000 2.000000 NaN NaN 45.473782 -75.125204 25.000000 1
2 0 2 16 1.000000 2.000000 NaN NaN 45.473368 -75.123616 25.000000 1
3 0 2 16 1.000000 2.000000 NaN NaN 45.471652 -75.122382 25.000000 1
4 0 2 16 1.000000 2.000000 NaN NaN 45.470514 -75.123470 25.000000 1
5 0 2 16 1.000000 2.000000 NaN NaN 45.469976 -75.125587 25.000000 1
6 0 2 16 1.000000 2.000000 NaN NaN 45.470119 -75.128422 25.000000 1
7 0 2 16 1.000000 2.000000 NaN NaN 45.473890 -75.130077 25.000000 1
It also appears that the StartPhotoCaptureCommand Mavlink command does not work at all. Is photo capture within a flight plan not supported on the ANAFI USA?
In my case I use the example FlightPlan given in GroundSDK Android with some mods to select my .mavlink file. But my Anafi 4K does takeoff less than 1m instead of 2 or 3 m then goes to crash in a direction.
I use this code to start the mission pilotingItf.activate(FlightPlanPilotingItf.Interpreter.LEGACY, true).
Yes I’ve tried nan instead of NaN, but the mission execution is the same, doesn’t seem to make a difference.
I start a mission the same way you do, however, I do not have any issues with takeoff on the ANAFI USA. The drone goes to the altitude specified in the takeoff command.